# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-01-12 13:24:09
# Node ID 4e5c6467cd0199a032b08fe75a858b64aae1cb8a
# Parent  0062f8daffe7ce8ba9103465e0f6f7b3f68c6a28

GPS parsing and APRS tracking now functional!

diff --git a/master/master/config.h b/master/master/config.h
--- a/master/master/config.h
+++ b/master/master/config.h
@@ -115,10 +115,10 @@
 // APRS comment: this goes in the comment portion of the APRS message. You
 // might want to keep this short. The longer the packet, the more vulnerable
 // it is to noise.
-#define APRS_COMMENT    "CedarvilleUniversity HAB"
+#define APRS_COMMENT    "CU HAB TEST"
 
 // Transmit the APRS sentence every X milliseconds
-#define APRS_TRANSMIT_PERIOD 5000
+#define APRS_TRANSMIT_PERIOD 10000
 
 
 // --------------------------------------------------------------------------
diff --git a/master/master/lib/aprs.c b/master/master/lib/aprs.c
--- a/master/master/lib/aprs.c
+++ b/master/master/lib/aprs.c
@@ -48,10 +48,12 @@ void aprs_send()
   ax25_send_byte('/');                // Report w/ timestamp, no APRS messaging. $ = NMEA raw data
   // ax25_send_string("021709z");     // 021709z = 2nd day of the month, 17:09 zulu (UTC/GMT)
   ax25_send_string(get_timestamp());         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
-  ax25_send_byte('h');
+  ax25_send_byte('z'); // zulu time. h for nonzulu
   ax25_send_string(get_latitude());     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
+  ax25_send_byte('N');
   ax25_send_byte('/');                // Symbol table
   ax25_send_string(get_longitude());     // Lon: 000deg and 25.80 min
+  ax25_send_byte('W');
   ax25_send_byte('O');                // Symbol: O=balloon, -=QTH
   snprintf(temp, 4, "%03d", (int)(gps_course + 0.5)); 
   ax25_send_string(temp);             // Course (degrees)
@@ -75,6 +77,9 @@ void aprs_send()
   */
   
   ax25_send_byte(' ');
+  ax25_send_string("SV:");
+  ax25_send_string(getNumSatelites());
+  ax25_send_byte(' ');
   ax25_send_string(APRS_COMMENT);     // Comment
   ax25_send_footer();
 
diff --git a/master/master/lib/logger.c b/master/master/lib/logger.c
--- a/master/master/lib/logger.c
+++ b/master/master/lib/logger.c
@@ -38,7 +38,7 @@ void logger_setup()
 	if(!sd_raw_init())
 	{
 		// Initializing SD card failed!
-		serial0_sendString("SD: Error initializing.\r\n");
+		serial0_sendString("SD> Error initializing.\r\n");
 		led_errorcode(ERROR_SD_INIT);
 		return;
 	}
@@ -52,7 +52,7 @@ void logger_setup()
 	// Check that partition was created correctly
 	if(!partition)
 	{
-		serial0_sendString("SD: Error opening partition.\r\n");
+		serial0_sendString("SD> Error opening partition.\r\n");
 		// Error opening partition. MBR might be screwed up.
 		led_errorcode(ERROR_SD_PARTITION);
 		return;
diff --git a/master/master/lib/looptime.c b/master/master/lib/looptime.c
--- a/master/master/lib/looptime.c
+++ b/master/master/lib/looptime.c
@@ -22,8 +22,10 @@ void time_setup()
 {
 	// Generic microcontroller config options
 	OCR0A = 173; // Approx 172.7969 ticks per ms with 64 prescaler
+	OCR0B = 15;
 	
