seniordesign-firmware Changeset - a20e51697fd8

Changeset - a20e51697fd8

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-15 21:35:00
ethanzonca@CL-ENS241-08.cedarville.edu

Initial XBee AT mode and network scan implementation started. Need to store data from network scan in a reasonable manner.

7 files changed with 147 insertions and 6 deletions:

master/master/config.h

master/master/lib/logger.c

master/master/lib/serial.c

master/master/lib/serial.h

master/master/lib/slavesensors.c

master/master/lib/slavesensors.h

master/master/master.c

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master/master/config.h

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@@ @@ -25,13 +25,15 @@ @@
 // Error Codes config (led.c, used throughout code)
 // --------------------------------------------------------------------------
 // SD Card
 #define ERROR_SD_INIT 2
 #define ERROR_SD_PARTITION 3
 #define ERROR_CRAP 6
 #define ERROR_SD_FILE 4
 #define ERROR_CRAP 15
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 // NOT USED. Could integrate into slavesensors.c setup function for configurability eventually.

master/master/lib/logger.c

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@@ @@ -61,53 +61,59 @@ void logger_setup() @@
 	// Open FAT filesystem
 	fs = fat_open(partition);
 	if(!fs)
+	{
 		// opening filesystem failed
 		led_errorcode(ERROR_SD_PARTITION);
 		return;
+	}
 	// Open directory
 	fat_get_dir_entry_of_path(fs, "/", &directory);
 	dd = fat_open_dir(fs, &directory);
 	if(!dd)
+	{
 		// opening root directory failed
 		_delay_ms(10);
 		led_errorcode(ERROR_SD_FILE);
 		return;
+	}
 	// Create new log file
 	uint8_t logid = eeprom_read_byte(LOGGER_ID_EEPROM_ADDR);
 	char filename[48];
 	// we pre-increment logid here because it starts at 255, then wraps to 0
 	sprintf(filename, "data%d.csv",++logid);
 	// TODO: Catch errors here
 	fat_create_file(dd, filename, &directory);
 	if(!fat_create_file(dd, filename, &directory)) {
 		led_errorcode(ERROR_SD_FILE);
+	}
 	eeprom_update_byte(LOGGER_ID_EEPROM_ADDR, logid);
 	// Search for file in current directory and open it
 	fd = open_file_in_dir(fs, dd, filename);
 	if(!fd)
+	{
 		led_errorcode(ERROR_SD_FILE);
 		_delay_ms(10);
 		return;
+	}
 	// Seek to beginning of file
 	// TODO: Is this needed?
 	int32_t offset = 0;
 	if(!fat_seek_file(fd, &offset, FAT_SEEK_SET))
+	{
 		// Error seeking to file
 		led_errorcode(ERROR_SD_FILE);
 		_delay_ms(10);
 		fat_close_file(fd);
 		return;
+	}
 	// Write header information

master/master/lib/serial.c

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@@ @@ -12,12 +12,13 @@ @@
 #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);
@@ @@ -62,24 +63,66 @@ void serial1_ion() { @@
+}
 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 )
+{
 	while (!(UCSR0A & (1<<UDRE0)));
 	UDR0 = byte;
+}
 void serial1_sendChar( unsigned char byte )
+{
 	while (!(UCSR1A & (1<<UDRE1)));
 	UDR1 = byte;
+}
 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++;
+	}

master/master/lib/serial.h

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@@ @@ -25,12 +25,16 @@ void serial1_sendChar( unsigned char byt @@
 void serial0_setup();
 void serial1_setup();
 void serial0_sendString(const char* stringPtr);
 void serial1_sendString(const char* stringPtr);
 unsigned char serial0_readChar();
 uint8_t serial0_hasChar();
 char* serial0_readLine();
 void serial_sendCommand( char moduleID, char sensorID, char* data );
 void serial_sendResponseData();
 void serial1_ion();
 void serial1_ioff();

