seniordesign-firmware Changeset - 5696a474fa0f

Changeset - 5696a474fa0f

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-26 14:36:48
ethanzonca@CL-ENS241-08.cedarville.edu

Added support for standalone master operation (no slaves)

2 files changed with 62 insertions and 42 deletions:

master/master/lib/sensordata.c

master/master/lib/slavesensors.c

0 comments (0 inline, 0 general)

master/master/lib/sensordata.c

➞

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 /*
  * Master Firmware: Sensor Data
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include <stdio.h>
 #include <stdbool.h>
 #include <string.h>
 #include "sensordata.h"
 #include "slavesensors.h"
 #include "boardtemp.h"
 #include "looptime.h"
 #include "gps.h"
 #include "logger.h"
 // Slave sensor reading storage
 int32_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] = -2111111111; // minimum value of 16 bit integer
+		}
+	}
+}
 // Store a sensor value in memory
 void sensordata_set(uint8_t nodeID, uint8_t type, int32_t value)
+{
 	if(nodeID < MAX_NUM_SLAVES)
+	{
 		slaves[nodeID][type] = value;
+	}
+}
 // Retrieve a sensor value from memory
 int32_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;
+	}
+}
 bool isEven = false;
 // Generate APRS comment
 // TODO: Can we move this buffer to a local scope of this function?
 #define COMMENTBUFFER_SIZE 128
 char commentBuffer[COMMENTBUFFER_SIZE];
 char* slavesensors_getAPRScomment()
+{
-	snprintf(commentBuffer,COMMENTBUFFER_SIZE, "t9%d s%s v%s h%s _%s |%s ", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
+	snprintf(commentBuffer,COMMENTBUFFER_SIZE, "t9%d~s%s~v%s~h%s~_%s~|%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
 	// Find slave sensors to include in this log
 	for(int i=0; i<MAX_NUM_SLAVES; i++)
+	{
 		// Board temperature sensors (all slaves)
 		uint32_t val = sensordata_get(i, SENSOR_BOARDTEMP);
 		if(val != -2111111111) {
 			uint16_t len = strlen(commentBuffer);
 			snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " t%u%li",i,val);
+		}
 	if(isEven)
+	{
 		// Find slave sensors to include in this log
 		for(int i=0; i<MAX_NUM_SLAVES; i++)
+		{
 			// Board temperature sensors (all slaves)
 			uint32_t val = sensordata_get(i, SENSOR_BOARDTEMP);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
 				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~t%u%li",i,val);
+			}
 		// Battery voltages (all slaves)
 		val = sensordata_get(i, SENSOR_BATTERYLEVEL);
 		if(val != -2111111111) {
 			uint16_t len = strlen(commentBuffer);
 			snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " l%u%li",i,val);
+		}
 			// Battery voltages (all slaves)
 			val = sensordata_get(i, SENSOR_BATTERYLEVEL);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
 				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~l%u%li",i,val);
+			}
 			// Pressure
 			val = sensordata_get(i, SENSOR_PRESSURE);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
 				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~P%li",val);
+			}
 		// Pressure
 		val = sensordata_get(i, SENSOR_PRESSURE);
 		if(val != -2111111111) {
 			uint16_t len = strlen(commentBuffer);
 			snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " P%li",val);
+		}
 			// Air Temperature
 			val = sensordata_get(i, SENSOR_AIRTEMP);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
 				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~C%li",val);
+			}
 		// Air Temperature