-	TCCR0A |= (1 << WGM01) | (1 << WGM00); // Count until OCR0A, then overflow (wgm02 in the next line specifies this as well)
+	TCCR0A |= (1 << WGM01) | (1 << WGM00) | // Count until OCR0A, then overflow (wgm02 in the next line specifies this as well)
+			  (1<< COM0B1); // Non-inverting PWM on OC0B
 	TCCR0B |= (1 << CS01) | (1 << CS00) | (1 << WGM02); // clock div by 64
 	TIFR0 |= ( 1 << TOV0 ); // clear pending interrupts
 	TIMSK0 |= (1 << TOIE0); // enable overflow interrupt
diff --git a/master/master/lib/trackuinoGPS/gpsMKa.c b/master/master/lib/trackuinoGPS/gpsMKa.c
--- a/master/master/lib/trackuinoGPS/gpsMKa.c
+++ b/master/master/lib/trackuinoGPS/gpsMKa.c
@@ -11,6 +11,7 @@
 #include "gpsMKa.h"
 #include "../serial.h"
 #include "../../config.h"
+#include "../led.h"
 
 
 
@@ -65,19 +66,32 @@ char* get_longitude() {
 
 
 char quality;		//quality for GGA and validity for RMC
-char numSatellites[3];
+char numSatellites[4];
+char* getNumSatelites() {
+	return numSatellites;
+}
+
 char hdop[6];		//xx.x
+char* get_hdop() {
+	return hdop;
+}
+
 char altitude[10];	//xxxxxx.x
 char wgs84Height[8];	//sxxx.x
 char lastUpdated[8];	//blank - included for testing
 char stationID[8];	//blank - included for testing
 char checksum[3];	//xx
+
 char knots[8];		//xxx.xx
 char* get_speedKnots() {
 	return knots;
 }
 
 char course[8];		//xxx.x
+char* get_course() {
+	return course;
+}
+	
 char datestamp[9];	//ddmmyy
 char variation[9];	//xxx.xb
 int calculatedChecksum;
@@ -152,7 +166,10 @@ void parse_gps_transmission(void){
 	// Pull byte off of the buffer
 	char byte;
 	
+	
+	
 	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {
+	led_on(LED_ACTIVITY);
 		
 		byte = nmeaBuffer[nmeaBufferParsePosition];
 		
@@ -225,16 +242,15 @@ void parse_gps_transmission(void){
 			if (byte == ',') //end of this data type
 			{
 				timestamp[6] = 0x00; // Cut off at 6 for APRS
-				serial0_sendString("time byte DONE\r\n");
 				setParserState(GGA_LATITUDE);
 				skipBytes = 0; //prep for next phase of parse
 				numBytes = 0;
 			}
 			else //store data
 			{
-				//#ifdef DEBUG_NMEA
+				#ifdef DEBUG_NMEA
 				serial0_sendString("found GGA time byte\r\n");
-				//#endif
+				#endif
 				
 				setParserState(GGA_TIME);
 				timestamp[numBytes] = byte; //byte; //adjust number of bytes to fit array
@@ -257,7 +273,7 @@ void parse_gps_transmission(void){
 			else if (byte == ',') //end of this data type
 			{
 				
-				latitude[numBytes] = 0x00; // null terminate
+				latitude[7] = 0x00; // null terminate
 				
 				
 				// First 2 bytes
@@ -298,7 +314,7 @@ void parse_gps_transmission(void){
 			}
 			else if (byte == ',') //end of this data type
 			{
-				longitude[numBytes] = 0x00;
+				longitude[8] = 0x00;
 				setParserState(GGA_QUALITY);
 				numBytes = 0; //prep for next phase of parse
 				skipBytes = 0;
@@ -645,9 +661,7 @@ void parse_gps_transmission(void){
 				#ifdef DEBUG_NMEA
 				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
 				#endif
-				
-				snprintf(debugBuff, 128, "\r\n\r\ntype: %s tstamp: %s lat: %s lon: %s speed: %s hdop: %s course: %s \r\n\r\n",
-				tramsmissionType,timestamp,latitude,longitude,knots,hdop, course);
+				
 				serial0_sendString((debugBuff));
 				setParserState(INITIALIZE);
 				numBytes = 0; //prep for next phase of parse
@@ -668,7 +682,9 @@ void parse_gps_transmission(void){
 			//input byte into running checksum
 			XORbyteWithChecksum(byte);
 		}
+		led_off(LED_ACTIVITY);
 	}	
+	
 
