seniordesign-firmware Changeset - 6ab6b1fe2314

Changeset - 6ab6b1fe2314

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-21 16:37:15
ethanzonca@CL-ENS241-08.cedarville.edu

Added InfoText logger for generic informational messages, GPS fix light now reports 3d location fixes, log is made when fix is acquired/lost. Added maximum retransmission limit.

6 files changed with 59 insertions and 32 deletions:

master/master/config.h

master/master/lib/gps.c

master/master/lib/logger.c

master/master/lib/logger.h

master/master/lib/sensordata.c

master/master/lib/slavesensors.c

0 comments (0 inline, 0 general)

master/master/config.h

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 /*
  * Master Firmware: Configuration
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #ifndef CONFIG_H_
 #define CONFIG_H_
 #include <avr/pgmspace.h>
 // --------------------------------------------------------------------------
 // Module config (master.c)
 // --------------------------------------------------------------------------
 //#define DEBUG_OUTPUT
 #define F_CPU 11059200
 #define MODULE_ID '1'
 #define BOARDTEMP_ADDR 0x90
 #define HEATER_THRESHOLD 60
 // --------------------------------------------------------------------------
 // Error Codes config (led.c, used throughout code)
 // --------------------------------------------------------------------------
 // SD Card
 #define ERROR_SLAVETIMEOUT 0
 #define ERROR_SD_INIT 1
 #define ERROR_SD_PARTITION 2
 #define ERROR_SD_FILE 3
 #define ERROR_XBEETIMEOUT 4
 #define ERROR_FATAL 5
 #define ERROR_ATFAIL 6
 #define ERROR_EXITAT 7
 #define ERROR_INFOTEXT 8
 // !!! Please specify detailed messages for these error codes in logger.c
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 #define MAX_NUM_SLAVES 5  // Maximum number of nodes in the system
 #define MAX_NUM_SENSORS 10 // Maximum number of unique types of sensors in the system
 // Node identifier of log destination xbee
 #define XBEE_LOGDEST_NAME "HAB-LOGGER"
 #define DATAREQUEST_RATE 3000
 // Timeouts
 #define TIMEOUT_SLAVEREQUEST 1000
 #define TIMEOUT_NETWORKSCAN 7000
 #define TIMEOUT_EXITAT 2000
 #define TIMEOUT_XBEERESPONSE 2000
 // Retries
 #define MAX_SLAVEREQUEST_RETRIES 2
 // --------------------------------------------------------------------------
 // Command Parser config (serparser.c)
 // --------------------------------------------------------------------------
 // Maximum payload size of command
 #define MAX_PAYLOAD_LEN 16
 // Circular serial buffer size. Must be at least MAX_CMD_LEN + 5
 #define BUFFER_SIZE 128
 // Public broadcast address
 #define BROADCAST_ADDR 0
 // --------------------------------------------------------------------------
 // GPS config (xxx.c)
 // --------------------------------------------------------------------------
 #define NMEABUFFER_SIZE 150
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 #define USART0_BAUDRATE 115200
 #define USART1_BAUDRATE 115200
 // --------------------------------------------------------------------------
 // AX.25 config (ax25.c)
 // --------------------------------------------------------------------------
 // TX delay in milliseconds
 #define TX_DELAY      500
 // 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