 		val = sensordata_get(i, SENSOR_AIRTEMP);
 		if(val != -2111111111) {
 			uint16_t len = strlen(commentBuffer);
 			snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " C%li",val);
+		}
 			// Altitude
 			val = sensordata_get(i, SENSOR_ALTITUDE);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
 				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~A%li",val);
+			}
 		// Altitude
 		val = sensordata_get(i, SENSOR_ALTITUDE);
 		if(val != -2111111111) {
 			uint16_t len = strlen(commentBuffer);
 			snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " A%li",val);
+		}
 			// Radiation
 			val = sensordata_get(i, SENSOR_CPM_RADIATION);
 			if(val != -2111111111) {
 				uint16_t len = strlen(commentBuffer);
 				snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~R%li",val);
+			}
 		// Radiation
 		val = sensordata_get(i, SENSOR_CPM_RADIATION);
 		if(val != -2111111111) {
 			uint16_t len = strlen(commentBuffer);
 			snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " R%li",val);
+		}
+		}
 		isEven = false;
+	}
 	else {
 		// odd does nothing
 		isEven = true;
+	}
 	if(logger_aprsInfoTextAvailable())
+	{
 		uint16_t len = strlen(commentBuffer);
-		snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, " %s",logger_getAprsInfoText());
+		snprintf(commentBuffer + len, COMMENTBUFFER_SIZE-len, "~%s",logger_getAprsInfoText());
 		logger_aprsInfoTextConsumed();
+	}
 	return commentBuffer;
+}
 // Generates CSV headers on first run and logs values to the SD card (if data available)
 bool dataWasReady = false;
 void sensordata_logvalues()
+{
 	// Generate CSV header after we have queried all slaves once
 	if(slavesensors_dataReady())
+	{
 		// Only generate/write header the first time data is ready
 		if(!dataWasReady)
+		{
 			#define CSV_BUFFER_SIZE 64
 			char csvHeader[CSV_BUFFER_SIZE];
 			csvHeader[0] = 0x00;
 			// Add master data headers
 			logger_log("Time,BoardTemp,GPSTime,GPSLat,GPSLon,GPSSpeed,GPSHDOP,GPSCourse,GPSSV,");
 			// Add slave data headers
 			for(uint8_t i=0; i<MAX_NUM_SLAVES; i++)
+			{
 				for(uint8_t j=0; j<MAX_NUM_SENSORS; j++)
+				{
 					int32_t tmp = sensordata_get(i, j);
 					// If a sensor value exists, write a header for it
 					if(tmp != -2111111111)
+					{
 						snprintf(csvHeader, CSV_BUFFER_SIZE,"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));
 						logger_log(csvHeader);
+					}
+				}
+			}
 			// End line and write to SD card
 			snprintf(csvHeader, CSV_BUFFER_SIZE,"\r\n");
 			logger_log(csvHeader);
 			dataWasReady = true;
+		}
 		// Write CSV sensor values to SD card
 		#define CSV_LOGLINE_SIZE 512
 		char logbuf[CSV_LOGLINE_SIZE];
 		logbuf[0] = 0x00;
 		// Write master sensor values
 		snprintf(logbuf, CSV_LOGLINE_SIZE, "%lu,%d,%s,%s,%s,%s,%s,%s,%s,", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitudeTrimmed(),get_longitudeTrimmed(),get_speedKnots(),get_hdop(), get_course(), get_sv());
 		// Write slave sensor values
 		for(int i=0; i<MAX_NUM_SLAVES; i++)
+		{
 			for(int j=0; j<MAX_NUM_SENSORS; j++)
+			{
 				int32_t tmp = sensordata_get(i, j);
 				// If a sensor value exists, log the data
 				if(tmp != -2111111111)
+				{
 					snprintf(logbuf + strlen(logbuf),CSV_LOGLINE_SIZE-strlen(logbuf)," %ld,", tmp);
+				}
+			}
+		}
 		// End line and write to log
 		snprintf(logbuf + strlen(logbuf),CSV_LOGLINE_SIZE-strlen(logbuf),"\r\n");
 		logger_log(logbuf);
+	}
+}
@@ \ No newline at end of file @@

