seniordesign-firmware Changeset - 8fb88c0ed65a

Changeset - 8fb88c0ed65a

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kripperger@CL-SEC241-09.cedarville.edu - 13 years ago 2013-01-22 22:33:14
kripperger@CL-SEC241-09.cedarville.edu

Added serial parser and began writing master communication functions

12 files changed with 529 insertions and 65 deletions:

slave/slave/config.h

slave/slave/lib/inputOutput.c

slave/slave/lib/led.c

slave/slave/lib/masterComm.c

slave/slave/lib/masterComm.h

slave/slave/lib/sensors.c

slave/slave/lib/serial.c

110

slave/slave/lib/serial.h

slave/slave/lib/serparser.c

220

slave/slave/lib/serparser.h

slave/slave/slave.c

slave/slave/slave.cproj

0 comments (0 inline, 0 general)

slave/slave/config.h

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@@ @@ -11,11 +11,19 @@ @@
  #define F_CPU 11059200				// Clock frequency (used in calculations)
 //Serial
 #define USART0_BAUDRATE 115200
 #define USART1_BAUDRATE 115200
 #define SENSOR_LOOP 100				// Frequency of sensor reads (in ms)
 // Circular serial buffer size. Must be at least MAX_CMD_LEN + 5
 #define BUFFER_SIZE 32
 // Maximum payload size of command
 #define MAX_PAYLOAD_LEN 16
 //Sensors and IO
 #define SENSOR_LOOP 200				// Frequency of sensor reads (in ms)
 #define HEATER_THRESHOLD 40			// Temperature threshold in Fahrenheit where heater is activated
  //I2C Addresses

slave/slave/lib/inputOutput.c

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@@ @@ -8,7 +8,9 @@ @@
 #include <avr/io.h>
 #include "../config.h"
 #include "inputOutput.h"
 #include "led.h"
 #include "sensors.h"
  void io_configure()
+ {
 	// Configure ports/pins

slave/slave/lib/led.c

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@@ @@ -83,27 +83,23 @@ void led_toggle(uint8_t led) @@
 	switch(led)
+	{
 		case 0:
 			if ((PORTB & 0b00000001) == 1)		PORTB &= ~(1 << PB0);	//OFF
 			else								PORTB |= (1 << PB0);	//ON
 			PORTB ^= (1 << PB0);
 			break;
 		case 1:
 			if (((PORTB & 0b00000010)>>1) == 1)	PORTB &= ~(1 << PB1);	//OFF
 			else								PORTB |= (1 << PB1);	//ON
 			PORTB ^= (1 << PB1);
 			break;
 		case 2:
 			if (((PORTB & 0b00000100)>>2) == 1)	PORTB &= ~(1 << PB2);	//OFF
 			else								PORTB |= (1 << PB2);	//ON
 			PORTB ^= (1 << PB2);
 			break;
 		case 3:
 			if (((PORTB & 0b00001000)>>3) == 1)	PORTB &= ~(1 << PB3);	//OFF
 			else								PORTB |= (1 << PB3);	//ON
 			PORTB ^= (1 << PB3);
 			break;
 		default:
 			break;
+	}
+}

slave/slave/lib/masterComm.c

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@@ new file 100644 @@
 /*
  * masterComm.c
+ *
  * Created: 1/22/2013 3:40:53 PM
  *  Author: kripperger
  */
 #include <avr/io.h>
 #include "../config.h"
 #include "masterComm.h"
 #include "serial.h"
 #include "serparser.h"
 void masterComm_send()
+{
 	//Send stuff
 	serial0_sendString("got data\r\n");
+}
 void masterComm_check()
+{
 	if (serparser_parse() == PARSERESULT_PARSEOK)
+	{
 		if (getPayloadType() == ('@'-0x30))		// Request for data recieved
+		{
 			// Send all data
 			masterComm_send();
+		}
+	}
+}

slave/slave/lib/masterComm.h

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@@ new file 100644 @@
 /*
  * masterComm.h
+ *
  * Created: 1/22/2013 3:40:43 PM
  *  Author: kripperger
  */
 #ifndef MASTERCOMM_H_
 #define MASTERCOMM_H_
 void masterComm_check();
 void masterComm_send();
 #endif /* MASTERCOMM_H_ */
@@ \ No newline at end of file @@

slave/slave/lib/sensors.c

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@@ @@ -13,6 +13,7 @@ @@
 #include <util/delay.h>
 #include "sensors.h"
 #include "spi.h"
 #include "i2c.h"
 int16_t	spiTemp;	// Thermocouple Temperature (from spi)
 int8_t	boardTemp;	// Board Temperature (from i2c)

