seniordesign-firmware Changeset - 9c8ca2112fb4

Changeset - 9c8ca2112fb4

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-04-03 16:56:18
ethanzonca@CL-ENS241-08.cedarville.edu

merge

7 files changed with 95 insertions and 41 deletions:

slave/slave/config.h

slave/slave/lib/i2c.c

slave/slave/lib/i2c.h

slave/slave/lib/inputOutput.c

slave/slave/lib/sensors.c

slave/slave/modules.c

slave/slave/slave.c

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slave/slave/config.h

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 /*
  * config.h
+ *
  * Created: 10/25/2012 10:00:09 PM
  *  Author: mkanning
  */
  #ifndef CONFIG_H_
  #define CONFIG_H_
  #define F_CPU 11059200				// Clock frequency (used in calculations)
 //Serial
 #define USART0_BAUDRATE 115200
 #define USART1_BAUDRATE 115200
 // 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
 // Number of datatypes to transmit per module type
 #define DATATYPES_GENERIC 3
 #define DATATYPES_SENSOR 8
 #define DATATYPES_GEIGER 4
 #define DATATYPES_CAMERA 3
 //Sensors and IO
 #define SENSOR_LOOP 200				// Frequency of sensor reads (in ms) (should be 200)
 #define HEATER_THRESHOLD 0			// Temperature threshold in Fahrenheit where heater is activated
 #define CAMERA_FREQ 10000		// Camera pulse frequency (Should be 30000 for 30 Secs)
 #define CAMERA_PULSE 500			// Camera pulse duration
 #define CAMERA_FREQ 5000		// Camera pulse frequency (Should be 30000 for 30 Secs)
 #define CAMERA_PULSE 2500			// Camera pulse duration
  //I2C Addresses
  #define EEPROM_ADDR 0xA0		// Read 0xA1 - Write 0xA0
  #define BOARDTEMP_ADDR 0x90	// Read 0x91 - Write 0x90
  #define PRESSURE_ADDR 0xEE		// Read 0xEF - Write 0xEE
- #define HUMID_ADDR 0x26		// Read 0x27 - Write 0x26
+ #define HUMID_ADDR 0x27		// Read 0x28 - Write 0x27
  #define LIGHT_ADDR 0x94		// Read 0x95 - Write 0x94
  #define ACCEL_ADDR	0x38		// Read 0x39 - Write 0x38
  #define RTC_ADDR 0xB2			//DEBUG [Used for testing]      // Read 0xA3 - Write 0xA2
  #endif /* CONFIG_H_ */
@@ \ No newline at end of file @@

