Changeset - 6ec0665c6550
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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-04 16:04:27
ethanzonca@CL-ENS241-08.cedarville.edu
Code cleanup, moved CSV logging code into sensordata.c. Introduced an issue where logger_setup() seems to be getting called twice.
6 files changed with 82 insertions and 78 deletions:
master/master/config.h
1
1
master/master/lib/led.c
6
master/master/lib/logger.c
4
master/master/lib/sensordata.c
53
master/master/lib/sensordata.h
1
master/master/master.c
21
73
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master/master/config.h
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@@ -14,25 +14,25 @@
 
#define CONFIG_H_
 
 
// --------------------------------------------------------------------------
 
// Module config (master.c)
 
// --------------------------------------------------------------------------
 
 
#define DEBUG_OUTPUT
 
 
#define F_CPU 11059200
 
#define MODULE_ID '1'
 
#define BOARDTEMP_ADDR 0x90
 
 
#define HEATER_THRESHOLD 70
 
#define HEATER_THRESHOLD 25
 
 
// --------------------------------------------------------------------------
 
// Error Codes config (led.c, used throughout code)
 
// --------------------------------------------------------------------------
 
 
// SD Card
 
#define ERROR_SD_INIT 2
 
#define ERROR_SD_PARTITION 3
 
#define ERROR_SD_FILE 4
 
 
#define ERROR_XBEETIMEOUT 5
 
#define ERROR_NOXBEE 6
master/master/lib/led.c
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@@ -14,24 +14,30 @@
 
#include <avr/io.h>
 
#include <util/delay.h>
 
#include <stdbool.h>
 
#include "led.h"
 
 
// Configure port direction and initial state of LEDs
 
void led_setup()
 
{
 
	for(int i=0; i<NUM_LEDS; i++)  {
 
		*(ledList[i].direction) |= (1<<ledList[i].pin); // set pin to output
 
		*(ledList[i].port) &= ~(1<<ledList[i].pin); // set pin low
 
	}
 
 
	// Beep on startup
 
	led_on(LED_POWER);
 
	led_on(LED_BUZZ);
 
	_delay_ms(1);
 
	led_off(LED_BUZZ);
 
}
 
 
// Turn the specified LED on
 
void led_on(uint8_t led)
 
{
 
	*(ledList[led].port) |= (1<<ledList[led].pin);
 
}
 
 
	// Turn the specified LED off
 
void led_off(uint8_t led)
 
{
 
	*(ledList[led].port) &= ~(1<<ledList[led].pin);
master/master/lib/logger.c
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@@ -139,28 +139,24 @@ void logger_log(char *buffer)
 
	}
 
}
 
 
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);

			




	
	
	
		
 
}

			




	
	
	
		
 

			




        

    


    
    

    

        

                

                    master/master/lib/sensordata.c
                

                

                  
                      
                        

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@@ -3,26 +3,29 @@

			




	
	
	
		
 
 *

			




	
	
	
		
 
 * Wireless Observational Modular Aerial Network

			




	
	
	
		
 
 * 

			




	
	
	
		
 
 * Ethan Zonca

			




	
	
	
		
 
 * Matthew Kanning

			




	
	
	
		
 
 * Kyle Ripperger

			




	
	
	
		
 
 * Matthew Kroening

			




	
	
	
		
 
 *

			




	
	
	
		
 
 */

			




	
	
	
		
 

			




	
	
	
		
 
#include "../config.h"

			




	
	
	
		
 
#include <stdio.h>

			




	
	
	
		
 
#include <stdbool.h>

			




	
	
	
		
 
#include "sensordata.h"

			




	
	
	
		
 
#include "slavesensors.h"

			




	
	
	
		
 
#include "boardtemp.h"

			




	
	
	
		
 
#include "looptime.h"

			




	
	
	
		
 
#include "gps.h"

			




	
	
	
		
 

			




	
	
	
		
 
int16_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] = -32768; // minimum value of 16 bit integer

			




	
	
	
		
 
		}

			




	
	
	
		
 
	}

			




	
	
	
		
 
}

			




	
	
		
 
@@ -44,13 +47,63 @@ int16_t sensordata_get(uint8_t nodeID, u

			




	
	
	
		
 
		return 0;

			




	
	
	
		
 
	}

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
char commentBuffer[128];

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// [A-30.5 B45.64 C99542]"

			




	
	
	
		
 
char* slavesensors_getAPRScomment() {

			




	
	
	
		
 
	snprintf(commentBuffer,128, "T%d S%s V%s H%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop());

			




	
	
	
		
 
	return commentBuffer;

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
char logbuf[128];

			




	
	
	
		
 
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) {

			




	
	
	
		
 
			char csvHeader[128];

			