master/master/lib/slavesensors.c

➞

Show inline comments

 /*
  * Master Firmware: Slave Sensor Data Acquisition
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include <avr/io.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
 #include <util/delay.h>
 #include <avr/wdt.h>
 #include <avr/pgmspace.h>
 #include "serial.h"
 #include "serparser.h"
 #include "slavesensors.h"
 #include "sensordata.h"
 #include "led.h"
 #include "looptime.h"
 #include "logger.h"
 // !!! Remember to update the ENUM in slavesensors.h when changing things here
 // Label lookup table
 // Make sure there are never more labels than there are MAX_NUM_SENSORS!
 const char label_0[] PROGMEM = "BoardTemp";
 const char label_1[] PROGMEM = "HeaterStatus";
 const char label_2[] PROGMEM = "BatteryLevel";
 const char label_3[] PROGMEM = "AirTemp";
 const char label_4[] PROGMEM = "AmbientLight";
 const char label_5[] PROGMEM = "Humidity";
 const char label_6[] PROGMEM = "Pressure";
 const char label_7[] PROGMEM = "Altitude";
 const char label_8[] PROGMEM = "CPM-Radiation";
 const char *const labelLookup[] PROGMEM =
+{
 	label_0,
 	label_1,
 	label_2,
 	label_3,
 	label_4,
 	label_5,
 	label_6,
 	label_7,
 	label_8,
 };
 char labelBuffer[32]; // Size to length of label
 char* slavesensors_getLabel(uint8_t sensorID)
+{
 	if(sensorID < 9)
+	{
 		strncpy_P(labelBuffer,(char*)pgm_read_word(&(labelLookup[sensorID])),15);
 		return labelBuffer;
+	}
 	else
+	{
 		return NULL;
+	}
+}
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 bool requesting = false;
 //#define DEBUG_NETWORKSCAN
 //#define DEBUG_GETSLAVEDATA
 char* bufPtr = 0x00;
 static char slaveAddressLow[MAX_NUM_SLAVES][9];
 static char slaveAddressHigh[MAX_NUM_SLAVES][9];
 static char slaveNames[MAX_NUM_SLAVES][15];
 static char loggerAddressLow[9];
 static char loggerAddressHigh[9];
 uint8_t nodeCount = 0;
 bool dataReady = false;
 void slavesensors_setup()
+{
 	loggerAddressLow[0] = 0x00;
 	loggerAddressHigh[0] = 0x00;
+}
 char* slavesensors_slavename(uint8_t id)
+{
 	return slaveNames[id];
+}
 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
 	_delay_ms(200); // xbee warmup
 	wdt_reset();
 	led_on(LED_ACTIVITY);
 	atOK = slavesensors_enterAT();
 	// wait for OK
 	if(atOK == 0)
+	{
 		led_on(LED_CYCLE);
 		serial0_sendString("ATND");
 		serial0_sendChar(0x0D);
 		// Scan data end when newline by itself ("")
 		int lineCount = 0;
 		while(1)
+		{
 			// Wait for scan to complete. If we timeout, return.
 			if(waitTimeout(TIMEOUT_NETWORKSCAN))
+			{
 				return;
+			}
 			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)
+			{
 				strncpy(slaveAddressHigh[nodeCount],bufPtr, 9);
+			}
 			else if(lineCount == 2)
+			{
 				strncpy(slaveAddressLow[nodeCount],bufPtr, 9);
+			}
 			else if(lineCount == 3)
+			{
 				strncpy(slaveNames[nodeCount], bufPtr, 15);
+			}
 			// If we finished one chunk (including the newline after it). Can't be else if because it controls increment.
 			if(lineCount == 9)
+			{
 				if(strcmp(slaveNames[nodeCount], XBEE_LOGDEST_NAME) == 0)
+				{
 					// Save logger address in the loggerAddressXXXX variables
 					strncpy(loggerAddressHigh, slaveAddressHigh[nodeCount], 9);
 					strncpy(loggerAddressLow, slaveAddressLow[nodeCount], 9);
 					lineCount = 0;
