seniordesign-firmware Changeset - 920a71bf7d87

Changeset - 920a71bf7d87

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-02-12 16:02:54
ethanzonca@CL-ENS241-08.cedarville.edu

GPS latitude is now handled in a more robust manner, least 3 significant digits of current position are included in the comment field.

5 files changed with 35 insertions and 15 deletions:

master/master/lib/aprs.c

master/master/lib/gps.c

master/master/lib/gps.h

master/master/lib/sensordata.c

master/master/lib/slavesensors.c

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master/master/lib/aprs.c

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@@ @@ -34,28 +34,28 @@ void aprs_send() @@
 #ifdef DIGI_PATH2
     {DIGI_PATH2, DIGI_PATH2_TTL}, // Digi2 (second digi in the chain)
 #endif
   };
 	// emz: modified this to get the size of the first address rather than the size of the struct itself, which fails
   ax25_send_header(addresses, sizeof(addresses)/sizeof(addresses[0]));
   ax25_send_byte('/');                // Report w/ timestamp, no APRS messaging. $ = NMEA raw data
   // ax25_send_string("021709z");     // 021709z = 2nd day of the month, 17:09 zulu (UTC/GMT)
   ax25_send_string(get_dayofmonth()); ///! Needs to be day hour minute        // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
   ax25_send_string(get_timestamp());
   ax25_send_byte('z'); // zulu time. h for nonzulu
-  ax25_send_string(get_latitude());     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
+  ax25_send_string(get_latitudeTrimmed());     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
   ax25_send_byte('N');
   ax25_send_byte('/');                // Symbol table
-  ax25_send_string(get_longitude());     // Lon: 000deg and 25.80 min
+  ax25_send_string(get_longitudeTrimmed());     // Lon: 000deg and 25.80 min
   ax25_send_byte('W');
   ax25_send_byte('O');                // Symbol: O=balloon, -=QTH
   //snprintf(temp, 4, "%03d", (int)(get_course() + 0.5));
   // !!!TODO: ENSURE THAT THE COURSE IS FORMATTED CORRECTLY!
   ax25_send_string(get_course());             // Course (degrees)
   ax25_send_byte('/');                // and
   // !!!TODO: Check the speed!
   //snprintf(temp, 4, "%03d", (int)(gps_speed + 0.5));
   ax25_send_string(get_speedKnots());             // speed (knots)

master/master/lib/gps.c

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@@ @@ -43,35 +43,53 @@ int numBytes = 0; @@
 //variables to store data from transmission
 //least significant digit is stored at location 0 of arrays
 char tramsmissionType[7];
 char timestamp[12];	//hhmmss.ss
 char* get_timestamp()
+{
 	return timestamp;
+}
 char latitude[14];	//lllll.lla
 char* get_latitude()
 char latitudeTmp[8];
 char* get_latitudeTrimmed()
+{
 	return latitude;
 	strncpy(latitudeTmp, &latitude[0], 7);
 	latitudeTmp[7] = 0x00;
 	return latitudeTmp;
+}
 char* get_latitudeLSBs()
+{
 	strncpy(latitudeTmp, &latitude[7], 3);
 	latitudeTmp[3] = 0x00;
 	return latitudeTmp;
+}
 char longitude[14];	//yyyyy.yyb
 char* get_longitude()
 char longitudeTmp[9];
 char* get_longitudeTrimmed()
+{
 	return longitude;
 	strncpy(longitudeTmp, &longitude[0], 8);
 	longitudeTmp[8] = 0x00;
 	return longitudeTmp;
+}
 char* get_longitudeLSBs()
+{
 	strncpy(longitudeTmp, &longitude[8], 3);
 	longitudeTmp[3] = 0x00;
 	return longitudeTmp;
+}
 char quality;		//quality for GGA and validity for RMC
 char numSatellites[4];
 char* get_sv()
+{
 	return numSatellites;
+}
 char hdop[6];		//xx.x
 char* get_hdop()
+{
 	return hdop;
@@ @@ -281,25 +299,25 @@ void parse_gps_transmission(void){ @@
 			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found lat skip byte\r\n");
 				#endif
 				skipBytes = 1;
 				setParserState(GGA_LATITUDE);
+			}
 			else if (byte == ',') //end of this data type
+			{
-				latitude[7] = 0x00; // null terminate
+				latitude[numBytes] = 0x00; // null terminate
 				setParserState(GGA_LONGITUDE);
 				skipBytes = 0; //prep for next phase of parse
 				numBytes = 0;
+			}
 			else //store data
+			{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found lat byte\r\n");
 				#endif
 				latitude[numBytes] = byte; //adjust number of bytes to fit array
@@ @@ -313,25 +331,25 @@ void parse_gps_transmission(void){ @@
+		{
 			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found long skip byte\r\n");
 				#endif
 				skipBytes = 1;
 				setParserState(GGA_LONGITUDE);
+			}
 			else if (byte == ',') //end of this data type
+			{
-				longitude[8] = 0x00;
+				longitude[numBytes] = 0x00;
 				setParserState(GGA_QUALITY);
 				numBytes = 0; //prep for next phase of parse
 				skipBytes = 0;
+			}
 			else //store data
+			{
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found long byte\r\n");
 				#endif
 				longitude[numBytes] = byte; //adjust number of bytes to fit array
 				numBytes++;

