seniordesign-firmware Changeset - 48acfcb35ad3

Changeset - 48acfcb35ad3

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ethanzonca@CL-SEC241-08.cedarville.edu - 12 years ago 2012-11-27 21:36:13
ethanzonca@CL-SEC241-08.cedarville.edu

Added slave parser library, added infrastructure for requesting data from slave nodes

13 files changed with 211 insertions and 83 deletions:

master/master/config.h

master/master/lib/aprs.c

master/master/lib/logger.c

master/master/lib/looptime.c

master/master/lib/sd/sd_raw.c

master/master/lib/serial.c

master/master/lib/serial.h

master/master/lib/serparser.c

master/master/lib/serparser.h

master/master/lib/slavesensors.c

master/master/lib/slavesensors.h

master/master/master.c

master/master/master.cproj

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master/master/config.h

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@@ @@ -9,13 +9,24 @@ @@
 #ifndef CONFIG_H_
 #define CONFIG_H_
 #define F_CPU 11059200
 #define MODULE_ID '1'
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 #define SLAVE0_SENSORS BOARDTEMP
 #define SLAVE1_SENSORS BOARDTEMP | HUMIDITY | TEMPERATURE | PRESSURE | AMBIENTLIGHT
 #define SLAVE2_SENSORS BOARDTEMP | GEIGER
 #define SLAVE3_SENSORS BOARDTEMP | CAMERA
 #define SLAVE4_SENSORS NONE
 #define SLAVE5_SENSORS NONE
 #define SLAVE6_SENSORS NONE
 #define SLAVE7_SENSORS NONE
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 #define USART0_BAUDRATE 115200
@@ @@ -59,18 +70,22 @@ @@
 // APRS comment: this goes in the comment portion of the APRS message. You
 // might want to keep this short. The longer the packet, the more vulnerable
 // it is to noise.
 #define APRS_COMMENT    "Trackuino reminder: replace callsign with your own"
 // Transmit the APRS sentence every X milliseconds
 #define APRS_TRANSMIT_PERIOD 5000
 // --------------------------------------------------------------------------
 // Logger config (logger.c)
 // --------------------------------------------------------------------------
 #define LOGGER_ID_EEPROM_ADDR 0x10
 // Written to the beginning of every log file
 #define LOGGER_HEADERTEXT "HAB Control Master - 1.0\n"
 // Log to SD card every X milliseconds
 #define LOGGER_RATE 1000
 #endif /* CONFIG_H_ */
@@ \ No newline at end of file @@

master/master/lib/aprs.c

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@@ @@ -7,15 +7,15 @@ @@
 #include "../config.h"
 #include "aprs.h"
 #include "ax25.h"
 #include <stdio.h>
 const char *gps_aprs_lat = "somelatitudesomelatitudesomelatitudesomelatitudesomelatitudesomelatitude";
 const char *gps_aprs_lon = "somelongitudesomelongitudesomelongitudesomelongitudesomelongitudesomelongitude";
 const char *gps_time = "sometimedatasometimedatasometimedatasometimedatasometimedatasometimedata";
 const char *gps_aprs_lat = "omgmylatitude";
 const char *gps_aprs_lon = "omgmylongitude";
 const char *gps_time = "omgmygpstime";
 float gps_altitude = 123.5;
 int gps_course = 5;
 int gps_speed = 13;
 float meters_to_feet(float m)
+{

master/master/lib/logger.c

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@@ @@ -5,12 +5,13 @@ @@
  *  Author: mkanning
  */
 #include "../config.h"
 #include <util/delay.h>
 #include <string.h>
 #include <stdio.h>
 #include <avr/pgmspace.h>
 #include <avr/sleep.h>
 #include <avr/eeprom.h>
 #include <string.h>
 #include "sd/fat.h"
 #include "sd/fat_config.h"
@@ @@ -116,14 +117,13 @@ void logger_setup() @@
 		return;
+	}
 	// Write header information
 	logger_log(LOGGER_HEADERTEXT);
 	logger_log("\n-- BEGIN DATA --\n");
 	logger_log("C1, C2, C3, C4, C5, C6\n");
+}
 void logger_log(char *buffer) {
 	uint8_t len = strlen(buffer);
 	if(fat_write_file(fd, (uint8_t*) buffer, len) != len)
+	{

master/master/lib/looptime.c

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@@ @@ -5,14 +5,14 @@ @@
  *  Author: ethanzonca
  */
 #include "../config.h"
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/delay.h>
 extern volatile uint32_t millis = 0; // Milliseconds since initialization
 #include <util/delay.h>
 volatile uint32_t millis = 0; // Milliseconds since initialization
 void time_setup() {
 	DDRA = 0xff;

