seniordesign-firmware Changeset - 48acfcb35ad3

Changeset - 48acfcb35ad3

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ethanzonca@CL-SEC241-08.cedarville.edu - 13 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 209 insertions and 81 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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 /*
  * config.h
+ *
  * Created: 10/25/2012 3:28:22 PM
  *  Author: ethanzonca
  */
 #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
 #define USART1_BAUDRATE 115200
 // --------------------------------------------------------------------------
 // AX.25 config (ax25.c)
 // --------------------------------------------------------------------------
 // TX delay in milliseconds
 #define TX_DELAY      300
 // 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      "MYCALL"
 #define S_CALLSIGN_ID   11
 // Destination callsign: APRS (with SSID=0) is usually okay.
 #define D_CALLSIGN      "APRS"
 #define D_CALLSIGN_ID   0
 // Digipeating paths:
 // (read more about digipeating paths here: http://wa8lmf.net/DigiPaths/ )
 // The recommended digi path for a balloon is WIDE2-1 or pathless. The default
 // is pathless. Uncomment the following two lines for WIDE2-1 path:
 #define DIGI_PATH1      "WIDE2"
 #define DIGI_PATH1_TTL  1
 // 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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 /*
  * aprs.c
+ *
  * Created: 11/8/2012 3:40:57 PM
  *  Author: ethanzonca
  */
 #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)
+{
   // 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(gps_time);         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
   ax25_send_byte('h');
   ax25_send_string(gps_aprs_lat);     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
   ax25_send_byte('/');                // Symbol table
   ax25_send_string(gps_aprs_lon);     // Lon: 000deg and 25.80 min
   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(temp);             // 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(APRS_COMMENT);     // Comment
   ax25_send_footer();
   ax25_flush_frame();                 // Tell the modem to go
+}

master/master/lib/logger.c

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 /*
  * CFile1.c
+ *
  * Created: 11/7/2012 8:05:44 PM
  *  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"
 #include "sd/partition.h"
 #include "sd/sd_raw.h"
 #include "sd/sd_raw_config.h"
 #include "logger.h"
 /*
 	//config edits
   * By changing the MCU* variables in the Makefile, you can use other Atmel
   * microcontrollers or different clock speeds. You might also want to change
   * the configuration defines in the files fat_config.h, partition_config.h,
   * sd_raw_config.h and sd-reader_config.h. For example, you could disable
   * write support completely if you only need read support.
  */
 struct partition_struct* partition;
 struct fat_fs_struct* fs;
 struct fat_dir_entry_struct directory;
 struct fat_dir_struct* dd;
 struct fat_file_struct* fd;
 void logger_setup()
+{
 	if(!sd_raw_init())
+	{
 		// initialization failed
 		return;
+	}
 	// TODO: Check SD card switch to see if inserted.
 	// this was included in the library, but is commented out right now
 	// Open first partition
 	partition = partition_open(sd_raw_read, sd_raw_read_interval, sd_raw_write, sd_raw_write_interval, 0);
 	// Check that partition was created correctly
 	if(!partition)
+	{
 		// error
 		// If the partition did not open, assume the storage device is a "superfloppy", i.e. has no MBR.
 		partition = partition_open(sd_raw_read, sd_raw_read_interval, sd_raw_write, sd_raw_write_interval, -1);
 		if(!partition)
+		{
 			// opening partition failed
 			return;
+		}
+	}
 	// Open FAT filesystem
 	fs = fat_open(partition);
 	if(!fs)
+	{
 		// opening filesystem failed
 		return;
+	}
 	// Open directory
 	fat_get_dir_entry_of_path(fs, "/", &directory);
 	dd = fat_open_dir(fs, &directory);
 	if(!dd)
+	{
 		// opening root directory failed
 		_delay_ms(10);
 		return;
+	}
 	// Create new log file
 	uint8_t logid = eeprom_read_byte(LOGGER_ID_EEPROM_ADDR);
 	char filename[48];
 	// we pre-increment logid here because it starts at 255, then wraps to 0
 	sprintf(filename, "data%d.csv",++logid);
 	// TODO: Catch errors here
 	fat_create_file(dd, filename, &directory);
 	eeprom_update_byte(LOGGER_ID_EEPROM_ADDR, logid);
 	// Search for file in current directory and open it
 	fd = open_file_in_dir(fs, dd, filename);
 	if(!fd)
+	{
 		_delay_ms(10);
 		return;
+	}
 	// Seek to beginning of file
 	// TODO: Is this needed?
 	int32_t offset = 0;
 	if(!fat_seek_file(fd, &offset, FAT_SEEK_SET))
+	{
 		// Error seeking to file
 		_delay_ms(10);
 		fat_close_file(fd);
 		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)
+	{
 		// Error writing to file
 		return;
+	}
+}
 void logger_closeLog() {
 	fat_close_file(fd);
 	fat_close_dir(dd);
 	fat_close(fs);
 	partition_close(partition);
+}
 // INTERNAL FUNCTIONS
 // Opens a file so it can be read/written
 struct fat_file_struct* open_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name)
+{
 	struct fat_dir_entry_struct file_entry;
 	if(!find_file_in_dir(fs, dd, name, &file_entry))
 	return 0;
 	return fat_open_file(fs, &file_entry);
+}
 // Searches for file in directory listing
 uint8_t find_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name, struct fat_dir_entry_struct* dir_entry)
+{
 	while(fat_read_dir(dd, dir_entry))
+	{
 		if(strcmp(dir_entry->long_name, name) == 0)
+		{
 			fat_reset_dir(dd);
 			return 1;
+		}
+	}
 	return 0;
+}

