# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-01-24 15:10:36
# Node ID 91a9664e6fd060c8c9efa8aab09bfaf72a6fde1e
# Parent  2d1f159689de8660d5adcdeea41b6f3d63b1b2b2

Adaptive logging system now fully functional

diff --git a/master/master/lib/gps.c b/master/master/lib/gps.c
--- a/master/master/lib/gps.c
+++ b/master/master/lib/gps.c
@@ -1,11 +1,18 @@
-/*
-* gpsMKa.c
-*
-* Created: 11/15/2012 12:02:38 PM
-*  Author: mkanning
-*/
+/*
+ * Master Firmware: NMEA Parser
+ *
+ * Wireless Observational Modular Aerial Network
+ * 
+ * Ethan Zonca
+ * Matthew Kanning
+ * Kyle Ripperger
+ * Matthew Kroening
+ *
+ */
 
 #include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "gps.h"
@@ -128,14 +135,14 @@ ISR(USART1_RX_vect)
 
 void gps_setup() 
 {
-	sprintf(timestamp, "0");
-	sprintf(latitude, "0");
-	sprintf(longitude, "0");
-	sprintf(numSatellites, "0");
-	sprintf(hdop, "0");
-	sprintf(knots, "0");
-	sprintf(course, "0");
-	sprintf(dayofmonth, "0");
+	snprintf(timestamp,2, "0");
+	snprintf(latitude,2, "0");
+	snprintf(longitude,2, "0");
+	snprintf(numSatellites,2, "0");
+	snprintf(hdop,2, "0");
+	snprintf(knots,2, "0");
+	snprintf(course,2, "0");
+	snprintf(dayofmonth,2, "0");
 }
 
 
@@ -674,7 +681,8 @@ void parse_gps_transmission(void){
 }
 /// MKa GPS transmission parser END
 
-void XORbyteWithChecksum(uint8_t byte){
+void XORbyteWithChecksum(uint8_t byte)
+{
 	calculatedChecksum ^= (int)byte; //this may need to be re-coded
 }
 
diff --git a/master/master/lib/gps.h b/master/master/lib/gps.h
--- a/master/master/lib/gps.h
+++ b/master/master/lib/gps.h
@@ -1,9 +1,14 @@
-/*
- * gpsMKa.h
- *
- * Created: 11/15/2012 12:02:53 PM
- *  Author: mkanning
- */ 
+/*
+ * Master Firmware: NMEA Parser
+ *
+ * Wireless Observational Modular Aerial Network
+ * 
+ * Ethan Zonca
+ * Matthew Kanning
+ * Kyle Ripperger
+ * Matthew Kroening
+ *
+ */
 
 
 #ifndef GPSMKA_H_
@@ -21,5 +26,7 @@ char* get_course();
 char* get_hdop();
 char* get_sv();
 char* get_dayofmonth();
+void parse_gps_transmission(void);
+void XORbyteWithChecksum(uint8_t byte);
 
 #endif /* GPSMKA_H_ */
\ No newline at end of file
diff --git a/master/master/lib/heater.c b/master/master/lib/heater.c
--- a/master/master/lib/heater.c
+++ b/master/master/lib/heater.c
@@ -12,6 +12,7 @@
 
 #include "../config.h"
 #include "led.h"
+#include "boardtemp.h"
  
  void heater_regulateTemp()
  {
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
@@ -23,6 +23,7 @@
 #include "sdcard/partition.h"
 #include "sdcard/sd_raw.h"
 #include "sdcard/sd_raw_config.h"
+#include "serial.h"
 #include "logger.h"
 #include "led.h"
 
diff --git a/master/master/lib/sensordata.c b/master/master/lib/sensordata.c
--- a/master/master/lib/sensordata.c
+++ b/master/master/lib/sensordata.c
@@ -11,6 +11,7 @@
  */
 
