seniordesign-firmware Changeset - a5d9aa0655fc

Changeset - a5d9aa0655fc

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-03-14 16:48:00
ethanzonca@CL-ENS241-08.cedarville.edu

Added battery voltage, documentation, refactoring, etc.

12 files changed with 57 insertions and 86 deletions:

master/master/config.h

master/master/lib/boardtemp.c

master/master/lib/boardtemp.h

master/master/lib/heater.c

master/master/lib/led.c

master/master/lib/led.h

master/master/lib/logger.c

master/master/lib/sdcard/sd_raw.c

master/master/lib/sensordata.c

master/master/lib/watchdog.c

master/master/master.c

master/master/master.cproj

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master/master/config.h

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@@ @@ -13,99 +13,104 @@ @@
 #ifndef CONFIG_H_
 #define CONFIG_H_
 #include <avr/pgmspace.h>
 // --------------------------------------------------------------------------
 // Hardware settings
 // --------------------------------------------------------------------------
 #define F_CPU 11059200
 #define BOARDTEMP_ADDR 0x90
 // --------------------------------------------------------------------------
 // Module config (master.c)
 // --------------------------------------------------------------------------
 // Debug Output
 //#define DEBUG_OUTPUT
 // Blackout (turn off all but power LEDs)
 #define BLACKOUT_ENABLE
 #define BLACKOUT_TIMEOUT 300000 // Blackout after 5 minutes (hopefully after fix)
 #define F_CPU 11059200
 #define MODULE_ID '1'
 #define BOARDTEMP_ADDR 0x90
 // Board heater setpoint
 #define HEATER_THRESHOLD 60
-// Touchdown buzzer settings
 // Touchdown buzzer
 #define BUZZER_RATE 3000
 #define BUZZER_DURATION 1
 #define BUZZER_FAILSAFE_DURATION 600000
 #define BUZZER_TRIGGER_MINDURATION 1
 #define BUZZER_TRIGGER_MAXALTITUDE 1
 // --------------------------------------------------------------------------
-// Error Codes config (led.c, used throughout code)
+// Error Codes config (logger.c)
 // --------------------------------------------------------------------------
 // SD Card
 #define ERROR_SLAVETIMEOUT 0
 #define ERROR_SD_INIT 1
 #define ERROR_SD_PARTITION 2
 #define ERROR_SD_FILE 3
 #define ERROR_XBEETIMEOUT 4
 #define ERROR_FATAL 5
 #define ERROR_ATFAIL 6
 #define ERROR_EXITAT 7
 #define ERROR_INFOTEXT 8
 // !!! Please specify detailed messages for these error codes in logger.c
 // !!! Please specify/update detailed messages for these error codes in logger.c
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 // Slave data structure size
 #define MAX_NUM_SLAVES 5  // Maximum number of nodes in the system
 #define MAX_NUM_SENSORS 10 // Maximum number of unique types of sensors in the system
 // Node identifier of log destination xbee
 #define XBEE_LOGDEST_NAME "HAB-LOGGER"
 // Rate to request data from slaves. Must be greater than AT delay * number slaves
 #define DATAREQUEST_RATE 3000
 // Timeouts
 #define TIMEOUT_SLAVEREQUEST 1000
 #define TIMEOUT_NETWORKSCAN 7000
 #define TIMEOUT_EXITAT 2000
 #define TIMEOUT_XBEERESPONSE 2000
-// Retries
+// Slave data request max retries (for retry upon corrupt data reception)
 #define MAX_SLAVEREQUEST_RETRIES 2
 // --------------------------------------------------------------------------
 // Command Parser config (serparser.c)
 // --------------------------------------------------------------------------
 // Maximum payload size of command
 #define MAX_PAYLOAD_LEN 16
 // Circular serial buffer size. Must be at least MAX_CMD_LEN + 5
 #define BUFFER_SIZE 128
 // Public broadcast address
 #define BROADCAST_ADDR 0
 // --------------------------------------------------------------------------
 // GPS config (xxx.c)
 // --------------------------------------------------------------------------
 // NMEA circular buffer size. Must be large enough to hold all received sentences
 #define NMEABUFFER_SIZE 150
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 // Baud rates for XBEE and GPS serial ports
 #define USART0_BAUDRATE 115200
 #define USART1_BAUDRATE 115200
 // --------------------------------------------------------------------------
 // AX.25 config (ax25.c)
@@ @@ -148,18 +153,20 @@ @@
 // --------------------------------------------------------------------------
 // Logger config (logger.c)
 // --------------------------------------------------------------------------
 // Log number EEPROM address (this number is incremented on boot, used for filenames)
 #define LOGGER_ID_EEPROM_ADDR 0x10
 // Written to the beginning of every log file
 #define LOGGER_HEADERTEXT "HAB Control Master - 1.0\n"
 // Log to SD card every X milliseconds
 #define LOGGER_RATE 1000
 // LED cycle indicator speed
 #define LEDCYCLE_RATE 100
 #endif /* CONFIG_H_ */
@@ \ No newline at end of file @@