slave/slave/lib/serial.c

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 /*
  * serial.c
+ *
  * Created: 10/25/2012 3:19:49 PM
  *  Author: ethanzonca
  */
 /*
  * Master Firmware: USART Send/Recieve
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "serial.h"
 #include "led.h"
 #include "../config.h"
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 // NOTE: USART ISRs for character reception are included in serparser.c
 void serial0_setup() {
 	//PORTD &= ~(1<<PD0);
 	//PORTD |= (1<<PD1);
 	/* Enable receiver and transmitter */
 	UCSR0B |= (1<<RXEN0)|(1<<TXEN0); // Enable rx/tx
 	/* Set frame format: 8data, 1stop bit */
 	UCSR0C |= (1 << UCSZ00) | (1 << UCSZ01); // - 1 stop bit
 	/* Set baud rate */
 	UBRR0H = (unsigned char)(USART0_BAUD_PRESCALE>>8);
 	UBRR0L = (unsigned char)USART0_BAUD_PRESCALE;
 	/* Enable receiver and transmitter */
 	UCSR0B = (1<<RXEN0)|(1<<TXEN0);
 	/* Set frame format: 8data, 1stop bit */
 	UCSR0C = (3<<UCSZ00); // - 1 stop bit
 	UCSR0B |= (1 << RXCIE0); // Enable interrupt
 	//UCSR0A |= (1<<RXC0);
+}
 void serial1_setup() {
 //PROVEN in test project
 	/* Enable receiver and transmitter */
 	UCSR1B |= (1<<RXEN1)|(1<<TXEN1); // Enable rx/tx
 	/* Set frame format: 8data, 1stop bit */
 	UCSR1C |= (1 << UCSZ10) | (1 << UCSZ11); // - 1 stop bit
 	/* Set baud rate */
 	UBRR1H = (unsigned char)(USART1_BAUD_PRESCALE>>8);
 	UBRR1L = (unsigned char)USART1_BAUD_PRESCALE;
 	/* Enable receiver and transmitter */
 	UCSR1B = (1<<RXEN1)|(1<<TXEN1);
 	/* Set frame format: 8data, 1stop bit */
 	UCSR1C = (3<<UCSZ10); // - 1 stop bit
 	UCSR1B |= (1 << RXCIE1); // Enable interrupt
+}
 void serial1_ion() {
 	UCSR1B |= (1<<RXEN1); // Enable rx
 	UCSR1B |= (1 << RXCIE1); // Enable interrupt
+}
 void serial1_ioff() {
 	UCSR1B &= ~(1<<RXEN1); // Disable rx
 	UCSR1B &= ~(1 << RXCIE1); // Disable interrupt
+}
 void serial0_ion() {
 	UCSR0B |= (1 << RXCIE0); // Enable interrupt
+}
 void serial0_ioff() {
 	UCSR0B &= ~(1 << RXCIE0); // Disable interrupt
+}
 void serial0_sendChar( unsigned char byte )
+{
@@ @@ -42,44 +86,76 @@ void serial1_sendChar( unsigned char byt @@
 	UDR1 = byte;
+}
 void serial0_sendString(char* stringPtr){
 	while(*stringPtr != 0x00){
 unsigned char serial0_readChar()
+{
 	while(!(UCSR0A &(1<<RXC0)));
 	//char c = UDR0;
 	//serial0_sendString("Read: ");
 	//serial0_sendChar(c);
 	//serial0_sendChar('\n');
 	return UDR0;
+}
 uint8_t serial0_hasChar() {
 	return (UCSR0A &(1<<RXC0));
+}
 char readBuf[128];
 char* serial0_readLine() {
 	char c;
 	int i = 0;
 	while(i < 128) {
 		c = serial0_readChar();
 		if(c == 0x0D) break;
 		readBuf[i] = c;
 		i++;
+	}
 	readBuf[i] = '\0';
 	return readBuf;
+}
 void serial0_sendString(const char* stringPtr){
 	while(*stringPtr != 0x00)
+	{
 		serial0_sendChar(*stringPtr);
 		stringPtr++;
+	}
+}
 void serial1_sendString(char* stringPtr){
 	while(*stringPtr != 0x00){
 void serial1_sendString(const char* stringPtr){
 	while(*stringPtr != 0x00)
+	{
 		serial1_sendChar(*stringPtr);
 		stringPtr++;
+	}
+}
 void serial_sendCommand( char moduleID, char sensorID, uint8_t dataLength, char* data )
 void serial_sendCommand(char* data )
+{
 	char checkSum = 0x00; //initialize checksum
 	serial0_sendChar('['); //bracket indicates start of command
 	serial0_sendChar(moduleID);
 	checkSum+=moduleID;
 	serial0_sendChar(sensorID);
 	checkSum+=sensorID;
 	//send each character of data individually
 	for (int i=0; i<dataLength; i++)
+	{
 		serial0_sendChar(data[i]);
 		checkSum+=data[i];
 	// send data, null-terminated
 	while(*data != 0x00)
+	{
 		serial0_sendChar(*data);
 		checkSum += *data;
 		data++;
+	}
 	serial0_sendChar(checkSum);
 	serial0_sendChar(']'); //bracket indicates end of command
 	serial0_sendChar(checkSum); // checksum moved behind bracket to solve bug FS#29
+}
 void serial_sendResponseData(){
 void serial_sendResponseData()
+{
+}