master/master/lib/sd/sd_raw.c

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@@ @@ -188,24 +188,15 @@ uint8_t sd_raw_init() @@
     SPCR0 = (0 << SPIE0) | // SPI Interrupt Enable
             (1 << SPE0)  | // SPI Enable
             (0 << DORD0) | // Data Order: MSB first
             (1 << MSTR0) | // Master mode
             (0 << CPOL0) | // Clock Polarity: SCK low when idle
             (0 << CPHA0) | // Clock Phase: sample on rising SCK edge
             (1 << SPR10);   // Clock Frequency: f_OSC / 128
             //(1 << SPR00); // commentnig this out means /64, which gives over 100khz as required
             (1 << SPR10);   // Clock Frequency: f_OSC / 64 which gives over 100khz required minimum clock
     SPSR0 &= ~(1 << SPI2X0); // No doubled clock frequency
 /*
 	while(1) {
 		SPDR0 = 'a';					//Load byte to Data register
 		while(!(SPSR0 & (1<<SPIF0))); 	// Wait for transmission complete
+	}
 */
     /* initialization procedure */
     sd_raw_card_type = 0;
     if(!sd_raw_available())
         return 0;

master/master/lib/serial.c

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@@ @@ -6,13 +6,12 @@ @@
  */
 #include "serial.h"
 #include "../config.h"
 #include <avr/io.h>
 void serial0_setup() {
 	/* Set baud rate */
 	UBRR0H = (unsigned char)(USART0_BAUD_PRESCALE>>8);
 	UBRR0L = (unsigned char)USART0_BAUD_PRESCALE;
 	/* Enable receiver and transmitter */
 	UCSR0B = (1<<RXEN0)|(1<<TXEN0);
@@ @@ -39,43 +38,55 @@ void serial0_sendChar( unsigned char byt @@
 void serial1_sendChar( unsigned char byte )
+{
 	while (!(UCSR1A & (1<<UDRE1)));
 	UDR1 = byte;
+}
 void serial0_sendString(char* stringPtr){
 unsigned char serial0_readChar()
+{
 	while(!(UCSR0A &(1<<RXC0)));
 	return UDR0;
+}
 unsigned char serial1_readChar()
+{
 	while(!(UCSR1A &(1<<RXC1)));
 	return UDR1;
+}
 void serial0_sendString(const char* stringPtr){
 	while(*stringPtr != 0x00){
 		serial0_sendChar(*stringPtr);
 		stringPtr++;
+	}
+}
 void serial1_sendString(char* stringPtr){
+void serial1_sendString(const char* stringPtr){
 	while(*stringPtr != 0x00){
 		serial1_sendChar(*stringPtr);
 		stringPtr++;
+	}
+}
-void serial_sendCommand( char moduleID, char sensorID, uint8_t dataLength, char* data )
 void serial_sendCommand( char moduleID, char sensorID, char* data )
+{
 	char checkSum = 0x00; //initialize checksum
 	serial0_sendChar('['); //bracket indicates start of command
 	serial0_sendChar(moduleID);
 	checkSum+=moduleID;
 	serial0_sendChar(sensorID);
 	checkSum+=sensorID;
 	//send each character of data individually
 	for (int i=0; i<dataLength; i++)
+	{
 		serial0_sendChar(data[i]);
 		checkSum+=data[i];
 	// send data, null-terminated
 	while(*data != 0x00){
 		serial0_sendChar(*data);
 		checkSum += *data;
 		data++;
+	}
 	serial0_sendChar(checkSum);
 	serial0_sendChar(']'); //bracket indicates end of command
+}

master/master/lib/serial.h

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@@ @@ -14,17 +14,20 @@ @@
 #define USART0_BAUD_PRESCALE (((F_CPU / (USART0_BAUDRATE * 16UL))) -1 )
 #define USART1_BAUD_PRESCALE (((F_CPU / (USART1_BAUDRATE * 16UL))) -1 )
 void serial0_sendChar( unsigned char byte );
 void serial1_sendChar( unsigned char byte );
 unsigned char serial0_readChar();
 unsigned char serial1_readChar();
 void serial0_setup();
 void serial1_setup();
 void serial0_sendString(char* stringPtr);
 void serial1_sendString(char* stringPtr);
 void serial0_sendString(const char* stringPtr);
 void serial1_sendString(const char* stringPtr);
-void serial_sendCommand( char moduleID, char sensorID, uint8_t dataLength, char* data );
 void serial_sendCommand( char moduleID, char sensorID, char* data );
 void serial_sendResponseData();
 #endif /* SERIAL_H_ */
@@ \ No newline at end of file @@

