seniordesign-firmware Changeset - 0062f8daffe7

Changeset - 0062f8daffe7

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-10 21:58:42
ethanzonca@CL-ENS241-08.cedarville.edu

GPS parser now functional, APRS is now broadcasted with possibly correct position information

9 files changed with 318 insertions and 84 deletions:

master/master/config.h

master/master/lib/afsk.c

master/master/lib/aprs.c

master/master/lib/looptime.c

master/master/lib/serial.c

master/master/lib/trackuinoGPS/gpsMKa.c

262

master/master/lib/trackuinoGPS/gpsMKa.h

master/master/master.c

master/master/master.cproj

0 comments (0 inline, 0 general)

master/master/config.h

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Show inline comments

@@ @@ -16,13 +16,13 @@ @@
 // --------------------------------------------------------------------------
 // Module config (master.c)
 // --------------------------------------------------------------------------
 #define F_CPU 11059200
 #define MODULE_ID '1'
+#define BOARDTEMP_ADDR 0x90
 // --------------------------------------------------------------------------
 // Error Codes config (led.c, used throughout code)
 // --------------------------------------------------------------------------
 // SD Card
@@ @@ -59,18 +59,24 @@ @@
 // Circular serial buffer size. Must be at least MAX_CMD_LEN + 5
 #define BUFFER_SIZE 32
 // Public broadcast address
 #define BROADCAST_ADDR 0
 // --------------------------------------------------------------------------
 // GPS config (xxx.c)
 // --------------------------------------------------------------------------
 #define NMEABUFFER_SIZE 150
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 #define USART0_BAUDRATE 115200
-#define USART1_BAUDRATE 4800
+#define USART1_BAUDRATE 115200
 // --------------------------------------------------------------------------
 // AX.25 config (ax25.c)
 // --------------------------------------------------------------------------
@@ @@ -109,13 +115,13 @@ @@
 // 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"
 // Transmit the APRS sentence every X milliseconds
-#define APRS_TRANSMIT_PERIOD 10000
+#define APRS_TRANSMIT_PERIOD 5000
 // --------------------------------------------------------------------------
 // Logger config (logger.c)
 // --------------------------------------------------------------------------

master/master/lib/afsk.c

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Show inline comments

@@ @@ -201,13 +201,14 @@ void afsk_send(const uint8_t *buffer, in @@
 	afsk_packet = buffer;
+}
 void afsk_setup()
+{
 	DDRA |= 0b00100000;
 	DDRD |= 0b10000000;
 	// Source timer2 from clkIO (datasheet p.164)
 	ASSR &= ~(_BV(EXCLK) | _BV(AS2));
 	// Set fast PWM mode with TOP = 0xff: WGM22:0 = 3  (p.150)
 	TCCR2A |= _BV(WGM21) | _BV(WGM20);
 	TCCR2B &= ~_BV(WGM22);
@@ @@ -219,16 +220,8 @@ void afsk_setup() @@
 	TCCR2B = (TCCR2B & ~(_BV(CS22) | _BV(CS21))) | _BV(CS20);
 	// Enable interrupt when TCNT2 reaches TOP (0xFF) (p.151, 163)
 	//TIMSK2 |= _BV(TOIE2);
 	TIMSK2 |= 0b00000001;
 	// FIXME TODO
 	DDRD = 0xff;
 	PORTD = 0xff;
 	// todo: init radio, maybe in main
 	while(afsk_busy());
+}
@@ \ No newline at end of file @@

