seniordesign-firmware Changeset - 156fa380821c

Changeset - 156fa380821c

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-26 17:04:14
ethanzonca@CL-ENS241-08.cedarville.edu

Moved APRS comment buffer to caller, minor changes.

4 files changed with 20 insertions and 17 deletions:

master/master/lib/aprs.c

master/master/lib/sensordata.c

master/master/lib/sensordata.h

master/master/lib/slavesensors.c

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master/master/lib/aprs.c

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 /*
  * Master Firmware: APRS
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include "aprs.h"
 #include "ax25.h"
 #include "gps.h"
 #include "sensordata.h"
 #include <stdio.h>
 float meters_to_feet(float m)
+{
   // 10000 ft = 3048 m
   return m / 0.3048;
+}
 void aprs_send()
+{
   const struct s_address addresses[] = {
     {D_CALLSIGN, D_CALLSIGN_ID},  // Destination callsign
     {S_CALLSIGN, S_CALLSIGN_ID},  // Source callsign (-11 = balloon, -9 = car)
 #ifdef DIGI_PATH1
     {DIGI_PATH1, DIGI_PATH1_TTL}, // Digi1 (first digi in the chain)
 #endif
 #ifdef DIGI_PATH2
     {DIGI_PATH2, DIGI_PATH2_TTL}, // Digi2 (second digi in the chain)
 #endif
   };
 	// 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(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_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_longitudeTrimmed());     // Lon: 000deg and 25.80 min
   ax25_send_byte('W');
   ax25_send_byte('O');                // Symbol: O=balloon, -=QTH
   //snprintf(temp, 4, "%03d", (int)(get_course() + 0.5));
   // !!!TODO: ENSURE THAT THE COURSE IS FORMATTED CORRECTLY!
   ax25_send_string(get_course());             // Course (degrees)
   ax25_send_byte('/');                // and
   // !!!TODO: Check the speed!
   //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(slavesensors_getAPRScomment());
   #define COMMENTBUFFER_SIZE 128
   char commentBuffer[COMMENTBUFFER_SIZE];
   ax25_send_string(slavesensors_getAPRScomment(commentBuffer, COMMENTBUFFER_SIZE));
   ax25_send_footer();
   ax25_flush_frame();                 // Tell the modem to go
+}