slave/slave/lib/serial.h

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 /*
  * serial.h
+ *
  * Created: 10/25/2012 3:19:42 PM
  *  Author: ethanzonca
  */
 /*
  * Master Firmware: USART Send/Recieve
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #ifndef SERIAL_H_
@@ @@ -20,11 +25,17 @@ void serial1_sendChar( unsigned char byt @@
 void serial0_setup();
 void serial1_setup();
 void serial0_sendString(char* stringPtr);
 void serial1_sendString(char* stringPtr);
 void serial0_sendString(const char* stringPtr);
 void serial1_sendString(const char* stringPtr);
 void serial_sendCommand( char moduleID, char sensorID, uint8_t dataLength, char* data );
 unsigned char serial0_readChar();
 uint8_t serial0_hasChar();
 char* serial0_readLine();
 void serial_sendCommand( char* data );
 void serial_sendResponseData();
 void serial1_ion();
 void serial1_ioff();
 #endif /* SERIAL_H_ */
@@ \ No newline at end of file @@

slave/slave/lib/serparser.c

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@@ new file 100644 @@
 /*
  * Master Firmware: Serial Parser
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "../config.h"
 #include "serial.h"
 #include "serparser.h"
 #include "led.h"
 // Circular buffer for incoming data
 uint8_t buffer[BUFFER_SIZE];
 // Location of parser in the buffer
 uint8_t bufferParsePosition = 0;
 // Location of receive byte interrupt in the buffer
 volatile uint16_t bufferDataPosition = 0;
 // Parser state
 uint8_t parserState = STATE_RESET;
 uint8_t lastParserState = STATE_RESET;
 // Length of current payload data (and checksum)
 uint8_t payloadLength = 0;
 // Data and checksum of most recent transmission
 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()
+{
 	return receivedPayload;
+}
 uint8_t getPayloadType() {
 	return receivedPayloadType;
+}
 // Could inline if program space available
 static void setParserState(uint8_t state)
+{
 	lastParserState = parserState;
 	parserState = state;
 	// If resetting, clear vars
 	if(state == STATE_RESET)
+	{
 		payloadLength = 0;
 		checksumCalc = 0;
+	}
 	// Every time we change state, we have parsed a byte
 	bufferParsePosition = (bufferParsePosition + 1) % BUFFER_SIZE;
+}
 // Receive data on USART
 char debugBuff[16];
 ISR(USART0_RX_vect)
+{
 	buffer[bufferDataPosition % BUFFER_SIZE] = UDR0;
 	bufferDataPosition = (bufferDataPosition + 1) % BUFFER_SIZE;
 	//sprintf(debugBuff, "bdp: %d, bpp: %d \r\n", bufferDataPosition, bufferParsePosition);
 	//serial0_sendString((debugBuff));
+}
 #define DEBUG
 // Parse data from circular buffer
 int serparser_parse(void)
+{
 	char byte;
 	// Process first command (if any) on the circular buffer
 	while(bufferDataPosition != bufferParsePosition)
+	{
 		byte = buffer[bufferParsePosition];
 		// Reset
 		if(parserState == STATE_RESET)
+		{
 			if(byte == '[') // Start of frame; keep parsing
+			{
 				#ifdef DEBUG
 				serial0_sendString("start\r\n");
 				#endif
 				setParserState(STATE_GETDATATYPE);
+			}
 			else // Not start of frame, reset
+			{
 				#ifdef DEBUG
 				serial0_sendString("invalid\r\n");
 				#endif
 				setParserState(STATE_RESET);