slave/slave/lib/i2c.c

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 /*
  * i2c.c
+ *
  * Created: 11/7/2012 7:18:23 PM
  *  Author: kripperger
  */
 #include <util/delay.h>
 #include <inttypes.h>
 #include <compat/twi.h>
 #include "loopTimer.h"
 #include "../config.h"
 #include "i2c.h"
 uint32_t startTime = 0;
 /* I2C clock in Hz */
 #define SCL_CLOCK  300000L
 /*************************************************************************
  Initialization of the I2C bus interface. Need to be called only once
 *************************************************************************/
 void i2c_init(void)
+{
   /* initialize TWI clock: 300 kHz clock, TWPS = 0 => prescaler = 1 */
   TWSR = 0;                         /* no prescaler */
   TWBR = ((F_CPU/SCL_CLOCK)-16)/2;  /* must be > 10 for stable operation */
 }/* i2c_init */
 /*************************************************************************
   Issues a start condition and sends address and transfer direction.
   return 0 = device accessible, 1= failed to access device
 *************************************************************************/
 unsigned char i2c_start(unsigned char address)
+{
     uint8_t   twst;
 	// send START condition
 	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
 	// wait until transmission completed
 	startTime = time_millis();
+//	startTime = time_millis();
 	while(!(TWCR & (1<<TWINT)))
+	{
 		if ((time_millis() - startTime) > 10)
+		{
 			break;	// Timeout Reached!
+		}
+	}
 //	{
 //		if ((time_millis() - startTime) > 10)
 //		{
 //			break;	// Timeout Reached!
 //		}
 //	}
 	// check value of TWI Status Register. Mask prescaler bits.
 	twst = TW_STATUS & 0xF8;
 	if ( (twst != TW_START) && (twst != TW_REP_START)) return 1;
 	// send device address
 	TWDR = address;
 	TWCR = (1<<TWINT) | (1<<TWEN);
 	// wail until transmission completed and ACK/NACK has been received
 	startTime = time_millis();
+//	startTime = time_millis();
 	while(!(TWCR & (1<<TWINT)))
+	{
 		if ((time_millis() - startTime) > 10)
+		{
 			break;	// Timeout Reached!
+		}
+	}
 //	{
 //		if ((time_millis() - startTime) > 10)
 //		{
 //			break;	// Timeout Reached!
 //		}
 //	}
 	// check value of TWI Status Register. Mask prescaler bits.
 	twst = TW_STATUS & 0xF8;
 	if ( (twst != TW_MT_SLA_ACK) && (twst != TW_MR_SLA_ACK) ) return 1;
 	return 0;
 }/* i2c_start */
 /*************************************************************************
  Issues a start condition and sends address and transfer direction.
  If device is busy, use ack polling to wait until device is ready
  Input:   address and transfer direction of I2C device
 *************************************************************************/
 void i2c_start_wait(unsigned char address)
+{
     uint8_t   twst;
     while ( 1 )
+    {
 	    // send START condition
 	    TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
     	// wait until transmission completed
 		startTime = time_millis();
     	while(!(TWCR & (1<<TWINT)))
+		{
 			if ((time_millis() - startTime) > 10)
+			{
 				break;	// Timeout Reached!
+			}
+		}
     	// check value of TWI Status Register. Mask prescaler bits.
     	twst = TW_STATUS & 0xF8;
     	if ( (twst != TW_START) && (twst != TW_REP_START)) continue;
     	// send device address
     	TWDR = address;
     	TWCR = (1<<TWINT) | (1<<TWEN);
     	// wail until transmission completed
 		startTime = time_millis();
     	while(!(TWCR & (1<<TWINT)))
+		{
 			if ((time_millis() - startTime) > 10)
+			{
 				break;	// Timeout Reached!
+			}
+		}
     	// check value of TWI Status Register. Mask prescaler bits.
     	twst = TW_STATUS & 0xF8;
     	if ( (twst == TW_MT_SLA_NACK )||(twst ==TW_MR_DATA_NACK) )
+    	{
     	    /* device busy, send stop condition to terminate write operation */
 	        TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
 	        // wait until stop condition is executed and bus released
 			startTime = time_millis();
 	        while(TWCR & (1<<TWSTO))
+			{
 				if ((time_millis() - startTime) > 10)
+				{
 					break;	// Timeout Reached!
+				}
+			}
     	    continue;
+    	}
     	//if( twst != TW_MT_SLA_ACK) return 1;
     	break;
+     }
 }/* i2c_start_wait */
 /*************************************************************************
  Issues a repeated start condition and sends address and transfer direction
  Input:   address and transfer direction of I2C device
  Return:  0 device accessible
 failed to access device
 *************************************************************************/
 unsigned char i2c_rep_start(unsigned char address)
+{
     return i2c_start( address );
 }/* i2c_rep_start */
 /*************************************************************************