master/master/lib/sensordata.c

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 /*
  * Master Firmware: Sensor Data
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include <stdio.h>
 #include <stdbool.h>
 #include <string.h>
 #include "sensordata.h"
 #include "slavesensors.h"
 #include "boardtemp.h"
 #include "looptime.h"
 #include "gps.h"
 #include "logger.h"
 // Slave sensor reading storage
 int32_t slaves[MAX_NUM_SLAVES][MAX_NUM_SENSORS];
 void sensordata_setup()
+{
 	for(int i=0; i<MAX_NUM_SLAVES; i++)
+	{
 		for(int j=0; j<MAX_NUM_SENSORS; j++)
+		{
 			slaves[i][j] = -2111111111; // minimum value of 16 bit integer
+		}
+	}
+}
 // Store a sensor value in memory
 void sensordata_set(uint8_t nodeID, uint8_t type, int32_t value)
+{
 	if(nodeID < MAX_NUM_SLAVES)
+	{
 		slaves[nodeID][type] = value;
+	}
+}
 // Retrieve a sensor value from memory
 int32_t sensordata_get(uint8_t nodeID, uint8_t type)
+{
 	// Avoid reading out of bad places!
 	if(nodeID < MAX_NUM_SLAVES)
+	{
 		return slaves[nodeID][type];
+	}
 	else
+	{
 		return 0;
+	}
+}
 bool isEven = false;
 // Generate APRS comment
 // TODO: Can we move this buffer to a local scope of this function?
 #define COMMENTBUFFER_SIZE 128
 char commentBuffer[COMMENTBUFFER_SIZE];
 char* slavesensors_getAPRScomment()
 char* slavesensors_getAPRScomment(char* commentBuffer, uint16_t bufferSize)
+{
-	snprintf(commentBuffer,COMMENTBUFFER_SIZE, "t9%d~s%s~v%s~h%s~_%s~|%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
+	snprintf(commentBuffer,bufferSize, "t9%d~s%s~v%s~h%s~_%s~|%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
 	if(isEven)
+	{
 		// Find slave sensors to include in this log
 		for(int i=0; i<MAX_NUM_SLAVES; i++)
+		{
 			// Board temperature sensors (all slaves)
 			uint32_t val = sensordata_get(i, SENSOR_BOARDTEMP);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
-				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~t%u%li",i,val);
+				snprintf(commentBuffer + len, bufferSize-len, "~t%u%li",i,val);
+			}
 			// Battery voltages (all slaves)
 			val = sensordata_get(i, SENSOR_BATTERYLEVEL);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
-				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~l%u%li",i,val);
+				snprintf(commentBuffer + len, bufferSize-len, "~l%u%li",i,val);
+			}
 			// Pressure
 			val = sensordata_get(i, SENSOR_PRESSURE);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
-				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~P%li",val);
+				snprintf(commentBuffer + len, bufferSize-len, "~P%li",val);
+			}
 			// Air Temperature
 			val = sensordata_get(i, SENSOR_AIRTEMP);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
-				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~C%li",val);
+				snprintf(commentBuffer + len, bufferSize-len, "~C%li",val);
+			}
 			// Altitude
 			val = sensordata_get(i, SENSOR_ALTITUDE);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
-				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~A%li",val);
+				snprintf(commentBuffer + len, bufferSize-len, "~A%li",val);
+			}
 			// Radiation
 			val = sensordata_get(i, SENSOR_CPM_RADIATION);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
-				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~R%li",val);
+				snprintf(commentBuffer + len, bufferSize-len, "~R%li",val);
+			}
+		}
 		isEven = false;
+	}
 	else {
 		// odd does nothing
 		isEven = true;
+	}
 	if(logger_aprsInfoTextAvailable())
+	{
 		uint16_t len = strlen(commentBuffer);
-		snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~%s",logger_getAprsInfoText());
+		snprintf(commentBuffer + len, bufferSize-len, "~%s",logger_getAprsInfoText());
 		logger_aprsInfoTextConsumed();
+	}
 	return commentBuffer;
+}
 // Generates CSV headers on first run and logs values to the SD card (if data available)
 bool dataWasReady = false;
 void sensordata_logvalues()
+{
 	// Generate CSV header after we have queried all slaves once
 	if(slavesensors_dataReady())
+	{
 		// Only generate/write header the first time data is ready
 		if(!dataWasReady)
+		{
 			#define CSV_BUFFER_SIZE 64
 			char csvHeader[CSV_BUFFER_SIZE];
 			csvHeader[0] = 0x00;
 			// Add master data headers
 			logger_log("Time,BoardTemp,GPSTime,GPSLat,GPSLon,GPSSpeed,GPSHDOP,GPSCourse,GPSSV,");
 			// Add slave data headers
 			for(uint8_t i=0; i<MAX_NUM_SLAVES; i++)
+			{
 				for(uint8_t j=0; j<MAX_NUM_SENSORS; j++)
+				{
 					int32_t tmp = sensordata_get(i, j);
 					// If a sensor value exists, write a header for it
 					if(tmp != -2111111111)
+					{
 						snprintf(csvHeader, CSV_BUFFER_SIZE,"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));
 						logger_log(csvHeader);
+					}
+				}
+			}
 			// End line and write to SD card
 			snprintf(csvHeader, CSV_BUFFER_SIZE,"\r\n");
 			logger_log(csvHeader);
 			dataWasReady = true;
+		}
 		// Write CSV sensor values to SD card
 		#define CSV_LOGLINE_SIZE 512
 		char logbuf[CSV_LOGLINE_SIZE];
 		logbuf[0] = 0x00;
 		// Write master sensor values
 		snprintf(logbuf, CSV_LOGLINE_SIZE, "%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++)
+		{
 			for(int j=0; j<MAX_NUM_SENSORS; j++)
+			{
 				int32_t tmp = sensordata_get(i, j);
 				// If a sensor value exists, log the data
 				if(tmp != -2111111111)
+				{
 					snprintf(logbuf + strlen(logbuf),CSV_LOGLINE_SIZE-strlen(logbuf)," %ld,", tmp);
+				}
+			}
+		}
 		// End line and write to log
 		snprintf(logbuf + strlen(logbuf),CSV_LOGLINE_SIZE-strlen(logbuf),"\r\n");
 		logger_log(logbuf);
+	}
+}
 bool isTouchdown = false;
 bool sensordata_isTouchdown()
+{
 	return isTouchdown;
+}
 int32_t sensordata_getSensorValue(uint8_t sensorID)
+{
 	// Loop through all slaves
 	for(int i=0; i<MAX_NUM_SLAVES; i++)
+	{
 		uint32_t val = sensordata_get(i, sensorID);
 		if(val != -2111111111) {
 			return val;
+		}
+	}
 	return -2111111111;

master/master/lib/sensordata.h

➞

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 /*
  * Master Firmware: Sensor Data
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #ifndef SENSORDATA_H_
 #define SENSORDATA_H_
 #include "slavesensors.h"
 void sensordata_setup();
 void sensordata_set(uint8_t nodeID, uint8_t type, int32_t value);
 int32_t sensordata_get(uint8_t nodeID, uint8_t type);
 char* slavesensors_getAPRScomment();
+char* slavesensors_getAPRScomment(char* commentBuffer, uint16_t bufferSize);
 void sensordata_logvalues();
 bool sensordata_isTouchdown();
 void sensordata_checkTouchdown();
 #endif /* SENSORDATA_H_ */
@@ \ No newline at end of file @@

