seniordesign-firmware Changeset - 3824e42662b1

Changeset - 3824e42662b1

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-22 15:36:10
ethanzonca@CL-ENS241-08.cedarville.edu

Added APRS comment with some sensor values for testing, added method to procedurally create APRS comment, other various changes

7 files changed with 36 insertions and 8 deletions:

master/master/lib/aprs.c

master/master/lib/gps.c

master/master/lib/gps.h

master/master/lib/sensordata.c

master/master/lib/sensordata.h

master/master/lib/slavesensors.c

master/master/master.c

0 comments (0 inline, 0 general)

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>
 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)
+{
   // 10000 ft = 3048 m
   return m / 0.3048;
+}
 void aprs_send()
+{
   char temp[12];                   // Temperature (int/ext)
   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_latitude());     // 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_longitude());     // Lon: 000deg and 25.80 min
   ax25_send_byte('W');
   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(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("SV:");
   ax25_send_string(getNumSatelites());
   ax25_send_byte(' ');
   ax25_send_string(APRS_COMMENT);     // Comment
   //ax25_send_string(APRS_COMMENT);     // Comment
   ax25_send_string(slavesensors_getAPRScomment());
   ax25_send_footer();
   ax25_flush_frame();                 // Tell the modem to go
+}

master/master/lib/gps.c

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 /*
 * gpsMKa.c
+*
 * Created: 11/15/2012 12:02:38 PM
 *  Author: mkanning
 */
 #include <stdbool.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "gps.h"
 #include "serial.h"
 #include "../config.h"
 #include "led.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;
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
 //data (and checksum) of most recent transmission
 char data[16];
 //used to skip over bytes during parse
 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
 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[4];
-char* getNumSatelites() {
+char* get_sv() {
 	return numSatellites;
+}
 char hdop[6];		//xx.x
 char* get_hdop() {
 	return hdop;
+}
 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* get_course() {
 	return course;
+}
 char dayofmonth[9];	//ddmmyy
 char* get_dayofmonth() {
 	return dayofmonth;
+}
 char variation[9];	//xxx.xb
 int calculatedChecksum;
 int receivedChecksum;
 // 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
 	//GGA data fields
 	GGA_TIME,
 	GGA_LATITUDE,
 	GGA_LONGITUDE,
 	GGA_QUALITY,
 	GGA_SATELLITES,
 	GGA_HDOP,
 	GGA_ALTITUDE,
 	GGA_WGS84,
 	GGA_LAST_UPDATE,
 	GGA_STATION_ID,
 	//RMC data fields
 	RMC_TIME,
 	RMC_VALIDITY,
 	RMC_LATITUDE,
 	RMC_LONGITUDE,
 	RMC_KNOTS,
 	RMC_COURSE,
 	RMC_DATE,
 	RMC_MAG_VARIATION,
 }decodeState;
 ISR(USART1_RX_vect)
+{
 	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
 	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+}
 void gps_setup()
+{
 	sprintf(timestamp, "0");
 	sprintf(latitude, "0");
 	sprintf(longitude, "0");
 	sprintf(numSatellites, "0");
 	sprintf(hdop, "0");
 	sprintf(knots, "0");
 	sprintf(course, "0");
 	sprintf(dayofmonth, "0");
+}
 // 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;
 	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {
 	led_on(LED_ACTIVITY);
 		byte = nmeaBuffer[nmeaBufferParsePosition];
 		if(decodeState == INITIALIZE) //start of transmission sentence
+		{
 			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')
+				{
 					setParserState(GGA_TIME);
 					numBytes = 0;
+				}
 				else if (tramsmissionType[2] == 'R' &&
 				tramsmissionType[3] == 'M' &&
 				tramsmissionType[4] == 'C')
+				{
 					setParserState(RMC_TIME);
 					numBytes = 0;
+				}
 				else //this is an invalid transmission type
+				{
 					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
+			{
 				timestamp[4] = 0x00; // Cut off at 4 (no seconds) for APRS
 				setParserState(GGA_LATITUDE);
 				skipBytes = 0; //prep for next phase of parse
 				numBytes = 0;
+			}
 			else //store data
+			{
 				#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
+			{
 				latitude[7] = 0x00; // null terminate
 				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
+			{
 				longitude[8] = 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
+			{
 				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
+			{
 				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
+			{
 				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
+			{
 				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
+			{
 				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
+			{
 				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
+			{
 				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
+			{
 				//timestamp[numBytes] = 0x00;
 				setParserState(RMC_VALIDITY);
 				numBytes = 0; //prep for next phase of parse
+			}
 			else //store data
+			{
 				#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
+			{
 				setParserState(RMC_LATITUDE);
 				skipBytes = 0; //prep for next phase of parse
 				numBytes = 0;
+			}
 			else //store data
+			{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found valid byte\r\n");
 				#endif
 				//quality = byte;
 				numBytes++;
 				setParserState(RMC_VALIDITY);
+			}
+		}
 		//latitude RMC (we don't need this, commented out setter)
 		else if(decodeState == RMC_LATITUDE)
+		{
 			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
+			{
 				setParserState(RMC_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++;