master/master/lib/boardtemp.c

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deleted file

master/master/lib/boardtemp.h

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deleted file

master/master/lib/heater.c

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@@ @@ -9,13 +9,13 @@ @@
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include "led.h"
-#include "boardtemp.h"
+#include "sensors.h"
  void heater_regulateTemp()
+ {
 	 // Gets board temperature and enables heater if below threshold
 	 if (sensors_getBoardTemp() <= HEATER_THRESHOLD)
+	 {

master/master/lib/led.c

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@@ @@ -76,12 +76,17 @@ void led_blackout() { @@
 				*(ledList[i].port) &= ~(1<<ledList[i].pin); // set pin low
+			}
+		}
+	}
+}
 bool led_isBlackout()
+{
 	return blackout;
+}
 // Flashes error LED a set amount of times, then leaves it on
 void led_errorcode(uint8_t code)
+{
 	led_off(LED_ERROR);
 	_delay_ms(400);
 	for(int i=0; i<code; i++)

master/master/lib/led.h

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@@ @@ -12,12 +12,13 @@ @@
 #ifndef LED_H_
 #define LED_H_
 #include <avr/io.h>
 #include <stdbool.h>
 enum leds {
 	LED_ACT0 = 0,
 	LED_ACT1,
 	LED_ACT2,
 	LED_ACT3,
@@ @@ -58,11 +59,12 @@ static led_t ledList[] = { @@
 void led_setup();
 void led_power_toggle();
 void led_on(uint8_t led);
 void led_off(uint8_t led);
 void led_toggle(uint8_t led);
 void led_blackout();
 bool led_isBlackout();
 void led_errorcode(uint8_t code);
 void led_spin();
 void led_alert();
 #endif /* LED_H_ */

master/master/lib/logger.c

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@@ @@ -69,15 +69,12 @@ void logger_setup() @@
 	if(!sd_raw_init())
+	{
 		error_log(ERROR_SD_INIT, true);
 		return;
+	}
 	// TODO: Check SD card switch to see if inserted.
 	// this was included in the library, but is commented out right now
 	// Open first partition
 	partition = partition_open(sd_raw_read, sd_raw_read_interval, sd_raw_write, sd_raw_write_interval, 0);
 	// Check that partition was created correctly
 	if(!partition)
+	{

master/master/lib/sdcard/sd_raw.c

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@@ @@ -9,12 +9,14 @@ @@
  */
 #include <string.h>
 #include <avr/io.h>
 #include "sd_raw.h"
 #include "sd_raw_config.h"
 #include "../led.h"
 #include <avr/delay.h>
 /**
  * \addtogroup sd_raw MMC/SD/SDHC card raw access
+ *
  * This module implements read and write access to MMC, SD
  * and SDHC cards. It serves as a low-level driver for the
@@ @@ -316,21 +318,24 @@ uint8_t sd_raw_init() @@
     unselect_card();
     /* switch to highest SPI frequency possible */
     SPCR &= ~((1 << SPR1) | (1 << SPR0)); /* Clock Frequency: f_OSC / 4 */
     SPSR |= (1 << SPI2X); /* Doubled Clock Frequency: f_OSC / 2 */
 #if !SD_RAW_SAVE_RAM
     /* the first block is likely to be accessed first, so precache it here */
     raw_block_address = (offset_t) -1;
 #if SD_RAW_WRITE_BUFFERING
     raw_block_written = 1;
 #endif
     if(!sd_raw_read(0, raw_block, sizeof(raw_block))) {
 		return 0;
+	}
 #endif
     return 1;
+}
 /**