master/master/lib/gps.c

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Show inline comments

@@ @@ -74,99 +74,112 @@ char* get_longitudeTrimmed() @@
 	strncpy(longitudeTmp, &longitude[0], 8);
 	longitudeTmp[8] = 0x00;
 	return longitudeTmp;
+}
 char* get_longitudeLSBs()
+{
 	strncpy(longitudeTmp, &longitude[8], 3);
 	longitudeTmp[3] = 0x00;
 	return longitudeTmp;
+}
 char quality;		//quality for GGA and validity for RMC
 char numSatellites[4];
 char* get_sv()
+{
 	return numSatellites;
+}
 char hdop[6];		//xx.x
 char* get_hdop()
+{
 	return hdop;
+}
 char altitude[10];	//xxxxxx.x
 char wgs84Height[8];	//sxxx.x
 char lastUpdated[8];	//blank - included for testing
 char stationID[8];	//blank - included for testing
 char checksum[3];	//xx
 char knots[8];		//xxx.xx
 char* get_speedKnots()
+{
 	return knots;
+}
 char course[8];		//xxx.x
 char* get_course()
+{
 	return course;
+}
 char dayofmonth[9];	//ddmmyy
 char* get_dayofmonth()
+{
 	return dayofmonth;
+}
 bool gps_hadfix = false;
 bool gps_hasfix()
+{
 	return strcmp("99.99", get_hdop());
 	bool hasFix = get_latitudeTrimmed()[0] != 0x00;
 	if(hasFix && !gps_hadfix) {
 		info_log_msg("Lost GPS fix");
+	}
 	else if(!hasFix && gps_hadfix) {
 		info_log_msg("Acquired GPS fix");
+	}
 	gps_hadfix = hasFix;
 	return hasFix;
+}
 char variation[9];	//xxx.xb
 int calculatedChecksum;
 int receivedChecksum;
 // transmission state machine
 enum decodeState {
 	//shared fields
 	INITIALIZE=0,
 	GET_TYPE,
 	GPS_CHECKSUM,	//XOR of all the bytes between the $ and the * (not including the delimiters themselves), written in hexadecimal
 	//GGA data fields
 	GGA_TIME,
 	GGA_LATITUDE,
 	GGA_LONGITUDE,
 	GGA_QUALITY,
 	GGA_SATELLITES,
 	GGA_HDOP,
 	GGA_ALTITUDE,
 	GGA_WGS84,
 	GGA_LAST_UPDATE,
 	GGA_STATION_ID,
 	//RMC data fields
 	RMC_TIME,
 	RMC_VALIDITY,
 	RMC_LATITUDE,
 	RMC_LONGITUDE,
 	RMC_KNOTS,
 	RMC_COURSE,
 	RMC_DATE,
 	RMC_MAG_VARIATION,
 }decodeState;
 ISR(USART1_RX_vect)
+{
 	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
 	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+}
 void gps_setup()
+{
 	snprintf(timestamp,2, "0");
 	snprintf(latitude,2, "0");
 	snprintf(longitude,2, "0");
 	snprintf(numSatellites,2, "0");

master/master/lib/logger.c

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 /*
  * Master Firmware: SD Card Data Logger
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #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 "sdcard/fat.h"
 #include "sdcard/fat_config.h"
 #include "sdcard/partition.h"
 #include "sdcard/sd_raw.h"
 #include "sdcard/sd_raw_config.h"
 #include "serial.h"
 #include "logger.h"
 #include "led.h"
 #include "looptime.h"
-#define MAX_ERRNO 7
+#define MAX_ERRNO 8
 // Label lookup table
 // Make sure there are never more labels than there are MAX_NUM_SENSORS!
 const char err_0[] PROGMEM = "slave timeout";
 const char err_1[] PROGMEM = "initializing SD card failed";
 const char err_2[] PROGMEM = "opening SD partition failed";
 const char err_3[] PROGMEM = "opening SD file failed";
 const char err_4[] PROGMEM = "XBee timeout";
 const char err_5[] PROGMEM = "FATAL UNHANDLED ERROR";
 const char err_6[] PROGMEM = "enter AT mode failed";
 const char err_7[] PROGMEM = "exit AT mode failed";
 const char err_8[] PROGMEM = "infotext";
 const char *const errorMessageLookup[] PROGMEM =
+{
 	err_0,
 	err_1,
 	err_2,
 	err_3,
 	err_4,
 	err_5,
 	err_6,
 	err_7,
 	err_8,
 };
 struct partition_struct* partition;
 struct fat_fs_struct* fs;
 struct fat_dir_struct* dd;
 struct fat_file_struct* fd_datalog;
 struct fat_file_struct* fd_errorlog;
 void logger_setup()
+{
 	if(!sd_raw_init())
+	{
 		error_log(ERROR_SD_INIT, true);
 		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 opening partition. MBR might be screwed up.
 		error_log(ERROR_SD_PARTITION, true);
 		return;
+	}
 	// Open FAT filesystem
 	fs = fat_open(partition);
 	if(!fs)
+	{
 		// opening filesystem failed
 		error_log(ERROR_SD_PARTITION, true);
 		return;
+	}
 	// Open root directory
 	struct fat_dir_entry_struct rootDirEntry;
 	fat_get_dir_entry_of_path(fs, "/", &rootDirEntry);
 	dd = fat_open_dir(fs, &rootDirEntry);
@@ @@ -188,94 +190,101 @@ void logger_log(char *buffer) @@
 	uint8_t len = strlen(buffer);
 	if(fat_write_file(fd_datalog, (uint8_t*) buffer, len) != len)
+	{
 		// Error writing to file
 		return;
+	}
+}
 void error_log(uint8_t errNo, bool flashLED)
+{
 	char labelBuffer[32];
 	labelBuffer[0] = 0x00;
 	if(errNo <= MAX_ERRNO)
+	{
 		strncpy_P(labelBuffer,(char*)pgm_read_word(&(errorMessageLookup[errNo])),32);
+	}
 	char errorLine[128];
 	snprintf(errorLine, 128, "%lu, %u, %s,,\r\n", time_millis(), errNo, labelBuffer);
 	error_log_rawwrite(errorLine);
 	led_on(LED_ERROR);
 	if(flashLED)
+	{
 		led_errorcode(errNo);
+	}
+}
 void error_log_msg(uint8_t errNo, bool flashLED, char* infoText)
+{
 	char labelBuffer[32];
 	labelBuffer[0] = 0x00;
 	if(errNo <= MAX_ERRNO)
+	{
 		strncpy_P(labelBuffer,(char*)pgm_read_word(&(errorMessageLookup[errNo])),32);
+	}
 	char errorLine[256];
 	snprintf(errorLine, 256, "%lu,%u,%s,%s,\r\n", time_millis(), errNo, labelBuffer, infoText);
 	error_log_rawwrite(errorLine);
 	led_on(LED_ERROR);
 	if(flashLED)
+	{
 		led_errorcode(errNo);
+	}
+}
 void info_log_msg(char* infoText)
+{
 	char errorLine[256];
 	snprintf(errorLine, 256, "%lu,8,infotext,%s,\r\n", time_millis(), infoText);
 	error_log_rawwrite(errorLine);
+}
 void error_log_rawwrite(char *buffer)
+{
 	uint8_t len = strlen(buffer);
 	if(fat_write_file(fd_errorlog, (uint8_t*) buffer, len) != len)
+	{
 		// Error writing to file
 		return;
+	}
+}
 void logger_closeLog()
+{
 	fat_close_file(fd_datalog);
 	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/logger.h