master/master/lib/gps.h

➞

Show inline comments

 /*
  * gpsMKa.h
+ *
  * Created: 11/15/2012 12:02:53 PM
  *  Author: mkanning
  */
 #ifndef GPSMKA_H_
 #define GPSMKA_H_
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 void gps_setup();
 char* get_longitude();
 char* get_latitude();
 char* get_timestamp();
 char* get_speedKnots();
 char* get_course();
 char* get_hdop();
-char* getNumSatelites();
+char* get_sv();
 char* get_dayofmonth();
 #endif /* GPSMKA_H_ */
@@ \ No newline at end of file @@

master/master/lib/sensordata.c

➞

Show inline comments

 /*
  * Master Firmware: Sensor Data
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include "sensordata.h"
 #include "boardtemp.h"
 #include "gps.h"
 int16_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] = -32768; // minimum value of 16 bit integer
+		}
+	}
+}
 void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value)
+{
 	if(nodeID < MAX_NUM_SLAVES) {
 		slaves[nodeID][type] = value;
+	}
+}
 int16_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;
+	}
+}
 char commentBuffer[128];
 // [A-30.5 B45.64 C99542]"
 char* slavesensors_getAPRScomment() {
 	snprintf(commentBuffer,128, "T%d S%s V%s H%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop());
 	return commentBuffer;
+}
@@ \ No newline at end of file @@

master/master/lib/sensordata.h

➞

Show inline comments

 /*
  * 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, uint16_t value);
 int16_t sensordata_get(uint8_t nodeID, uint8_t type);
 void sensordata_setBoardTemp(uint8_t slaveID, int16_t value);
 int16_t sensordata_getBoardTemp(uint8_t slaveID);
 char* slavesensors_getAPRScomment();
 #endif /* SENSORDATA_H_ */
@@ \ No newline at end of file @@