 				return PARSERESULT_NODATA; // no valid start bit; better luck next time. run the function the next time around the main loop.
+			}
+		}
 		// Get payload type ID
 		else if(parserState == STATE_GETDATATYPE)
+		{
 			#ifdef DEBUG
 			serial0_sendString("type\r\n");
 			#endif
 			receivedPayloadType = byte - 0x30; // Store the type of data receiving
 			checksumCalc += byte;
 			setParserState(STATE_GETDATA);
+		}
 		// Get payload data
 		else if(parserState == STATE_GETDATA)
+		{
 			if (byte == ']') // End of frame
+			{
 				#ifdef DEBUG
 				serial0_sendString("eof\r\n");
 				sprintf(debugBuff, "%d B, sum=%d\r\n", payloadLength, checksumCalc);
 				serial0_sendString((debugBuff));
 				#endif
 				receivedPayload[payloadLength] = 0; // null-terminate string for atoi
 				setParserState(STATE_GETCHECKSUM);
 				// Checksum is now after the close bracket to solve bug FS#29
+			}
 			else // Still receiving data
+			{
 				#ifdef DEBUG
 				serial0_sendString("data\r\n");
 				#endif
 				receivedPayload[payloadLength] = byte;
 				payloadLength++;
 				checksumCalc += byte;
 				// Data buffer overrun protection
 				if(payloadLength > MAX_PAYLOAD_LEN) {
 					#ifdef DEBUG
 					serial0_sendString("ovf\r\n");
 					#endif
 					setParserState(STATE_RESET);
 					return PARSERESULT_FAIL;
+				}
 				else {
 					// Set state. MUST call even though state is maintained to update parse position
 					setParserState(STATE_GETDATA);
 					return PARSERESULT_STILLPARSING;
+				}
+			}
+		}
 		else if(STATE_GETCHECKSUM)
+		{
 			// TODO: Compare checksums
 			if(byte == checksumCalc) {
 				#ifdef DEBUG
 				serial0_sendString("check\r\n");
 				#endif
 				setParserState(STATE_RESET);
 				return PARSERESULT_PARSEOK;
+			}
 			else {
 				#ifdef DEBUG
 				serial0_sendString("bcheck\r\n");
 				#endif
 				setParserState(STATE_RESET);
 				return PARSERESULT_PARSEOK;
 				// !!!!!!!!!!!!!DEBUGGGGG ignore checksum ///// return PARSERESULT_FAIL;
+			}
 			/*
 			if(bufferParsePosition == bufferDataPosition)
+			{
 				// We are at the end of the line. No more data to parse.
 				setParserState(STATE_RESET);
 				return PARSERESULT_PARSEOK;
+			}
 			else
+			{
 				setParserState(STATE_RESET);
 				// we could choose to keep parsing now, or parse the next message next loop around (better idea).
 				// return now so we hit it the next time around
 				return PARSERESULT_PARSEOK;
+			}
 			*/
+		}
+	}
 	return PARSERESULT_NODATA;
+}
@@ \ No newline at end of file @@

slave/slave/lib/serparser.h

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Show inline comments

@@ new file 100644 @@
 /*
  * Master Firmware: Serial Parser
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #ifndef SERPARSER_H_
 #define SERPARSER_H_
 enum parseResults
+{
 	PARSERESULT_FAIL = 0,
 	PARSERESULT_NODATA,
 	PARSERESULT_STILLPARSING,
 	PARSERESULT_PARSEOK,
 };
 // Parser states
 enum parseStates
+{
 	STATE_RESET = 0,
 	STATE_GETDATATYPE,
 	STATE_GETDATA,
 	STATE_GETCHECKSUM,
 };
 // Accessors
 uint8_t getPayloadLength();
 uint8_t* getPayload();
 uint8_t getPayloadType();
 // Prototypes
 int serparser_parse(void);
 #endif /* SERPARSER_H_ */
@@ \ No newline at end of file @@

