seniordesign-firmware Changeset - c21de31ee856

Changeset - c21de31ee856

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-30 21:20:33
ethanzonca@CL-ENS241-08.cedarville.edu

Added labeling feature to logged data for sensor data types,
slave data request system now fully functional. Note: logger node
is no longer selected as previously planned.

6 files changed with 85 insertions and 12 deletions:

master/master/config.h

master/master/lib/led.c

master/master/lib/led.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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@@ @@ -31,48 +31,50 @@ @@
 // SD Card
 #define ERROR_SD_INIT 2
 #define ERROR_SD_PARTITION 3
 #define ERROR_SD_FILE 4
 #define ERROR_XBEETIMEOUT 5
 #define ERROR_NOXBEE 6
 #define ERROR_CRAP 15
 #define ERROR_ATFAIL 3
 #define ERROR_EXITAT 8
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 #define MAX_NUM_SLAVES 5  // Maximum number of nodes in the system
 #define MAX_NUM_SENSORS 20 // Maximum number of unique types of sensors in the system
 // Node identifier of log destination xbee
 #define XBEE_LOGDEST_NAME "HAB-LOGGER"
 #define DATAREQUEST_RATE 3000
 // --------------------------------------------------------------------------
 // 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 32
 // Public broadcast address
 #define BROADCAST_ADDR 0
 // --------------------------------------------------------------------------
 // GPS config (xxx.c)
 // --------------------------------------------------------------------------
 #define NMEABUFFER_SIZE 150
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 #define USART0_BAUDRATE 115200

master/master/lib/led.c

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@@ @@ -37,48 +37,55 @@ void led_off(uint8_t led) @@
 	*(ledList[led].port) &= ~(1<<ledList[led].pin);
+}
 void led_toggle(uint8_t led)
+{
 	*(ledList[led].port) ^= (1<<ledList[led].pin);
+}
 // 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++)
+	{
 		led_on(LED_ERROR);
 		_delay_ms(150);
 		led_off(LED_ERROR);
 		_delay_ms(150);
+	}
 	_delay_ms(400);
 	led_on(LED_ERROR);
+}
 void led_alert() {
 	led_on(LED_ACT0);
 	led_on(LED_ACT1);
 	led_on(LED_ACT2);
 	led_on(LED_ACT3);
 	_delay_ms(10);
+}
 uint8_t ctr = 0;
 void led_spin() {
 	if(ctr == 0) {
 		led_on(LED_ACT0);
 		led_off(LED_ACT1);
 		led_off(LED_ACT2);
 		led_off(LED_ACT3);
+	}
 	else if (ctr == 1) {
 		led_on(LED_ACT1);
 		led_off(LED_ACT0);
 		led_off(LED_ACT2);
 		led_off(LED_ACT3);
+	}
 	else if (ctr == 2) {
 		led_on(LED_ACT2);
 		led_off(LED_ACT1);
 		led_off(LED_ACT0);
 		led_off(LED_ACT3);
+	}
 	else if (ctr == 3) {
 		led_on(LED_ACT3);

master/master/lib/led.h

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@@ @@ -46,26 +46,27 @@ static led_t ledList[] = { @@
 	{&DDRB, &PORTB, PB3}, // STATUS
 	{&DDRB, &PORTB, PB2}, // ERROR
 //breadboard:
 //	{&DDRA, &PORTA, PA2}, // POWER
 //	{&DDRA, &PORTA, PA0}, // STATUS
 //	{&DDRA, &PORTA, PA1}, // ERROR
 	{&DDRD, &PORTD, PD6}, // SIDEBOARD
 	{&DDRD, &PORTD, PD5}, // ACTIVITY
 	{&DDRD, &PORTD, PD4}, // CYCLE
 	{&DDRA, &PORTA, PA6}, // HEAT
 	{&DDRA, &PORTA, PA7}, // BUZZER
 };
 #define NUM_LEDS 12
 void led_setup();
 void led_on(uint8_t led);
 void led_off(uint8_t led);
 void led_toggle(uint8_t led);
 void led_errorcode(uint8_t code);
 void led_spin();
 void led_alert();
 #endif /* LED_H_ */

