seniordesign-firmware Changeset - 903c905fbe0b

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

master/master/lib/slavesensors.c

master/master/master.c

0 comments (0 inline, 0 general)

master/master/lib/sensordata.c

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 /*
  * Master Firmware: Sensor Data
+ *
  * 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 "sensors.h"
 #include "looptime.h"
 #include "gps.h"
 #include "logger.h"
 // Slave sensor reading storage
 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] = -2111111111; // minimum value of 16 bit integer
+		}
+	}
+}
 // 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,");
 			// Add slave data headers
 			for(uint8_t i=0; i<MAX_NUM_SLAVES; i++)
+			{
 				for(uint8_t j=0; j<MAX_NUM_SENSORS; j++)
+				{
 					int32_t tmp = sensordata_get(i, j);
 					// If a sensor value exists, write a header for it
 					if(tmp != -2111111111)
+					{
 						snprintf(csvHeader, CSV_BUFFER_SIZE,"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));
 						logger_log(csvHeader);
+					}
+				}
+			}
 			// End line and write to SD card
 			snprintf(csvHeader, CSV_BUFFER_SIZE,"\r\n");
 			logger_log(csvHeader);
 			dataWasReady = true;
+		}
 		// Write CSV sensor values to SD card
 		#define CSV_LOGLINE_SIZE 512
 		char logbuf[CSV_LOGLINE_SIZE];
 		logbuf[0] = 0x00;
 		// Write master sensor values
 		snprintf(logbuf, CSV_LOGLINE_SIZE, "%lu,%d,%u,%s,%s,%s,%s,%s,%s,%s,", time_millis(), sensors_getBoardTemp(), sensors_getBatt(), get_timestamp(),get_latitudeTrimmed(),get_longitudeTrimmed(),get_speedKnots(),get_hdop(), get_course(), get_sv());
 		// Write slave sensor values
 		for(int i=0; i<MAX_NUM_SLAVES; i++)
+		{
 			for(int j=0; j<MAX_NUM_SENSORS; j++)
+			{
 				int32_t tmp = sensordata_get(i, j);
 				// If a sensor value exists, log the data
 				if(tmp != -2111111111)
+				{
 					snprintf(logbuf + strlen(logbuf),CSV_LOGLINE_SIZE-strlen(logbuf)," %ld,", tmp);
+				}
+			}
+		}
 		// End line and write to log
 		snprintf(logbuf + strlen(logbuf),CSV_LOGLINE_SIZE-strlen(logbuf),"\r\n");
 		logger_log(logbuf);
+	}
+}
 bool isTouchdown = false;
 bool sensordata_isTouchdown()
+{
 	return isTouchdown;
+}
 int32_t sensordata_getSensorValue(uint8_t sensorID)
+{
 	// Loop through all slaves
 	for(int i=0; i<MAX_NUM_SLAVES; i++)
+	{
 		uint32_t val = sensordata_get(i, sensorID);
 		if(val != -2111111111) {
 			return val;
+		}
+	}
 	return -2111111111;
+}
 void sensordata_checkTouchdown()
+{
 	// If we have reached touchdown, never get out of this state
 	if(isTouchdown)
+	{
 		return;
+	}
 	if(time_millis() > BUZZER_FAILSAFE_DURATION)
+	{
 		isTouchdown = true;
+	}
 	else
+	{
 		int32_t altitude = sensordata_getSensorValue(SENSOR_ALTITUDE);
 		if(altitude != -2111111111 && altitude < BUZZER_TRIGGER_MAXALTITUDE && time_millis() > BUZZER_TRIGGER_MINDURATION)
+		{
 			isTouchdown = true;
+		}
+	}
+}
@@ \ No newline at end of file @@