master/master/lib/aprs.c

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@@ @@ -10,12 +10,13 @@ @@
+ *
  */
 #include "../config.h"
 #include "aprs.h"
 #include "ax25.h"
 #include "trackuinoGPS/gpsMKa.h"
 #include <stdio.h>
 const char *gps_aprs_lat = "39.74744N";
 const char *gps_aprs_lon = "-83.81249W";
 const char *gps_time = "081533/";
 float gps_altitude = 123.5;
@@ @@ -43,35 +44,39 @@ void aprs_send() @@
   };
 	// emz: modified this to get the size of the first address rather than the size of the struct itself, which fails
   ax25_send_header(addresses, sizeof(addresses)/sizeof(addresses[0]));
   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(gps_time);         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
+  ax25_send_string(get_timestamp());         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
   ax25_send_byte('h');
-  ax25_send_string(gps_aprs_lat);     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
+  ax25_send_string(get_latitude());     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
   ax25_send_byte('/');                // Symbol table
-  ax25_send_string(gps_aprs_lon);     // Lon: 000deg and 25.80 min
+  ax25_send_string(get_longitude());     // Lon: 000deg and 25.80 min
   ax25_send_byte('O');                // Symbol: O=balloon, -=QTH
   snprintf(temp, 4, "%03d", (int)(gps_course + 0.5));
   ax25_send_string(temp);             // Course (degrees)
   ax25_send_byte('/');                // and
   snprintf(temp, 4, "%03d", (int)(gps_speed + 0.5));
   ax25_send_string(temp);             // speed (knots)
   //snprintf(temp, 4, "%03d", (int)(gps_speed + 0.5));
   ax25_send_string(get_speedKnots());             // speed (knots)
   /*
   ax25_send_string("/A=");            // Altitude (feet). Goes anywhere in the comment area
   snprintf(temp, 7, "%06ld", (long)(meters_to_feet(gps_altitude) + 0.5));
   ax25_send_string(temp);
   ax25_send_string("/Ti=");
   snprintf(temp, 6, "%d", 122);//sensors_int_lm60()); -- PUT SENSOR DATA HERE
   ax25_send_string(temp);
   ax25_send_string("/Te=");
   snprintf(temp, 6, "%d", 123);//sensors_ext_lm60());
   ax25_send_string(temp);
   ax25_send_string("/V=");
   snprintf(temp, 6, "%d", 123);//sensors_vin());
   ax25_send_string(temp);
   */
   ax25_send_byte(' ');
   ax25_send_string(APRS_COMMENT);     // Comment
   ax25_send_footer();
   ax25_flush_frame();                 // Tell the modem to go
+}

master/master/lib/looptime.c

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Show inline comments

@@ @@ -17,14 +17,12 @@ @@
 #include <util/delay.h>
 volatile uint32_t millis = 0; // Milliseconds since initialization
 void time_setup()
+{
 	DDRA = 0xff;
 	// Generic microcontroller config options
 	OCR0A = 173; // Approx 172.7969 ticks per ms with 64 prescaler
 	TCCR0A |= (1 << WGM01) | (1 << WGM00); // Count until OCR0A, then overflow (wgm02 in the next line specifies this as well)
 	TCCR0B |= (1 << CS01) | (1 << CS00) | (1 << WGM02); // clock div by 64
 	TIFR0 |= ( 1 << TOV0 ); // clear pending interrupts

master/master/lib/serial.c

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Show inline comments

@@ @@ -33,18 +33,14 @@ void serial0_setup() { @@
 	UCSR0B |= (1 << RXCIE0); // Enable interrupt
 	//UCSR0A |= (1<<RXC0);
+}
 volatile uint8_t charTest;
 ISR(USART1_RX_vect)
+{
 	serial1_sendChar(UDR1);
+}
 void serial1_setup() {
 //PROVEN in test project
 	/* Enable receiver and transmitter */
 	UCSR1B |= (1<<RXEN1)|(1<<TXEN1); // Enable rx/tx