master/master/lib/slavesensors.c

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 /*
  * Master Firmware: Slave Sensor Data Aquisition
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include "../config.h"
 #include <avr/io.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
 #include <util/delay.h>
 #include <avr/wdt.h>
 #include <avr/pgmspace.h>
 #include "serial.h"
 #include "serparser.h"
 #include "slavesensors.h"
 #include "sensordata.h"
 #include "led.h"
 #include "looptime.h"
 // Label lookup table
 const char label_0[] PROGMEM = "BoardTemp";
 const char label_1[] PROGMEM = "HeaterStatus";
 const char label_2[] PROGMEM = "BatteryLevel";
 const char label_3[] PROGMEM = "AirTemp";
 const char label_4[] PROGMEM = "AmbientLight";
 const char label_5[] PROGMEM = "Humidity";
 const char label_6[] PROGMEM = "Pressure";
 const char label_7[] PROGMEM = "Altitude";
 const char label_8[] PROGMEM = "CPM-Radiation";
 const char *const labelLookup[] PROGMEM =
+{
 	label_0,
 	label_1,
 	label_2,
 	label_3,
 	label_4,
 	label_5,
 	label_6,
 	label_7,
 	label_8,
 };
 char labelBuffer[25]; // Size to length of label
 char* slavesensors_getLabel(uint8_t sensorID) {
 	strncpy_P(labelBuffer,(char*)pgm_read_word(&(labelLookup[sensorID])),25);
 	return labelBuffer;
+}
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 bool requesting = false;
 void slavesensors_setup()
+{
+}
 //#define DEBUG_NETWORKSCAN
-//#define DEBUG_GETSLAVEDATA
 #define DEBUG_GETSLAVEDATA
 char* bufPtr = 0x00;
 static char slaveAddressLow[MAX_NUM_SLAVES][9];
 static char slaveAddressHigh[MAX_NUM_SLAVES][9];
 static char slaveNames[MAX_NUM_SLAVES][20];
 uint8_t loggerIndex = 255;
 uint8_t nodeCount = 0;
 bool dataReady = false;
 char* slavesensors_slavename(uint8_t id) {
 	return slaveNames[id];
+}
 void slavesensors_network_scan() {
 	serial0_ioff();
 	int atOK;
 	#ifdef DEBUG_OUTPUT
 	serial0_sendString("Beginning network scan...\r\n\r\n");
 	#endif
@@ @@ -147,95 +178,113 @@ void slavesensors_network_scan() { @@
 		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
 	for(int i=0; i<nodeCount; i++)
+	{
 		if(strcmp(slaveNames[i], XBEE_LOGDEST_NAME) == 0)
+		{
 			loggerIndex = i;
+		}
+	}
 	_delay_ms(100);
 	slavesensors_selectlogger();
 	serial0_ion();
+}
 //#define DEBUG_CONTEXTSWITCH
 // #define DEBUG_SELECTNODE
 uint8_t selectedNode = 0;
 uint8_t slavesensors_getselectednode() {
 	return selectedNode;
+}
 void slavesensors_selectnode(uint8_t nodeIndex)
+{
 	if(selectedNode == nodeIndex) {
 		return;
+	}
 	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",slaveAddressHigh[nodeIndex], 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0) {
 			led_errorcode(ERROR_NOXBEE);
 			return;
+		}
 		snprintf(tmpBuf, 23, "ATDL %s%c",slaveAddressLow[nodeIndex], 0x0D);
 		serial0_sendString(tmpBuf);
 		if(xbeeIsOk() != 0) {
 			led_errorcode(ERROR_NOXBEE);
 			return;
+		}
 		slavesensors_exitAT();
 		selectedNode = nodeIndex;
+	}
 	_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;
+}
 void slavesensors_selectlogger()
+{
 	if(loggerIndex != 255) {
 		slavesensors_selectnode(loggerIndex);
+	}
+}
 void slavesensors_exitAT()
+{
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	_delay_ms(2);
 	//// Wait until we get "OK"
 	//int atStart = time_millis();
 	//while(!serial0_hasChar()) {
 		//if(time_millis() - atStart > 500) {
 			//led_errorcode(ERROR_EXITAT);
 			//wdt_reset();
 			//return 1;
@@ @@ -286,52 +335,55 @@ int xbeeIsOk() @@
 		return 1;
+	}
+}
 bool slavesensors_dataReady() {
 	return dataReady;
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
+{
 	requesting = true;
 	slavesensors_request();
+}
 // TODO: inline. static.
 void slavesensors_request()
+{
 	if(currentSlave == loggerIndex) {
 		currentSlave++;
 		if(currentSlave >= (nodeCount)) {
 			slavesensors_selectlogger();
 			return;
+		}
+	}
 	slavesensors_selectnode(currentSlave);
 	serial_sendCommand("@"); // Request data!
 	slavesensors_selectlogger();
+}
 uint8_t numReadingsToExpect = 0; // number of values that the slave is about to send (testing)
 // 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
+	}
 	// 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)
+	{
@@ @@ -361,67 +413,69 @@ void slavesensors_process(uint8_t parseR @@
 			currentSlaveSensor = 0;
 			requesting = true;
+		}
 		else {
 			// Store data in structure
 			sensordata_set(currentSlave,type,parsedVal);
 			#ifdef DEBUG_GETSLAVEDATA
 			serial0_sendString("Stored some sexy data!\r\n");
 			#endif
 			// 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;
 				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;
 				if(currentSlave == loggerIndex) {
 					if(currentSlave >= (nodeCount-1)) {
 						// We hit the last one, we're done.
 						dataReady = true;
 						currentSlave = 0;
 						currentSlaveSensor = 0;
 						requesting = false;
 						led_alert();
 						return;
+					}
 					else {
 						currentSlave++; // increment to the next slave after the logger
+					}
+				}
 				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;
 				//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
+			}
+		}
+	}