 					// don't increment, just overwrite this next time
+				}
 				else {
 					// 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
 	led_off(LED_ACT0);
 	led_off(LED_ACT1);
 	led_off(LED_ACT2);
 	led_off(LED_ACT3);
 	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);
+	}
 	_delay_ms(500);
 	led_on(LED_SIDEBOARD);
 	_delay_ms(500);
 	led_off(LED_SIDEBOARD);
 	#ifdef DEBUG_NETWORKSCAN
 	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
 	char infobuf[25];
 	snprintf(infobuf, 25, "discovered %u nodes", nodeCount);
 	info_log_msg(infobuf);
 	_delay_ms(100);
 	slavesensors_selectlogger();
 	// If we don't have slaves to worry about, we're good to go
 	if(nodeCount == 0)
+	{
 		dataReady = true;
+	}
 	serial0_ion();
+}
 //#define DEBUG_CONTEXTSWITCH
 //#define DEBUG_SELECTNODE
 uint8_t selectedNode = 255;
 uint8_t slavesensors_getselectednode()
+{
 	return selectedNode;
+}
 void slavesensors_selectnode(uint8_t nodeIndex)
+{
 	if(selectedNode == nodeIndex)
+	{
 		return;
+	}
 	if(slavesensors_selectaddress(slaveAddressHigh[nodeIndex],slaveAddressLow[nodeIndex]) == true)
+	{
 		selectedNode = nodeIndex;
+	}
+}
 bool slavesensors_selectaddress(char* addrHigh, char* addrLow)
+{
 	serial0_ioff();
 	#ifdef DEBUG_CONTEXTSWITCH
 	uint32_t startTime = time_millis();
 	#endif
 	#ifdef DEBUG_SELECTNODE
 	serial0_sendString("Switch to node ");
 	serial0_sendChar(nodeIndex + 0x30);
 	serial0_sendString("\r\n");
 	#endif
 	_delay_ms(20);
 	char tmpBuf[23];
 	// If we can get into AT mode
 	if(slavesensors_enterAT() == 0)
+	{
 		snprintf(tmpBuf, 23, "ATDH %s%c",addrHigh, 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return false;
+		}
 		snprintf(tmpBuf, 23, "ATDL %s%c",addrLow, 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return false;
+		}
 		slavesensors_exitAT();
+	}
 	_delay_ms(2);
 	#ifdef DEBUG_SELECTNODE
 	serial0_sendString("Selected ");
 	serial0_sendChar(nodeIndex + 0x30);
 	serial0_sendString("\r\n");
 	#endif
 	#ifdef DEBUG_CONTEXTSWITCH
 	uint32_t switchTime = time_millis() - startTime;
 	char tmpB[32];
 	snprintf(tmpB, 32, "CTXSW: %lu ms\r\n", switchTime);
 	serial0_sendString(tmpB);
 	#endif
 	serial0_ion();
 	return true;
+}
 void slavesensors_selectlogger()
+{
 	if(loggerAddressLow[0] != 0x00)
+	{
 		slavesensors_selectaddress(loggerAddressHigh,loggerAddressLow);
+	}
+}
 void slavesensors_exitAT()
+{
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	if(waitTimeout(TIMEOUT_EXITAT))
+	{
 		return;
+	}
 	xbeeIsOk();
+}
 bool waitTimeout(uint32_t timeout) {
 	uint32_t scanStart = time_millis();
 	uint32_t lastBlink = 0;
 	while(!serial0_hasChar())
+	{
 		if(time_millis() - scanStart > timeout)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return true;
+		}
 		if(time_millis() - lastBlink > 50)
+		{
 			led_spin();
 			lastBlink = time_millis();
+		}
 		wdt_reset();
+	}
 	return false;
+}
 // 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('+');
 	return xbeeIsOk();
+}
 int xbeeIsOk()
+{
 	if(waitTimeout(TIMEOUT_XBEERESPONSE)) {
 		error_log(ERROR_XBEETIMEOUT, true);
 		return 1;
+	}
 	char* tmppntr = serial0_readLine();
 	if(strcmp(tmppntr, "OK") == 0)
+	{
 		return 0;
+	}
 	else
+	{
 		error_log(ERROR_SLAVETIMEOUT, true);
 		return 1;
+	}
+}
 bool slavesensors_dataReady()
+{
 	return dataReady;