 #include "../config.h"
+#include <stdio.h>
 #include "sensordata.h"
 #include "boardtemp.h"
 #include "gps.h"
diff --git a/master/master/lib/serial.h b/master/master/lib/serial.h
--- a/master/master/lib/serial.h
+++ b/master/master/lib/serial.h
@@ -35,6 +35,10 @@ char* serial0_readLine();
 void serial_sendCommand( char* data );
 void serial_sendResponseData();
 
+
+void serial0_ion();
+void serial0_ioff();
+
 void serial1_ion();
 void serial1_ioff();
 
diff --git a/master/master/lib/slavesensors.c b/master/master/lib/slavesensors.c
--- a/master/master/lib/slavesensors.c
+++ b/master/master/lib/slavesensors.c
@@ -10,17 +10,20 @@
  *
  */
 
+#include "../config.h"
 #include <avr/io.h>
 #include <stdbool.h>
-#include "../config.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <util/delay.h>
+#include <avr/wdt.h>
 #include "serial.h"
 #include "serparser.h"
 #include "slavesensors.h"
 #include "sensordata.h"
 #include "led.h"
 #include "looptime.h"
-#include <util/delay.h>
-#include <avr/wdt.h>
 
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
@@ -32,13 +35,22 @@ void slavesensors_setup()
 	
 }
 
-#define DEBUG_NETWORKSCAN
+//#define DEBUG_NETWORKSCAN
+//#define DEBUG_GETSLAVEDATA
 
 char* bufPtr = 0x00;
-char slaveAddressLow[MAX_NUM_SLAVES][9];
-char slaveAddressHigh[MAX_NUM_SLAVES][9];
+
+static char slaveAddressLow[MAX_NUM_SLAVES][9];
+static char slaveAddressHigh[MAX_NUM_SLAVES][9];
+static char slaveNames[MAX_NUM_SLAVES][20];
+
 uint8_t loggerIndex = 255;
 uint8_t nodeCount = 0;
+bool dataReady = false;
+
+char* slavesensors_slavename(uint8_t id) {
+	return slaveNames[id];
+}
 
 void slavesensors_network_scan() {
 	serial0_ioff();
@@ -54,10 +66,6 @@ void slavesensors_network_scan() {
 	
 	led_on(LED_ACTIVITY);
 	atOK = slavesensors_enterAT();
-
-	char nameString[20] = "NONE";
-	
-	char slaveNames[MAX_NUM_SLAVES][16]; // Hold 16-char addresses of max MAX_NUM_SLAVES nodes, local so the memory can be reused
 	
 	// wait for OK
 	if(atOK == 0)
@@ -69,7 +77,7 @@ void slavesensors_network_scan() {
 		// wait for scan to complete
 		uint16_t scanStart = time_millis(); 		
 		while(!serial0_hasChar()) {
-			if(time_millis() - scanStart > 5000) {
+			if(time_millis() - scanStart > 7000) {
 				led_errorcode(ERROR_XBEETIMEOUT);
 				return;
 			}
@@ -87,14 +95,13 @@ void slavesensors_network_scan() {
 			}
 			
 			if(lineCount == 1) {
-				strcpy(slaveAddressHigh[nodeCount], bufPtr);
+				strncpy(slaveAddressHigh[nodeCount],bufPtr, 9);
 			}
 			else if(lineCount == 2) {
-				strcpy(slaveAddressLow[nodeCount], bufPtr);
+				strncpy(slaveAddressLow[nodeCount],bufPtr, 9);
 			}
 			else if(lineCount == 3) {
-				strcpy(nameString, bufPtr);
-				strcpy(slaveNames[nodeCount], bufPtr);
+				strncpy(slaveNames[nodeCount], bufPtr, 20);
 			}
 			