master/master/lib/slavesensors.c

➞

Show inline comments

 /*
  * Master Firmware: Slave Sensor Data Aquisition
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include <avr/io.h>
 #include <stdbool.h>
 #include "../config.h"
 #include "serial.h"
 #include "serparser.h"
 #include "slavesensors.h"
 #include "sensordata.h"
 #include "led.h"
 #include "looptime.h"
 #include <util/delay.h>
 #include <avr/wdt.h>
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 bool requesting = false;
 void slavesensors_setup()
+{
+}
 #define DEBUG_NETWORKSCAN
 char* bufPtr = 0x00;
 char slaveAddressLow[MAX_NUM_SLAVES][9];
 char slaveAddressHigh[MAX_NUM_SLAVES][9];
 uint8_t loggerIndex = 255;
 uint8_t nodeCount = 0;
 void slavesensors_network_scan() {
 	serial0_ioff();
 	int atOK;
 	#ifdef DEBUG_OUTPUT
 	serial0_sendString("Beginning network scan...\r\n\r\n");
 	#endif
 	_delay_ms(500); // xbee warmup
 	wdt_reset();
 	led_on(LED_ACTIVITY);
 	atOK = slavesensors_enterAT();
 	char nameString[20] = "NONE";
 	char slaveNames[MAX_NUM_SLAVES][16]; // Hold 16-char addresses of max MAX_NUM_SLAVES nodes, local so the memory can be reused
 	// wait for OK
 	if(atOK == 0)
+	{
 		led_on(LED_CYCLE);
 		serial0_sendString("ATND");
 		serial0_sendChar(0x0D);
 		// wait for scan to complete
 		uint16_t scanStart = time_millis();
 		while(!serial0_hasChar()) {
 			if(time_millis() - scanStart > 5000) {
 				led_errorcode(ERROR_XBEETIMEOUT);
 				return;
+			}
 			wdt_reset();
+		}
 		// Scan data end when newline by itself ("")
 		int lineCount = 0;
 		while(1) {
 			bufPtr = serial0_readLine();
 			// If we're starting a new block but got a newline instead, we're done!
 			if(lineCount == 0 && strcmp(bufPtr, "") == 0) {
 				break;
+			}
 			if(lineCount == 1) {
 				strcpy(slaveAddressHigh[nodeCount], bufPtr);
+			}
 			else if(lineCount == 2) {
 				strcpy(slaveAddressLow[nodeCount], bufPtr);
+			}
 			else if(lineCount == 3) {
 				strcpy(nameString, bufPtr);
 				strcpy(slaveNames[nodeCount], bufPtr);
+			}
 			// If we've finished one chunk (including the newline after it). Can't be else if because it controls increment.
 			if(lineCount == 9) {
 				// bufPtr should be null at this point, because we read in a newline after one chunk
 				nodeCount++;
 				lineCount = 0;
+			}
 			else {
 				lineCount++;
+			}
+		}
 		slavesensors_exitAT();
+	}
 	// Display number of found nodes on spinning indicator
 	switch(nodeCount) {
 		case 0:
 			break;
 		case 3:
 			led_on(LED_ACT2);
 			_delay_ms(100);
 		case 2:
 			led_on(LED_ACT1);
 			_delay_ms(100);
 		case 1:
 			led_on(LED_ACT0);
 			_delay_ms(100);
+	}
 	led_on(LED_SIDEBOARD);
 	_delay_ms(200);
 	led_off(LED_SIDEBOARD);
 	#ifdef DEBUG_OUTPUT
 	char debugBuf[64];
 	serial0_sendString("Discovered: \r\n");
 	for(int i=0; i<nodeCount; i++) {
 		snprintf(debugBuf, 64, "  %s - %s%s\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i]);
 		serial0_sendString(debugBuf);
+	}
 	serial0_sendString("\r\n");
 	if(atOK != 0) {
 		serial0_sendString("AT mode failed \r\n");
+	}
 	#endif
 	for(int i=0; i<nodeCount; i++)
+	{
 		if(strcmp(slaveNames[i], XBEE_LOGDEST_NAME) == 0)
+		{
 			loggerIndex = i;
+		}
+	}
 	slavesensors_selectlogger();
 	serial0_ion();
+}
 void slavesensors_selectnode(uint8_t nodeIndex)
+{
 	char tmpBuf[23];
 	// If we can get into AT mode
 	if(slavesensors_enterAT() == 0) {
 		snprintf(tmpBuf, 23, "ATDH %s%c",slaveAddressHigh[nodeIndex], 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0) {
 			led_errorcode(ERROR_NOXBEE);
 			return;
+		}
 		snprintf(tmpBuf, 23, "ATDL %s%c",slaveAddressLow[nodeIndex], 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0) {
 			led_errorcode(ERROR_NOXBEE);
 			return;
+		}
 		slavesensors_exitAT();
+	}
 	return;
+}
 void slavesensors_selectlogger()
+{
 	if(loggerIndex != 255) {
 		slavesensors_selectnode(loggerIndex);
+	}
+}
 void slavesensors_exitAT()
+{
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	xbeeIsOk(); // wait for OK
+}
 // Enter AT mode. Leaves "OK" on the buffer.
 int slavesensors_enterAT()
+{
 	// Delay guard time
 	_delay_ms(1);
 	// Enter AT mode
 	serial0_sendChar('+'); // Enter AT mode
 	serial0_sendChar('+');
 	serial0_sendChar('+');
 	// Wait 1ms until we get "OK"
 	int atStart = time_millis();
 	while(!serial0_hasChar()) {
 		if(time_millis() - atStart > 500) {
 			led_errorcode(ERROR_XBEETIMEOUT);
 			wdt_reset();
 			return 1;
+		}
 	};
 	return xbeeIsOk();
+}
 int xbeeIsOk()
+{
 	char* tmppntr = serial0_readLine();
 	if(strcmp(tmppntr, "OK") == 0)
+	{
 		return 0;
+	}
 	else
+	{
 		led_errorcode(ERROR_NOXBEE);
 		return 1;
+	}
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
+{
 	requesting = true;
 	slavesensors_request();
+}
 // TODO: inline. static.
 void slavesensors_request()
+{
 	//slavesensors_selectnode(currentSlave);
 	serial_sendCommand("@"); // Request data!
+}
 int numReadingsToExpect = 0; // number of values that the slave is about to send (testing)
 // TODO: needs to skip logger!
 void slavesensors_process(uint8_t parseResult)
+{
 	if(!requesting) {
 		// we got a command when we didn't request anything. probably skip it.
 		return;
+	}
 	// TODO: timeout. If we're at NODATA for a long time and we are requesting, that's an issue.
 	else if(parseResult == PARSERESULT_NODATA) {
 		// Wait for data
+	}
 	// 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)
+	{
 		// We got some data, let's handle it
 		// ASCII payload
 		uint8_t len = getPayloadLength();
 		uint8_t* load = getPayload();
 		uint8_t type = getPayloadType();
 		uint16_t parsedVal = atoi(load);
 		// Special case for slave telling us how many things we're about to get
 		if(type + 0x30 == '@') {
 			serial0_sendString("Got an awesome count!\r\n");
 			serial0_sendChar(parsedVal + 0x30);
 			serial0_sendString("\r\n");
 			numReadingsToExpect = parsedVal;
 			currentSlave = 0;
 			currentSlaveSensor = 0;
 			requesting = true;
+		}
 		else {
 			// Store data in structure
 			sensordata_set(currentSlave,type,parsedVal);
 			serial0_sendString("Stored some sexy data!\r\n");
 			// If we finished all sensors for all slaves
 			if(currentSlave >= nodeCount && currentSlaveSensor >= numReadingsToExpect)
+			{
 				currentSlave = 0;
 				currentSlaveSensor = 0;
 				requesting = false;
+			}
 			// If we finished up one slave, go to the next
 			else if(currentSlaveSensor >= (numReadingsToExpect-1))
+			{
 				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
+			{
 				// request data for the current sensor of the current slave
 				currentSlaveSensor++;
 				requesting = true;
 				//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
+			}
+		}
+	}
 	// 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) {
 			slavesensors_request();	// re-request
+		}
+	}
 	else if(parseResult == PARSERESULT_STILLPARSING)
+	{
 		return; // do nothing
+	}
 	else {
 		// something is terribly wrong!
 		return;
+	}
+}
@@ \ No newline at end of file @@

