seniordesign-firmware Changeset - 8bafd525c511

Changeset - 8bafd525c511

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-05 15:49:46
ethanzonca@CL-ENS241-08.cedarville.edu

Add support for 32-bit slave data storage, required significant changes to entire data path.
Increased serial buffer size to 128 to accomodate larger streams of data

8 files changed with 40 insertions and 45 deletions:

master/master/config.h

master/master/lib/logger.c

master/master/lib/sensordata.c

master/master/lib/sensordata.h

master/master/lib/serparser.c

master/master/lib/serparser.h

master/master/lib/slavesensors.c

master/master/master.c

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master/master/config.h

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@@ @@ -53,25 +53,25 @@ @@
 #define XBEE_LOGDEST_NAME "HAB-LOGGER"
 #define DATAREQUEST_RATE 3000
 // --------------------------------------------------------------------------
 // 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 32
+#define BUFFER_SIZE 128
 // Public broadcast address
 #define BROADCAST_ADDR 0
 // --------------------------------------------------------------------------
 // GPS config (xxx.c)
 // --------------------------------------------------------------------------
 #define NMEABUFFER_SIZE 150
 // --------------------------------------------------------------------------
 // USART config (serial.c)

master/master/lib/logger.c

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@@ @@ -29,46 +29,37 @@ @@
 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())
+	{
 		// Initializing SD card failed!
 		#ifdef DEBUG_OUTPUT
 		serial0_sendString("SD> Error initializing.\r\n");
 		#endif
 		led_errorcode(ERROR_SD_INIT);
 		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)
+	{
 		#ifdef DEBUG_OUTPUT
 		serial0_sendString("SD> Error opening partition.\r\n");
 		#endif
 		// Error opening partition. MBR might be screwed up.
 		led_errorcode(ERROR_SD_PARTITION);
 		return;
+	}
 	// Open FAT filesystem
 	fs = fat_open(partition);
 	if(!fs)
+	{
 		// opening filesystem failed
 		led_errorcode(ERROR_SD_PARTITION);
@@ @@ -81,28 +72,28 @@ void logger_setup() @@
 	dd = fat_open_dir(fs, &directory);
 	if(!dd)
+	{
 		// opening root directory failed
 		_delay_ms(10);
 		led_errorcode(ERROR_SD_FILE);
 		return;
+	}
 	// Create new log file
 	uint8_t logid = eeprom_read_byte(LOGGER_ID_EEPROM_ADDR);
-	char filename[48];
+	char filename[16];
 	// we pre-increment logid here because it starts at 255, then wraps to 0
-	sprintf(filename, "data%d.csv",++logid);
+	snprintf(filename, 16, "data%d.csv",++logid);
 	// TODO: Catch errors here
 	if(fat_create_file(dd, filename, &directory) == 0) {
 		led_errorcode(ERROR_SD_FILE);
+	}
 	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)
+	{

master/master/lib/sensordata.c

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@@ @@ -4,106 +4,109 @@ @@
  * 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"
-int16_t slaves[MAX_NUM_SLAVES][MAX_NUM_SENSORS];
+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] = -32768; // minimum value of 16 bit integer
+			slaves[i][j] = -2111111111; // minimum value of 16 bit integer
+		}
+	}
+}
-void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value)
+void sensordata_set(uint8_t nodeID, uint8_t type, int32_t value)
+{
 	if(nodeID < MAX_NUM_SLAVES) {
 		slaves[nodeID][type] = value;
+	}
+}
-int16_t sensordata_get(uint8_t nodeID, uint8_t type)
+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;
+	}
+}
 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];
+char logbuf[256];
 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];
 			#define CSV_HEADER_SIZE 512
 			char csvHeader[CSV_HEADER_SIZE];
 			csvHeader[0] = 0x00;
 			// Add master data headers
-			snprintf(csvHeader, 128, "Time,BoardTemp,GPSTime,GPSLat,GPSLon,GPSSpeed,GPSHDOP,GPSCourse,GPSSV");
+			snprintf(csvHeader, CSV_HEADER_SIZE, "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++) {
 					int16_t tmp = sensordata_get(i, j);
 					if(tmp != -32768) {
 					int32_t tmp = sensordata_get(i, j);
 					if(tmp != -2111111111) {
 						// 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), CSV_HEADER_SIZE-strlen(csvHeader),"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));
+					}
+				}
+			}
 			// Terminate header string and write to SD card
-			snprintf(csvHeader + strlen(csvHeader), 128,"\r\n");
+			snprintf(csvHeader + strlen(csvHeader), CSV_HEADER_SIZE-strlen(csvHeader),"\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,%s,", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course(), get_sv());
+		snprintf(logbuf, 256, "%lu,%d,%s,%s,%s,%s,%s,%s,%s,", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course(), get_sv());
 		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);
 				int32_t tmp = sensordata_get(i, j);
 				if(tmp != -2111111111) {
 					snprintf(logbuf + strlen(logbuf),256-strlen(logbuf)," %ld,", tmp);
+				}
+			}
+		}
-		snprintf(logbuf + strlen(logbuf),128,"\r\n");
+		snprintf(logbuf + strlen(logbuf),256-strlen(logbuf),"\r\n");
 		logger_log(logbuf);
+	}
+}
@@ \ No newline at end of file @@

