Changeset - 2406c449316b
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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-26 16:34:24
ethanzonca@CL-ENS241-08.cedarville.edu
Added buzzer on touchdown support with altitude and failsafe cutoff time. Failsafe is tested and functional, altitude is untested.
5 files changed with 67 insertions and 4 deletions:
master/master/config.h
7
master/master/lib/led.c
2
2
master/master/lib/sensordata.c
41
master/master/lib/sensordata.h
2
master/master/master.c
15
2
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master/master/config.h
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@@ -8,48 +8,55 @@
 
 * Kyle Ripperger
 
 * Matthew Kroening
 
 *
 
 */
 
 
#ifndef CONFIG_H_
 
#define CONFIG_H_
 
 
#include <avr/pgmspace.h>
 
 
// --------------------------------------------------------------------------
 
// Module config (master.c)
 
// --------------------------------------------------------------------------
 
 
//#define DEBUG_OUTPUT
 
 
#define BLACKOUT_ENABLE
 
 
#define F_CPU 11059200
 
#define MODULE_ID '1'
 
#define BOARDTEMP_ADDR 0x90
 
 
#define HEATER_THRESHOLD 60
 
 
// Touchdown buzzer settings
 
#define BUZZER_RATE 3000
 
#define BUZZER_DURATION 1
 
 
#define BUZZER_FAILSAFE_DURATION 600000
 
#define BUZZER_TRIGGER_MINDURATION 1
 
#define BUZZER_TRIGGER_MAXALTITUDE 1
 
 
// --------------------------------------------------------------------------
 
// Error Codes config (led.c, used throughout code)
 
// --------------------------------------------------------------------------
 
 
// SD Card
 
#define ERROR_SLAVETIMEOUT 0
 
#define ERROR_SD_INIT 1
 
#define ERROR_SD_PARTITION 2
 
#define ERROR_SD_FILE 3
 
 
#define ERROR_XBEETIMEOUT 4
 
 
 
#define ERROR_FATAL 5
 
 
#define ERROR_ATFAIL 6
 
#define ERROR_EXITAT 7
 
 
#define ERROR_INFOTEXT 8
 
 
// !!! Please specify detailed messages for these error codes in logger.c
 
 
// --------------------------------------------------------------------------
master/master/lib/led.c
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@@ -22,64 +22,64 @@ bool blackout = false;
 
void led_setup()
 
{
 
	for(int i=0; i<NUM_LEDS; i++)
 
	{
 
		*(ledList[i].direction) |= (1<<ledList[i].pin); // set pin to output
 
		*(ledList[i].port) &= ~(1<<ledList[i].pin); // set pin low
 
	}
 
 
	// Beep on startup
 
	OCR0B = 30; // Power LED
 
 
	led_on(LED_BUZZ);
 
	_delay_ms(1);
 
	led_off(LED_BUZZ);
 
}
 
 
void led_power_toggle()
 
{
 
	OCR0B ^= 30;
 
}
 
 
// Turn the specified LED on
 
void led_on(uint8_t led)
 
{
 
	if(blackout && led != LED_ERROR)
 
	if(blackout && led != LED_ERROR && led != LED_BUZZ)
 
	{
 
		return;
 
	}
 
	*(ledList[led].port) |= (1<<ledList[led].pin);
 
}
 
 
// Turn the specified LED off
 
void led_off(uint8_t led)
 
{
 
	*(ledList[led].port) &= ~(1<<ledList[led].pin);
 
}
 
 
void led_toggle(uint8_t led)
 
{
 
	if(blackout && led != LED_ERROR)
 
	if(blackout && led != LED_ERROR && led != LED_BUZZ)
 
	{
 
		return;
 
	}
 
	*(ledList[led].port) ^= (1<<ledList[led].pin);
 
}
 
 
void led_blackout() {
 
	if(!blackout)
 
	{
 
		blackout = true;
 
		for(int i=0; i<NUM_LEDS; i++)
 
		{
 
			if(i != LED_ERROR)
 
			{
 
				*(ledList[i].port) &= ~(1<<ledList[i].pin); // set pin low
 
			}
 
		}
 
	}
 
}
 
 
// Flashes error LED a set amount of times, then leaves it on
 
void led_errorcode(uint8_t code)
 
{
 
	led_off(LED_ERROR);
master/master/lib/sensordata.c
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Show inline comments
 
@@ -183,25 +183,66 @@ void sensordata_logvalues()
 
 
		// 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;

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
void sensordata_checkTouchdown()

			




	
	
	
		
 
{

			




	
	
	
		
 
	// If we have reached touchdown, never get out of this state

			




	
	
	
		
 
	if(isTouchdown)

			




	
	
	
		
 
	{

			




	
	
	
		
 
		return;

			




	
	
	
		
 
	}

			




	
	
	
		
 
	

			




	
	
	
		
 
	if(time_millis() > BUZZER_FAILSAFE_DURATION)

			




	
	
	
		
 
	{

			




	
	
	
		
 
		isTouchdown = true;

			




	
	
	
		
 
	}

			




	
	
	
		
 
	else

			




	
	
	
		
 
	{

			




	
	
	
		
 
		int32_t altitude = sensordata_getSensorValue(SENSOR_ALTITUDE);

			




	
	
	
		
 
		if(altitude != -2111111111 && altitude < BUZZER_TRIGGER_MAXALTITUDE && time_millis() > BUZZER_TRIGGER_MINDURATION)

			




	
	
	
		
 
		{

			




	
	
	
		
 
			isTouchdown = true;

			




	
	
	
		
 
		}			

			




	
	
	
		
 
	}

			




	
	
	
		
 
}

			




	
	
		
 
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                    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();

			




	
	
	
		
 
void sensordata_logvalues();

			