master/master/master.c

➞

Show inline comments

 /*
  * 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 "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/looptime.h"
 #include "lib/slavesensors.h"
 #include "lib/serparser.h"
 #include "lib/sensordata.h"
 int main(void)
+{
 	led_on(LED_POWER);
 	// Initialize libraries
 	time_setup();
 	watchdog_setup(); // enables interrupts
 	led_setup();
 	gps_setup();
 	serial0_setup();
 	serial1_setup();
 	i2c_init();
 	sensordata_setup(); // must happen before sensors/logger/afsk
 	slavesensors_setup();
 	logger_setup();
 	afsk_setup();
 	//\f
 	#ifdef DEBUG_OUTPUT
 	serial0_sendString("\r\n---------------------------------\r\n");
 	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");
 	serial0_sendString("---------------------------------\r\n");
 	#endif
 	serial0_sendString("\r\nHello.\r\n\r\n");
 	slavesensors_network_scan(); // This can take a little while
 	// Buffer for string operations
 	char logbuf[128];
 	char debugBuf[128];
 	// 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");
 	serial1_ioff();
 	while(1)
+    {
 		// Periodic: LED execution indicator
 		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) {
 			led_spin();
 			if(!afsk_busy())
 				serial1_ion();
 			lastLedCycle = time_millis();
+		}
 		// Periodic: Logging
 		if(time_millis() - lastLog > LOGGER_RATE)
+		{
 			led_on(LED_CYCLE);
 			heater_regulateTemp();
 			// Print out GPS debug
 			//snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",
 			//get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			//serial0_sendString(debugBuf);
 			// Turn on sideboard LED if we have a fix
 			if(strcmp("99.99", get_hdop()) == 0) {
 				led_off(LED_SIDEBOARD);
+			}
 			else {
 				led_on(LED_SIDEBOARD);
+			}
 			sensors_readBoardTemp(); // i2c read, 400k
 			logbuf[0] = 0x00;
 			//snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			for(int i=0; i<MAX_NUM_SLAVES; i++) {
 				for(int j=0; j<MAX_NUM_SENSORS; j++) {
 					int16_t tmp = sensordata_get(i, j);
 					if(tmp != -32768) {
 						//serial0_sendString("OH GOSH DATUM\r\n");
-						snprintf(logbuf,128,"Found value %d...\r\n", tmp);
+						snprintf(logbuf + strlen(logbuf),128," %d,", tmp);
 						serial0_sendString(logbuf);
+					}
+				}
+			}
 			snprintf(logbuf + strlen(logbuf),128,"\r\n");
 			logger_log(logbuf);
 			// Print out logger debug
 			#ifdef DEBUG_OUTPUT
 			//serial0_sendString("LOG> ");
 			//serial0_sendString(logbuf);
 			#endif
 			led_off(LED_CYCLE);
 			lastLog = time_millis();
+		}
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD)
+		{
 			while(afsk_busy());
 			serial1_ioff();
 			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
+			}
 			else
+			{
 				slavesensors_startprocess();
+			}
 			lastAprsBroadcast = time_millis();
+		}
 		parseResult = serparser_parse();
 		slavesensors_process(parseResult);
 		parse_gps_transmission();
 		wdt_reset();
+    }
+}
@@ \ No newline at end of file @@

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