	
	
	
		
 
			csvHeader[0] = 0x00;

			




	
	
	
		
 
		

			




	
	
	
		
 
			// Add master data headers

			




	
	
	
		
 
			snprintf(csvHeader, 128, "Time,BoardTemp,Lat,Lon,HDOP,Speed,GPS SV,");

			




	
	
	
		
 
		

			




	
	
	
		
 
			// Add slave data headers

			




	
	
	
		
 
			for(uint8_t i=0; i<MAX_NUM_SLAVES; i++) {

			




	
	
	
		
 
				for(uint8_t j=0; j<MAX_NUM_SENSORS; j++) {

			




	
	
	
		
 
					int16_t tmp = sensordata_get(i, j);

			




	
	
	
		
 
					if(tmp != -32768) {

			




	
	
	
		
 
						// FIXME: will the 128 here really provide safety? might want to subtract the strlen

			




	
	
	
		
 
						snprintf(csvHeader + strlen(csvHeader), 128,"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));

			




	
	
	
		
 
					}

			




	
	
	
		
 
				}

			




	
	
	
		
 
			}

			




	
	
	
		
 
		

			




	
	
	
		
 
			// Terminate header string and write to SD card

			




	
	
	
		
 
			snprintf(csvHeader + strlen(csvHeader), 128,"\r\n");

			




	
	
	
		
 
			logger_log(csvHeader);

			




	
	
	
		
 
			dataWasReady = true;

			




	
	
	
		
 
		}

			




	
	
	
		
 
	

			




	
	
	
		
 
		// Write CSV sensor values to SD card

			




	
	
	
		
 
		logbuf[0] = 0x00;

			




	
	
	
		
 
		snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());

			




	
	
	
		
 
		for(int i=0; i<MAX_NUM_SLAVES; i++) {

			




	
	
	
		
 
			for(int j=0; j<MAX_NUM_SENSORS; j++) {

			




	
	
	
		
 
				int16_t tmp = sensordata_get(i, j);

			




	
	
	
		
 
				if(tmp != -32768) {

			




	
	
	
		
 
					snprintf(logbuf + strlen(logbuf),128," %d,", tmp);

			




	
	
	
		
 
				}

			




	
	
	
		
 
			

			




	
	
	
		
 
			}

			




	
	
	
		
 
		}

			




	
	
	
		
 
		snprintf(logbuf + strlen(logbuf),128,"\r\n");

			




	
	
	
		
 
		logger_log(logbuf);

			




	
	
	
		
 
	}

			




	
	
	
		
 
}

			




	
	
		
 
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                    master/master/lib/sensordata.h
                

                

                  
                      
                        

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@@ -13,14 +13,15 @@

			




	
	
	
		
 

			




	
	
	
		
 
#ifndef SENSORDATA_H_

			




	
	
	
		
 
#define SENSORDATA_H_

			




	
	
	
		
 

			




	
	
	
		
 
#include "slavesensors.h"

			




	
	
	
		
 

			




	
	
	
		
 
void sensordata_setup();

			




	
	
	
		
 
void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value);

			




	
	
	
		
 
int16_t sensordata_get(uint8_t nodeID, uint8_t type);

			




	
	
	
		
 
void sensordata_setBoardTemp(uint8_t slaveID, int16_t value);

			




	
	
	
		
 
int16_t sensordata_getBoardTemp(uint8_t slaveID);

			




	
	
	
		
 
char* slavesensors_getAPRScomment();

			




	
	
	
		
 
void sensordata_logvalues();

			




	
	
	
		
 

			




	
	
	
		
 
#endif /* SENSORDATA_H_ */

			




	
	
		
 
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                    master/master/master.c
                

                

                  
                      
                        

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@@ -18,190 +18,138 @@

			




	
	
	
		
 
#include <avr/wdt.h>

			




	
	
	
		
 
#include <avr/interrupt.h>

			




	
	
	
		
 
#include <stdio.h>

			




	
	
	
		
 
#include <stdbool.h>

			




	
	
	
		
 
#include <string.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/gps.h"

			




	
	
	
		
 

			




	
	
	
		
 
#include "lib/i2c.h"

			




	
	
	
		
 
#include "lib/boardtemp.h"

			




	
	
	
		
 
#include "lib/heater.h"

			




	
	
	
		
 
#include "lib/looptime.h"

			




	
	
	
		
 
#include "lib/slavesensors.h"

			




	
	
	
		
 
#include "lib/serparser.h"

			




	
	
	
		
 
#include "lib/sensordata.h"

			




	
	
	
		
 

			




	
	
	
		
 
int main(void)

			




	
	
	
		
 
{

			




	
	
	
		
 
	// Initialize libraries

			




	
	
