# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-02-12 16:02:54
# Node ID 920a71bf7d87410b22d31fad4b336fb0fed88d06
# Parent  f12f7ddbf2320881f146928b450f9c1d3036eacd

GPS latitude is now handled in a more robust manner, least 3 significant digits of current position are included in the comment field.

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
@@ -43,10 +43,10 @@ void aprs_send()
   ax25_send_string(get_dayofmonth()); ///! Needs to be day hour minute        // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
   ax25_send_string(get_timestamp()); 
   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_string(get_latitudeTrimmed());     // 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_string(get_longitudeTrimmed());     // Lon: 000deg and 25.80 min
   ax25_send_byte('W');
   ax25_send_byte('O');                // Symbol: O=balloon, -=QTH
   
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
@@ -52,17 +52,35 @@ char* get_timestamp()
 }
 	
 char latitude[14];	//lllll.lla
-char* get_latitude() 
+char latitudeTmp[8];
+char* get_latitudeTrimmed() 
 {
-	return latitude;
+	strncpy(latitudeTmp, &latitude[0], 7);
+	latitudeTmp[7] = 0x00;
+	return latitudeTmp;
+}
+char* get_latitudeLSBs()
+{
+	strncpy(latitudeTmp, &latitude[7], 3);
+	latitudeTmp[3] = 0x00;
+	return latitudeTmp;
 }
 
 char longitude[14];	//yyyyy.yyb
-char* get_longitude() 
+char longitudeTmp[9];
+
+char* get_longitudeTrimmed() 
 {
-	return longitude;
+	strncpy(longitudeTmp, &longitude[0], 8);
+	longitudeTmp[8] = 0x00;
+	return longitudeTmp;
 }
-
+char* get_longitudeLSBs()
+{
+	strncpy(longitudeTmp, &longitude[8], 3);
+	longitudeTmp[3] = 0x00;
+	return longitudeTmp;
+}
 
 char quality;		//quality for GGA and validity for RMC
 char numSatellites[4];
@@ -290,7 +308,7 @@ void parse_gps_transmission(void){
 			else if (byte == ',') //end of this data type
 			{
 				
-				latitude[7] = 0x00; // null terminate
+				latitude[numBytes] = 0x00; // null terminate
 				
 				setParserState(GGA_LONGITUDE);
 				skipBytes = 0; //prep for next phase of parse
@@ -322,7 +340,7 @@ void parse_gps_transmission(void){
 			}
 			else if (byte == ',') //end of this data type
 			{
-				longitude[8] = 0x00;
+				longitude[numBytes] = 0x00;
 				setParserState(GGA_QUALITY);
 				numBytes = 0; //prep for next phase of parse
 				skipBytes = 0;
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
@@ -21,8 +21,10 @@
 #define UKN_MESSAGE
 
 void gps_setup();
-char* get_longitude();
-char* get_latitude();
+char* get_longitudeTrimmed();
+char* get_longitudeLSBs();
+char* get_latitudeTrimmed();
+char* get_latitudeLSBs();
 char* get_timestamp();
 char* get_speedKnots();
 char* get_course();
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
@@ -64,7 +64,7 @@ int32_t sensordata_get(uint8_t nodeID, u
 char commentBuffer[128];
 char* slavesensors_getAPRScomment() 
 {
-	snprintf(commentBuffer,128, "T%d S%s V%s H%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop());
+	snprintf(commentBuffer,128, "T%d S%s V%s H%s _%s |%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
 	return commentBuffer;
 }
 
@@ -113,7 +113,7 @@ void sensordata_logvalues()
 		logbuf[0] = 0x00;
 		
 		// Write master sensor values
-		snprintf(logbuf, 256, "%lu,%d,%s,%s,%s,%s,%s,%s,%s,", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course(), get_sv());
+		snprintf(logbuf, 256, "%lu,%d,%s,%s,%s,%s,%s,%s,%s,", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitudeTrimmed(),get_longitudeTrimmed(),get_speedKnots(),get_hdop(), get_course(), get_sv());
 		
 		// Write slave sensor values
 		for(int i=0; i<MAX_NUM_SLAVES; i++) 
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
@@ -487,14 +487,14 @@ void slavesensors_process(uint8_t parseR
 		// we got a command when we didn't request anything. probably skip it.
 		return;
 	}
-	
-	// TODO: timeout. If we're at NODATA for a long time and we are requesting, that's an issue.
+	
 	// TODO: If we time out, WE NEED TO RESET THE PARSER. It could be in a bad state.
 	else if(parseResult == PARSERESULT_NODATA) 
 	{
 		// Wait for data
 		if(requesting && time_millis() - beginRequest > 1000) {
 			// if we're requesting, we have no data, and we're over the timeout, this is bad!
+			// setParserState(STATE_RESET); - meh, can't do this because it freaking increments the cirbufptr
 			gotoNextSlaveOrSensor(true);
 		}
 	}