master/master/lib/looptime.c

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 /*
  * looptime.c
+ *
  * Created: 11/19/2012 8:56:42 PM
  *  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;
 	// Generic microcontroller config options
 	OCR0A = 173; // Approx 172.7969 ticks per ms with 64 prescaler
 	TCCR0A |= (1 << WGM01) | (1 << WGM00); // Count until OCR0A, then overflow (wgm02 in the next line specifies this as well)
 	TCCR0B |= (1 << CS01) | (1 << CS00) | (1 << WGM02); // clock div by 64
 	TIFR0 |= ( 1 << TOV0 ); // clear pending interrupts
 	TIMSK0 |= (1 << TOIE0); // enable overflow interrupt
+}
 ISR(TIMER0_OVF_vect) {
 	millis = millis + 1;
+}
 uint32_t time_millis() {
 	return millis; // meh accuracy, but that's OK
+}

master/master/lib/sd/sd_raw.c

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 /*
  * Copyright (c) 2006-2012 by Roland Riegel <feedback@roland-riegel.de>
+ *
  * This file is free software; you can redistribute it and/or modify
  * it under the terms of either the GNU General Public License version 2
  * or the GNU Lesser General Public License version 2.1, both as
  * published by the Free Software Foundation.
  */
 #include <string.h>
 #include <avr/io.h>
 #include "sd_raw.h"
 #include "sd_raw_config.h"
 /**
  * \addtogroup sd_raw MMC/SD/SDHC card raw access
+ *
  * This module implements read and write access to MMC, SD
  * and SDHC cards. It serves as a low-level driver for the
  * higher level modules such as partition and file system
  * access.
+ *
  * @{
  */
 /**
  * \file
  * MMC/SD/SDHC raw access implementation (license: GPLv2 or LGPLv2.1)
+ *
  * \author Roland Riegel
  */
 /**
  * \addtogroup sd_raw_config MMC/SD configuration
  * Preprocessor defines to configure the MMC/SD support.
  */
 /**
  * @}
  */
 /* commands available in SPI mode */
 /* CMD0: response R1 */
 #define CMD_GO_IDLE_STATE 0x00
 /* CMD1: response R1 */
 #define CMD_SEND_OP_COND 0x01
 /* CMD8: response R7 */
 #define CMD_SEND_IF_COND 0x08
 /* CMD9: response R1 */
 #define CMD_SEND_CSD 0x09
 /* CMD10: response R1 */
 #define CMD_SEND_CID 0x0a
 /* CMD12: response R1 */
 #define CMD_STOP_TRANSMISSION 0x0c
 /* CMD13: response R2 */
 #define CMD_SEND_STATUS 0x0d
 /* CMD16: arg0[31:0]: block length, response R1 */
 #define CMD_SET_BLOCKLEN 0x10
 /* CMD17: arg0[31:0]: data address, response R1 */
 #define CMD_READ_SINGLE_BLOCK 0x11
 /* CMD18: arg0[31:0]: data address, response R1 */
 #define CMD_READ_MULTIPLE_BLOCK 0x12
 /* CMD24: arg0[31:0]: data address, response R1 */
 #define CMD_WRITE_SINGLE_BLOCK 0x18
 /* CMD25: arg0[31:0]: data address, response R1 */
 #define CMD_WRITE_MULTIPLE_BLOCK 0x19
 /* CMD27: response R1 */
 #define CMD_PROGRAM_CSD 0x1b
 /* CMD28: arg0[31:0]: data address, response R1b */
 #define CMD_SET_WRITE_PROT 0x1c
 /* CMD29: arg0[31:0]: data address, response R1b */
 #define CMD_CLR_WRITE_PROT 0x1d
 /* CMD30: arg0[31:0]: write protect data address, response R1 */
 #define CMD_SEND_WRITE_PROT 0x1e
 /* CMD32: arg0[31:0]: data address, response R1 */
 #define CMD_TAG_SECTOR_START 0x20
 /* CMD33: arg0[31:0]: data address, response R1 */
 #define CMD_TAG_SECTOR_END 0x21
 /* CMD34: arg0[31:0]: data address, response R1 */
 #define CMD_UNTAG_SECTOR 0x22
 /* CMD35: arg0[31:0]: data address, response R1 */
 #define CMD_TAG_ERASE_GROUP_START 0x23
 /* CMD36: arg0[31:0]: data address, response R1 */
 #define CMD_TAG_ERASE_GROUP_END 0x24
 /* CMD37: arg0[31:0]: data address, response R1 */
 #define CMD_UNTAG_ERASE_GROUP 0x25
 /* CMD38: arg0[31:0]: stuff bits, response R1b */
 #define CMD_ERASE 0x26
 /* ACMD41: arg0[31:0]: OCR contents, response R1 */
 #define CMD_SD_SEND_OP_COND 0x29
 /* CMD42: arg0[31:0]: stuff bits, response R1b */
 #define CMD_LOCK_UNLOCK 0x2a
 /* CMD55: arg0[31:0]: stuff bits, response R1 */
 #define CMD_APP 0x37
 /* CMD58: arg0[31:0]: stuff bits, response R3 */
 #define CMD_READ_OCR 0x3a
 /* CMD59: arg0[31:1]: stuff bits, arg0[0:0]: crc option, response R1 */
 #define CMD_CRC_ON_OFF 0x3b
 /* command responses */
 /* R1: size 1 byte */
 #define R1_IDLE_STATE 0
 #define R1_ERASE_RESET 1
 #define R1_ILL_COMMAND 2
 #define R1_COM_CRC_ERR 3
 #define R1_ERASE_SEQ_ERR 4
 #define R1_ADDR_ERR 5
 #define R1_PARAM_ERR 6
 /* R1b: equals R1, additional busy bytes */
 /* R2: size 2 bytes */
 #define R2_CARD_LOCKED 0
 #define R2_WP_ERASE_SKIP 1
 #define R2_ERR 2
 #define R2_CARD_ERR 3
 #define R2_CARD_ECC_FAIL 4
 #define R2_WP_VIOLATION 5
 #define R2_INVAL_ERASE 6
 #define R2_OUT_OF_RANGE 7
 #define R2_CSD_OVERWRITE 7
 #define R2_IDLE_STATE (R1_IDLE_STATE + 8)
 #define R2_ERASE_RESET (R1_ERASE_RESET + 8)
 #define R2_ILL_COMMAND (R1_ILL_COMMAND + 8)
 #define R2_COM_CRC_ERR (R1_COM_CRC_ERR + 8)
 #define R2_ERASE_SEQ_ERR (R1_ERASE_SEQ_ERR + 8)
 #define R2_ADDR_ERR (R1_ADDR_ERR + 8)
 #define R2_PARAM_ERR (R1_PARAM_ERR + 8)
 /* R3: size 5 bytes */
 #define R3_OCR_MASK (0xffffffffUL)
 #define R3_IDLE_STATE (R1_IDLE_STATE + 32)
 #define R3_ERASE_RESET (R1_ERASE_RESET + 32)
 #define R3_ILL_COMMAND (R1_ILL_COMMAND + 32)
 #define R3_COM_CRC_ERR (R1_COM_CRC_ERR + 32)
 #define R3_ERASE_SEQ_ERR (R1_ERASE_SEQ_ERR + 32)
 #define R3_ADDR_ERR (R1_ADDR_ERR + 32)
 #define R3_PARAM_ERR (R1_PARAM_ERR + 32)
 /* Data Response: size 1 byte */
 #define DR_STATUS_MASK 0x0e
 #define DR_STATUS_ACCEPTED 0x05
 #define DR_STATUS_CRC_ERR 0x0a
 #define DR_STATUS_WRITE_ERR 0x0c
 /* status bits for card types */
 #define SD_RAW_SPEC_1 0
 #define SD_RAW_SPEC_2 1
 #define SD_RAW_SPEC_SDHC 2
 #if !SD_RAW_SAVE_RAM