master/master/lib/sensordata.h

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@@ @@ -8,20 +8,18 @@ @@
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #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);
 void sensordata_set(uint8_t nodeID, uint8_t type, int32_t value);
 int32_t sensordata_get(uint8_t nodeID, uint8_t type);
 char* slavesensors_getAPRScomment();
 void sensordata_logvalues();
 #endif /* SENSORDATA_H_ */
@@ \ No newline at end of file @@

master/master/lib/serparser.c

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@@ @@ -39,25 +39,25 @@ char receivedPayload[MAX_PAYLOAD_LEN]; @@
 // Payload type ID of the sensor of most recent transmission
 char receivedPayloadType = 0;
 // Checksum to be calculated and then compared to the received checksum
 char checksumCalc = 0;
 // Accessors
 uint8_t getPayloadLength()
+{
 	return payloadLength;
+}
-uint8_t* getPayload()
+char* getPayload()
+{
 	return receivedPayload;
+}
 uint8_t getPayloadType() {
 	return receivedPayloadType;
+}
 // Could inline if program space available
 static void setParserState(uint8_t state)
+{
 	lastParserState = parserState;

master/master/lib/serparser.h

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@@ @@ -25,19 +25,19 @@ enum parseResults @@
 // Parser states
 enum parseStates
+{
 	STATE_RESET = 0,
 	STATE_GETDATATYPE,
 	STATE_GETDATA,
 	STATE_GETCHECKSUM,
 };
 // Accessors
 uint8_t getPayloadLength();
-uint8_t* getPayload();
+char* getPayload();
 uint8_t getPayloadType();
 // Prototypes
 int serparser_parse(void);
 #endif /* SERPARSER_H_ */
@@ \ No newline at end of file @@

master/master/lib/slavesensors.c

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@@ @@ -43,40 +43,49 @@ const char *const labelLookup[] PROGMEM @@
 	label_1,
 	label_2,
 	label_3,
 	label_4,
 	label_5,
 	label_6,
 	label_7,
 	label_8,
 };
 char labelBuffer[25]; // Size to length of label
 char* slavesensors_getLabel(uint8_t sensorID) {
 	strncpy_P(labelBuffer,(char*)pgm_read_word(&(labelLookup[sensorID])),25);
 	return labelBuffer;
 	//snprintf(labelBuffer, 25, "[%u]", sensorID);
 	//return labelBuffer;
 	if(sensorID < 9)
+	{
 		strncpy_P(labelBuffer,(char*)pgm_read_word(&(labelLookup[sensorID])),25);
 		return labelBuffer;
+	}
 	else {
 		return NULL;
+	}
+}
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 bool requesting = false;
 void slavesensors_setup()
+{
+}
 //#define DEBUG_NETWORKSCAN
 #define DEBUG_GETSLAVEDATA
+//#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][20];
 uint8_t loggerIndex = 255;
 uint8_t nodeCount = 0;
 bool dataReady = false;
 char* slavesensors_slavename(uint8_t id) {
@@ @@ -388,27 +397,27 @@ void slavesensors_process(uint8_t parseR @@
 	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 some data, let's handle it
 		// ASCII payload
 		uint8_t len = getPayloadLength();
-		uint8_t* load = getPayload();
+		char* load = getPayload();
 		uint8_t type = getPayloadType();
-		uint16_t parsedVal = atoi(load);
+		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;

master/master/master.c

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@@ @@ -42,30 +42,24 @@ int main(void) @@
 	time_setup();
 	watchdog_setup(); // enables interrupts
 	led_setup();
 	gps_setup();
 	serial0_setup();
 	serial1_setup();
 	i2c_init();
 	sensordata_setup(); // must happen before slavesensors/logger/AFSK
 	slavesensors_setup();
 	logger_setup();
 	afsk_setup();
 	#ifdef DEBUG_OUTPUT
 		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");
 	// 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;
 	// Result of last parser run

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