	
		
 
	time_setup();

			




	
	
	
		
 
	watchdog_setup(); // enables interrupts

			




	
	
	
		
 
	led_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	led_on(LED_POWER);

			




	
	
	
		
 
	led_on(LED_BUZZ);

			




	
	
	
		
 
	_delay_ms(1);

			




	
	
	
		
 
	led_off(LED_BUZZ);

			




	
	
	
		
 
	

			




	
	
	
		
 
	gps_setup();

			




	
	
	
		
 
	serial0_setup();

			




	
	
	
		
 
	serial1_setup();

			




	
	
	
		
 
	i2c_init();

			




	
	
	
		
 
	sensordata_setup(); // must happen before sensors/logger/afsk

			




	
	
	
		
 
	sensordata_setup(); // must happen before slavesensors/logger/AFSK

			




	
	
	
		
 
	slavesensors_setup();

			




	
	
	
		
 
	logger_setup();

			




	
	
	
		
 
	afsk_setup();

			




	
	
	
		
 
	//\f

			




	
	
	
		
 
	

			




	
	
	
		
 
	#ifdef DEBUG_OUTPUT

			




	
	
	
		
 
	serial0_sendString("\r\n---------------------------------\r\n");

			




	
	
	
		
 
	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");

			




	
	
	
		
 
	serial0_sendString("---------------------------------\r\n");

			




	
	
	
		
 
		serial0_sendString("\r\n---------------------------------\r\n");

			




	
	
	
		
 
		serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");

			




	
	
	
		
 
		serial0_sendString("---------------------------------\r\n");

			




	
	
	
		
 
	#endif

			




	
	
	
		
 
	

			




	
	
	
		
 
	serial0_sendString("\r\nHello.\r\n\r\n");

			




	
	
	
		
 
	

			




	
	
	
		
 
	slavesensors_network_scan(); // This can take a little while

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Buffer for string operations

			




	
	
	
		
 
	char logbuf[128];

			




	
	
	
		
 
	// Blocking ZigBee node discovery

			




	
	
	
		
 
	slavesensors_network_scan();

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Software timers	

			




	
	
	
		
 
	uint32_t lastAprsBroadcast = 0;

			




	
	
	
		
 
	uint32_t lastLog = 0;

			




	
	
	
		
 
	uint32_t lastLedCycle = 0;

			




	
	
	
		
 
	uint32_t lastDataReq = 0;

			




	
	
	
		
 
	

			




	
	
	
		
 
	bool dataWasReady = false;

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Result of last parser run

			




	
	
	
		
 
	int parseResult = PARSERESULT_NODATA;

			




	
	
	
		
 
	

			




	
	
	
		
 
	// FIXME: Probably don't need this.

			




	
	
	
		
 
	serial1_ioff();

			




	
	
	
		
 
	

			




	
	
	
		
 
	while(1)

			




	
	
	
		
 
    {

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: LED execution indicator

			




	
	
	
		
 
		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) {

			




	
	
	
		
 
			led_spin();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Enable GPS serial interrupts if we aren't doing AFSK

			




	
	
	
		
 
			if(!afsk_busy())

			




	
	
	
		
 
				serial1_ion();

			




	
	
	
		
 
				

			




	
	
	
		
 
			lastLedCycle = time_millis();	

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Logging

			




	
	
	
		
 
		if(time_millis() - lastLog > LOGGER_RATE) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			led_on(LED_CYCLE);

			




	
	
	
		
 
			

			




	
	
	
		
 
			heater_regulateTemp();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Print out GPS debug

			




	
	
	
		
 
			//snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",

			




	
	
	
		
 
			//get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());

			




	
	
	
		
 
			//serial0_sendString(debugBuf);

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Turn on sideboard LED if we have a fix

			




	
	
	
		
 
			if(strcmp("99.99", get_hdop()) == 0) {

			




	
	
	
		
 
				led_off(LED_SIDEBOARD);

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else {

			




	
	
	
		
 
				led_on(LED_SIDEBOARD);

			




	
	
	
		
 
			}

			




	
	
	
		
 
			

			




	
	
	
		
 
			sensors_readBoardTemp(); // i2c read, 400k

			




	
	
	
		
 
			sensors_readBoardTemp();

			




	
	
	
		
 
		

			




	
	
	
		
 
			// If we've gotten data from all slaves once, we're ready to make a CSV header and start logging

			




	
	
	
		
 
			if(slavesensors_dataReady()) {

			




	
	
	
		
 
				if(!dataWasReady) {

			




	
	
	
		
 
					char csvHeader[128];

			




	
	
	
		
 
					csvHeader[0] = 0x00;

			




	
	
	
		
 
					

			




	
	
	
		
 
					// Add master data headers

			