 /* static data buffer for acceleration */
 static uint8_t raw_block[512];
 /* offset where the data within raw_block lies on the card */
 static offset_t raw_block_address;
 #if SD_RAW_WRITE_BUFFERING
 /* flag to remember if raw_block was written to the card */
 static uint8_t raw_block_written;
 #endif
 #endif
 /* card type state */
 static uint8_t sd_raw_card_type;
 /* private helper functions */
 static void sd_raw_send_byte(uint8_t b);
 static uint8_t sd_raw_rec_byte();
 static uint8_t sd_raw_send_command(uint8_t command, uint32_t arg);
 /**
  * \ingroup sd_raw
  * Initializes memory card communication.
+ *
  * \returns 0 on failure, 1 on success.
  */
 uint8_t sd_raw_init()
+{
     /* enable inputs for reading card status */
     configure_pin_available();
     configure_pin_locked();
     /* enable outputs for MOSI, SCK, SS, input for MISO */
     configure_pin_mosi();
     configure_pin_sck();
     configure_pin_ss();
     configure_pin_miso();
     unselect_card();
     // initialize SPI with lowest frequency; max. 400kHz during identification mode of card
     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;
     /* card needs 74 cycles minimum to start up */
     for(uint8_t i = 0; i < 10; ++i)
+    {
         /* wait 8 clock cycles */
         sd_raw_rec_byte();
+    }
     /* address card */
     select_card();
     /* reset card */
     uint8_t response;
     for(uint16_t i = 0; ; ++i)
+    {
         response = sd_raw_send_command(CMD_GO_IDLE_STATE, 0);
         if(response == (1 << R1_IDLE_STATE))
             break;
         if(i == 0x1ff)
+        {
             unselect_card();
             return 0;
+        }
+    }
 #if SD_RAW_SDHC
     /* check for version of SD card specification */
     response = sd_raw_send_command(CMD_SEND_IF_COND, 0x100 /* 2.7V - 3.6V */ | 0xaa /* test pattern */);
     if((response & (1 << R1_ILL_COMMAND)) == 0)
+    {
         sd_raw_rec_byte();
         sd_raw_rec_byte();
         if((sd_raw_rec_byte() & 0x01) == 0)
             return 0; /* card operation voltage range doesn't match */
         if(sd_raw_rec_byte() != 0xaa)
             return 0; /* wrong test pattern */
         /* card conforms to SD 2 card specification */
         sd_raw_card_type |= (1 << SD_RAW_SPEC_2);
+    }
     else
 #endif
+    {
         /* determine SD/MMC card type */
         sd_raw_send_command(CMD_APP, 0);
         response = sd_raw_send_command(CMD_SD_SEND_OP_COND, 0);
         if((response & (1 << R1_ILL_COMMAND)) == 0)
+        {
             /* card conforms to SD 1 card specification */
             sd_raw_card_type |= (1 << SD_RAW_SPEC_1);
+        }
         else
+        {
             /* MMC card */
+        }
+    }
     /* wait for card to get ready */
     for(uint16_t i = 0; ; ++i)
+    {
         if(sd_raw_card_type & ((1 << SD_RAW_SPEC_1) | (1 << SD_RAW_SPEC_2)))
+        {
             uint32_t arg = 0;
 #if SD_RAW_SDHC
             if(sd_raw_card_type & (1 << SD_RAW_SPEC_2))
                 arg = 0x40000000;
 #endif
             sd_raw_send_command(CMD_APP, 0);
             response = sd_raw_send_command(CMD_SD_SEND_OP_COND, arg);
+        }
         else
+        {
             response = sd_raw_send_command(CMD_SEND_OP_COND, 0);
+        }
         if((response & (1 << R1_IDLE_STATE)) == 0)
             break;
         if(i == 0x7fff)
+        {
             unselect_card();
             return 0;
+        }
+    }
 #if SD_RAW_SDHC
     if(sd_raw_card_type & (1 << SD_RAW_SPEC_2))
+    {
         if(sd_raw_send_command(CMD_READ_OCR, 0))
+        {
             unselect_card();
             return 0;
+        }
         if(sd_raw_rec_byte() & 0x40)
             sd_raw_card_type |= (1 << SD_RAW_SPEC_SDHC);
         sd_raw_rec_byte();
         sd_raw_rec_byte();
         sd_raw_rec_byte();
+    }
 #endif
     /* set block size to 512 bytes */
     if(sd_raw_send_command(CMD_SET_BLOCKLEN, 512))
+    {
         unselect_card();
         return 0;
+    }
     /* deaddress card */
     unselect_card();
     /* switch to highest SPI frequency possible */
     SPCR0 &= ~((1 << SPR10) | (1 << SPR00)); /* Clock Frequency: f_OSC / 4 */
     SPSR0 |= (1 << SPI2X0); /* Doubled Clock Frequency: f_OSC / 2 */
 #if !SD_RAW_SAVE_RAM
     /* the first block is likely to be accessed first, so precache it here */
     raw_block_address = (offset_t) -1;
 #if SD_RAW_WRITE_BUFFERING
     raw_block_written = 1;
 #endif
     if(!sd_raw_read(0, raw_block, sizeof(raw_block)))
         return 0;
 #endif
     return 1;
+}
 /**
  * \ingroup sd_raw
  * Checks wether a memory card is located in the slot.
+ *
  * \returns 1 if the card is available, 0 if it is not.
  */
 uint8_t sd_raw_available()
+{
 	int i;
 	return 1; // !!TODO: OH GOSH CHANGE ME
     return get_pin_available() == 0x00;
+}
 /**
  * \ingroup sd_raw
  * Checks whether the memory card is locked for write access.
+ *
  * \returns 1 if the card is locked, 0 if it is not.
  */
 uint8_t sd_raw_locked()
+{
 	int i;
 	// !!TODO oh gosh change me
 	return 0;
     return get_pin_locked() == 0x00;
+}
 /**
  * \ingroup sd_raw
  * Sends a raw byte to the memory card.
+ *
  * \param[in] b The byte to sent.
  * \see sd_raw_rec_byte
  */
 void sd_raw_send_byte(uint8_t b)
+{
     SPDR0 = b;
     /* wait for byte to be shifted out */
     while(!(SPSR0 & (1 << SPIF0)));
     SPSR0 &= ~(1 << SPIF0);
+}
 /**
  * \ingroup sd_raw
  * Receives a raw byte from the memory card.
+ *
  * \returns The byte which should be read.
