seniordesign-firmware Changeset - 2406c449316b

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

master/master/lib/led.c

master/master/lib/sensordata.c

master/master/lib/sensordata.h

master/master/master.c

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master/master/config.h

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 /*
  * Master Firmware: Configuration
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * 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
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 #define MAX_NUM_SLAVES 5  // Maximum number of nodes in the system
 #define MAX_NUM_SENSORS 10 // Maximum number of unique types of sensors in the system
 // Node identifier of log destination xbee
 #define XBEE_LOGDEST_NAME "HAB-LOGGER"
 #define DATAREQUEST_RATE 3000
 // Timeouts
 #define TIMEOUT_SLAVEREQUEST 1000
 #define TIMEOUT_NETWORKSCAN 7000
 #define TIMEOUT_EXITAT 2000
 #define TIMEOUT_XBEERESPONSE 2000
 // Retries
 #define MAX_SLAVEREQUEST_RETRIES 2
 // --------------------------------------------------------------------------
 // Command Parser config (serparser.c)
 // --------------------------------------------------------------------------
 // Maximum payload size of command
 #define MAX_PAYLOAD_LEN 16
 // Circular serial buffer size. Must be at least MAX_CMD_LEN + 5
 #define BUFFER_SIZE 128
 // 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 115200
 // --------------------------------------------------------------------------
 // AX.25 config (ax25.c)
 // --------------------------------------------------------------------------
 // TX delay in milliseconds
 #define TX_DELAY      500
 // Maximum packet delay
 #define MAX_PACKET_LEN 512  // bytes
 // --------------------------------------------------------------------------
 // APRS config (aprs.c)
 // --------------------------------------------------------------------------
 // Set your callsign and SSID here. Common values for the SSID are
 // (from http://zlhams.wikidot.com/aprs-ssidguide):
 //
 // - Balloons:  11
 // - Cars:       9
 // - Home:       0
 // - IGate:      5
 #define S_CALLSIGN      "KD8TDF"
 #define S_CALLSIGN_ID   9 // 11

master/master/lib/led.c

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 /*
  * Master Firmware: Status and Error LED Handler
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include <avr/io.h>
 #include <util/delay.h>
 #include <stdbool.h>
 #include "led.h"
 bool blackout = false;
 // Configure port direction and initial state of LEDs
 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);
 	_delay_ms(400);
 	for(int i=0; i<code; i++)
+	{
 		// Direct port writing done here to show error LED during blackout
 		led_on(LED_ERROR);
 		_delay_ms(150);
 		led_off(LED_ERROR);
 		_delay_ms(150);
+	}
 	_delay_ms(400);
 	// Direct port writing done here to show error LED during blackout
 	led_on(LED_ERROR);
+}
 void led_alert()
+{
 	if(blackout)
+	{
 		return;
+	}
 	led_on(LED_ACT0);
 	led_on(LED_ACT1);
 	led_on(LED_ACT2);
 	led_on(LED_ACT3);
 	_delay_ms(10);
+}
 uint8_t ctr = 0;
 void led_spin()
+{
 	if(blackout)
+	{
 		return;
+	}
 	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;
+}
 bool pulseUp = true;
 void led_pulsate()
+{
 	if(blackout)
+	{

master/master/lib/sensordata.c

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Show inline comments

@@ @@ -111,97 +111,138 @@ char* slavesensors_getAPRScomment() @@
 			// 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);
+			}
+		}
 		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());
 		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;
+}
 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;
+		}
+	}
+}
@@ \ No newline at end of file @@

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_ */
@@ \ No newline at end of file @@

master/master/master.c

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 /*
  * Master Firmware
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "config.h"
 #include <avr/io.h>
 #include <util/delay.h>
 #include <avr/wdt.h>
 #include <avr/interrupt.h>
 #include <stdio.h>
 #include <stdbool.h>
 #include <string.h>
 #include "lib/serial.h"
 #include "lib/aprs.h"
 #include "lib/afsk.h"
 #include "lib/led.h"
 #include "lib/logger.h"
 #include "lib/watchdog.h"
 #include "lib/gps.h"
 #include "lib/i2c.h"
 #include "lib/boardtemp.h"
 #include "lib/heater.h"
 #include "lib/looptime.h"
 #include "lib/slavesensors.h"
 #include "lib/serparser.h"
 #include "lib/sensordata.h"
 int main(void)
+{
 	// Power debounce
 	_delay_ms(100);
 	// 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();
 		wdt_reset();
+    }
+}
@@ \ No newline at end of file @@

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