  Terminates the data transfer and releases the I2C bus
 *************************************************************************/
 void i2c_stop(void)
+{
     /* send stop condition */
 	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
 	// wait until stop condition is executed and bus released
 	startTime = time_millis();
+//	startTime = time_millis();
 	while(TWCR & (1<<TWSTO))
+	{
 		if ((time_millis() - startTime) > 10)
+		{
 			break;	// Timeout Reached!
+		}
 //		if ((time_millis() - startTime) > 10)
 //		{
 //			break;	// Timeout Reached!
 //		}
+	}
 }/* i2c_stop */
 /*************************************************************************
   Send one byte to I2C device
   Input:    byte to be transfered
   Return:   0 write successful
 write failed
 *************************************************************************/
 unsigned char i2c_writeX( unsigned char data )
+{
     uint8_t   twst;
 	// send data to the previously addressed device
 	TWDR = data;
 	TWCR = (1<<TWINT) | (1<<TWEN);
 	// wait until transmission completed
 	startTime = time_millis();
 	while(!(TWCR & (1<<TWINT)))
+	{
 		if ((time_millis() - startTime) > 10)
+		{
 			break;	// Timeout Reached!
+		}
+	}
 	// check value of TWI Status Register. Mask prescaler bits
 	twst = TW_STATUS & 0xF8;
 	if( twst != TW_MT_DATA_ACK) return 1;
 	return 0;
 }/* i2c_write */
 /*************************************************************************
  Read one byte from the I2C device, request more data from device
  Return:  byte read from I2C device
 *************************************************************************/
 unsigned char i2c_readAck(void)
+{
 	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
 	startTime = time_millis();
 	while(!(TWCR & (1<<TWINT)))
+	{
 		if ((time_millis() - startTime) > 10)
+		{
 			break;	// Timeout Reached!
+		}
+	}
     return TWDR;
 }/* i2c_readAck */
 /*************************************************************************
  Read one byte from the I2C device, read is followed by a stop condition
  Return:  byte read from I2C device
 *************************************************************************/
 unsigned char i2c_readNak(void)
+{
 	TWCR = (1<<TWINT) | (1<<TWEN);
 	startTime = time_millis();
 	while(!(TWCR & (1<<TWINT)))
+	{
 		if ((time_millis() - startTime) > 10)
+		{
 			break;	// Timeout Reached!
+		}
+	}
     return TWDR;
 }/* i2c_readNak */
 /*************************************************************************
  Write one byte to the I2C device, read is followed by a stop condition
  Return:  void
 *************************************************************************/
 void i2c_write(unsigned char addr, unsigned char reg, unsigned char data)
+{
 	i2c_start_wait(addr+I2C_WRITE);     // set device address and write mode
 	i2c_writeX(reg);                     // write register address
 	i2c_writeX(data);                    // write value data to register
 	i2c_stop();                         // set stop condition = release bus
 }/* i2c_write */
 /*************************************************************************
  Read one byte from the I2C device, read is followed by a stop condition
  Return:  byte read from I2C device
 *************************************************************************/
 uint8_t i2c_read(unsigned char addr, unsigned char reg)
+{
 	uint8_t   data;
 	i2c_start_wait(addr+I2C_WRITE);		// set device address and write mode
 	i2c_writeX(reg);						// write register address
 	i2c_rep_start(addr+I2C_READ);   // set device address and read mode
 	data = i2c_readNak();               // read one byte
 	i2c_stop();
     return data;
 }/* i2c_read */
 ///////////added for humidity
 uint16_t i2c_read16(unsigned char addr)
+{
 	uint16_t   data;
 	uint8_t   dataL;
 	i2c_start_wait(addr+I2C_WRITE);		// set device address and write mode
 	i2c_rep_start(addr+I2C_READ);   // set device address and read mode
 	data = i2c_readAck();               // read one byte
 	dataL = i2c_readNak();
 	i2c_stop();
 	data = data << 8;
 	data = data | dataL;
 	return data;
 }/* i2c_read16 */
@@ \ No newline at end of file @@
 }/* i2c_read16 */
 uint16_t i2c_humidRead()
+{
 	uint16_t   data;
 	uint8_t   dataL;
 	//i2c_start_wait(HUMID_ADDR+I2C_WRITE);	// set device address and write mode
 	//i2c_rep_start(HUMID_ADDR+I2C_READ);   // set device address and read mode
 	i2c_start(HUMID_ADDR+I2C_WRITE);	// Measurement Request
 	i2c_stop();					// Stop
 	i2c_start(HUMID_ADDR+I2C_READ);		// Measurement Request
 	i2c_readAck();               // read one byte
 	i2c_readNak();
 	data = i2c_readAck();               // read one byte
 	dataL = i2c_readAck();
 	i2c_stop();
 	data = data << 8;
 	data = data | dataL;
 	return data;
+}
@@ \ No newline at end of file @@

