seniordesign-firmware Changeset - 0e169f68c994

Changeset - 0e169f68c994

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-09 22:10:43
ethanzonca@CL-ENS241-08.cedarville.edu

Added support for UART1, added numerous fixes. Introduction of GPS has caused several difficulties. Lowering baud rate to 4800 has made problems worse, probably change back to 115200 baud and disable serial1 interrupts when AFSK transmitting / logging.

12 files changed with 135 insertions and 83 deletions:

master/master/config.h

master/master/lib/afsk.c

master/master/lib/aprs.c

master/master/lib/led.c

master/master/lib/led.h

master/master/lib/logger.c

master/master/lib/serial.c

master/master/lib/serial.h

master/master/lib/serparser.c

master/master/lib/trackuinoGPS/gpsMKa.c

master/master/master.c

master/master/master.cproj

0 comments (0 inline, 0 general)

master/master/config.h

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@@ @@ -25,12 +25,13 @@ @@
 // Error Codes config (led.c, used throughout code)
 // --------------------------------------------------------------------------
 // SD Card
 #define ERROR_SD_INIT 2
 #define ERROR_SD_PARTITION 3
 #define ERROR_CRAP 6
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 // NOT USED. Could integrate into slavesensors.c setup function for configurability eventually.
@@ @@ -63,13 +64,13 @@ @@
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 #define USART0_BAUDRATE 115200
-#define USART1_BAUDRATE 115200
+#define USART1_BAUDRATE 4800
 // --------------------------------------------------------------------------
 // AX.25 config (ax25.c)
 // --------------------------------------------------------------------------
@@ @@ -89,13 +90,13 @@ @@
 //
 // - Balloons:  11
 // - Cars:       9
 // - Home:       0
 // - IGate:      5
 #define S_CALLSIGN      "KD8TDF"
 #define S_CALLSIGN_ID   11
+#define S_CALLSIGN_ID   9 // 11
 // Destination callsign: APRS (with SSID=0) is usually okay.
 #define D_CALLSIGN      "APRS"
 #define D_CALLSIGN_ID   0
 // Digipeating paths:
@@ @@ -105,16 +106,16 @@ @@
 #define DIGI_PATH1      "WIDE2"
 #define DIGI_PATH1_TTL  1
 // 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    "Payload data..."
+#define APRS_COMMENT    "CedarvilleUniversity HAB"
 // Transmit the APRS sentence every X milliseconds
-#define APRS_TRANSMIT_PERIOD 5000
+#define APRS_TRANSMIT_PERIOD 10000
 // --------------------------------------------------------------------------
 // Logger config (logger.c)
 // --------------------------------------------------------------------------
@@ @@ -123,7 +124,10 @@ @@
 // Written to the beginning of every log file
 #define LOGGER_HEADERTEXT "HAB Control Master - 1.0\n"
 // Log to SD card every X milliseconds
 #define LOGGER_RATE 1000
 // LED cycle indicator speed
 #define LEDCYCLE_RATE 100
 #endif /* CONFIG_H_ */
@@ \ No newline at end of file @@

master/master/lib/afsk.c

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@@ @@ -68,14 +68,17 @@ extern const uint16_t TABLE_SIZE = sizeo @@
 //#define SAMPLES_PER_BAUD 36
 #define SAMPLES_PER_BAUD 36
 // phase offset of 1800 gives ~1900 Hz
 // phase offset of 3300 gives ~2200 Hz
 //#define PHASE_DELTA_1200 1800
 //#define PHASE_DELTA_2200 2200
 #define PHASE_DELTA_1200 1800
 #define PHASE_DELTA_2200 2200
 #define PHASE_DELTA_2200 3300
 // Module globals
 volatile unsigned char current_byte;
 volatile unsigned char current_sample_in_baud;    // 1 bit = SAMPLES_PER_BAUD samples
 volatile bool go = false;
@@ @@ -222,10 +225,10 @@ void afsk_setup() @@
 	// FIXME TODO
 	DDRD = 0xff;
 	PORTD = 0xff;
 	// todo: init radio, maybe in main
-	sei();
+	</i>
 	while(afsk_busy());
+}
@@ \ No newline at end of file @@