 			// If we've finished one chunk (including the newline after it). Can't be else if because it controls increment.
@@ -137,7 +144,7 @@ void slavesensors_network_scan() {
 	char debugBuf[64];
 	serial0_sendString("Discovered: \r\n");
 	for(int i=0; i<nodeCount; i++) {
-		snprintf(debugBuf, 64, "  %s - %s%s\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i]);
+		snprintf(debugBuf, 64, "  %s - %s%s (%u)\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i], nodeCount);
 		serial0_sendString(debugBuf);
 	}
 	serial0_sendString("\r\n");
@@ -154,7 +161,7 @@ void slavesensors_network_scan() {
 			loggerIndex = i;
 		}
 	}
-	
+	_delay_ms(100);
 	slavesensors_selectlogger();
 	
 	serial0_ion();
@@ -242,6 +249,9 @@ int xbeeIsOk()
 	}
 }
 
+bool slavesensors_dataReady() {
+	return dataReady;
+}
 
 bool slavesensors_isrequesting() 
 {
@@ -262,7 +272,7 @@ void slavesensors_request()
 }
 
 
-int numReadingsToExpect = 0; // number of values that the slave is about to send (testing)
+uint8_t numReadingsToExpect = 0; // number of values that the slave is about to send (testing)
 
 
 // TODO: needs to skip logger!
@@ -281,6 +291,13 @@ void slavesensors_process(uint8_t parseR
 	// Finished reception of a message (one sensor data value). If not finished, send out command to get the next one
 	else if(parseResult == PARSERESULT_PARSEOK)
 	{
+		
+		#ifdef DEBUG_GETSLAVEDATA
+		char debug[50];
+		snprintf(debug, 50, "Slave %u sensor %u of total nodes %u\r\n", currentSlave, currentSlaveSensor,nodeCount);
+		serial0_sendString(debug);
+		#endif
+		
 		// We got some data, let's handle it
 		// ASCII payload
 		uint8_t len = getPayloadLength();
@@ -290,11 +307,14 @@ void slavesensors_process(uint8_t parseR
 
 		// Special case for slave telling us how many things we're about to get		
 		if(type + 0x30 == '@') {
+			
+			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Got an awesome count!\r\n");
 			serial0_sendChar(parsedVal + 0x30);
 			serial0_sendString("\r\n");
+			#endif
+			
 			numReadingsToExpect = parsedVal;
-			currentSlave = 0;
 			currentSlaveSensor = 0;
 			requesting = true;
 		}
@@ -303,11 +323,19 @@ void slavesensors_process(uint8_t parseR
 			// Store data in structure
 			sensordata_set(currentSlave,type,parsedVal);
 			
+			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Stored some sexy data!\r\n");
-		
+			#endif 
+			
 			// If we finished all sensors for all slaves
-			if(currentSlave >= nodeCount && currentSlaveSensor >= numReadingsToExpect)
+			
+			if(currentSlave >= (nodeCount-1) && currentSlaveSensor >= (numReadingsToExpect-1))
 			{
+				#ifdef DEBUG_GETSLAVEDATA
+				serial0_sendString("We got all data for all slaves!\r\n");
+				#endif
+				
+				dataReady = true;
 				currentSlave = 0;
 				currentSlaveSensor = 0;
 				requesting = false;
@@ -315,6 +343,10 @@ void slavesensors_process(uint8_t parseR
 			// If we finished up one slave, go to the next
 			else if(currentSlaveSensor >= (numReadingsToExpect-1)) 
 			{
+				#ifdef DEBUG_GETSLAVEDATA
+				serial0_sendString("Finished up one slave, go to another.\r\n");
+				#endif
+				
 				currentSlave++;
 				currentSlaveSensor = 0;
 				requesting = true;
@@ -323,6 +355,10 @@ void slavesensors_process(uint8_t parseR
 			// If we haven't finished a slave (or all of them), just get the next sensor of the current slave
 			else
 			{
+				#ifdef DEBUG_GETSLAVEDATA
+				serial0_sendString("Give me another sensor value...");
+				#endif
+				
 				// request data for the current sensor of the current slave
 				currentSlaveSensor++;
 				requesting = true;
diff --git a/master/master/lib/slavesensors.h b/master/master/lib/slavesensors.h
--- a/master/master/lib/slavesensors.h
+++ b/master/master/lib/slavesensors.h
@@ -30,11 +30,17 @@ enum sensorTypes // CMD ID#
 	CAMERA,
 };
 