slave/slave/lib/i2c.h

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 /*
  * i2c.h
+ *
  * Created: 11/7/2012 7:18:33 PM
  *  Author: kripperger
  */
 #ifndef I2C_H_
 #define I2C_H_
 #if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
 #error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
 #endif
 #include <avr/io.h>
 /** defines the data direction (reading from I2C device) in i2c_start(),i2c_rep_start() */
 #define I2C_READ    1
 /** defines the data direction (writing to I2C device) in i2c_start(),i2c_rep_start() */
 #define I2C_WRITE   0
 void i2c_init(void);	//initialize the I2C master interace. Need to be called only once
 void i2c_stop(void);	//Terminates the data transfer and releases the I2C bus
 unsigned char i2c_start(unsigned char addr);	//Issues a start condition and sends address and transfer direction
 	//addr is the address and transfer direction of I2C device
 	//Returns   0   device accessible
 	//Returns   1   failed to access device
 unsigned char i2c_rep_start(unsigned char addr);	//Issues a repeated start condition and sends address and transfer direction
 	//addr is the address and transfer direction of I2C device
 	//Returns   0   device accessible
 	//Returns   1   failed to access device
 void i2c_start_wait(unsigned char addr);	//Issues a start condition and sends address and transfer direction. If device is busy, use ack polling to wait until device ready
 	//addr is the address and transfer direction of I2C device
 unsigned char i2c_writeX(unsigned char data);	//Send one byte to I2C device
 	//data is the byte to be transfered
 	//Returns   0   write successful
 	//Returns   1   write failed
 unsigned char i2c_readAck(void);	//read one byte from the I2C device, request more data from device
 	//Returns byte read from I2C device
 unsigned char i2c_readNak(void);	//read one byte from the I2C device, read is followed by a stop condition
 	//Returns byte read from I2C device
 unsigned char i2c_readX(unsigned char ack);	//read one byte from the I2C device. Implemented as a macro, which calls either i2c_readAck or i2c_readNak
 #define i2c_readX(ack)  (ack) ? i2c_readAck() : i2c_readNak();
 	//When ack is 1: send ack, request more data from device
 	//When ack is 0: send nak, read is followed by a stop condition
 	//Returns byte read from I2C device
 void i2c_write(unsigned char addr, unsigned char reg, unsigned char data); //Does complete write. Can be used as stand alone function.
 unsigned char i2c_read(unsigned char addr, unsigned char reg);
 /////////////////added for humidity
 uint16_t i2c_read16(unsigned char addr);
 uint16_t i2c_humidRead(void);
 #endif /* I2C_H_ */
@@ \ No newline at end of file @@

slave/slave/lib/inputOutput.c

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@@ @@ -5,102 +5,102 @@ @@
  *  Author: kripperger
  */
 #include <avr/io.h>
 #include "../config.h"