master/master/lib/slavesensors.c

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@@ @@ -331,254 +331,254 @@ void slavesensors_selectlogger() @@
+{
 	if(loggerAddressLow[0] != 0x00)
+	{
 		slavesensors_selectaddress(loggerAddressHigh,loggerAddressLow);
+	}
+}
 void slavesensors_exitAT()
+{
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	if(waitTimeout(TIMEOUT_EXITAT))
+	{
 		return;
+	}
 	xbeeIsOk();
+}
 bool waitTimeout(uint32_t timeout) {
 	uint32_t scanStart = time_millis();
 	uint32_t lastBlink = 0;
 	while(!serial0_hasChar())
+	{
 		if(time_millis() - scanStart > timeout)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return true;
+		}
 		if(time_millis() - lastBlink > 50)
+		{
 			led_spin();
 			lastBlink = time_millis();
+		}
 		wdt_reset();
+	}
 	return false;
+}
 // Enter AT mode. Leaves "OK" on the buffer.
 int slavesensors_enterAT()
+{
 	// Delay guard time
 	_delay_ms(2);
 	serial0_ioff(); // interrupts MUST be off
 	// Enter AT mode
 	serial0_sendChar('+'); // Enter AT mode
 	serial0_sendChar('+');
 	serial0_sendChar('+');
 	return xbeeIsOk();
+}
 int xbeeIsOk()
+{
 	if(waitTimeout(TIMEOUT_XBEERESPONSE)) {
 		error_log(ERROR_XBEETIMEOUT, true);
 		return 1;
+	}
 	char* tmppntr = serial0_readLine();
 	if(strcmp(tmppntr, "OK") == 0)
+	{
 		return 0;
+	}
 	else
+	{
 		error_log(ERROR_SLAVETIMEOUT, true);
 		return 1;
+	}
+}
 bool slavesensors_dataReady()
+{
 	return dataReady;
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
+{
 	if(nodeCount == 0)
+	{
 		return;
+	}
 	requesting = true;
 	slavesensors_request();
+}
-// TODO: inline. static.
 uint32_t beginRequest = 0;
 void slavesensors_request()
+{
 	slavesensors_selectnode(currentSlave);
 	beginRequest = time_millis();
 	serial_sendCommand("@"); // Request data!
+}
 uint8_t numReadingsToExpect = 0; // number of values that the slave is about to send
 uint8_t numRetries = 0;
 void gotoNextSlaveOrSensor(bool fail) {
 	// If we finished all sensors for all slaves
 	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;
 		if(!fail)
+		{
 			led_alert();
+		}
+	}
 	// 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;
 		slavesensors_request();
+	}
 	// 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;
+	}
+}
 // Request data from slave modules
 void slavesensors_process(uint8_t parseResult)
+{
 	if(!requesting)
+	{
 		// we got a command when we didn't request anything. skip it.
 		return;
+	}
 	// 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 > TIMEOUT_SLAVEREQUEST) {
 			// 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);
 			char msg[128];
 			snprintf(msg, 128, "Slave %u (%s) timeout",currentSlave,slaveNames[currentSlave]);
 			error_log_msg(ERROR_SLAVETIMEOUT, false, msg); // log error, don't blink LED
+		}
+	}
 	// 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 data, reset retries
 		numRetries = 0;
 		// We got some data, let's handle it
 		// ASCII payload
 		uint8_t len = getPayloadLength();
 		char* load = getPayload();
 		uint8_t type = getPayloadType();
 		int32_t parsedVal = strtol(load, NULL, 10);//atoi(load);
 		// 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_sendString("Got count!\r\n");
 			serial0_sendChar(parsedVal + 0x30);
 			serial0_sendString("\r\n");
 			#endif
 			numReadingsToExpect = parsedVal;
 			currentSlaveSensor = 0;
 			requesting = true;
+		}
 		else
+		{
 			// Store data in structure
 			sensordata_set(currentSlave,type,parsedVal);
 			#ifdef DEBUG_GETSLAVEDATA
-			serial0_sendString("Stored some sexy data!\r\n");
 			serial0_sendString("Stored data!\r\n");
 			#endif
 			gotoNextSlaveOrSensor(false);
+		}
+	}
 	// If fail, try retransmit. Or we could skip and hit it next time.
 	// TODO: Maximum number of retransmissions
 	else if(parseResult == PARSERESULT_FAIL)
+	{
 		if(requesting)
+		{
 			if(numRetries < MAX_SLAVEREQUEST_RETRIES)
+			{
 				slavesensors_request();	// re-request
+			}
 			else {
 				numRetries = 0;
 				gotoNextSlaveOrSensor(true);
+			}
+		}
+	}
 	else if(parseResult == PARSERESULT_STILLPARSING)
+	{
 		return; // do nothing
+	}
 	else
+	{
-		error_log_msg(ERROR_FATAL, true, "parseResult is invalid!");
 		error_log_msg(ERROR_FATAL, true, "parseResult invalid!");
 		return;
+	}
+}
@@ \ No newline at end of file @@

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