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 60 insertions and 33 deletions:
master/master/config.h
11
master/master/lib/gps.c
14
1
master/master/lib/logger.c
10
1
master/master/lib/logger.h
1
master/master/lib/sensordata.c
1
1
master/master/lib/slavesensors.c
23
30
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master/master/config.h
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@@ -43,12 +43,14 @@
 
 
#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)
 
// --------------------------------------------------------------------------
 
 
@@ -57,12 +59,21 @@
 
 
// 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
master/master/lib/gps.c
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@@ -116,15 +116,28 @@ char* get_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;

			




	
	
	
		
 

			




        

    


    
    

    

        

                

                    master/master/lib/logger.c
                

                

                  
                      
                        

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@@ -25,35 +25,37 @@

			




	
	
	
		
 
#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;

			




	
	
		
 
@@ -230,12 +232,19 @@ void error_log_msg(uint8_t errNo, bool f

			




	
	
	
		
 
	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)

			




	
	
	
		
 
	{

			




        

    


    
    

    

        

                

                    master/master/lib/logger.h
                

                

                  
                      
                        

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@@ -19,11 +19,12 @@

			




	
	
	
		
 
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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@@ -61,13 +61,13 @@ int32_t sensordata_get(uint8_t nodeID, u

			




	
	
	
		
 

			




	
	
	
		
 
// 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;

			




        

    


    
    

    

        

                

                    master/master/lib/slavesensors.c
                

                

                  
                      
                        

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@@ -125,13 +125,13 @@ void slavesensors_network_scan()

			




	
	
	
		
 
		// 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();

			




	
	
	
		
 

			




	
	
		
 
@@ -151,13 +151,13 @@ void slavesensors_network_scan()

			




	
	
	
		
 
			}

			




	
	
	
		
 
			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);

			




	
	
		
 
@@ -222,12 +222,15 @@ void slavesensors_network_scan()

			




	
	
	
		
 
	{

			




	
	
	
		
 
		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();

			




	
	
		
 
@@ -326,13 +329,13 @@ void slavesensors_selectlogger()

			




	
	
	
		
 
void slavesensors_exitAT() 

			




	
	
	
		
 
{

			




	
	
	
		
 
	// Exit AT

			




	
	
	
		
 
	serial0_sendString("ATCN");

			




	
	
	
		
 
	serial0_sendChar(0x0D);

			




	
	
	
		
 

			




	
	
	
		
 
	if(waitTimeout(2000)) 

			




	
	
	
		
 
	if(waitTimeout(TIMEOUT_EXITAT)) 

			




	
	
	
		
 
	{

			




	
	
	
		
 
		return;

			




	
	
	
		
 
	}

			




	
	
	
		
 
	

			




	
	
	
		
 
	xbeeIsOk();

			




	
	
	
		
 
}

			




	
	
		
 
@@ -373,13 +376,13 @@ int slavesensors_enterAT()

			




	
	
	
		
 

			




	
	
	
		
 
	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)

			




	
	
	
		
 
	{

			




	
	
		
 
@@ -416,12 +419,13 @@ void slavesensors_request()

			




	
	
	
		
 
	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

			




	
	
		
 
@@ -447,62 +451,41 @@ void gotoNextSlaveOrSensor(bool fail) {

			




	
	
	
		
 
		#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

			




	
	
		
 
@@ -516,12 +499,15 @@ void slavesensors_process(uint8_t parseR

			




	
	
	
		
 
		#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);

			




	
	
		
 
@@ -557,21 +543,28 @@ void slavesensors_process(uint8_t parseR

			




	
	
	
		
 
	// 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) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			slavesensors_request();	// re-request

			




	
	
	
		
 
			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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