Changeset - 903c905fbe0b
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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-03-18 18:17:47
ethanzonca@CL-ENS241-08.cedarville.edu
Watchdog fix, interleaved APRS messaging tweaks
3 files changed with 24 insertions and 17 deletions:
master/master/lib/sensordata.c
15
8
master/master/lib/slavesensors.c
4
2
master/master/master.c
5
7
0 comments (0 inline, 0 general)
master/master/lib/sensordata.c
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Show inline comments
 
@@ -37,118 +37,125 @@ void sensordata_setup()
 
 
// 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;
 
	}
 
}
 
 
bool isEven = false;
 
bool isEven = true;
 
 
// Generate APRS comment
 
// TODO: Can we move this buffer to a local scope of this function?
 
 
char* slavesensors_getAPRScomment(char* commentBuffer, uint16_t bufferSize)
 
{
 
	snprintf(commentBuffer,bufferSize, "t9%d~s%s~v%s~h%s~_%s~|%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
 
	snprintf(commentBuffer,bufferSize, "~v%s~_%s~|%s", get_speedKnots(), get_latitudeLSBs(), get_longitudeLSBs());
 
 
	if(isEven)
 
	{
 
		// Master details
 
		uint16_t len = strlen(commentBuffer);
 
		snprintf(commentBuffer + len, bufferSize-len, "~t9%d~s%s~h%s", sensors_getBoardTemp(), get_sv(), get_hdop());
 
 
		// Find slave sensors to include in this log
 
		for(int i=0; i<MAX_NUM_SLAVES; i++)
 
		{
 
			// Board temperature sensors (all slaves)
 
			uint32_t val = sensordata_get(i, SENSOR_BOARDTEMP);
 
			if(val != -2111111111) {
 
				uint16_t len = strlen(commentBuffer);
 
				snprintf(commentBuffer + len, bufferSize-len, "~t%u%li",i,val);
 
			}
 
 
			// Battery voltages (all slaves)
 
			val = sensordata_get(i, SENSOR_BATTERYLEVEL);
 
			if(val != -2111111111) {
 
				uint16_t len = strlen(commentBuffer);
 
				snprintf(commentBuffer + len, bufferSize-len, "~l%u%li",i,val);
 
			}
 
 
			// Pressure
 
			val = sensordata_get(i, SENSOR_PRESSURE);
 
			if(val != -2111111111) {
 
				uint16_t len = strlen(commentBuffer);
 
				snprintf(commentBuffer + len, bufferSize-len, "~P%li",val);
 
			}
 
 
			// Air Temperature
 
			val = sensordata_get(i, SENSOR_AIRTEMP);
 
			if(val != -2111111111) {
 
				uint16_t len = strlen(commentBuffer);
 
				snprintf(commentBuffer + len, bufferSize-len, "~C%li",val);
 
			}
 
 
			// Altitude
 
			val = sensordata_get(i, SENSOR_ALTITUDE);
 
			if(val != -2111111111) {
 
				uint16_t len = strlen(commentBuffer);
 
				snprintf(commentBuffer + len, bufferSize-len, "~A%li",val);
 
			}
 
 
			// Radiation
 
			val = sensordata_get(i, SENSOR_CPM_RADIATION);
 
			if(val != -2111111111) {
 
				uint16_t len = strlen(commentBuffer);
 
				snprintf(commentBuffer + len, bufferSize-len, "~R%li",val);
 
			}
 
 
		}
 
 
		if(logger_aprsInfoTextAvailable())
 
		{
 
			uint16_t len = strlen(commentBuffer);
 
			snprintf(commentBuffer + len, bufferSize-len, "~%s",logger_getAprsInfoText());
 
			logger_aprsInfoTextConsumed();
 
		}
 
 
		isEven = false;
 
	}
 
	else {
 
		// odd does nothing
 
		isEven = true;
 
	}
 
 
	if(logger_aprsInfoTextAvailable())
 
	{
 
		uint16_t len = strlen(commentBuffer);
 
		snprintf(commentBuffer + len, bufferSize-len, "~%s",logger_getAprsInfoText());
 
		logger_aprsInfoTextConsumed();
 
	}
 
 
 
 
	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,VBatt,GPSTime,GPSLat,GPSLon,GPSSpeed,GPSHDOP,GPSCourse,GPSSV,");
 
master/master/lib/slavesensors.c
➞
Show inline comments
 
@@ -475,55 +475,57 @@ void gotoNextSlaveOrSensor(bool fail) {
 
	{
 
		#ifdef DEBUG_GETSLAVEDATA
 
		serial0_sendString("Give me another sensor value...");
 
		#endif
 
 
		// request data for the current sensor of the current slave
 
		currentSlaveSensor++;
 
		requesting = true;
 
	}
 
}
 
 
// Request data from slave modules
 
void slavesensors_process(uint8_t parseResult)
 
{
 
	if(!requesting)
 
	{
 
		// 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 > TIMEOUT_SLAVEREQUEST) {
 
		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

			




	
	
	
		
 
			

			




	
	
	
		
 
			gotoNextSlaveOrSensor(true);

			




	
	
	
		
 
		}

			




	
	
	
		
 
	}

			




	
	
	
		
 
	

			




	
	
	
		
 
	// 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		

			




        

    


    
    

    

        

                

                    master/master/master.c
                

                

                  
                      
                        

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@@ -17,83 +17,81 @@

			




	
	
	
		
 
#include <util/delay.h>

			




	
	
	
		
 
#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/sensors.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

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Power debounce

			




	
	
	
		
 
	_delay_ms(1000);

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Initialize libraries

			




	
	
	
		
 
	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();

			




	
	
	
		
 
	sensors_setup();

			




	
	
	
		
 
	logger_setup();

			




	
	
	
		
 
	afsk_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	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;

			




	
	
	
		
 
	uint32_t lastBuzz = 0;

			




	
	
	
		
 
	

			




	
	
	
		
 
	// 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_power_toggle();

			




	
	
	
		
 
			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();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Turn on sideboard LED if we have a fix

			




	
	
	
		
 
			if(gps_hasfix()) 

			




	
	
		
 
@@ -115,49 +113,49 @@ int main(void)

			




	
	
	
		
 
			// Write CSV header and log data values

			




	
	
	
		
 
			sensordata_logvalues();			

			




	
	
	
		
 
			

			




	
	
	
		
 
			led_off(LED_CYCLE);

			




	
	
	
		
 
			lastLog = time_millis();

			




	
	
	
		
 
		}		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Buzzer

			




	
	
	
		
 
		if(time_millis() - lastBuzz > BUZZER_RATE) {

			




	
	
	
		
 
			if(sensordata_isTouchdown())

			




	
	
	
		
 
			{

			




	
	
	
		
 
				led_on(LED_BUZZ);

			




	
	
	
		
 
				_delay_ms(BUZZER_DURATION);

			




	
	
	
		
 
				led_off(LED_BUZZ);

			




	
	
	
		
 
			}			

			




	
	
	
		
 
			lastBuzz = 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. Timeout?

			




	
	
	
		
 
				error_log_msg(ERROR_FATAL, false, "Still requesting on following loop");

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else

			




	
	
	
		
 
			{

			




	
	
	
		
 
				slavesensors_startprocess();

			




	
	
	
		
 
			}

			




	
	
	
		
 
			

			




	
	
	
		
 
			lastDataReq = time_millis();

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: APRS transmission

			




	
	
	
		
 
		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			// Check for touchdown

			




	
	
	
		
 
			sensordata_checkTouchdown();

			




	
	
	
		
 
			

			




	
	
	
		
 
			// 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();

			




        

    



    


    



    



      

      





    
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