master/master/lib/aprs.c

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@@ @@ -12,15 +12,15 @@ @@
 #include "../config.h"
 #include "aprs.h"
 #include "ax25.h"
 #include <stdio.h>
 const char *gps_aprs_lat = "latitude";
 const char *gps_aprs_lon = "longitude";
 const char *gps_time = "gpstime";
 const char *gps_aprs_lat = "39.74744N";
 const char *gps_aprs_lon = "-83.81249W";
 const char *gps_time = "081533/";
 float gps_altitude = 123.5;
 int gps_course = 5;
 int gps_speed = 13;
 float meters_to_feet(float m)
+{

master/master/lib/led.c

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@@ @@ -30,13 +30,13 @@ void led_on(uint8_t led) @@
 	*(ledList[led].port) |= (1<<ledList[led].pin);
+}
 	// Turn the specified LED off
 void led_off(uint8_t led)
+{
-	*(ledList[led].direction) &= ~(1<<ledList[led].pin);
+	*(ledList[led].port) &= ~(1<<ledList[led].pin);
+}
 // Flashes error LED a set amount of times, then leaves it on
 void led_errorcode(uint8_t code)
+{
 	_delay_ms(400);

master/master/lib/led.h

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@@ @@ -24,40 +24,42 @@ enum leds { @@
 	LED_POWER,
 	LED_STATUS,
 	LED_ERROR,
 	LED_SIDEBOARD,
 	LED_ACTIVITY,
 	LED_CYCLE
 	LED_CYCLE,
 	LED_HEAT
 };
 typedef struct {uint8_t* direction; uint8_t* port; uint8_t pin;} led_t;
 // Match order of leds enum
 static led_t ledList[] = {
 	{&DDRA, &PORTA, PA4}, // ACT0
 	{&DDRA, &PORTA, PA5}, // ACT1
 	{&DDRA, &PORTA, PA6}, // ACT2
 	{&DDRA, &PORTA, PA7}, // ACT3
 	{&DDRA, &PORTA, PA1}, // ACT0
 	{&DDRA, &PORTA, PA2}, // ACT1
 	{&DDRA, &PORTA, PA3}, // ACT2
 	{&DDRA, &PORTA, PA4}, // ACT3
 //pcb:
 //	{&DDRB, &PORTB, PB4}, // POWER
 //	{&DDRB, &PORTB, PB3}, // STATUS
 //	{&DDRB, &PORTB, PB2}, // ERROR
 	{&DDRB, &PORTB, PB4}, // POWER
 	{&DDRB, &PORTB, PB3}, // STATUS
 	{&DDRB, &PORTB, PB2}, // ERROR
 //breadboard:
 	{&DDRA, &PORTA, PA2}, // POWER
 	{&DDRA, &PORTA, PA0}, // STATUS
 	{&DDRA, &PORTA, PA1}, // ERROR
 //	{&DDRA, &PORTA, PA2}, // POWER
 //	{&DDRA, &PORTA, PA0}, // STATUS
 //	{&DDRA, &PORTA, PA1}, // ERROR
 	{&DDRD, &PORTD, PD6}, // SIDEBOARD
 	{&DDRD, &PORTD, PD5}, // ACTIVITY
 	{&DDRD, &PORTD, PD4}, // CYCLE
 	{&DDRA, &PORTA, PD6}, // HEAT
 };
-#define NUM_LEDS 10
+#define NUM_LEDS 11
 void led_setup();
 void led_on(uint8_t led);
 void led_off(uint8_t led);
 void led_errorcode(uint8_t code);