  * \see sd_raw_send_byte
  */
 uint8_t sd_raw_rec_byte()
+{
     /* send dummy data for receiving some */
     SPDR0 = 0xff;
     while(!(SPSR0 & (1 << SPIF0)));
     SPSR0 &= ~(1 << SPIF0);
     return SPDR0;
+}
 /**
  * \ingroup sd_raw
  * Send a command to the memory card which responses with a R1 response (and possibly others).
+ *
  * \param[in] command The command to send.
  * \param[in] arg The argument for command.
  * \returns The command answer.
  */
 uint8_t sd_raw_send_command(uint8_t command, uint32_t arg)
+{
     uint8_t response;
     /* wait some clock cycles */
     sd_raw_rec_byte();
     /* send command via SPI */
     sd_raw_send_byte(0x40 | command);
     sd_raw_send_byte((arg >> 24) & 0xff);
     sd_raw_send_byte((arg >> 16) & 0xff);
     sd_raw_send_byte((arg >> 8) & 0xff);
     sd_raw_send_byte((arg >> 0) & 0xff);
     switch(command)
+    {
         case CMD_GO_IDLE_STATE:
            sd_raw_send_byte(0x95);
            break;
         case CMD_SEND_IF_COND:
            sd_raw_send_byte(0x87);
            break;
         default:
            sd_raw_send_byte(0xff);
            break;
+    }
     /* receive response */
     for(uint8_t i = 0; i < 10; ++i)
+    {
         response = sd_raw_rec_byte();
         if(response != 0xff)
             break;
+    }
     return response;
+}
 /**
  * \ingroup sd_raw
  * Reads raw data from the card.
+ *
  * \param[in] offset The offset from which to read.
  * \param[out] buffer The buffer into which to write the data.
  * \param[in] length The number of bytes to read.
  * \returns 0 on failure, 1 on success.
  * \see sd_raw_read_interval, sd_raw_write, sd_raw_write_interval
  */
 uint8_t sd_raw_read(offset_t offset, uint8_t* buffer, uintptr_t length)
+{
     offset_t block_address;
     uint16_t block_offset;
     uint16_t read_length;
     while(length > 0)
+    {
         /* determine byte count to read at once */
         block_offset = offset & 0x01ff;
         block_address = offset - block_offset;
         read_length = 512 - block_offset; /* read up to block border */
         if(read_length > length)
             read_length = length;
 #if !SD_RAW_SAVE_RAM
         /* check if the requested data is cached */
         if(block_address != raw_block_address)
 #endif
+        {
 #if SD_RAW_WRITE_BUFFERING
             if(!sd_raw_sync())
                 return 0;
 #endif
             /* address card */
             select_card();
             /* send single block request */
 #if SD_RAW_SDHC
             if(sd_raw_send_command(CMD_READ_SINGLE_BLOCK, (sd_raw_card_type & (1 << SD_RAW_SPEC_SDHC) ? block_address / 512 : block_address)))
 #else
             if(sd_raw_send_command(CMD_READ_SINGLE_BLOCK, block_address))
 #endif
+            {
                 unselect_card();
                 return 0;
+            }
             /* wait for data block (start byte 0xfe) */
             while(sd_raw_rec_byte() != 0xfe);
 #if SD_RAW_SAVE_RAM
             /* read byte block */
             uint16_t read_to = block_offset + read_length;
             for(uint16_t i = 0; i < 512; ++i)
+            {
                 uint8_t b = sd_raw_rec_byte();
                 if(i >= block_offset && i < read_to)
                     *buffer++ = b;
+            }
 #else
             /* read byte block */
             uint8_t* cache = raw_block;
             for(uint16_t i = 0; i < 512; ++i)
                 *cache++ = sd_raw_rec_byte();
             raw_block_address = block_address;
             memcpy(buffer, raw_block + block_offset, read_length);
             buffer += read_length;
 #endif
             /* read crc16 */
             sd_raw_rec_byte();
             sd_raw_rec_byte();
             /* deaddress card */
             unselect_card();
             /* let card some time to finish */
             sd_raw_rec_byte();
+        }
 #if !SD_RAW_SAVE_RAM
         else
+        {
             /* use cached data */
             memcpy(buffer, raw_block + block_offset, read_length);
             buffer += read_length;
+        }
 #endif
         length -= read_length;
         offset += read_length;
+    }
     return 1;
+}
 /**
  * \ingroup sd_raw
  * Continuously reads units of \c interval bytes and calls a callback function.
+ *
  * This function starts reading at the specified offset. Every \c interval bytes,
  * it calls the callback function with the associated data buffer.
+ *
  * By returning zero, the callback may stop reading.
+ *
  * \note Within the callback function, you can not start another read or
  *       write operation.
  * \note This function only works if the following conditions are met:
  *       - (offset - (offset % 512)) % interval == 0
  *       - length % interval == 0
+ *
  * \param[in] offset Offset from which to start reading.
  * \param[in] buffer Pointer to a buffer which is at least interval bytes in size.
  * \param[in] interval Number of bytes to read before calling the callback function.
  * \param[in] length Number of bytes to read altogether.
  * \param[in] callback The function to call every interval bytes.
  * \param[in] p An opaque pointer directly passed to the callback function.
  * \returns 0 on failure, 1 on success
  * \see sd_raw_write_interval, sd_raw_read, sd_raw_write
  */
 uint8_t sd_raw_read_interval(offset_t offset, uint8_t* buffer, uintptr_t interval, uintptr_t length, sd_raw_read_interval_handler_t callback, void* p)
+{
     if(!buffer || interval == 0 || length < interval || !callback)
         return 0;