master/master/lib/gps.h

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Show inline comments

@@ @@ -12,25 +12,27 @@ @@
 #ifndef GPSMKA_H_
 #define GPSMKA_H_
 #include <stdbool.h>
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 void gps_setup();
 char* get_longitude();
 char* get_latitude();
 char* get_longitudeTrimmed();
 char* get_longitudeLSBs();
 char* get_latitudeTrimmed();
 char* get_latitudeLSBs();
 char* get_timestamp();
 char* get_speedKnots();
 char* get_course();
 char* get_hdop();
 char* get_sv();
 char* get_dayofmonth();
 bool gps_hasfix();
 void parse_gps_transmission(void);
 void XORbyteWithChecksum(uint8_t byte);
 #endif /* GPSMKA_H_ */
@@ \ No newline at end of file @@

master/master/lib/sensordata.c

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@@ @@ -55,25 +55,25 @@ int32_t sensordata_get(uint8_t nodeID, u @@
 	else
+	{
 		return 0;
+	}
+}
 // Generate APRS comment
 // TODO: Can we move this buffer to a local scope of this function?
 char commentBuffer[128];
 char* slavesensors_getAPRScomment()
+{
 	snprintf(commentBuffer,128, "T%d S%s V%s H%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop());
+	snprintf(commentBuffer,128, "T%d S%s V%s H%s _%s |%s", sensors_getBoardTemp(), get_sv(), get_speedKnots(), get_hdop(), get_latitudeLSBs(), get_longitudeLSBs());
 	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())
+	{
@@ @@ -104,25 +104,25 @@ void sensordata_logvalues() @@
 			// End line and write to SD card
 			snprintf(csvHeader + strlen(csvHeader), CSV_HEADER_SIZE-strlen(csvHeader),"\r\n");
 			logger_log(csvHeader);
 			dataWasReady = true;
+		}
 		// Write CSV sensor values to SD card
 		char logbuf[256];
 		logbuf[0] = 0x00;
 		// Write master sensor values
-		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());
+		snprintf(logbuf, 256, "%lu,%d,%s,%s,%s,%s,%s,%s,%s,", time_millis(), sensors_getBoardTemp(),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),256-strlen(logbuf)," %ld,", tmp);

master/master/lib/slavesensors.c

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@@ @@ -478,32 +478,32 @@ void gotoNextSlaveOrSensor(bool fail) { @@
+	}
+}
 // TODO: needs to skip logger!
 void slavesensors_process(uint8_t parseResult)
+{
 	if(!requesting)
+	{
 		// we got a command when we didn't request anything. probably skip it.
 		return;
+	}
 	// TODO: timeout. If we're at NODATA for a long time and we are requesting, that's an issue.
 	// 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 > 1000) {
 			// 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);
+		}
+	}
 	// 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);

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