master/master/lib/slavesensors.c

➞

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@@ @@ -115,470 +115,472 @@ void slavesensors_network_scan() @@
 	_delay_ms(200); // xbee warmup
 	wdt_reset();
 	led_on(LED_ACTIVITY);
 	atOK = slavesensors_enterAT();
 	// wait for OK
 	if(atOK == 0)
+	{
 		led_on(LED_CYCLE);
 		serial0_sendString("ATND");
 		serial0_sendChar(0x0D);
 		// Scan data end when newline by itself ("")
 		int lineCount = 0;
 		while(1)
+		{
 			// Wait for scan to complete. If we timeout, return.
 			if(waitTimeout(TIMEOUT_NETWORKSCAN))
+			{
 				return;
+			}
 			bufPtr = serial0_readLine();
 			// If we're starting a new block but got a newline instead, we're done!
 			if(lineCount == 0 && strcmp(bufPtr, "") == 0)
+			{
 				break;
+			}
 			if(lineCount == 1)
+			{
 				strncpy(slaveAddressHigh[nodeCount],bufPtr, 9);
+			}
 			else if(lineCount == 2)
+			{
 				strncpy(slaveAddressLow[nodeCount],bufPtr, 9);
+			}
 			else if(lineCount == 3)
+			{
 				strncpy(slaveNames[nodeCount], bufPtr, 15);
+			}
 			// 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);
 					strncpy(loggerAddressLow, slaveAddressLow[nodeCount], 9);
 					lineCount = 0;
 					// don't increment, just overwrite this next time
+				}
 				else {
 					// bufPtr should be null at this point, because we read in a newline after one chunk
 					nodeCount++;
 					lineCount = 0;
+				}
+			}
 			else
+			{
 				lineCount++;
+			}
+		}
 		slavesensors_exitAT();
+	}
 	// Display number of found nodes on spinning indicator
 	led_off(LED_ACT0);
 	led_off(LED_ACT1);
 	led_off(LED_ACT2);
 	led_off(LED_ACT3);
 	switch(nodeCount)
+	{
 		case 0:
 			break;
 		case 3:
 			led_on(LED_ACT2);
 			_delay_ms(100);
 		case 2:
 			led_on(LED_ACT1);
 			_delay_ms(100);
 		case 1:
 			led_on(LED_ACT0);
 			_delay_ms(100);
+	}
 	_delay_ms(500);
 	led_on(LED_SIDEBOARD);
 	_delay_ms(500);
 	led_off(LED_SIDEBOARD);
 	#ifdef DEBUG_NETWORKSCAN
 	char debugBuf[64];
 	serial0_sendString("Discovered: \r\n");
 	for(int i=0; i<nodeCount; i++)
+	{
 		snprintf(debugBuf, 64, "  %s - %s%s (%u)\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i], i);
 		serial0_sendString(debugBuf);
+	}
 	serial0_sendString("\r\n");
 	if(atOK != 0)
+	{
 		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();
 	// If we don't have slaves to worry about, we're good to go
 	if(nodeCount == 0)
+	{
 		dataReady = true;
+	}
 	serial0_ion();
+}
 //#define DEBUG_CONTEXTSWITCH
 //#define DEBUG_SELECTNODE
 uint8_t selectedNode = 255;
 uint8_t slavesensors_getselectednode()
+{
 	return selectedNode;
+}
 void slavesensors_selectnode(uint8_t nodeIndex)
+{
 	if(selectedNode == nodeIndex)
+	{
 		return;
+	}
 	if(slavesensors_selectaddress(slaveAddressHigh[nodeIndex],slaveAddressLow[nodeIndex]) == true)
+	{
 		selectedNode = nodeIndex;
+	}
+}
 bool slavesensors_selectaddress(char* addrHigh, char* addrLow)
+{
 	serial0_ioff();
 	#ifdef DEBUG_CONTEXTSWITCH
 	uint32_t startTime = time_millis();
 	#endif
 	#ifdef DEBUG_SELECTNODE
 	serial0_sendString("Switch to node ");
 	serial0_sendChar(nodeIndex + 0x30);
 	serial0_sendString("\r\n");
 	#endif
 	_delay_ms(20);
 	char tmpBuf[23];
 	// If we can get into AT mode
 	if(slavesensors_enterAT() == 0)
+	{
 		snprintf(tmpBuf, 23, "ATDH %s%c",addrHigh, 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return false;
+		}
 		snprintf(tmpBuf, 23, "ATDL %s%c",addrLow, 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return false;
+		}
 		slavesensors_exitAT();
+	}
 	_delay_ms(2);
 	#ifdef DEBUG_SELECTNODE
 	serial0_sendString("Selected ");
 	serial0_sendChar(nodeIndex + 0x30);
 	serial0_sendString("\r\n");
 	#endif
 	#ifdef DEBUG_CONTEXTSWITCH
 	uint32_t switchTime = time_millis() - startTime;
 	char tmpB[32];
 	snprintf(tmpB, 32, "CTXSW: %lu ms\r\n", switchTime);
 	serial0_sendString(tmpB);
 	#endif
 	serial0_ion();
 	return true;
+}
 void slavesensors_selectlogger()
+{
 	if(loggerAddressLow[0] != 0x00)
+	{