master/master/lib/slavesensors.c

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@@ @@ -13,12 +13,15 @@ @@
 #include <avr/io.h>
 #include <stdbool.h>
 #include "../config.h"
 #include "serial.h"
 #include "serparser.h"
 #include "slavesensors.h"
 #include "led.h"
 #include <util/delay.h>
 #include <avr/wdt.h>
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 uint16_t slaves[MAX_SLAVES][MAX_SLAVE_SENSORS];
@@ @@ -54,12 +57,93 @@ void slavesensors_setup() @@
 	// slave 3
 	slaves[3][0] = BOARDTEMP;
 	slaves[3][1] = CAMERA;
+}
 char* bufPtr = 0x00;
 void slavesensors_network_scan() {
 	serial0_ioff();
 	int atOK;
 	serial0_sendString("Beginning network scan...\r\n");
 	// Delay guard period
 	_delay_ms(500);
 	_delay_ms(500);
 	// Enter AT mode
 	serial0_sendChar('+'); // Enter AT mode
 	serial0_sendChar('+');
 	serial0_sendChar('+');
 	while(!serial0_hasChar()) {
 		wdt_reset();
+	}
 	bufPtr = serial0_readLine();
 	char nameString[20] = "NONE";
 	// wait for OK
 	//todo
 	if(strcmp(bufPtr, "OK") == 0)
+	{
 		atOK = 1;
 		serial0_sendString("ATND");
 		serial0_sendChar(0x0D);
 		// wait for scan to complete
 		while(!serial0_hasChar()) {
 			wdt_reset();
+		}
 		// Scan data end when newline by itself ("")
 		int lineCount = 0;
 		while(1) {
 			bufPtr = serial0_readLine();
 			if(lineCount == 3) {
 				strcpy(nameString, bufPtr);
+			}
 			if(strcmp(bufPtr, "") == 0)
 				break;
 			lineCount++;
+		}
 		// Exit AT
 		serial0_sendString("ATCN");
 		serial0_sendChar(0x0D);
+	}
 	else {
 		atOK = 0;
+	}
 	_delay_ms(200);
 	//serial0_sendString("ATND"); // Scan all nodes
 	 led_on(LED_SIDEBOARD);
 	 _delay_ms(500);
 	serial0_sendString("First found node is: ");
 	serial0_sendString(nameString);
 	serial0_sendString("\r\n");
 	if(atOK != 1) {
 		serial0_sendString("AT mode failed \r\n");
+	}
 	// Wait for response
 	// will be multiple values separated by <CR>
 	// 9 data lines per node, <CR> terminated, followed by a new line with only <CR> at the end of all nodes.
 	// <CR> followed by another <CR> signifies end of scan data
 	serial0_ion();
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
@@ @@ -73,13 +157,12 @@ void slavesensors_request() @@
+{
 	serial_sendCommand(currentSlave + 0x30, slaves[currentSlave][currentSlaveSensor] + 0x30, "");
+}
 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.

master/master/lib/slavesensors.h

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@@ @@ -29,11 +29,12 @@ enum sensorTypes // CMD ID# @@
 	AMBIENTLIGHT,
 	CAMERA,
 };
 bool slavesensors_isrequesting();
 void slavesensors_setup();
 void slavesensors_network_scan();
 void slavesensors_startprocess();
 void slavesensors_request();
 void slavesensors_process(uint8_t parseResult);
 #endif /* SLAVESENSORS_H_ */
@@ \ No newline at end of file @@

master/master/master.c

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@@ @@ -55,12 +55,14 @@ int main(void) @@
 	//\f
 	serial0_sendString("\r\n---------------------------------\r\n");
 	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");
 	serial0_sendString("---------------------------------\r\n");
 	serial0_sendString("\r\nHello.\r\n\r\n");
 	slavesensors_network_scan();
 	led_on(LED_POWER);
 	led_off(LED_SIDEBOARD);
 	// Buffer for string operations
 	char logbuf[128];
 	char debugBuf[128];
@@ @@ -126,22 +128,22 @@ int main(void) @@
 			led_on(LED_CYCLE);
 			// Print out GPS debug
 			snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",
 			get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			serial0_sendString(debugBuf);
+			//serial0_sendString(debugBuf);
 			sensors_readBoardTemp(); // i2c read, 400k
 			snprintf(logbuf, 128, "%lu,%d,%uF,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			logger_log(logbuf);
 			// Print out logger debug
 			serial0_sendString("LOG> ");
 			serial0_sendString(logbuf);
 			//serial0_sendString("LOG> ");
 			//serial0_sendString(logbuf);
 			led_off(LED_CYCLE);
 			lastLog = time_millis();
+		}

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