master/master/lib/logger.c

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@@ @@ -35,13 +35,13 @@ struct fat_file_struct* fd; @@
 void logger_setup()
+{
 	if(!sd_raw_init())
+	{
 		// Initializing SD card failed!
-		// Error opening partition. MBR might be screwed up.
+		serial0_sendString("SD: Error initializing.\r\n");
 		led_errorcode(ERROR_SD_INIT);
 		return;
+	}
 	// TODO: Check SD card switch to see if inserted.
 	// this was included in the library, but is commented out right now
@@ @@ -49,12 +49,13 @@ void logger_setup() @@
 	// Open first partition
 	partition = partition_open(sd_raw_read, sd_raw_read_interval, sd_raw_write, sd_raw_write_interval, 0);
 	// Check that partition was created correctly
 	if(!partition)
+	{
 		serial0_sendString("SD: Error opening partition.\r\n");
 		// Error opening partition. MBR might be screwed up.
 		led_errorcode(ERROR_SD_PARTITION);
 		return;
+	}

master/master/lib/serial.c

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@@ @@ -31,32 +31,34 @@ void serial0_setup() { @@
 	UBRR0H = (unsigned char)(USART0_BAUD_PRESCALE>>8);
 	UBRR0L = (unsigned char)USART0_BAUD_PRESCALE;
 	UCSR0B |= (1 << RXCIE0); // Enable interrupt
 	//UCSR0A |= (1<<RXC0);
+}
 volatile uint8_t charTest;
 ISR(USART1_RX_vect)
+{
 	serial1_sendChar(UDR1);
+}
 /*
 uint8_t test = 0;
 ISR(USART0__RX_vect)
+{
 	led_on(POWER);
 	test = UDR0;
 }*/
 void serial1_setup() {
 //PROVEN in test project
 void serial1_setup() {
 	/* Enable receiver and transmitter */
 	UCSR1B |= (1<<RXEN1)|(1<<TXEN1); // Enable rx/tx
 	/* Set frame format: 8data, 1stop bit */
 	UCSR1C |= (1 << UCSZ10) | (1 << UCSZ11); // - 1 stop bit
 	/* Set baud rate */
 	UBRR1H = (unsigned char)(USART1_BAUD_PRESCALE>>8);
 	UBRR1L = (unsigned char)USART1_BAUD_PRESCALE;
 	/* Enable receiver and transmitter */
 	UCSR1B = (1<<RXEN1)|(1<<TXEN1);
 	/* Set frame format: 8data, 1stop bit */
 	UCSR1C = (3<<UCSZ10); // - 1 stop bit
 	UCSR1B |= (1 << RXCIE1); // Enable interrupt
+}
 void serial0_sendChar( unsigned char byte )
+{
 	while (!(UCSR0A & (1<<UDRE0)));
 	UDR0 = byte;
@@ @@ -65,24 +67,12 @@ void serial0_sendChar( unsigned char byt @@
 void serial1_sendChar( unsigned char byte )
+{
 	while (!(UCSR1A & (1<<UDRE1)));
 	UDR1 = byte;
+}
 unsigned char serial0_readChar()
+{
 	while(!(UCSR0A &(1<<RXC0)));
 	return UDR0;
+}
 unsigned char serial1_readChar()
+{
 	while(!(UCSR1A &(1<<RXC1)));
 	return UDR1;
+}
 void serial0_sendString(const char* stringPtr){
 	while(*stringPtr != 0x00)
+	{
 		serial0_sendChar(*stringPtr);
 		stringPtr++;
+	}
@@ @@ -93,13 +83,12 @@ void serial1_sendString(const char* stri @@
+	{
 		serial1_sendChar(*stringPtr);
 		stringPtr++;
+	}
+}
 void serial_sendCommand( char moduleID, char sensorID, char* data )
+{
 	char checkSum = 0x00; //initialize checksum
 	serial0_sendChar('['); //bracket indicates start of command
 	serial0_sendChar(moduleID);