slave/slave/slave.c

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@@ @@ -13,6 +13,7 @@ @@
 #include "config.h"
 #include <stdio.h>
 #include <inttypes.h>
 #include <avr/io.h>
 #include <compat/twi.h>
@@ @@ -21,6 +22,7 @@ @@
 #include <avr/interrupt.h>
 #include "modules.h"
 #include "lib/serial.h"
 #include "lib/serparser.h"
 #include "lib/led.h"
 #include "lib/inputOutput.h"
 #include "lib/i2c.h"
@@ @@ -29,6 +31,9 @@ @@
 #include "lib/sensors.h"
 #include "lib/cameras.h"
 #include "lib/loopTimer.h"
 #include "lib/masterComm.h"
 void micro_setup()
+{
@@ @@ -63,20 +68,28 @@ int main(void) @@
     while(1)
+    {
+    {
 		// Master communication
 		//masterComm_check();
 		// Main slave operations
 		if ((time_millis() % SENSOR_LOOP) == 0)	// Uses program timer to run every so often. Time interval defined in config.h
+		{
 			sensors_readBoardTemp();	// Read board temperature sensor (Common on all slaves) (Data Read)
 			modules_run(moduleID);		// Runs specific module functions (like data reading)
 			io_regulateTemp();			// Gets board temperature and enables heater if below threshold
 			led_toggle(2);
 //			sensors_readBoardTemp();	// Read board temperature sensor (Common on all slaves) (Data Read)
 //			modules_run(moduleID);		// Runs specific module functions (like data reading)
 			snprintf(buff,64,"|ModuleID: %u |BoardTemp: %i |Millis: %lu |Heater: %u\r\n",moduleID,sensors_getBoardTemp(),time_millis(),io_heaterStatus()); //DEBUG
 			serial0_sendString(buff); //DEBUG
 			led_toggle(0);		// Toggle LED0(Blue) to show loop running
 //			io_regulateTemp();			// Gets board temperature and enables heater if below threshold
 			led_toggle(1);
 //			snprintf(buff,64,"|ModuleID: %u |BoardTemp: %i |Millis: %lu |Heater: %u\r\n",moduleID,sensors_getBoardTemp(),time_millis(),io_heaterStatus()); //DEBUG
 //			snprintf(buff,64,"lol%i\r\n",sensors_getBoardTemp());
 //			serial0_sendString(buff); //DEBUG
 			led_toggle(0);		// Toggle LED0(Blue) to show loop running
 			_delay_ms(1);		// Delay to prevent the sensor loop from running again before time_millis changes
+		}
+    }

slave/slave/slave.cproj

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@@ @@ -22,7 +22,7 @@ @@
     <eraseonlaunchrule>0</eraseonlaunchrule>
     <AsfVersion>3.1.3</AsfVersion>
     <avrtoolinterface>ISP</avrtoolinterface>
-    <avrtool>com.atmel.avrdbg.tool.ispmk2</avrtool>
+    <avrtool>com.atmel.avrdbg.tool.avrdragon</avrtool>
     <com_atmel_avrdbg_tool_simulator>
       <ToolType xmlns="">com.atmel.avrdbg.tool.simulator</ToolType>
       <ToolName xmlns="">AVR Simulator</ToolName>
@@ @@ -67,6 +67,34 @@ @@
       </ToolOptions>
     </com_atmel_avrdbg_tool_ispmk2>
     <preserveEEPROM>True</preserveEEPROM>
     <com_atmel_avrdbg_tool_avrdragon>
       <ToolType>com.atmel.avrdbg.tool.avrdragon</ToolType>
       <ToolName>AVR Dragon</ToolName>
       <ToolNumber>00A200035378</ToolNumber>
       <KeepTimersRunning>true</KeepTimersRunning>
       <OverrideVtor>false</OverrideVtor>
       <OverrideVtorValue>
       </OverrideVtorValue>
       <Channel>
         <host>127.0.0.1</host>
         <port>64369</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>
         <InterfaceName>ISP</InterfaceName>
         <InterfaceProperties>
           <JtagDbgClock>0</JtagDbgClock>
           <JtagProgClock>1000000</JtagProgClock>
           <IspClock>2000000</IspClock>
           <JtagInChain>false</JtagInChain>
           <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession>
           <JtagDevicesBefore>0</JtagDevicesBefore>
           <JtagDevicesAfter>0</JtagDevicesAfter>
           <JtagInstrBitsBefore>0</JtagInstrBitsBefore>
           <JtagInstrBitsAfter>0</JtagInstrBitsAfter>
         </InterfaceProperties>
       </ToolOptions>
     </com_atmel_avrdbg_tool_avrdragon>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
     <ToolchainSettings>
@@ @@ -150,6 +178,12 @@ @@
     <Compile Include="lib\loopTimer.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\masterComm.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\masterComm.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sensors.c">
       <SubType>compile</SubType>
     </Compile>
@@ @@ -162,6 +196,12 @@ @@
     <Compile Include="lib\serial.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\spi.c">
       <SubType>compile</SubType>
     </Compile>

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