 		slavesensors_selectaddress(loggerAddressHigh,loggerAddressLow);
+	}
+}
 void slavesensors_exitAT()
+{
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	if(waitTimeout(TIMEOUT_EXITAT))
+	{
 		return;
+	}
 	xbeeIsOk();
+}
 bool waitTimeout(uint32_t timeout) {
 	uint32_t scanStart = time_millis();
 	uint32_t lastBlink = 0;
 	while(!serial0_hasChar())
+	{
 		if(time_millis() - scanStart > timeout)
+		{
 			error_log(ERROR_XBEETIMEOUT, true);
 			return true;
+		}
 		if(time_millis() - lastBlink > 50)
+		{
 			led_spin();
 			lastBlink = time_millis();
+		}
 		wdt_reset();
+	}
 	return false;
+}
 // Enter AT mode. Leaves "OK" on the buffer.
 int slavesensors_enterAT()
+{
 	// Delay guard time
 	_delay_ms(2);
 	serial0_ioff(); // interrupts MUST be off
 	// Enter AT mode
 	serial0_sendChar('+'); // Enter AT mode
 	serial0_sendChar('+');
 	serial0_sendChar('+');
 	return xbeeIsOk();
+}
 int xbeeIsOk()
+{
 	if(waitTimeout(TIMEOUT_XBEERESPONSE)) {
 		error_log(ERROR_XBEETIMEOUT, true);
 		return 1;
+	}
 	char* tmppntr = serial0_readLine();
 	if(strcmp(tmppntr, "OK") == 0)
+	{
 		return 0;
+	}
 	else
+	{
 		error_log(ERROR_SLAVETIMEOUT, true);
 		return 1;
+	}
+}
 bool slavesensors_dataReady()
+{
 	return dataReady;
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
+{
 	if(nodeCount == 0)
+	{
 		return;
+	}
 	requesting = true;
 	slavesensors_request();
+}
 uint32_t beginRequest = 0;
 void slavesensors_request()
+{
 	slavesensors_selectnode(currentSlave);
 	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
 		serial0_sendString("We got all data for all slaves!\r\n");
 		#endif
 		dataReady = true;
 		currentSlave = 0;
 		currentSlaveSensor = 0;
 		requesting = false;
 		if(!fail)
+		{
 			led_alert();
+		}
+	}
 	// If we finished up one slave, go to the next
 	else if(currentSlaveSensor >= (numReadingsToExpect-1))
+	{
 		#ifdef DEBUG_GETSLAVEDATA
 		serial0_sendString("Finished up one slave, go to another.\r\n");
 		#endif
 		currentSlave++;
 		currentSlaveSensor = 0;
 		requesting = true;
 		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;
+	}
+}
 // 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
 		if(type + 0x30 == '@')
+		{
 			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Got count!\r\n");
 			serial0_sendChar(parsedVal + 0x30);
 			serial0_sendString("\r\n");
 			#endif
 			numReadingsToExpect = parsedVal;
 			currentSlaveSensor = 0;
 			requesting = true;
+		}
 		else
+		{
 			// Store data in structure
 			sensordata_set(currentSlave,type,parsedVal);
 			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Stored data!\r\n");
 			#endif
 			gotoNextSlaveOrSensor(false);
+		}
+	}
 	// 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)
+		{
 			if(numRetries < MAX_SLAVEREQUEST_RETRIES)
+			{
 				slavesensors_request();	// re-request
+			}
 			else {
 				numRetries = 0;
 				gotoNextSlaveOrSensor(true);
+			}
+		}
+	}
 	else if(parseResult == PARSERESULT_STILLPARSING)
+	{
 		return; // do nothing
+	}
 	else
+	{
 		error_log_msg(ERROR_FATAL, true, "parseResult invalid!");
 		return;
+	}
+}
@@ \ No newline at end of file @@

master/master/master.c

➞

Show inline comments

 /*
  * Master Firmware
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "config.h"
 #include <avr/io.h>
 #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())
+			{
 				led_on(LED_SIDEBOARD);
+			}
 			else
+			{
 				led_off(LED_SIDEBOARD);
+			}
 			sensors_readBoardTemp();
 			sensors_readBatt();
 			//char buftmp[15];
 			//snprintf(buftmp, 15, "vbatt: %u\r\n", sensors_getBatt());
 			//serial0_sendString(buftmp);
 			// 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();
+		}
 		#ifdef BLACKOUT_ENABLE
 		bool black = false;
 		if(!black && time_millis() > BLACKOUT_TIMEOUT)
+		{
 			// LED blackout
 			led_blackout();
 			black = true;
+		}
 		#endif
 		// 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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