 #include "inputOutput.h"
 #include "led.h"
 #include "sensors.h"
 int8_t	moduleID;	// Slave Module ID from rotary dip switch (or EEPROM)
  void io_configure()
+ {
 	// Configure ports/pins
 	DDRB |= (1 << DDB4);		// Set PB4 to Output for Heater (also allows SCK (on SPI bus) to operate)
 	DDRC &= ~(1 << DDC2);		// Set PC2 to input for rotary dip
 	DDRC &= ~(1 << DDC3);		// Set PC3 to input for rotary dip
 	DDRC &= ~(1 << DDC4);		// Set PC4 to input for rotary dip
 	DDRC &= ~(1 << DDC5);		// Set PC5 to input for rotary dip
 	DDRA &= ~(1 << DDA7);		// Set PA7 to input for battery voltage divider
 	//ADC register configurations for battery level detection on PA7
 	ADCSRA |= (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);	// Set prescaler for ADC, 128 gives ADC freq of 125 KHz
 	ADMUX |= (1 << REFS0);									// Set ADC reference voltage to AVCC
 	//ADMUX |= (1 << ADLAR);								// Sets 10 bit ADC to 8 bit
 	ADMUX |= (1 << MUX2) | (1 << MUX1) | (1 << MUX0);		// Select ADC7 as the conversion channel
 	ADCSRA |= (1 << ADATE);									// Enables auto trigger, determined in ADCSRB bits ADTS
 	//ADCSRA |= (1 << ADIF);								//
 	//ADCSRA |= (1 << ADIE);								// ADC interrupt enable set
 	ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));// Set ADC auto trigger source to free running mode
 	ADCSRA |= (1 << ADEN);									// Enable ADC
 	ADCSRA |= (1 << ADSC);									// Start ADC measurements.  ADC should now continuously run conversions, which are stored in ADCH 0x79
+ }
  void io_readModuleId()
+ {
 	// Get ID from rotary dip and return it.
 	moduleID = 0;
 	/*
 	// This method is temporary as the next release will read the module ID from EEPROM
 	PORTC |= (1 << PC2);	// Pull pins on rotary dip high
 	PORTC |= (1 << PC3);	// Pull pins on rotary dip high
 	PORTC |= (1 << PC4);	// Pull pins on rotary dip high
 	PORTC |= (1 << PC5);	// Pull pins on rotary dip high
 	moduleID = ((PINC & 0b00011100) >> 2);		// Read Dip Encoder
 	moduleID = ~moduleID;						//Invert Dip reading
 	moduleID = (moduleID & 0b0111);				//Mask bits
 	*/
 	while(moduleID==0)           //UNCOMMENT ALL THIS
+	{
 		moduleID = i2c_read(EEPROM_ADDR, 0x05);
+	}
+ }
  uint8_t io_getModuleId()
+ {
 	return moduleID;
+ }
  void io_heaterOn()
+ {
 	PORTB |= (1 << PB4);	//ON
+ }
  void io_heaterOff()
+ {
 	PORTB &= ~(1 << PB4);	//OFF
+ }
  uint8_t io_heaterStatus()
+ {
 	 uint8_t state;
 	 state = 0;
 	 state = ((PORTB & 0b00010000) >> 4);
 	 return state;
+ }
   void io_regulateTemp()
+  {
 	  // Gets board temperature and enables heater if below threshold
 	  if (sensors_getBoardTemp() <= HEATER_THRESHOLD)
+	  {
 		  io_heaterOn();
 		  led_on(3);
+	  }
-	  else if (sensors_getBoardTemp() > (HEATER_THRESHOLD + 5))
+	  else if (sensors_getBoardTemp() > (HEATER_THRESHOLD + 4))
+	  {
 		  io_heaterOff();
 		  led_off(3);
+	  }
+  }
@@ \ No newline at end of file @@