master/master/lib/serial.h

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@@ @@ -19,15 +19,12 @@ @@
 #define USART0_BAUD_PRESCALE (((F_CPU / (USART0_BAUDRATE * 16UL))) -1 )
 #define USART1_BAUD_PRESCALE (((F_CPU / (USART1_BAUDRATE * 16UL))) -1 )
 void serial0_sendChar( unsigned char byte );
 void serial1_sendChar( unsigned char byte );
 unsigned char serial0_readChar();
 unsigned char serial1_readChar();
 void serial0_setup();
 void serial1_setup();
 void serial0_sendString(const char* stringPtr);
 void serial1_sendString(const char* stringPtr);

master/master/lib/serparser.c

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@@ @@ -75,22 +75,24 @@ static void setParserState(uint8_t state @@
+}
 // Receive data on USART
 char debugBuff[16];
 ISR(USART0__RX_vect)
 ISR(USART0_RX_vect)
+{
 	buffer[bufferDataPosition % BUFFER_SIZE] = UDR0;
 	bufferDataPosition = (bufferDataPosition + 1) % BUFFER_SIZE;
 	/*sprintf(debugBuff, "bdp: %d, bpp: %d \r\n", bufferDataPosition, bufferParsePosition);
 	serial0_sendString((debugBuff)); */
 	//sprintf(debugBuff, "bdp: %d, bpp: %d \r\n", bufferDataPosition, bufferParsePosition);
 	//serial0_sendString((debugBuff));
+}
 //#define DEBUG
 // Parse data from circular buffer
 int serparser_parse(void)
+{

master/master/lib/trackuinoGPS/gpsMKa.c

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@@ @@ -7,12 +7,13 @@ @@
 #include <stdbool.h>
 #include <avr/io.h>
 #include "gpsMKa.h"
 #include "../serial.h"
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
 //data (and checksum) of most recent transmission
 char data[16];
@@ @@ -68,17 +69,19 @@ enum decodeState { @@
 	RMC_COURSE,
 	RMC_DATE,
 	RMC_MAG_VARIATION,
 }decodeState;
 //// MKa GPS transmission parser START
 void parse_gps_transmission(void){
 	// Pull byte off of the buffer
 	char byte = serial1_readChar();
+	char byte = 'a';// serial1_readChar();
 	if(byte == '$') //start of transmission sentence
+	{
 		decodeState = GET_TYPE;
 		numBytes = 0; //prep for next phases
 		skipBytes = 0;

master/master/master.c

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@@ @@ -21,14 +21,15 @@ @@
 #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/looptime.h"
 #include "lib/slavesensors.h"
 #include "lib/serparser.h"
 #include "lib/sensordata.h"
@@ @@ -36,66 +37,116 @@ void micro_setup() @@
+{
+}
 int main(void)
+{
+    _delay_ms(1500); // warmup
 	// Initialize libraries
 	time_setup();
 	micro_setup();
 	watchdog_setup();
 	watchdog_setup(); // enables interrupts
 	led_setup();
 	serial0_setup();
 	_delay_ms(10);
 	serial1_setup();
 	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("\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");
 	led_on(LED_POWER);
 	led_off(LED_SIDEBOARD);
 	// Buffer for string operations
 	char logbuf[16];
 	// Software timers
 	uint32_t lastAprsBroadcast = 0;
 	uint32_t lastLog = 0;
 	uint32_t lastLedCycle = 0;
 	// Result of last parser run
 	int parseResult = PARSERESULT_NODATA;
 	// Write CSV header to SD card
 	//logger_log("ProgramTime,LastAprsBroadcast,LastLog\n");
 	uint8_t ctr = 0;
 	void spin() {
 		if(ctr == 0) {
 			led_on(LED_ACT0);
 			led_off(LED_ACT1);
 			led_off(LED_ACT2);
 			led_off(LED_ACT3);
+		}
 		else if (ctr == 1) {
 			led_on(LED_ACT1);
 			led_off(LED_ACT0);
 			led_off(LED_ACT2);
 			led_off(LED_ACT3);
+		}
 		else if (ctr == 2) {
 			led_on(LED_ACT2);
 			led_off(LED_ACT1);
 			led_off(LED_ACT0);
 			led_off(LED_ACT3);
+		}
 		else if (ctr == 3) {
 			led_on(LED_ACT3);
 			led_off(LED_ACT1);
 			led_off(LED_ACT2);
 			led_off(LED_ACT0);
+		}
 		ctr = (ctr + 1) % 4;
+	}
 	while(1)
+    {
 		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) {
 			spin();
 			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));
 			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");
 			// Start getting values for next transmission
 			if(slavesensors_isrequesting())
+			{
 				// TODO: something is terribly wrong
@@ @@ -105,12 +156,15 @@ int main(void) @@
 				slavesensors_startprocess();
+			}
 			lastAprsBroadcast = time_millis();
+		}
 		parseResult = serparser_parse();
 		slavesensors_process(parseResult);
 		wdt_reset();
+    }
+}
@@ \ No newline at end of file @@