	
	
	
		
 
					snprintf(csvHeader, 128, "Time,BoardTemp,Lat,Lon,HDOP,Speed,GPS SV,");

			




	
	
	
		
 
					

			




	
	
	
		
 
					for(uint8_t i=0; i<MAX_NUM_SLAVES; i++) {

			




	
	
	
		
 
						for(uint8_t j=0; j<MAX_NUM_SENSORS; j++) {

			




	
	
	
		
 
							int16_t tmp = sensordata_get(i, j);

			




	
	
	
		
 
							if(tmp != -32768) {

			




	
	
	
		
 
								// FIXME: will the 128 here really provide safety? might want to subtract the strlen

			




	
	
	
		
 
								snprintf(csvHeader + strlen(csvHeader), 128,"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));	

			




	
	
	
		
 
							}

			




	
	
	
		
 
						}

			




	
	
	
		
 
					}

			




	
	
	
		
 
					snprintf(csvHeader + strlen(csvHeader), 128,"\r\n");	

			




	
	
	
		
 
					serial0_sendString(csvHeader);

			




	
	
	
		
 
					logger_log(csvHeader);

			




	
	
	
		
 
					dataWasReady = true;

			




	
	
	
		
 
				}

			




	
	
	
		
 
		

			




	
	
	
		
 
				logbuf[0] = 0x00;

			




	
	
	
		
 
				snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());

			




	
	
	
		
 
				for(int i=0; i<MAX_NUM_SLAVES; i++) {

			




	
	
	
		
 
					for(int j=0; j<MAX_NUM_SENSORS; j++) {

			




	
	
	
		
 
						int16_t tmp = sensordata_get(i, j);

			




	
	
	
		
 
						if(tmp != -32768) {

			




	
	
	
		
 
							snprintf(logbuf + strlen(logbuf),128," %d,", tmp);

			




	
	
	
		
 
						}

			




	
	
	
		
 
					

			




	
	
	
		
 
					}

			




	
	
	
		
 
				}

			




	
	
	
		
 
				snprintf(logbuf + strlen(logbuf),128,"\r\n");

			




	
	
	
		
 
				serial0_sendString(logbuf);			

			




	
	
	
		
 
				logger_log(logbuf);

			




	
	
	
		
 
			

			




	
	
	
		
 
			}			

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Print out logger debug

			




	
	
	
		
 
			#ifdef DEBUG_OUTPUT

			




	
	
	
		
 
			//serial0_sendString("LOG> ");

			




	
	
	
		
 
			//serial0_sendString(logbuf);

			




	
	
	
		
 
			#endif

			




	
	
	
		
 
			// Write CSV header and log data values

			




	
	
	
		
 
			sensordata_logvalues();			

			




	
	
	
		
 
			

			




	
	
	
		
 
			led_off(LED_CYCLE);

			




	
	
	
		
 
			lastLog = time_millis();

			




	
	
	
		
 
		}		

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Data Request

			




	
	
	
		
 
		if(time_millis() - lastDataReq > DATAREQUEST_RATE)  {

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Start getting values for next transmission

			




	
	
	
		
 
			if(slavesensors_isrequesting())

			




	
	
	
		
 
			{

			




	
	
	
		
 
				// TODO: something is terribly wrong

			




	
	
	
		
 
				// TODO: something is terribly wrong. Timeout?

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else

			




	
	
	
		
 
			{

			




	
	
	
		
 
				slavesensors_startprocess();

			




	
	
	
		
 
			}

			




	
	
	
		
 
			

			




	
	
	
		
 
			lastDataReq = time_millis();

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: APRS transmission

			




	
	
	
		
 
		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			// Ensure we aren't already transmitting

			




	
	
	
		
 
			while(afsk_busy());

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Turn off interrupts and transmit APRS sentence

			




	
	
	
		
 
			serial1_ioff();

			




	
	
	
		
 
			aprs_send(); // non-blocking

			




	
	
	
		
 
			

			




	
	
	
		
 
			lastAprsBroadcast = time_millis();

			




	
	
	
		
 
		}			

			




	
	
	
		
 
		

			




	
	
	
		
 

			




	
	
	
		
 
		// Parse any serial data in the XBee software buffer

			




	
	
	
		
 
		parseResult = serparser_parse();

			




	
	
	
		
 
		slavesensors_process(parseResult);

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Parse any NMEA messages in the GPS software buffer

			




	
	
	
		
 
		parse_gps_transmission();

			




	
	
	
		
 
		

			




	
	
	
		
 
		wdt_reset();

			




	
	
	
		
 
    }

			




	
	
	
		
 
}

			




	
	
		
 
\ No newline at end of file

			




        

    



    


    



    



      

      





    
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