 }
 /// MKa GPS transmission parser END
diff --git a/master/master/lib/trackuinoGPS/gpsMKa.h b/master/master/lib/trackuinoGPS/gpsMKa.h
--- a/master/master/lib/trackuinoGPS/gpsMKa.h
+++ b/master/master/lib/trackuinoGPS/gpsMKa.h
@@ -16,5 +16,8 @@ char* get_longitude();
 char* get_latitude();
 char* get_timestamp();
 char* get_speedKnots();
+char* get_course();
+char* get_hdop();
+char* getNumSatelites();
 
 #endif /* GPSMKA_H_ */
\ No newline at end of file
diff --git a/master/master/master.c b/master/master/master.c
--- a/master/master/master.c
+++ b/master/master/master.c
@@ -37,47 +37,33 @@
 #include "lib/serparser.h"
 #include "lib/sensordata.h"
 
-void micro_setup() 
-{
-
-}
-
 int main(void)
 {
     _delay_ms(1500); // warmup
+	
 	// Initialize libraries
 	time_setup();
-	
-	micro_setup();
-	
 	watchdog_setup(); // enables interrupts
-	
-	led_setup();
-	
+	led_setup();	
 	serial0_setup();
-	_delay_ms(10);
-	
 	serial1_setup();
-	
-	i2c_init(); // for board temp
-
+	i2c_init();
 	sensordata_setup(); // must happen before sensors/logger/afsk
 	slavesensors_setup();
 	logger_setup();
-	
 	afsk_setup();
-	
-	serial0_sendString("\r\n\r\n---------------------------------\r\n");
+	//\f
+	serial0_sendString("\r\n---------------------------------\r\n");
 	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");
-	serial0_sendString("---------------------------------\r\n\r\n");
-	serial0_sendString("\f\r\n\rHello.\r\n\r\n");
+	serial0_sendString("---------------------------------\r\n");
+	serial0_sendString("\r\nHello.\r\n\r\n");
 	
 	led_on(LED_POWER);
 	led_off(LED_SIDEBOARD);
-
 	
 	// Buffer for string operations
-	char logbuf[32];
+	char logbuf[128];
+	char debugBuf[128];
 	
 	// Software timers	
 	uint32_t lastAprsBroadcast = 0;
@@ -122,24 +108,32 @@ int main(void)
 	while(1)
     {
 		
+		// Periodic: LED execution indicator
 		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) {
 			spin();
-			
 			lastLedCycle = time_millis();	
 		}
 		
 		// Periodic: Logging
 		if(time_millis() - lastLog > LOGGER_RATE) 
 		{
+			led_on(LED_CYCLE);
 			
-			led_on(LED_STATUS);
+			// Print out GPS debug
+			snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",
+			get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
+			serial0_sendString(debugBuf);
+			
+			
 			sensors_readBoardTemp(); // i2c read, 400k
-			snprintf(logbuf, 32, "%lu,%d,%uF\r\n", time_millis(), sensordata_get(HUMIDITY), sensors_getBoardTemp());
+			snprintf(logbuf, 128, "%lu,%d,%uF,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			logger_log(logbuf);
-			//serial0_sendString("Logging: ");
-			//serial0_sendString(logbuf);
-			led_off(LED_STATUS);
 			
+			// Print out logger debug
+			serial0_sendString("LOG> ");
+			serial0_sendString(logbuf);
+			
+			led_off(LED_CYCLE);
 			lastLog = time_millis();
 		}		
 		
@@ -147,10 +141,6 @@ int main(void)
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 
 		{
-			
-			
-			serial0_sendString(":: APRS Periodic\r\n");
-			
 			while(afsk_busy());
 			aprs_send(); // non-blocking