slave/slave/lib/sensors.c

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@@ @@ -99,166 +99,169 @@ void sensors_setupPressure() @@
 	mc = mc << 8;
 	mc = mc | i2c_read(PRESSURE_ADDR, 0xBD);
 	md = i2c_read(PRESSURE_ADDR, 0xBE);
 	md = md << 8;
 	md = md | i2c_read(PRESSURE_ADDR, 0xBF);
+}
 void sensors_readSpiTemp()
+{
 	// Select TEMP wait 100 microseconds then read four bytes
 	SELECT_TEMP;
 	_delay_us(100);
 	uint8_t one = send_spi(0xFF);
 	_delay_us(100);
 	uint8_t two = send_spi(0xFF);
 	_delay_us(100);
 	uint8_t three = send_spi(0xFF);
 	_delay_us(100);
 	uint8_t four = send_spi(0xFF);
 	DESELECT_TEMP;
 	int16_t temperature = ((one<<4)|(two>>4));	// Shift and place into larger int. (Cuts off Decimal)
 	temperature = (temperature & (0x0800)) ? (temperature & 0xF000) : temperature;	// Sign extend
 	//int16_t temperature = ((one<<6)|(two>>2));	// Shift and place into larger int. (Includes Decimal)
 	//temperature = (temperature & (0x2000)) ? (temperature & 0xC000) : temperature;	// Sign extend
 	temperature = (two & 0x01) ? 0x00DE : temperature;	// Error Condition. If error is detected output is set to 222 degrees (0x00DE)
 	// Note: Temperature still needs to be scaled in order to be accurate (eg. boil water). Do this before implementing.
 	spiTemp = temperature;
+}
 void sensors_readBoardTemp()
+{
 	boardTemp = i2c_read(BOARDTEMP_ADDR, 0x00);		// Read only the first byte of data (we don't need the resolution here)
 	boardTemp = ((boardTemp*18)/10) + (32);			// Converting Celsius to Fahrenheit
 	boardTemp = boardTemp - 3;						// Linear offset
+}
 void sensors_readPressure()
+{
 	i2c_write(PRESSURE_ADDR, 0xF4, 0x2E);				//write 0x2E (temp) into 0xF4 (control register), (write is 0xEE)
 	_delay_us(4500);							//wait 4.5 ms
 	ut = i2c_read(PRESSURE_ADDR, 0xF6);
 	ut = ut << 8;
 	ut = ut | i2c_read(PRESSURE_ADDR, 0xF7);	//ut = MSB<<8 + LSB
 	i2c_write(PRESSURE_ADDR, 0xF4, 0x34);				//write 0x34 (pressure) into 0xF4 (control register), (write is 0xEE)
 	_delay_us(4500);							//wait 4.5 ms
 	up = i2c_read(PRESSURE_ADDR, 0xF6);
 	up = up << 8;
 	up = up | i2c_read(PRESSURE_ADDR, 0xF7);	//up = (MSB<<16 + LSB<<8 + XLSB(NOT USED)) >> (8-oss)
 	//calculate true temperature
 	x1 = ((ut - ac6) * ac5) >> 15;
 	x2 = (mc << 11) / (x1 + md);
 	b5 = x1 + x2;
 	trueTemp = (b5 + 8) >> 4;
 	//calculate b3
 	b6 = b5 - 4000;
 	x1 = (b2 * (b6 * b6) >> 12) >> 11;
 	x2 = (ac2 * b6) >> 11;
 	x3 = x1 + x2;
 	b3 = ((ac1 * 4 + x3) + 2) / 4;
 	//calculate b4
 	x1 = (ac3 * b6) >> 16;
 	x2 = (b1 * ((b6 * b6) >> 12)) >> 16;
 	x3 = ((x1 + x2) + 2) >> 2;
 	b4 = (ac4 * (x3 + 32768)) >> 15;
 	b7 = (up - b3) * 50000;
 	if (b7 < 0x80000000)
+	{
 		pressure = (b7 << 1) / b4;
+	}
 	else
+	{
 		pressure = (b7 / b4) << 1;
+	}
 	x1 = (pressure >> 8) * (pressure >> 8);
 	x1 = (x1 * 3038) >> 16;
 	x2 = (-7357 * pressure) >> 16;
 	pressure += (x1 + x2 + 3791) >> 4;				//This is the final value for our pressure
 	altitude = (float)44330 * (1 - pow(((float) pressure/101325), 0.190295));
+}
 void sensors_readHumid()
+{
 	humid = i2c_read16(HUMID_ADDR);
 	//i2c_write(HUMID_ADDR, 0x00, 0x00);		//Measurement Request
 	//humid = i2c_read16(HUMID_ADDR);
 	humid = i2c_humidRead();
 	//calculations to relative humidity: humid = (humid/((2^14) - 1))*100%       >> is divide by power, << is multiply by power, 2^14-1 = 16383
 	humid = (humid / 16383) * 100;
+	 //humid = (humid / 16383) * 100;
+}
 void sensors_readLux()
+{
 	lightH = i2c_read(LIGHT_ADDR, 0x03);
 	lightL = i2c_read(LIGHT_ADDR, 0x04);
 	exponent = lightH;
 	exponent = exponent >> 4;
 	lightH = lightH << 4;
 	mantissa = lightH | lightL;
 	lux = (float)(pow(2,exponent) * mantissa) * 0.045;
+}
 void sensors_readBatt()
+{
 	battL = ADCL;					// Read low battery byte from ADC (all 8 bits)
 	batt = ADCH;					// Read high battery byte from ADC (only two LSBs)
 	batt = batt << 8;
 	batt |= battL;
 	vBatt = (batt * 10.0) / 67.4;
+}
 int16_t sensors_getSpiTemp(void)	// Gets spi temperature from variable
+{
 	return spiTemp;
+}
 int8_t sensors_getBoardTemp(void)	// Gets board temperature from variable
+{
 	return boardTemp;
+}
 int32_t sensors_getPressure(void)	// Gets pressure from variable
+{
 	return pressure;
+}
 uint16_t sensors_getHumid(void)			// Gets relative humidity from variable
+{
 	return humid;
+}
 uint32_t sensors_getLux(void)		// Gets light from variable
+{
 	return lux;
+}
 uint16_t sensors_getBatt(void)		// Gets battery voltage from variable
+{
 	return vBatt;
+}
 uint32_t sensors_getAltitude(void)
+{
 	return altitude;
+}
@@ \ No newline at end of file @@