master/master/lib/sensordata.c

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@@ @@ -13,13 +13,13 @@ @@
 #include "../config.h"
 #include <stdio.h>
 #include <stdbool.h>
 #include <string.h>
 #include "sensordata.h"
 #include "slavesensors.h"
-#include "boardtemp.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];
@@ @@ -147,13 +147,13 @@ void sensordata_logvalues() @@
+		{
 			#define CSV_BUFFER_SIZE 64
 			char csvHeader[CSV_BUFFER_SIZE];
 			csvHeader[0] = 0x00;
 			// Add master data headers
 			logger_log("Time,BoardTemp,GPSTime,GPSLat,GPSLon,GPSSpeed,GPSHDOP,GPSCourse,GPSSV,");
+			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++)
+				{
@@ @@ -178,13 +178,13 @@ void sensordata_logvalues() @@
 		// 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,%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());
+		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++)
+			{

master/master/lib/watchdog.c

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@@ @@ -15,21 +15,14 @@ @@
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 //initialize watchdog
 void watchdog_setup(void)
+{
 	cli();
 	wdt_reset();
 	// Set change enable bit, enable the WDT
 	WDTCSR = (1<<WDCE)|(1<<WDE);
 	// Start watchdog, 4 second timeout
 	WDTCSR = (1<<WDE)|(1<<WDP3)|(1<<WDP0);
 	sei();
+}
 // ISR for watchdog timeout. Not currently used, interrupt is disabled.
 ISR(WDT_vect)
+{
+}

master/master/master.c

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@@ @@ -26,13 +26,13 @@ @@
 #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/boardtemp.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"
@@ @@ -48,12 +48,13 @@ int main(void) @@
 	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
@@ @@ -102,12 +103,13 @@ int main(void) @@
 			else
+			{
 				led_off(LED_SIDEBOARD);
+			}
 			sensors_readBoardTemp();
 			sensors_readBatt();
 			// Write CSV header and log data values
 			sensordata_logvalues();
 			led_off(LED_CYCLE);
 			lastLog = time_millis();
@@ @@ -144,27 +146,31 @@ int main(void) @@
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD)
+		{
 			// Check for touchdown
 			sensordata_checkTouchdown();
 			// LED blackout
 			#ifdef BLACKOUT_ENABLE
 			led_blackout();
 			#endif
 			// 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);

master/master/master.cproj

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@@ @@ -45,21 +45,21 @@ @@
       <KeepTimersRunning>true</KeepTimersRunning>
       <OverrideVtor>false</OverrideVtor>
       <OverrideVtorValue>
       </OverrideVtorValue>
       <Channel>
         <host>127.0.0.1</host>
-        <port>49512</port>
+        <port>55130</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>
         <InterfaceName>ISP</InterfaceName>
         <InterfaceProperties>
           <JtagDbgClock>249000</JtagDbgClock>
           <JtagProgClock>1000000</JtagProgClock>
-          <IspClock>2010000</IspClock>
+          <IspClock>1970000</IspClock>
           <JtagInChain>false</JtagInChain>
           <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession>
           <JtagDevicesBefore>0</JtagDevicesBefore>
           <JtagDevicesAfter>0</JtagDevicesAfter>
           <JtagInstrBitsBefore>0</JtagInstrBitsBefore>
           <JtagInstrBitsAfter>0</JtagInstrBitsAfter>
@@ @@ -129,16 +129,16 @@ @@
     <Compile Include="lib\ax25.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\ax25.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\boardtemp.c">
+    <Compile Include="lib\sensors.c">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\boardtemp.h">
+    <Compile Include="lib\sensors.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\gps.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\gps.h">

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