master/master/lib/trackuinoGPS/gpsMKa.c

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Show inline comments

@@ @@ -4,16 +4,37 @@ @@
 * Created: 11/15/2012 12:02:38 PM
 *  Author: mkanning
 */
 #include <stdbool.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "gpsMKa.h"
 #include "../serial.h"
 #include "../../config.h"
 // Circular buffer for incoming data
 uint8_t nmeaBuffer[NMEABUFFER_SIZE];
 // Location of parser in the buffer
 uint8_t nmeaBufferParsePosition = 0;
 // Location of receive byte interrupt in the buffer
 volatile uint16_t nmeaBufferDataPosition = 0;
 /*
 volatile uint8_t charTest;
 ISR(USART1_RX_vect)
+{
 	serial0_sendChar(UDR1);
 }*/
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
 //data (and checksum) of most recent transmission
 char data[16];
@@ @@ -22,31 +43,52 @@ int skipBytes = 0; @@
 //used to index data arrays during data collection
 int numBytes = 0;
 //variables to store data from transmission
 //least significant digit is stored at location 0 of arrays
 uint8_t tramsmissionType[5];
 uint8_t timestamp[9];	//hhmmss.ss
 uint8_t latitude[8];	//lllll.lla
 uint8_t longitude[8];	//yyyyy.yyb
 uint8_t quality;		//quality for GGA and validity for RMC
 uint8_t numSatellites[2];
 uint8_t hdop[4];		//xx.x
 uint8_t altitude[8];	//xxxxxx.x
 uint8_t wgs84Height[6];	//sxxx.x
 uint8_t lastUpdated[6];	//blank - included for testing
 uint8_t stationID[6];	//blank - included for testing
 uint8_t checksum[2];	//xx
 uint8_t knots[5];		//xxx.xx
 uint8_t course[5];		//xxx.x
 uint8_t datestamp[6];	//ddmmyy
 uint8_t variation[6];	//xxx.xb
 char tramsmissionType[7];
 char timestamp[12];	//hhmmss.ss
 char* get_timestamp() {
 	return timestamp;
+}
 char latitude[14];	//lllll.lla
 char* get_latitude() {
 	return latitude;
+}
 char longitude[14];	//yyyyy.yyb
 char* get_longitude() {
 	return longitude;
+}
 char quality;		//quality for GGA and validity for RMC
 char numSatellites[3];
 char hdop[6];		//xx.x
 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 datestamp[9];	//ddmmyy
 char variation[9];	//xxx.xb
 int calculatedChecksum;
 int receivedChecksum;
 char convertBuf1[15];
 char convertBuf2[15];
 // transmission state machine
 enum decodeState {
 	//shared fields
 	INITIALIZE=0,
 	GET_TYPE,
 	GPS_CHECKSUM,	//XOR of all the bytes between the $ and the * (not including the delimiters themselves), written in hexadecimal
@@ @@ -71,356 +113,515 @@ enum decodeState { @@
 	RMC_DATE,
 	RMC_MAG_VARIATION,
 }decodeState;
 char debugBuff[128];
 ISR(USART1_RX_vect)
+{
 	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
 	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
 	//serial0_sendChar(UDR1);
 	//snprintf(debugBuff, 32, "GPS: bdp: %d, bpp: %d decodestate: %u \r\n", nmeaBufferDataPosition, nmeaBufferParsePosition, decodeState);
 	//serial0_sendString((debugBuff));
+}
 // Could inline if program space available
 static void setParserState(uint8_t state)
+{
 	decodeState = state;
 	// If resetting, clear vars
 	if(state == INITIALIZE)
+	{
 		calculatedChecksum = 0;
+	}
 	// Every time we change state, we have parsed a byte
 	nmeaBufferParsePosition = (nmeaBufferParsePosition + 1) % NMEABUFFER_SIZE;
+}
 //// MKa GPS transmission parser START
 void parse_gps_transmission(void){
 	// Pull byte off of the buffer
 	char byte = 'a';// serial1_readChar();
 	char byte;
 	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {
 		byte = nmeaBuffer[nmeaBufferParsePosition];
 		//snprintf(debugBuff, 64, "GPSParse: byte [%c] decodestate: %u bp: %u pp: %u\r\n",  byte, decodeState, nmeaBufferDataPosition, nmeaBufferParsePosition);
 		//serial0_sendString((debugBuff));
-	if(byte == '$') //start of transmission sentence
+		if(decodeState == INITIALIZE) //start of transmission sentence
+	{
 		decodeState = GET_TYPE;
 			if(byte == '$') {
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found $\r\n");
 				#endif
 				setParserState(GET_TYPE);
 		numBytes = 0; //prep for next phases
 		skipBytes = 0;
 		calculatedChecksum = 0;
+	}
 			else {
 				setParserState(INITIALIZE);
+			}
+		}
 	//parse transmission type
 	else if (decodeState == GET_TYPE)
+	{
 		tramsmissionType[numBytes] = byte;
 		numBytes++;
 			#ifdef DEBUG_NMEA
 			serial0_sendString("stored a type byte\r\n");
 			#endif
 		if(byte == ',') //end of this data type
+		{
 				tramsmissionType[5] = 0x00;
 			if (tramsmissionType[2] == 'G' &&
 			tramsmissionType[3] == 'G' &&
 			tramsmissionType[4] == 'A')
+			{
 				decodeState = GGA_TIME;
 					setParserState(GGA_TIME);
 					numBytes = 0;
+			}
 			else if (tramsmissionType[2] == 'R' &&
 			tramsmissionType[3] == 'M' &&
 			tramsmissionType[4] == 'C')
+			{
 				decodeState = RMC_TIME;
 					setParserState(RMC_TIME);
 					numBytes = 0;
+			}
 			else //this is an invalid transmission type
+			{
-				decodeState = INITIALIZE;
+					setParserState(INITIALIZE);
+			}
+		}
 			else {
 				// continue
 				setParserState(GET_TYPE);
+			}
+	}
 	///parses GGA transmissions START