 #if !SD_RAW_SAVE_RAM
     while(length >= interval)
+    {
         /* as reading is now buffered, we directly
          * hand over the request to sd_raw_read()
          */
         if(!sd_raw_read(offset, buffer, interval))
             return 0;
         if(!callback(buffer, offset, p))
             break;
         offset += interval;
         length -= interval;
+    }
     return 1;
 #else
     /* address card */
     select_card();
     uint16_t block_offset;
     uint16_t read_length;
     uint8_t* buffer_cur;
     uint8_t finished = 0;
     do
+    {
         /* determine byte count to read at once */
         block_offset = offset & 0x01ff;
         read_length = 512 - block_offset;
         /* send single block request */
 #if SD_RAW_SDHC
         if(sd_raw_send_command(CMD_READ_SINGLE_BLOCK, (sd_raw_card_type & (1 << SD_RAW_SPEC_SDHC) ? offset / 512 : offset - block_offset)))
 #else
         if(sd_raw_send_command(CMD_READ_SINGLE_BLOCK, offset - block_offset))
 #endif
+        {
             unselect_card();
             return 0;
+        }
         /* wait for data block (start byte 0xfe) */
         while(sd_raw_rec_byte() != 0xfe);
         /* read up to the data of interest */
         for(uint16_t i = 0; i < block_offset; ++i)
             sd_raw_rec_byte();
         /* read interval bytes of data and execute the callback */
         do
+        {
             if(read_length < interval || length < interval)
                 break;
             buffer_cur = buffer;
             for(uint16_t i = 0; i < interval; ++i)
                 *buffer_cur++ = sd_raw_rec_byte();
             if(!callback(buffer, offset + (512 - read_length), p))
+            {
                 finished = 1;
                 break;
+            }
             read_length -= interval;
             length -= interval;
         } while(read_length > 0 && length > 0);
         /* read rest of data block */
         while(read_length-- > 0)
             sd_raw_rec_byte();
         /* read crc16 */
         sd_raw_rec_byte();
         sd_raw_rec_byte();
         if(length < interval)
             break;
         offset = offset - block_offset + 512;
     } while(!finished);
     /* deaddress card */
     unselect_card();
     /* let card some time to finish */
     sd_raw_rec_byte();
     return 1;
 #endif
+}
 #if DOXYGEN || SD_RAW_WRITE_SUPPORT
 /**
  * \ingroup sd_raw
  * Writes raw data to the card.
+ *
  * \note If write buffering is enabled, you might have to
  *       call sd_raw_sync() before disconnecting the card
  *       to ensure all remaining data has been written.
+ *
  * \param[in] offset The offset where to start writing.
  * \param[in] buffer The buffer containing the data to be written.
  * \param[in] length The number of bytes to write.
  * \returns 0 on failure, 1 on success.
  * \see sd_raw_write_interval, sd_raw_read, sd_raw_read_interval
  */
 uint8_t sd_raw_write(offset_t offset, const uint8_t* buffer, uintptr_t length)
+{
     if(sd_raw_locked())
         return 0;
     offset_t block_address;
     uint16_t block_offset;
     uint16_t write_length;
     while(length > 0)
+    {
         /* determine byte count to write at once */
         block_offset = offset & 0x01ff;
         block_address = offset - block_offset;
         write_length = 512 - block_offset; /* write up to block border */
         if(write_length > length)
             write_length = length;
         /* Merge the data to write with the content of the block.
          * Use the cached block if available.
          */
         if(block_address != raw_block_address)
+        {
 #if SD_RAW_WRITE_BUFFERING
             if(!sd_raw_sync())
                 return 0;
 #endif
             if(block_offset || write_length < 512)
+            {
                 if(!sd_raw_read(block_address, raw_block, sizeof(raw_block)))
                     return 0;
+            }
             raw_block_address = block_address;
+        }
         if(buffer != raw_block)
+        {
             memcpy(raw_block + block_offset, buffer, write_length);
 #if SD_RAW_WRITE_BUFFERING
             raw_block_written = 0;
             if(length == write_length)
                 return 1;
 #endif
+        }
         /* address card */
         select_card();
         /* send single block request */
 #if SD_RAW_SDHC
         if(sd_raw_send_command(CMD_WRITE_SINGLE_BLOCK, (sd_raw_card_type & (1 << SD_RAW_SPEC_SDHC) ? block_address / 512 : block_address)))
 #else
         if(sd_raw_send_command(CMD_WRITE_SINGLE_BLOCK, block_address))
 #endif
+        {
             unselect_card();
             return 0;
+        }
         /* send start byte */
         sd_raw_send_byte(0xfe);
         /* write byte block */
         uint8_t* cache = raw_block;
         for(uint16_t i = 0; i < 512; ++i)
             sd_raw_send_byte(*cache++);
         /* write dummy crc16 */
         sd_raw_send_byte(0xff);
         sd_raw_send_byte(0xff);
         /* wait while card is busy */
         while(sd_raw_rec_byte() != 0xff);
         sd_raw_rec_byte();
         /* deaddress card */
         unselect_card();
         buffer += write_length;
         offset += write_length;
         length -= write_length;
 #if SD_RAW_WRITE_BUFFERING
         raw_block_written = 1;
 #endif
+    }
     return 1;
+}
 #endif
 #if DOXYGEN || SD_RAW_WRITE_SUPPORT
 /**
  * \ingroup sd_raw
  * Writes a continuous data stream obtained from a callback function.
+ *
  * This function starts writing at the specified offset. To obtain the
