This folder contains the following C# software for the .Net MicroFramework on the Imote2 to be used with The Samraksh Company's Pulsed Doppler Radar sensor (codename BumbleBee):

1. Device drivers for the ITS400 sensorboard: The BumbleBeeITS400 module allows the Imote2 .Net mote to acquite BumbleBee sensor data using the ITS400 sensorboard from Crossbow. The I and Q radar channels are read with very low inter-channel delay using the Scan-Sequence-Of-Channels mode. The I and Q outputs are assumed to be connected to ADC0 and ADC1 ports on the ITS400 connector.

2. Device drivers for using the TelosB/TmoteSky as an ADC surrogate: Since the Imote2 itself does not have an ADC, the TelosSensor module enables the use of a TelosB/TmoteSky mote as a surrogate ADC for the IMote2. The TelosSensor program sends data read requests over the I2C bus for sampling the BumbleBee radar outputs connected to the TelosB/TmoteSky ADC ports. Two methods of data acquisition are supported: single sample - where the Imote2 sends a request for each sample and a 1-second snippet - where the client collects a 1-second snippet of data using its own timer and signals a dataReady to the Imote2 using a GPIO pin. 

3. Sample Application - Threshold based detector

We provide a simple yet robust detector for both modules. This detector use a simple thresholding and hysteresis logic to detect moving objects in the radar range. The detector calibrates the DC noise floor level statically by estimating the mean signal level over the first 10 seconds so the radar should be powered up prior to the mote being started. The Imote2 turns ON its red Led as long as it continues to observe motion. 