	
	
	
		
 
bool sensordata_isTouchdown();

			




	
	
	
		
 
void sensordata_checkTouchdown();

			




	
	
	
		
 

			




	
	
	
		
 
#endif /* SENSORDATA_H_ */

			




	
	
		
 
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                    master/master/master.c
                

                

                  
                      
                        

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@@ -43,119 +43,132 @@ int main(void)

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Initialize libraries

			




	
	
	
		
 
	time_setup();

			




	
	
	
		
 
	watchdog_setup(); // enables interrupts

			




	
	
	
		
 
	led_setup();

			




	
	
	
		
 
	gps_setup();

			




	
	
	
		
 
	serial0_setup();

			




	
	
	
		
 
	serial1_setup();

			




	
	
	
		
 
	i2c_init();

			




	
	
	
		
 
	sensordata_setup(); // must happen before slavesensors/logger/AFSK

			




	
	
	
		
 
	slavesensors_setup();

			




	
	
	
		
 
	logger_setup();

			




	
	
	
		
 
	afsk_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	serial0_sendString("\r\nHello.\r\n\r\n");

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Blocking ZigBee node discovery

			




	
	
	
		
 
	slavesensors_network_scan();

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Software timers	

			




	
	
	
		
 
	uint32_t lastAprsBroadcast = 0;

			




	
	
	
		
 
	uint32_t lastLog = 0;

			




	
	
	
		
 
	uint32_t lastLedCycle = 0;

			




	
	
	
		
 
	uint32_t lastDataReq = 0;

			




	
	
	
		
 
	uint32_t lastBuzz = 0;

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Result of last parser run

			




	
	
	
		
 
	int parseResult = PARSERESULT_NODATA;

			




	
	
	
		
 
	

			




	
	
	
		
 
	// FIXME: Probably don't need this.

			




	
	
	
		
 
	serial1_ioff();

			




	
	
	
		
 
	

			




	
	
	
		
 
	while(1)

			




	
	
	
		
 
    {

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: LED execution indicator

			




	
	
	
		
 
		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			led_power_toggle();

			




	
	
	
		
 
			led_spin();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Enable GPS serial interrupts if we aren't doing AFSK

			




	
	
	
		
 
			if(!afsk_busy())

			




	
	
	
		
 
				serial1_ion();

			




	
	
	
		
 
				

			




	
	
	
		
 
			lastLedCycle = time_millis();	

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Logging

			




	
	
	
		
 
		if(time_millis() - lastLog > LOGGER_RATE) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			led_on(LED_CYCLE);

			




	
	
	
		
 
			

			




	
	
	
		
 
			heater_regulateTemp();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Turn on sideboard LED if we have a fix

			




	
	
	
		
 
			if(gps_hasfix()) 

			




	
	
	
		
 
			{

			




	
	
	
		
 
				led_on(LED_SIDEBOARD);

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else 

			




	
	
	
		
 
			{

			




	
	
	
		
 
				led_off(LED_SIDEBOARD);

			




	
	
	
		
 
			}

			




	
	
	
		
 
			

			




	
	
	
		
 
			sensors_readBoardTemp();

			




	
	
	
		
 
		

			




	
	
	
		
 
			// Write CSV header and log data values

			




	
	
	
		
 
			sensordata_logvalues();			

			




	
	
	
		
 
			

			




	
	
	
		
 
			led_off(LED_CYCLE);

			




	
	
	
		
 
			lastLog = time_millis();

			




	
	
	
		
 
		}		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Buzzer

			




	
	
	
		
 
		if(time_millis() - lastBuzz > BUZZER_RATE) {

			




	
	
	
		
 
			if(sensordata_isTouchdown())

			




	
	
	
		
 
			{

			




	
	
	
		
 
				led_on(LED_BUZZ);

			




	
	
	
		
 
				_delay_ms(BUZZER_DURATION);

			




	
	
	
		
 
				led_off(LED_BUZZ);

			




	
	
	
		
 
			}			

			




	
	
	
		
 
			lastBuzz = time_millis();

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Data Request

			




	
	
	
		
 
		if(time_millis() - lastDataReq > DATAREQUEST_RATE)  

			




	
	
	
		
 
		{

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Start getting values for next transmission

			




	
	
	
		
 
			if(slavesensors_isrequesting())

			




	
	
	
		
 
			{

			




	
	
	
		
 
				// TODO: something is terribly wrong. Timeout?

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else

			




	
	
	
		
 
			{

			




	
	
	
		
 
				slavesensors_startprocess();

			




	
	
	
		
 
			}

			




	
	
	
		
 
			

			




	
	
	
		
 
			lastDataReq = time_millis();

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: APRS transmission

			




	
	
	
		
 
		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			// Check for touchdown

			




	
	
	
		
 
			sensordata_checkTouchdown();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// LED blackout

			




	
	
	
		
 
			#ifdef BLACKOUT_ENABLE

			




	
	
	
		
 
			led_blackout();

			




	
	
	
		
 
			#endif

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Ensure we aren't already transmitting

			




	
	
	
		
 
			while(afsk_busy());

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Turn off interrupts and transmit APRS sentence

			




	
	
	
		
 
			serial1_ioff();

			




	
	
	
		
 
			aprs_send(); // non-blocking

			




	
	
	
		
 
			

			




	
	
	
		
 
			lastAprsBroadcast = time_millis();

			




	
	
	
		
 
		}			

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Parse any serial data in the XBee software buffer

			




	
	
	
		
 
		parseResult = serparser_parse();

			




	
	
	
		
 
		slavesensors_process(parseResult);

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Parse any NMEA messages in the GPS software buffer

			




	
	
	
		
 
		parse_gps_transmission();

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




        

    



    


    



    



      

      





    
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