master/master/master.cproj

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Show inline comments

@@ @@ -2,13 +2,13 @@ @@
 <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup>
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectVersion>6.0</ProjectVersion>
     <ToolchainName>com.Atmel.AVRGCC8</ToolchainName>
     <ProjectGuid>{8579ec2d-5815-40db-84e0-1d14239c7aea}</ProjectGuid>
-    <avrdevice>ATmega324P</avrdevice>
+    <avrdevice>ATmega644PA</avrdevice>
     <avrdeviceseries>none</avrdeviceseries>
     <OutputType>Executable</OutputType>
     <Language>C</Language>
     <OutputFileName>$(MSBuildProjectName)</OutputFileName>
     <OutputFileExtension>.elf</OutputFileExtension>
     <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
@@ @@ -45,13 +45,13 @@ @@
       <KeepTimersRunning>true</KeepTimersRunning>
       <OverrideVtor>false</OverrideVtor>
       <OverrideVtorValue>
       </OverrideVtorValue>
       <Channel>
         <host>127.0.0.1</host>
-        <port>61309</port>
+        <port>49512</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>
         <InterfaceName>ISP</InterfaceName>
         <InterfaceProperties>
           <JtagDbgClock>249000</JtagDbgClock>
@@ @@ -129,64 +129,64 @@ @@
     <Compile Include="lib\ax25.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\ax25.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\logger.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\logger.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\logger.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\looptime.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\looptime.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\byteordering.c">
+    <Compile Include="lib\SDa\byteordering.c">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\byteordering.h">
+    <Compile Include="lib\SDa\byteordering.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\fat.c">
+    <Compile Include="lib\SDa\fat.c">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\fat.h">
+    <Compile Include="lib\SDa\fat.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\fat_config.h">
+    <Compile Include="lib\SDa\fat_config.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\partition.c">
+    <Compile Include="lib\SDa\partition.c">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\partition.h">
+    <Compile Include="lib\SDa\partition.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\partition_config.h">
+    <Compile Include="lib\SDa\partition_config.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\sd-reader_config.h">
+    <Compile Include="lib\SDa\sd-reader_config.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\sd_raw.c">
+    <Compile Include="lib\SDa\sd_raw.c">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\sd_raw.h">
+    <Compile Include="lib\SDa\sd_raw.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\sd\sd_raw_config.h">
+    <Compile Include="lib\SDa\sd_raw_config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sensordata.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sensordata.h">
@@ @@ -207,15 +207,12 @@ @@
     <Compile Include="lib\slavesensors.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\slavesensors.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\trackuinoGPS\config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\trackuinoGPS\gpsMKa.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\trackuinoGPS\gpsMKa.h">
       <SubType>compile</SubType>
     </Compile>
@@ @@ -228,11 +225,11 @@ @@
     <Compile Include="master.c">
       <SubType>compile</SubType>
     </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="lib" />
     <Folder Include="lib\SDa" />
     <Folder Include="lib\trackuinoGPS" />
     <Folder Include="lib\sd" />
   </ItemGroup>
   <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
 </Project>
@@ \ No newline at end of file @@

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