seniordesign-firmware Changeset - 38ae355005d8

Changeset - 38ae355005d8

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-29 16:52:00
ethanzonca@CL-ENS241-08.cedarville.edu

Reduced delays, debug output now optional

2 files changed with 11 insertions and 4 deletions:

master/master/lib/slavesensors.c

master/master/master.c

0 comments (0 inline, 0 general)

master/master/lib/slavesensors.c

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@@ @@ -123,224 +123,232 @@ void slavesensors_network_scan() { @@
 	// 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 (%u)\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i], 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;
+		}
+	}
 	_delay_ms(100);
 	slavesensors_selectlogger();
 	serial0_ion();
+}
 // #define DEBUG_SELECTNODE
 void slavesensors_selectnode(uint8_t nodeIndex)
+{
 	serial0_ioff();
-	serial0_ioff();
+	#ifdef DEBUG_SELECTNODE
 	serial0_sendString("Switch to node ");
 	serial0_sendChar(nodeIndex + 0x30);
 	serial0_sendString("\r\n");
 	_delay_ms(30);
 	#endif
 	_delay_ms(20);
 	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();
+	}
 	_delay_ms(2);
 	#ifdef DEBUG_SELECTNODE
 	serial0_sendString("Selected ");
 	serial0_sendChar(nodeIndex + 0x30);
 	serial0_sendString("\r\n");
 	#endif
 	serial0_ion();
 	return;
+}
 void slavesensors_selectlogger()
+{
 	if(loggerIndex != 255) {
 		slavesensors_selectnode(loggerIndex);
+	}
+}
 void slavesensors_exitAT()
+{
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	_delay_ms(2);
 	//// Wait until we get "OK"
 	//int atStart = time_millis();
 	//while(!serial0_hasChar()) {
 		//if(time_millis() - atStart > 500) {
 			//led_errorcode(ERROR_EXITAT);
 			//wdt_reset();
 			//return 1;
 		//}
 	//};
 	xbeeIsOk();
+}
 // 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('+');
 	_delay_ms(2);
 	// Wait 1ms until we get "OK"
 	//int atStart = time_millis();
 	//while(!serial0_hasChar()) {
 		//if(time_millis() - atStart > 500) {
 			//led_errorcode(ERROR_ATFAIL);
 			//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_dataReady() {
 	return dataReady;
+}
 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!
 	slavesensors_selectlogger();
+}
 uint8_t 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)
+	{
 		#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 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 == '@') {
 			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Got an awesome count!\r\n");
 			serial0_sendChar(parsedVal + 0x30);
 			serial0_sendString("\r\n");
 			#endif
 			numReadingsToExpect = parsedVal;
 			currentSlaveSensor = 0;
 			requesting = true;

master/master/master.c

➞

Show inline comments

@@ @@ -98,98 +98,97 @@ int main(void) @@
 		// 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
 			// If we've gotten data from all slaves once, we're ready to make a CSV header and start logging
 			if(slavesensors_dataReady()) {
 				if(!dataWasReady) {
 					char csvHeader[128];
 					csvHeader[0] = 0x00;
 					// Add master data headers
 					snprintf(csvHeader, 128, "Time,BoardTemp,Lat,Lon,HDOP,Speed,GPS SV,");
 					for(uint8_t i=0; i<MAX_NUM_SLAVES; i++) {
 						for(uint8_t j=0; j<MAX_NUM_SENSORS; j++) {
 							int16_t tmp = sensordata_get(i, j);
 							if(tmp != -32768) {
 								// FIXME: will the 128 here really provide safety? might want to subtract the strlen
 								snprintf(csvHeader + strlen(csvHeader), 128,"%s-Sensor%u,", slavesensors_slavename(i), j);
+							}
+						}
+					}
 					snprintf(csvHeader + strlen(csvHeader), 128,"\r\n");
 					serial0_sendString(csvHeader);
 					logger_log(csvHeader);
 					dataWasReady = true;
+				}
 				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());
 				serial0_sendString(logbuf);
 				snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s", 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) {
 							snprintf(logbuf + strlen(logbuf),128," %d,", tmp);
+						}
+					}
+				}
 				snprintf(logbuf + strlen(logbuf),128,"\r\n");
 				serial0_sendString(logbuf);
 				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();
+		}

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