  * next bytes to write, it calls the callback function. The callback fills the
  * provided data buffer and returns the number of bytes it has put into the buffer.
+ *
  * By returning zero, the callback may stop writing.
+ *
  * \param[in] offset Offset where to start writing.
  * \param[in] buffer Pointer to a buffer which is used for the callback function.
  * \param[in] length Number of bytes to write in total. May be zero for endless writes.
  * \param[in] callback The function used to obtain the bytes to write.
  * \param[in] p An opaque pointer directly passed to the callback function.
  * \returns 0 on failure, 1 on success
  * \see sd_raw_read_interval, sd_raw_write, sd_raw_read
  */
 uint8_t sd_raw_write_interval(offset_t offset, uint8_t* buffer, uintptr_t length, sd_raw_write_interval_handler_t callback, void* p)
+{
 #if SD_RAW_SAVE_RAM
     #error "SD_RAW_WRITE_SUPPORT is not supported together with SD_RAW_SAVE_RAM"
 #endif
     if(!buffer || !callback)
         return 0;
     uint8_t endless = (length == 0);
     while(endless || length > 0)
+    {
         uint16_t bytes_to_write = callback(buffer, offset, p);
         if(!bytes_to_write)
             break;
         if(!endless && bytes_to_write > length)
             return 0;
         /* as writing is always buffered, we directly
          * hand over the request to sd_raw_write()
          */
         if(!sd_raw_write(offset, buffer, bytes_to_write))
             return 0;
         offset += bytes_to_write;
         length -= bytes_to_write;
+    }
     return 1;
+}
 #endif
 #if DOXYGEN || SD_RAW_WRITE_SUPPORT
 /**
  * \ingroup sd_raw
  * Writes the write buffer's content to the card.
+ *
  * \note When write buffering is enabled, you should
  *       call this function before disconnecting the
  *       card to ensure all remaining data has been
  *       written.
+ *
  * \returns 0 on failure, 1 on success.
  * \see sd_raw_write
  */
 uint8_t sd_raw_sync()
+{
 #if SD_RAW_WRITE_BUFFERING
     if(raw_block_written)
         return 1;
     if(!sd_raw_write(raw_block_address, raw_block, sizeof(raw_block)))
         return 0;
     raw_block_written = 1;
 #endif
     return 1;
+}
 #endif
 /**
  * \ingroup sd_raw
  * Reads informational data from the card.
+ *
  * This function reads and returns the card's registers
  * containing manufacturing and status information.
+ *
  * \note: The information retrieved by this function is
  *        not required in any way to operate on the card,
  *        but it might be nice to display some of the data
  *        to the user.
+ *
  * \param[in] info A pointer to the structure into which to save the information.
  * \returns 0 on failure, 1 on success.
  */
 uint8_t sd_raw_get_info(struct sd_raw_info* info)
+{
     if(!info || !sd_raw_available())
         return 0;
     memset(info, 0, sizeof(*info));
     select_card();
     /* read cid register */
     if(sd_raw_send_command(CMD_SEND_CID, 0))
+    {
         unselect_card();
         return 0;
+    }
     while(sd_raw_rec_byte() != 0xfe);
     for(uint8_t i = 0; i < 18; ++i)
+    {
         uint8_t b = sd_raw_rec_byte();
         switch(i)
+        {
             case 0:
                 info->manufacturer = b;
                 break;
             case 1:
             case 2:
                 info->oem[i - 1] = b;
                 break;
             case 3:
             case 4:
             case 5:
             case 6:
             case 7:
                 info->product[i - 3] = b;
                 break;
             case 8:
                 info->revision = b;
                 break;
             case 9:
             case 10:
             case 11:
             case 12:
                 info->serial |= (uint32_t) b << ((12 - i) * 8);
                 break;
             case 13:
                 info->manufacturing_year = b << 4;
                 break;
             case 14:
                 info->manufacturing_year |= b >> 4;
                 info->manufacturing_month = b & 0x0f;
                 break;
+        }
+    }
     /* read csd register */
     uint8_t csd_read_bl_len = 0;
     uint8_t csd_c_size_mult = 0;
 #if SD_RAW_SDHC
     uint16_t csd_c_size = 0;
 #else
     uint32_t csd_c_size = 0;
 #endif
     uint8_t csd_structure = 0;
     if(sd_raw_send_command(CMD_SEND_CSD, 0))
+    {
         unselect_card();
         return 0;
+    }
     while(sd_raw_rec_byte() != 0xfe);
     for(uint8_t i = 0; i < 18; ++i)
+    {
         uint8_t b = sd_raw_rec_byte();
         if(i == 0)
+        {
             csd_structure = b >> 6;
+        }
         else if(i == 14)
+        {
             if(b & 0x40)
                 info->flag_copy = 1;
             if(b & 0x20)
                 info->flag_write_protect = 1;
             if(b & 0x10)
                 info->flag_write_protect_temp = 1;
             info->format = (b & 0x0c) >> 2;
+        }
         else
+        {
 #if SD_RAW_SDHC
             if(csd_structure == 0x01)
+            {
                 switch(i)
+                {
                     case 7:
                         b &= 0x3f;
                     case 8:
                     case 9:
                         csd_c_size <<= 8;
                         csd_c_size |= b;
                         break;
+                }
                 if(i == 9)
+                {
                     ++csd_c_size;
                     info->capacity = (offset_t) csd_c_size * 512 * 1024;
+                }