➞

Show inline comments

 /*
  * Master Firmware: Status and Error LED Handler
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #ifndef LOGGER_H_
 #define LOGGER_H_
 #include <stdbool.h>
 void logger_setup();
 uint8_t logger_writeLine(char* dateLine, uint8_t length);
 struct fat_file_struct* open_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name);
 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);
 void error_log(uint8_t errNo, bool flashLED);
 void error_log_msg(uint8_t errNo, bool flashLED, char* infoText);
 void info_log_msg(char* infoText);
 void error_log_rawwrite(char *buffer);
 void logger_log(char *buffer);
 void logger_closeLog();
 #endif /* LOGGER_H_ */
@@ \ No newline at end of file @@

master/master/lib/sensordata.c

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Show inline comments

@@ @@ -19,97 +19,97 @@ @@
 #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;
+	}
+}
 // Generate APRS comment
 // TODO: Can we move this buffer to a local scope of this function?
 char commentBuffer[128];
 char* slavesensors_getAPRScomment()
+{
-	snprintf(commentBuffer,128, "T%d S%s V%s H%s _%s |%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
+	snprintf(commentBuffer,128, "t9%d s%s v%s h%s _%s |%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
 	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];

master/master/lib/slavesensors.c

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Show inline comments

@@ @@ -83,193 +83,196 @@ static char slaveNames[MAX_NUM_SLAVES][1 @@
 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(7000))
+			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've finished one chunk (including the newline after it). Can't be else if because it controls increment.
 			// 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();
 	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
@@ @@ -284,294 +287,284 @@ bool slavesensors_selectaddress(char* ad @@
 			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(2000))
+	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(2000)) {
+	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()
+{
 	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;
 		// EXPECT PROBLEMS HERE FROM NOT INCREMENTING
 		//if(currentSlave == loggerIndex)
 		//{
 			//if(currentSlave >= (nodeCount-1))
 			//{
 				//// We hit the last one, we're done.
 				//dataReady = true;
 				//currentSlave = 0;
 				//currentSlaveSensor = 0;
 				//requesting = false;
 				//led_alert();
 				//return;
 			//}
 			//else
 			//{
 				//currentSlave++; // Skip the logger: increment to the next slave after the logger
 			//}
 		//}
 		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;
 		//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
+	}
+}
 // TODO: needs to skip logger!
 // Request data from slave modules
 void slavesensors_process(uint8_t parseResult)
+{
 	if(!requesting)
+	{
-		// we got a command when we didn't request anything. probably skip it.
 		// 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 > 1000) {
+		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
+	{
-		// something is terribly wrong!
+		error_log_msg(ERROR_FATAL, true, "parseResult is invalid!");
 		return;
+	}
+}
@@ \ No newline at end of file @@

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