slave/slave/modules.c

➞

Show inline comments

@@ @@ -40,132 +40,132 @@ @@
 			modules_cameras_setup();
 			break;
 		default:
 			modules_generic_setup();
 			break;
+	}
+ }
  void modules_run(uint8_t id)
+ {
 	switch(id)
+	{
 		case 0:
 			modules_generic();
 			break;
 		case 1:
 			modules_sensors();
 			break;
 		case 2:
 			modules_geiger();
 			break;
 		case 3:
 			modules_cameras();
 			break;
 		default:
 			modules_generic();
 			break;
+	}
+ }
  void modules_generic_setup()
+ {
+ }
  void modules_sensors_setup()
+ {
 	DESELECT_TEMP;
 	setup_spi();
 	sensors_setupPressure();
+ }
  void modules_geiger_setup()
+ {
 	// Pin setup
 	DDRA &= ~(1 << DDA0);	// PA0 is an input
 	// Setup for interrupt input on PA0 (PCINT0)
 	PCMSK0 |= (1 << PCINT0);	// Enable interrupt for PA0
 	PCICR |= (1 << PCIE0);		// Enable ioc section PCIF0
 	// Setup for interrupt from Timer2
 	ASSR &= ~(1 << EXCLK);	// Disable external clock input (enabling crystal use)
 	ASSR |= (1 << AS2);		// Enable timer2 async mode with an external crystal
 	_delay_ms(250);			// Let external 32KHz crystal stabilize
 	TCCR2B = 0x05;			// Set the prescaler to 128: 32.768kHz / 128 = 1Hz overflow
 	TIFR2 = 0x01;			// Reset timer2 overflow interrupt flag
 	TIMSK2 = 0x01;			// Enable interrupt on overflow
+ }
  void modules_cameras_setup()
+ {
 	 lastPicture = time_millis();
 	 pulseOn = time_millis();
 	 DDRA |= (1 << DDA0);	// Set PA0 to Output for Camera
 	 DDRA |= (1 << DDA1);	// Set PA1 to Output for Camera
 	 DDRA |= (1 << DDA2);	// Set PA2 to Output for Camera
 	 DDRA |= (1 << DDA3);	// Set PA3 to Output for Camera
+ }
  void modules_generic()
+ {
 	// Gathers data and performs functions for generic daughter board
+ }
  void modules_sensors()
+ {
 	// Gathers data and performs functions for sensor daughter board
 	sensors_readBoardTemp();		//Data Read
 	sensors_readSpiTemp();			//Data Read
 	sensors_readPressure();			//Data Read
-	//sensors_readHumid();			//Data Read
 	sensors_readHumid();			//Data Read
 	sensors_readLux();				//Data Read
+ }
  void modules_geiger()
+ {
 	// No data gatering function needed for geiger daughter board
 		// This is taken care of in interrupt (See geiger.c)
+ }
  void modules_cameras()
+ {
 	// Gathers data and performs functions for cameras daughter board
 		//cameras_readAccelXYZ();
 		if ((time_millis() - pulseOn) > CAMERA_PULSE)
+		{
 			PORTA &= ~(1 << PA0);	// Pull pin on usb low
 			PORTA &= ~(1 << PA1);	// Pull pin on usb low
 			PORTA &= ~(1 << PA2);	// Pull pin on usb low
 			PORTA &= ~(1 << PA3);	// Pull pin on usb low
 		//if ((time_millis() - pulseOn) > CAMERA_PULSE)
 		//{
 		//	PORTA &= ~(1 << PA0);	// Pull pin on usb low
 		//	PORTA &= ~(1 << PA1);	// Pull pin on usb low
 		//	PORTA &= ~(1 << PA2);	// Pull pin on usb low
 		//	PORTA &= ~(1 << PA3);	// Pull pin on usb low
 			if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
+			{
 				cameras_sendPulse();
 				lastPicture = time_millis();
+			}
 		//	if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
 		//	{
 		//		cameras_sendPulse();
 		//		lastPicture = time_millis();
 		//	}
 			pulseOn = time_millis();
+		}
 		//	pulseOn = time_millis();
 		//}
+ }
@@ \ No newline at end of file @@