 	/// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*xx
 	//timestamp
 	else if (decodeState == GGA_TIME)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = GGA_LATITUDE;
 				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
+		{
 			timestamp[numBytes] = byte; //adjust number of bytes to fit array
 				//#ifdef DEBUG_NMEA
 				serial0_sendString("found GGA time byte\r\n");
 				//#endif
 				setParserState(GGA_TIME);
 				timestamp[numBytes] = byte; //byte; //adjust number of bytes to fit array
 			numBytes++;
+		}
+	}
 	//latitude
 	else if (decodeState == GGA_LATITUDE)
+	{
 		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found lat skip byte\r\n");
 				#endif
 			skipBytes = 1;
 				setParserState(GGA_LATITUDE);
+		}
 		else if (byte == ',') //end of this data type
+		{
 			decodeState = GGA_LONGITUDE;
 				latitude[numBytes] = 0x00; // null terminate
 				// First 2 bytes
 				//convertBuf1[0] = latitude[0];
 				//convertBuf1[1] = latitude[1];
 				//convertBuf1[2] = '\0';
 				//strncpy(convertBuf2, latitude, 7);
 				//convertBuf2[7] = '\0';
 				setParserState(GGA_LONGITUDE);
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
+		}
 		else //store data
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found lat byte\r\n");
 				#endif
 			latitude[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_LATITUDE);
+		}
+	}
 	//longitude
 	else if (decodeState == GGA_LONGITUDE)
+	{
 		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found long skip byte\r\n");
 				#endif
 			skipBytes = 1;
 				setParserState(GGA_LONGITUDE);
+		}
 		else if (byte == ',') //end of this data type
+		{
 			decodeState = GGA_QUALITY;
 				longitude[numBytes] = 0x00;
 				setParserState(GGA_QUALITY);
 			numBytes = 0; //prep for next phase of parse
 			skipBytes = 0;
+		}
 		else //store data
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found long byte\r\n");
 				#endif
 			longitude[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_LONGITUDE);
+		}
+	}
 	//GGA quality
 	else if (decodeState == GGA_QUALITY)
+	{
 		if (byte == ',') //end of this data type
+		{
-			decodeState = GGA_SATELLITES;
+				setParserState(GGA_SATELLITES);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found quality byte\r\n");
 				#endif
 			quality = byte; //maybe reset if invalid data ??
 				setParserState(GGA_QUALITY);
+		}
+	}
 	//number of satellites
 	else if (decodeState == GGA_SATELLITES)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = GGA_HDOP;
 				numSatellites[numBytes] = 0x00;
 				setParserState(GGA_HDOP);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 			numSatellites[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_SATELLITES);
+		}
+	}
 	//HDOP
 	else if (decodeState == GGA_HDOP)
+	{
 		if (byte == ',' ) //end of this data type
+		{
 			decodeState = GGA_ALTITUDE;
 				hdop[numBytes] = 0x00;
 				setParserState(GGA_ALTITUDE);
 			numBytes = 0; //prep for next phase of parse
 			skipBytes = 0;
+		}
 		else //store data
+		{
 			hdop[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_HDOP);
+		}
+	}
 	//altitude
 	else if (decodeState == GGA_ALTITUDE)
+	{
 		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
 			skipBytes = 1;
 				setParserState(GGA_ALTITUDE);
+		}
 		else if(byte == ',') //end of this data type
+		{
 			decodeState = GGA_WGS84;
 				altitude[numBytes] = 0x00;
 				setParserState(GGA_WGS84);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 			altitude[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_ALTITUDE);
+		}
+	}
 	//WGS84 Height
 	else if (decodeState == GGA_WGS84)
+	{
 		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
 			skipBytes = 1;
 				setParserState(GGA_WGS84);
+		}
 		else if(byte == ',') //end of this data type
+		{
 			decodeState = GGA_LAST_UPDATE;
 				wgs84Height[numBytes] = 0x00;
 				setParserState(GGA_LAST_UPDATE);
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
+		}
 		else //store data
+		{
 			wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_WGS84);
+		}
+	}
 	//last GGA DGPS update
 	else if (decodeState == GGA_LAST_UPDATE)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = GGA_STATION_ID;
 				lastUpdated[numBytes] = 0x00;
 				setParserState(GGA_STATION_ID);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data - this should be blank
+		{
 			lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_LAST_UPDATE);
+		}
+	}
 	//GGA DGPS station ID
 	else if (decodeState == GGA_STATION_ID)
+	{
 		if (byte == ',' || byte == '*') //end of this data type
+		{
 			decodeState = GPS_CHECKSUM;
 				stationID[numBytes] = 0x00;
 				setParserState(GPS_CHECKSUM);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data - this should be blank
+		{
 			stationID[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(GGA_STATION_ID);
+		}
+	}
 	///parses GGA transmissions END
 	/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
 	///parses RMC transmissions
 	//time