master/master/lib/serial.c

➞

Show inline comments

 /*
  * serial.c
+ *
  * Created: 10/25/2012 3:19:49 PM
  *  Author: ethanzonca
  */
 #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);
 	/* Set frame format: 8data, 1stop bit */
 	UCSR0C = (3<<UCSZ00); // - 1 stop bit
+}
 void serial1_setup() {
 	/* Set baud rate */
 	UBRR1H = (unsigned char)(USART1_BAUD_PRESCALE>>8);
 	UBRR1L = (unsigned char)USART1_BAUD_PRESCALE;
 	/* Enable receiver and transmitter */
 	UCSR1B = (1<<RXEN1)|(1<<TXEN1);
 	/* Set frame format: 8data, 1stop bit */
 	UCSR1C = (3<<UCSZ10); // - 1 stop bit
+}
 void serial0_sendChar( unsigned char byte )
+{
 	while (!(UCSR0A & (1<<UDRE0)));
 	UDR0 = byte;
+}
 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
+}
 void serial_sendResponseData(){
+}

master/master/lib/serial.h

➞

Show inline comments

 /*
  * serial.h
+ *
  * Created: 10/25/2012 3:19:42 PM
  *  Author: ethanzonca
  */
 #ifndef SERIAL_H_
 #define SERIAL_H_
 #include <inttypes.h>
 #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

➞

Show inline comments

 /*
 * serparser.c
+*
 * Created: 10/25/2012 8:11:43 PM
 *  Author: ethanzonca
 */
 // ************* 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;
 //current length of the data transmission (and checksum)
 int dataLength;
 //data (and checksum) of most recent transmission
 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.
+			{
 				bufferPosition++;
+			}
 			else // Not a start byte that we're expecting. Reset to initial state.
+			{
 				bufferPosition = 0;
+			}
+		}
 		else if(bufferPosition == 1)
+		{
 			if(byte == MODULE_ID) //this transmission is intended for the master; continue parsing
+			{
 				bufferPosition++;
 				checksumCalc += byte;
 				dataLength = 0; //reset dataLength here to protect from bad inputs
+			}
 			else //this transmission is intended for another module; stop parsing and reset
+			{
 				bufferPosition = 0;
+			}
+		}
 		else if(bufferPosition == 2)
+		{
 			sensorID = byte; //store the type of data receiving
 			bufferPosition++;
 			checksumCalc += byte;
+		}
 		else if (bufferPosition == MAX_CMD_LEN) //command is too long and bad data has been recieved; reset
+		{
 			bufferPosition = 0;
+		}
 		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++;
 				checksumCalc += byte;
+			}
+		}
+	}
 	else
+	{
 		return 0; // serial data not available
+	}
+}
@@ \ No newline at end of file @@

master/master/lib/serparser.h

➞

Show inline comments

 /*
  * serparser.h
+ *
  * Created: 10/25/2012 8:11:49 PM
  *  Author: ethanzonca
  */
 #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