slave/slave/slave.c

➞

Show inline comments

 /*
  * Slave Firmware
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Kyle Ripperger
  * Ethan Zonca
  * Matthew Kanning
  * Matthew Kroening
+ *
  */
 #include "config.h"
 #include <stdio.h>
 #include <stdbool.h>
 #include <inttypes.h>
 #include <avr/io.h>
 #include <compat/twi.h>
 #include <util/delay.h>
 #include <avr/cpufunc.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include "modules.h"
 #include "lib/serial.h"
 #include "lib/serparser.h"
 #include "lib/led.h"
 #include "lib/inputOutput.h"
 #include "lib/i2c.h"
 #include "lib/spi.h"
 #include "lib/geiger.h"
 #include "lib/sensors.h"
 #include "lib/cameras.h"
 #include "lib/loopTimer.h"
 #include "lib/masterComm.h"
 #include "lib/watchdog.h"
 bool WDTreset = false;
  uint32_t lastPicture;
  uint8_t pulseOn;
 void micro_setup()
+{
 	// Generic microcontroller config options
 	WDTreset = ((MCUSR & 0b00001000) > 0);	// Check if WDT reset occured
 	MCUSR = 0;		// Clear reset flags
 	wdt_disable();	// Disable WDT
 	_delay_ms(20);	// Power debounce
 	sei();			// Enable interrupts
+}
 int main(void)
+{
 	// Initialize
 	micro_setup();			// Generic microcontroller config options
 	time_setup();			// Setup loop timer and interrupts (TIMER0)
 	watchdog_setup();		// Setup watchdog timer
 	led_configure();		// Configure ports and registers for LED operation
 	io_configure();			// Configure IO ports and registers
 	i2c_init();				// Setup I2C
 	serial0_setup();		// Config serial port 0
 	serial1_setup();		// Config serial port 1
 	_delay_ms(50);	// Setup hold delay
 	if(WDTreset) led_on(1);	// Turn on LED if WDT reset has occurred
 	io_readModuleId();
 	modules_setup(io_getModuleId());	// Run setup functions for specific module
 	uint32_t lastLoop = 0;	// Time in ms when last loop occurred
 	// Serial output //DEBUG
 	char buff[128];						//Buffer for serial output //DEBUG
 	serial1_sendString("Starting Slave\r\n");	//DEBUG
     while(1)
+    {
 		wdt_reset();	// Resets WDT (to prevent restart)
 		// Master communication
 		masterComm_checkParser();	//Checks parser for data requests from master
 		// Main slave operations
 		if ((time_millis() - lastLoop) > SENSOR_LOOP)	// Uses program timer to run every so often. Time interval defined in config.h
+		{
 			led_on(0);
 			sensors_readBatt();				// Read Battery level
 			sensors_readBoardTemp();		// Read board temperature sensor (Common on all slaves) (Data Read)
 			modules_run(io_getModuleId());	// Runs specific module functions (like data reading)
 			io_regulateTemp();			// Gets board temperature and enables heater if below threshold
-			snprintf(buff,128,"|ModuleID: %u |BoardTemp: %i |Millis: %lu |Lux: %lu |Pressure: %lu |Altitude: %lu |Battery: %u \r\n ",io_getModuleId(),sensors_getBoardTemp(),time_millis(),sensors_getLux(),sensors_getPressure(),sensors_getAltitude(),sensors_getBatt()); //DEBUG
+			snprintf(buff,128,"|ModuleID: %u |BoardTemp: %i |Millis: %lu |Lux: %lu |Press: %lu |Altitude: %lu |Batt: %u |Humidity: %u |spiTemp: %i \r\n ",io_getModuleId(),sensors_getBoardTemp(),time_millis(),sensors_getLux(),sensors_getPressure(),sensors_getAltitude(),sensors_getBatt(),sensors_getHumid(),sensors_getSpiTemp()); //DEBUG
 			serial1_sendString(buff); //DEBUG
 			led_off(0);
 			lastLoop = time_millis();
 // Writes ID to EEPROM, change for all modules and delete after programming
 // 0 is for generic setup,	 1 is for sensors,	 2 is for Geiger,	3 is for cameras
 //i2c_write(EEPROM_ADDR, 0x05, 0x03);
+		}
 		if (io_getModuleId() == 3);
+		{
 			if ((time_millis() - pulseOn) > CAMERA_PULSE)
+			{
 				PORTA &= ~(1 << PA0);	// Pull pin on usb low
 				PORTA &= ~(1 << PA1);	// Pull pin on usb low
 				PORTA &= ~(1 << PA2);	// Pull pin on usb low
 				PORTA &= ~(1 << PA3);	// Pull pin on usb low
 				if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
+				{
 					cameras_sendPulse();
 					lastPicture = time_millis();
+				}
 				pulseOn = time_millis();
+			}
+		}
+    }
 	return 0;
+}
 		/********Examples of data reading and getting******************
 		x = geiger_getCpm();				//Data get
 		x = sensors_getSpiTemp();			//Data get
 		x = sensors_getBoardTemp();			//Data get
 		sensors_readSpiTemp();				//Data Read
 		sensors_readBoardTemp();			//Data Read
 		led_output(0xFF);					//Output value to LED array
 		i2c_write(RTC_ADDR, 0x05, 0x3A);	//i2c Write Example
 		PORTA &= ~(1 << PA1);	//OFF
 		PORTA |= (1 << PA1);	//ON
 		PORTB ^= (1 << PB0);	//Toggle
 		sprintf(buff, "log: %u,%u,%u,%u\r\n", temp,temp2,temp3,temp4);
 		serial0_sendString(buff);
 		**************************************************************/
@@ \ No newline at end of file @@

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