 		// emz: commented setter, GMC time better?
 	else if(decodeState == RMC_TIME)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = RMC_VALIDITY;
 				//timestamp[numBytes] = 0x00;
 				setParserState(RMC_VALIDITY);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 			timestamp[numBytes] = byte; //adjust number of bytes to fit array
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found time byte\r\n");
 				#endif
 				//timestamp[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(RMC_TIME);
+		}
+	}
 	//validity
 		// not needed? dupe gga
 	else if(decodeState == RMC_VALIDITY)
+	{
 		if (byte == ',') //end of this data type
+		{
-			decodeState = RMC_LATITUDE;
+				setParserState(RMC_LATITUDE);
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
+		}
 		else //store data
+		{
 			quality = byte;
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found valid byte\r\n");
 				#endif
 				//quality = byte;
 			numBytes++;
 				setParserState(RMC_VALIDITY);
+		}
+	}
 	//latitude
+		//latitude RMC (we don't need this, commented out setter)
 	else if(decodeState == RMC_LATITUDE)
+	{
-		if (byte == ',' && skipBytes == 1) //discard this byte
+			if (byte == ',' && skipBytes == 0) //discard this byte
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found lat skip byte\r\n");
 				#endif
 			skipBytes = 1;
 				setParserState(RMC_LATITUDE);
+		}
 		else if (byte == ',') //end of this data type
+		{
-			decodeState = RMC_LONGITUDE;
+				setParserState(RMC_LONGITUDE);
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
+		}
 		else //store data
+		{
 			latitude[numBytes]= byte; //adjust number of bytes to fit array
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found lat byte\r\n");
 				#endif
 				//latitude[numBytes]= byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(RMC_LATITUDE);
+		}
+	}
 	//longitude
+		//longitude RMC (we don't need this, commented out setter)
 	else if(decodeState == RMC_LONGITUDE)
+	{
-		if (byte == ',' && skipBytes == 1) //discard this byte
+			if (byte == ',' && skipBytes == 0) //discard this byte
+		{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found long byte\r\n");
 				#endif
 			skipBytes = 1;
 				setParserState(RMC_LONGITUDE);
+		}
 		else if (byte == ',') //end of this data type
+		{
-			decodeState = RMC_KNOTS;
+				setParserState(RMC_KNOTS);
 			skipBytes = 0;
 			numBytes = 0;
+		}
 		else //store data
+		{
 			longitude[numBytes]= byte; //adjust number of bytes to fit array
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found long byte\r\n");
 				#endif
 				//longitude[numBytes]= byte; //adjust number of bytes to fit array
 			numBytes++;
 				setParserState(RMC_LONGITUDE);
+		}
+	}
 	//knots
 	else if(decodeState == RMC_KNOTS)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = RMC_COURSE;
 				knots[numBytes] = 0x00;
 				setParserState(RMC_COURSE);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 				setParserState(RMC_KNOTS);
 			knots[numBytes]= byte; //adjust number of bytes to fit array
 			numBytes++;
+		}
+	}
 	//course
 	else if(decodeState == RMC_COURSE)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = RMC_DATE;
 				course[numBytes] = 0x00;
 				setParserState(RMC_DATE);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 				setParserState(RMC_COURSE);
 			course[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
+		}
+	}
 	//date
 	else if(decodeState == RMC_DATE)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = RMC_MAG_VARIATION;
 				datestamp[numBytes] = 0x00;
 				setParserState(RMC_MAG_VARIATION);
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
+		}
 		else //store data
+		{
 				setParserState(RMC_DATE);
 			datestamp[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
+		}
+	}
 	//magnetic variation
 	else if(decodeState == RMC_MAG_VARIATION)
+	{
 		if (byte == '*') //end of this data type
+		{
 			decodeState = GPS_CHECKSUM;
 				variation[numBytes] = 0x00;
 				setParserState(GPS_CHECKSUM);
 			numBytes = 0; //prep for next phase of parse
+		}
 		else //store data
+		{
 				setParserState(RMC_MAG_VARIATION);
 			variation[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
+		}
+	}
 	///parses RMC transmissions END
@@ @@ -438,29 +639,39 @@ void parse_gps_transmission(void){ @@
+			}
 			else
+			{
+			}
 				#ifdef DEBUG_NMEA
 				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
 				#endif
 			decodeState = INITIALIZE;
 				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
+		}
 		else //store data
+		{
 				setParserState(GPS_CHECKSUM);
 			checksum[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
+		}
+	}
 		else {
 			setParserState(INITIALIZE);
+		}
 	if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'
+	{
 		//input byte into running checksum
 		XORbyteWithChecksum(byte);
+	}
+	}
+}
 /// MKa GPS transmission parser END
 void XORbyteWithChecksum(uint8_t byte){
 	calculatedChecksum ^= (int)byte; //this may need to be re-coded