+char* slavesensors_slavename(uint8_t id);
+bool slavesensors_dataReady();
 bool slavesensors_isrequesting();
 void slavesensors_setup();
 void slavesensors_network_scan();
 void slavesensors_startprocess();
 void slavesensors_request();
 void slavesensors_process(uint8_t parseResult);
+int xbeeIsOk();
+void slavesensors_selectlogger();
+void slavesensors_exitAT();
+int slavesensors_enterAT();
 
 #endif /* SLAVESENSORS_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
@@ -19,6 +19,7 @@
 #include <avr/interrupt.h>
 #include <stdio.h>
 #include <stdbool.h>
+#include <string.h>
 
 #include "lib/serial.h"
 #include "lib/aprs.h"
@@ -31,7 +32,7 @@
 
 #include "lib/i2c.h"
 #include "lib/boardtemp.h"
-
+#include "lib/heater.h"
 #include "lib/looptime.h"
 #include "lib/slavesensors.h"
 #include "lib/serparser.h"
@@ -67,20 +68,16 @@ int main(void)
 	
 	// Buffer for string operations
 	char logbuf[128];
-	char debugBuf[128];
 	
 	// Software timers	
 	uint32_t lastAprsBroadcast = 0;
 	uint32_t lastLog = 0;
 	uint32_t lastLedCycle = 0;
+	bool dataWasReady = false;
 	
 	// Result of last parser run
 	int parseResult = PARSERESULT_NODATA;
 	
-	// Write CSV header to SD card
-	logger_log("ProgramTime,LastAprsBroadcast,LastLog\n");
-	
-	
 	serial1_ioff();
 	
 	while(1)
@@ -117,22 +114,43 @@ int main(void)
 			
 			sensors_readBoardTemp(); // i2c read, 400k
 		
-			logbuf[0] = 0x00;
-			//snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
-			for(int i=0; i<MAX_NUM_SLAVES; i++) {
-				for(int j=0; j<MAX_NUM_SENSORS; j++) {
-					int16_t tmp = sensordata_get(i, j);
-					if(tmp != -32768) {
-						//serial0_sendString("OH GOSH DATUM\r\n");
-						snprintf(logbuf + strlen(logbuf),128," %d,", tmp);
-						serial0_sendString(logbuf);
+			// If we've gotten data from all slaves once, we're ready to make a CSV header and start logging
+			if(slavesensors_dataReady()) {
+				if(!dataWasReady) {
+					char csvHeader[128];
+					csvHeader[0] = 0x00;
+					
+					for(uint8_t i=0; i<MAX_NUM_SLAVES; i++) {
+						for(uint8_t j=0; j<MAX_NUM_SENSORS; j++) {
+							int16_t tmp = sensordata_get(i, j);
+							if(tmp != -32768) {
+								// FIXME: will the 128 here really provide safety? might want to subtract the strlen
+								snprintf(csvHeader + strlen(csvHeader), 128,"%s-Sensor%u,", slavesensors_slavename(i), j);	
+							}
+						}
 					}
-					
+					snprintf(csvHeader + strlen(csvHeader), 128,"\r\n");	
+					serial0_sendString(csvHeader);
+					logger_log(csvHeader);
+					dataWasReady = true;
 				}
-			}
-			snprintf(logbuf + strlen(logbuf),128,"\r\n");
+		
+				logbuf[0] = 0x00;
+				//snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
+				for(int i=0; i<MAX_NUM_SLAVES; i++) {
+					for(int j=0; j<MAX_NUM_SENSORS; j++) {
+						int16_t tmp = sensordata_get(i, j);
+						if(tmp != -32768) {
+							snprintf(logbuf + strlen(logbuf),128," %d,", tmp);
+						}
+					
+					}
+				}
+				snprintf(logbuf + strlen(logbuf),128,"\r\n");
+				serial0_sendString(logbuf);			
+				logger_log(logbuf);
 			
-			logger_log(logbuf);
+			}			
 			
 			// Print out logger debug
 			#ifdef DEBUG_OUTPUT