master/master/lib/serparser.c

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@@ @@ -9,24 +9,17 @@ @@
 // ************* Macros ***************
 #define SERIAL_RX_HASBYTES UCSR0A & _BV(RXC0)
 #define MAX_CMD_LEN 16
 #define BROADCAST_ADDR 0 //public address
 #include <avr/io.h>
 #include "../config.h"
+#include "serial.h"
 //#define DEBUG
 // ************* Command Definitions ***************
 // Serial Commands
 enum cmd // CMD ID#
+{
 	BOARDTEMP = 0, // 0
 	PRESSURE,      // 1
 };
 // Incoming command buffer
 uint8_t buffer[MAX_CMD_LEN+2];
 // Current buffer location
 uint8_t bufferPosition = 0;
@@ @@ -39,36 +32,25 @@ char data[16]; @@
 //ID of the sensor of most recent transmission
 char sensorID;
 //checksum to be calculated and then compared to the received checksum
 char checksumCalc;
 /* return char from UART (h/w buffer) */
 uint8_t uart_getchar(void)
+{
 	// Wait for chars
 	/*	while (!(UCSRA & (1<<RXC)))
+	{
 		idle();
+	}
 	return UDR;
 	*/
 	return 0;
+}
 /* Process incoming serial data */
 int uart_Parser(void)
 // TODO: Maybe make this suck up the whole buffer if there is more to be had. That would make this much more efficient.
 // we could parse while(SERIAL_RX_HASBYTES && notOverTimeout), don't have it parse for more than 100ms straight or something...
 int serparser_parse(void)
+{
 	char byte;
 	if(SERIAL_RX_HASBYTES) // Only process data if buffer has a byte
+	{
 		// Pull byte off of the buffer
-		byte = uart_getchar();
+		byte = serial0_readChar();
 		buffer[bufferPosition] = byte;
 		// byte checking/validation
 		if(bufferPosition == 0)
+		{
 			if(byte == '[') // If this is a start byte, we're OK. Keep reading.
@@ @@ -105,12 +87,13 @@ int uart_Parser(void) @@
+		}
 		else
+		{
 			if (byte == ']') //this is the end of the transmission
+			{
 				bufferPosition = 0;
 				return 2; // got whole msg
+			}
 			else //still receiving data
+			{
 				data[dataLength] = byte;
 				dataLength++;
 				bufferPosition++;

master/master/lib/serparser.h

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@@ @@ -6,20 +6,10 @@ @@
  */
 #ifndef SERPARSER_H_
 #define SERPARSER_H_
 // Prototypes
 uint8_t convertchar(uint8_t);
 uint8_t uart_getchar(void);
 void got_char(uint8_t);
 int uart_machine(void);
 void uart_putchar(uint8_t);
 void exec_cmd(void);
 void idle(void);
 void uart_init(void);
 int serparser_parse(void);
 #endif /* SERPARSER_H_ */
@@ \ No newline at end of file @@

master/master/lib/slavesensors.c

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@@ new file 100644 @@
 /*
  * slavesensors.c
+ *
  * Created: 11/27/2012 9:02:12 PM
  *  Author: ethanzonca
  */
 #include <avr/io.h>
 #include <stdbool.h>
 #include "../config.h"
 #include "serial.h"
 #include "serparser.h"
 // Serial Commands
 enum sensorTypes // CMD ID#
+{
 	NONE = 0,
 	BOARDTEMP = (1<<0),
 	PRESSURE = (1<<1),
 	GEIGER = (1<<2),
 	TEMPERATURE = (1<<3),
 	HUMIDITY = (1<<4),
 	AMBIENTLIGHT = (1<<5),
 	CAMERA = (1<<5),
 };
 uint8_t receptionFinished = 0;
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 uint8_t maxSlave = 8;
 uint16_t slaves[8];
 void slavesensors_setup()
+{
 	// Empty array
 	for(int i=0; i<8; i++)
+	{
 		slaves[i] = 0;
+	}
 	// Configure sensors
 	slaves[0] = SLAVE0_SENSORS;
 	slaves[1] = SLAVE1_SENSORS;
 	slaves[2] = SLAVE2_SENSORS;
 	slaves[3] = SLAVE3_SENSORS;
 	slaves[4] = SLAVE4_SENSORS;
 	slaves[5] = SLAVE5_SENSORS;
 	slaves[6] = SLAVE6_SENSORS;
 	slaves[7] = SLAVE7_SENSORS;
+}
 bool slavesensors_process()
+{
 	// Periodic: Every Iteration
 	// maybe we should do this in an ISR on byte received. only problem is that this could interrupt things,
 	// but we only care about interruption during logging and such. don't log when parsing a message?
 	receptionFinished = serparser_parse();
 	// Finished reception of a message (one sensor data value). If not finished, send out command to get the next one
 	if(receptionFinished == 2)
+	{
 		bool weFinishedTHeLastSlaveSensor = false; // ex.
 		// if we finished the final reception for this slave, set gettingValues = false;
 		if(currentSlave >= maxSlave && weFinishedTHeLastSlaveSensor)
+		{
 			currentSlave = 0;
 			return false; // We're done for now!
+		}
 		else
+		{
 			// Request data from the next slave
 			currentSlave++;
 			// Need to check the next bit over to see if it has that...
 			serial_sendCommand(currentSlave, 'a', ""); // send req for data
 			return true; // Keep going...
+		}
+	}
 	else
+	{
 		return true; // Keep going...
+	}
+}
@@ \ No newline at end of file @@