master/master/lib/trackuinoGPS/gpsMKa.h

➞

Show inline comments

@@ @@ -9,7 +9,12 @@ @@
 #ifndef GPSMKA_H_
 #define GPSMKA_H_
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 char* get_longitude();
 char* get_latitude();
 char* get_timestamp();
 char* get_speedKnots();
 #endif /* GPSMKA_H_ */
@@ \ No newline at end of file @@

master/master/master.c

➞

Show inline comments

@@ @@ -21,16 +21,20 @@ @@
 #include <stdbool.h>
 #include "lib/serial.h"
 #include "lib/aprs.h"
 #include "lib/afsk.h"
 #include "lib/led.h"
-//#include "lib/logger.h"
 #include "lib/logger.h"
 #include "lib/watchdog.h"
 //!
 #include "lib/sd/sd_raw_config.h"
 #include "lib/trackuinoGPS/gpsMKa.h"
 #include "lib/i2c.h"
 #include "lib/boardtemp.h"
 #include "lib/looptime.h"
 #include "lib/slavesensors.h"
 #include "lib/serparser.h"
 #include "lib/sensordata.h"
 void micro_setup()
@@ @@ -52,29 +56,31 @@ int main(void) @@
 	serial0_setup();
 	_delay_ms(10);
 	serial1_setup();
 	i2c_init(); // for board temp
 	sensordata_setup(); // must happen before sensors/logger/afsk
 	slavesensors_setup();
 	logger_setup();
 	afsk_setup();
 	serial0_sendString("\r\n\r\n---------------------------------\r\n");
 	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");
 	serial0_sendString("---------------------------------\r\n\r\n");
-	serial0_sendString("\f\r\n\r\Hello.\r\n\r\n");
+	serial0_sendString("\f\r\n\rHello.\r\n\r\n");
 	led_on(LED_POWER);
 	led_off(LED_SIDEBOARD);
 	// Buffer for string operations
-	char logbuf[16];
+	char logbuf[32];
 	// Software timers
 	uint32_t lastAprsBroadcast = 0;
 	uint32_t lastLog = 0;
 	uint32_t lastLedCycle = 0;
@@ @@ -122,26 +128,30 @@ int main(void) @@
 			lastLedCycle = time_millis();
+		}
 		// Periodic: Logging
 		if(time_millis() - lastLog > LOGGER_RATE)
+		{
 			led_on(LED_STATUS);
 			snprintf(logbuf, 16, "%lu,%d,\r\n", time_millis(), sensordata_get(HUMIDITY));
 			sensors_readBoardTemp(); // i2c read, 400k
 			snprintf(logbuf, 32, "%lu,%d,%uF\r\n", time_millis(), sensordata_get(HUMIDITY), sensors_getBoardTemp());
 			logger_log(logbuf);
 			//serial0_sendString("Logging: ");
 			//serial0_sendString(logbuf);
 			led_off(LED_STATUS);
 			lastLog = time_millis();
+		}
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD)
+		{
 			serial0_sendString(":: APRS Periodic\r\n");
 			while(afsk_busy());
 			aprs_send(); // non-blocking
 			//serial0_sendString("Initiating APRS transmission...\r\n");
@@ @@ -158,13 +168,11 @@ int main(void) @@
 			lastAprsBroadcast = time_millis();
+		}
 		parseResult = serparser_parse();
 		slavesensors_process(parseResult);
+		parse_gps_transmission();
 		wdt_reset();
+    }
+}
@@ \ No newline at end of file @@

master/master/master.cproj

➞

Show inline comments

@@ @@ -129,12 +129,24 @@ @@
     <Compile Include="lib\ax25.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\ax25.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\boardtemp.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\boardtemp.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\i2c.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\i2c.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.h">
       <SubType>compile</SubType>
     </Compile>

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