➞

Show inline comments

@@ 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

➞

Show inline comments

@@ 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

➞

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/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);
 	uint16_t ctr1 = 0;
 	uint16_t ctr2 = 255;
 	// Buffer for string operations
 	char logbuf[32];
 	const char* logBufPtr = logbuf;
 	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

➞

Show inline comments

 <?xml version="1.0" encoding="utf-8"?>
 <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup>
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectVersion>6.0</ProjectVersion>
     <ToolchainName>com.Atmel.AVRGCC8</ToolchainName>
     <ProjectGuid>{8579ec2d-5815-40db-84e0-1d14239c7aea}</ProjectGuid>
     <avrdevice>ATmega324P</avrdevice>
     <avrdeviceseries>none</avrdeviceseries>
     <OutputType>Executable</OutputType>
     <Language>C</Language>
     <OutputFileName>$(MSBuildProjectName)</OutputFileName>
     <OutputFileExtension>.elf</OutputFileExtension>
     <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
     <AssemblyName>master</AssemblyName>
     <Name>master</Name>
     <RootNamespace>master</RootNamespace>
     <ToolchainFlavour>Native</ToolchainFlavour>
     <KeepTimersRunning>true</KeepTimersRunning>
     <OverrideVtor>false</OverrideVtor>
     <OverrideVtorValue />
     <eraseonlaunchrule>0</eraseonlaunchrule>
     <AsfVersion>3.1.3</AsfVersion>
     <avrtool>com.atmel.avrdbg.tool.ispmk2</avrtool>
     <avrtoolinterface>ISP</avrtoolinterface>
     <com_atmel_avrdbg_tool_simulator>
       <ToolType xmlns="">com.atmel.avrdbg.tool.simulator</ToolType>
       <ToolName xmlns="">AVR Simulator</ToolName>
       <ToolNumber xmlns="">
       </ToolNumber>
       <KeepTimersRunning xmlns="">true</KeepTimersRunning>
       <OverrideVtor xmlns="">false</OverrideVtor>
       <OverrideVtorValue xmlns="">
       </OverrideVtorValue>
       <Channel xmlns="">
         <host>127.0.0.1</host>
         <port>52692</port>
         <ssl>False</ssl>
       </Channel>
     </com_atmel_avrdbg_tool_simulator>
     <com_atmel_avrdbg_tool_ispmk2>
       <ToolType>com.atmel.avrdbg.tool.ispmk2</ToolType>
       <ToolName>AVRISP mkII</ToolName>
       <ToolNumber>000200131077</ToolNumber>
       <KeepTimersRunning>true</KeepTimersRunning>
       <OverrideVtor>false</OverrideVtor>
       <OverrideVtorValue>
       </OverrideVtorValue>
       <Channel>
         <host>127.0.0.1</host>
         <port>61309</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>
         <InterfaceName>ISP</InterfaceName>
         <InterfaceProperties>
           <JtagDbgClock>249000</JtagDbgClock>
           <JtagProgClock>1000000</JtagProgClock>
           <IspClock>2010000</IspClock>
           <JtagInChain>false</JtagInChain>
           <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession>
           <JtagDevicesBefore>0</JtagDevicesBefore>
           <JtagDevicesAfter>0</JtagDevicesAfter>
           <JtagInstrBitsBefore>0</JtagInstrBitsBefore>
           <JtagInstrBitsAfter>0</JtagInstrBitsAfter>
         </InterfaceProperties>
       </ToolOptions>
     </com_atmel_avrdbg_tool_ispmk2>
     <preserveEEPROM>True</preserveEEPROM>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
     <ToolchainSettings>
       <AvrGcc>
         <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
         <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
         <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
         <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
         <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
         <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
         <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
         <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
         <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
         <avrgcc.linker.libraries.Libraries>
           <ListValues>
             <Value>m</Value>
           </ListValues>
         </avrgcc.linker.libraries.Libraries>
       </AvrGcc>
     </ToolchainSettings>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
     <ToolchainSettings>
       <AvrGcc>
         <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
         <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
         <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
         <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
         <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
         <avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
         <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
         <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
         <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
         <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
         <avrgcc.linker.libraries.Libraries>
           <ListValues>
             <Value>m</Value>
           </ListValues>
         </avrgcc.linker.libraries.Libraries>
         <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
       </AvrGcc>
     </ToolchainSettings>
   </PropertyGroup>
   <ItemGroup>
     <Compile Include="config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\afsk.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\afsk.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\aprs.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\aprs.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\ax25.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\ax25.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\logger.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\logger.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\looptime.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\looptime.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\byteordering.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\byteordering.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\fat.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\fat.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\fat_config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\partition.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\partition.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\partition_config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\sd-reader_config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\sd_raw.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\sd_raw.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\sd_raw_config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serial.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serial.h">
       <SubType>compile</SubType>
     </Compile>
     <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>
     <Compile Include="lib\trackuinoGPS\gpsMKa.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\watchdog.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\watchdog.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="master.c">
       <SubType>compile</SubType>
     </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="lib" />
     <Folder Include="lib\trackuinoGPS" />
     <Folder Include="lib\sd" />
   </ItemGroup>
   <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
 </Project>
@@ \ No newline at end of file @@

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