master/master/lib/slavesensors.h

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@@ new file 100644 @@
 /*
  * slavesensors.h
+ *
  * Created: 11/27/2012 9:05:47 PM
  *  Author: ethanzonca
  */
 #ifndef SLAVESENSORS_H_
 #define SLAVESENSORS_H_
 #include <stdbool.h>
 void slavesensors_setup();
 bool slavesensors_process();
 #endif /* SLAVESENSORS_H_ */
@@ \ No newline at end of file @@

master/master/master.c

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@@ @@ -14,73 +14,98 @@ @@
 #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/sd/sd_raw_config.h"
 #include "lib/looptime.h"
 #include "lib/slavesensors.h"
 void micro_setup() {
+}
 int main(void)
+{
-	// Initialize. If this takes more than 4 seconds, be sure to reset the WDT
+	// Initialize libraries
 	time_setup();
 	micro_setup();
 	watchdog_setup();
 	led_setup();
 	serial0_setup(); // Config serial ports
 	serial1_setup(); // Config serial ports
 	logger_setup(); // this takes a few ms
 	afsk_setup(); // can take a few ms
 	serial0_setup();
 	serial1_setup();
 	slavesensors_setup();
 	logger_setup();
 	afsk_setup();
 	serial0_sendString("\r\n\r\n---------------------------------\r\nHAB Controller 1.0 - Initialized!\r\n---------------------------------\r\n\r\n");
 	led_on(POWER);
 	// Buffer for string operations
 	char logbuf[32];
 	const char* logBufPtr = logbuf;
 	uint16_t ctr1 = 0;
 	uint16_t ctr2 = 255;
 	char logbuf[32];
 	// Software timers
 	uint32_t lastAprsBroadcast = 0;
 	uint32_t lastLog = 0;
 	// If we are currently processing sensor data
 	bool isProcessing = false;
 	// Write CSV header to SD card
 	logger_log("ProgramTime,LastAprsBroadcast,LastLog\n");
 	while(1)
+    {
 		if(time_millis() - lastLog > 1000) {
 		// Periodic: Logging
 		if(time_millis() - lastLog > LOGGER_RATE) {
 			// TODO: Acquire data from daughterboards
 			//       This will be complicated because we need timeouts / unreliable transmission, etc
 			//
 			// For each daughterboard...
 			//   1. Send request to daughterboard for sensor data
 			//   2. Wait for response from daughterboard (timeout!)
 			//   3. Put data into local variables for transmission / logging
 			led_on(STAT);
-			sprintf(logbuf, "%lu,%u,%u,%u,%u,%u\r\n", time_millis(),5*ctr1,ctr2, 12*ctr2,43*ctr1,5*ctr2);
+			snprintf(logbuf, 32, "%lu,%lu,%lu,\r\n", time_millis(), lastAprsBroadcast,lastLog);
 			logger_log(logbuf);
 			serial0_sendString("SD Logger: ");
-			serial0_sendString(logbuf);
+			serial0_sendString(logBufPtr);
 			led_off(STAT);
 			lastLog = time_millis();
+		}
 		// 8 second periodic for APRS transmission
 		// for some reason this seems to lock up and the WDT resets everything when the period exceeds 8 seconds. Which is the WDTimeout. Weird.
 		// If we want ~8+ seconds, then we'll need to do something fun here. Maybe reset the wdt...
 		if(time_millis() - lastAprsBroadcast > 10000) {
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) {
 			while(afsk_busy());
 			aprs_send(); // non-blocking
 			serial0_sendString("Initiating APRS transmission...\r\n");
 			// Start getting values for next transmission
 			isProcessing = true;
 			lastAprsBroadcast = time_millis();
+		}
 		ctr1++;
 		ctr2-=6;
 		// keep calling processSensors until it is finished
 		if(isProcessing)
+		{
 			isProcessing = slavesensors_process();
+		}
 		wdt_reset();
+    }
+}
@@ \ No newline at end of file @@

master/master/master.cproj

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@@ @@ -195,12 +195,18 @@ @@
     <Compile Include="lib\serparser.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\slavesensors.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\slavesensors.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\trackuinoGPS\config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\trackuinoGPS\gpsMKa.c">
       <SubType>compile</SubType>
     </Compile>

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