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
+{
 	if(nodeCount == 0)
+	{
 		return;
+	}
 	requesting = true;
 	slavesensors_request();
+}
 // TODO: inline. static.
 uint32_t beginRequest = 0;
 void slavesensors_request()
+{
 	slavesensors_selectnode(currentSlave);
 	beginRequest = time_millis();
 	serial_sendCommand("@"); // Request data!
+}
 uint8_t numReadingsToExpect = 0; // number of values that the slave is about to send
 uint8_t numRetries = 0;
 void gotoNextSlaveOrSensor(bool fail) {
 	// If we finished all sensors for all slaves
 	if(currentSlave >= (nodeCount-1) && currentSlaveSensor >= (numReadingsToExpect-1))
+	{
 		#ifdef DEBUG_GETSLAVEDATA
 		serial0_sendString("We got all data for all slaves!\r\n");
 		#endif
 		dataReady = true;
 		currentSlave = 0;
 		currentSlaveSensor = 0;
 		requesting = false;
 		if(!fail)
+		{
 			led_alert();
+		}
+	}
 	// If we finished up one slave, go to the next
 	else if(currentSlaveSensor >= (numReadingsToExpect-1))
+	{
 		#ifdef DEBUG_GETSLAVEDATA
 		serial0_sendString("Finished up one slave, go to another.\r\n");
 		#endif
 		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
+	{
 		#ifdef DEBUG_GETSLAVEDATA
 		serial0_sendString("Give me another sensor value...");
 		#endif
 		// request data for the current sensor of the current slave
 		currentSlaveSensor++;
 		requesting = true;
+	}
+}
 // Request data from slave modules
 void slavesensors_process(uint8_t parseResult)
+{
 	if(!requesting)
+	{
 		// we got a command when we didn't request anything. skip it.
 		return;
+	}
 	// TODO: If we time out, WE NEED TO RESET THE PARSER. It could be in a bad state.
 	else if(parseResult == PARSERESULT_NODATA)
+	{
 		// Wait for data
 		if(requesting && time_millis() - beginRequest > TIMEOUT_SLAVEREQUEST) {
 			// if we're requesting, we have no data, and we're over the timeout, this is bad!
 			// setParserState(STATE_RESET); - meh, can't do this because it freaking increments the cirbufptr
 			gotoNextSlaveOrSensor(true);
 			char msg[128];
 			snprintf(msg, 128, "Slave %u (%s) timeout",currentSlave,slaveNames[currentSlave]);
 			error_log_msg(ERROR_SLAVETIMEOUT, false, msg); // log error, don't blink LED
+		}
+	}
 	// 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 data, reset retries
 		numRetries = 0;
 		// We got some data, let's handle it
 		// ASCII payload
 		uint8_t len = getPayloadLength();
 		char* load = getPayload();
 		uint8_t type = getPayloadType();
 		int32_t parsedVal = strtol(load, NULL, 10);//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;
+		}
 		else
+		{
 			// Store data in structure
 			sensordata_set(currentSlave,type,parsedVal);
 			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Stored some sexy data!\r\n");
 			#endif
 			gotoNextSlaveOrSensor(false);
+		}
+	}
 	// 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)
+		{
 			if(numRetries < MAX_SLAVEREQUEST_RETRIES)
+			{
 				slavesensors_request();	// re-request
+			}
 			else {
 				numRetries = 0;
 				gotoNextSlaveOrSensor(true);
+			}
+		}
+	}
 	else if(parseResult == PARSERESULT_STILLPARSING)
+	{
 		return; // do nothing
+	}
 	else
+	{
 		error_log_msg(ERROR_FATAL, true, "parseResult is invalid!");
 		return;
+	}
+}
@@ \ No newline at end of file @@

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