master/master/lib/slavesensors.h

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@@ @@ -9,38 +9,41 @@ @@
  * Matthew Kroening
+ *
  */
 #ifndef SLAVESENSORS_H_
 #define SLAVESENSORS_H_
 #include <stdbool.h>
 #include <inttypes.h>
 // Serial Commands
 enum sensorTypes // CMD ID#
+{
 	NONE = 0,
 	BOARDTEMP,
 	PRESSURE,
 	GEIGER,
 	TEMPERATURE,
 	HUMIDITY,
 	AMBIENTLIGHT,
 	CAMERA,
 };
 char* slavesensors_getLabel(uint8_t sensorID);
 char* slavesensors_slavename(uint8_t id);
 bool slavesensors_dataReady();
 bool slavesensors_isrequesting();
 void slavesensors_setup();
 void slavesensors_network_scan();
 uint8_t slavesensors_getselectednode();
 void slavesensors_selectnode(uint8_t nodeIndex);
 void slavesensors_startprocess();
 void slavesensors_request();
 void slavesensors_process(uint8_t parseResult);
 int xbeeIsOk();
 void slavesensors_selectlogger();
 void slavesensors_exitAT();
 int slavesensors_enterAT();
 #endif /* SLAVESENSORS_H_ */
@@ \ No newline at end of file @@

master/master/master.c

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@@ @@ -56,48 +56,50 @@ int main(void) @@
 	i2c_init();
 	sensordata_setup(); // must happen before sensors/logger/afsk
 	slavesensors_setup();
 	logger_setup();
 	afsk_setup();
 	//\f
 	#ifdef DEBUG_OUTPUT
 	serial0_sendString("\r\n---------------------------------\r\n");
 	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");
 	serial0_sendString("---------------------------------\r\n");
 	#endif
 	serial0_sendString("\r\nHello.\r\n\r\n");
 	slavesensors_network_scan(); // This can take a little while
 	// Buffer for string operations
 	char logbuf[128];
 	// Software timers
 	uint32_t lastAprsBroadcast = 0;
 	uint32_t lastLog = 0;
 	uint32_t lastLedCycle = 0;
 	uint32_t lastDataReq = 0;
 	bool dataWasReady = false;
 	// Result of last parser run
 	int parseResult = PARSERESULT_NODATA;
 	serial1_ioff();
 	while(1)
+    {
 		// Periodic: LED execution indicator
 		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) {
 			led_spin();
 			if(!afsk_busy())
 				serial1_ion();
 			lastLedCycle = time_millis();
+		}
 		// Periodic: Logging
 		if(time_millis() - lastLog > LOGGER_RATE)
+		{
 			led_on(LED_CYCLE);
@@ @@ -111,91 +113,95 @@ int main(void) @@
 			// Turn on sideboard LED if we have a fix
 			if(strcmp("99.99", get_hdop()) == 0) {
 				led_off(LED_SIDEBOARD);
+			}
 			else {
 				led_on(LED_SIDEBOARD);
+			}
 			sensors_readBoardTemp(); // i2c read, 400k
 			// If we've gotten data from all slaves once, we're ready to make a CSV header and start logging
 			if(slavesensors_dataReady()) {
 				if(!dataWasReady) {
 					char csvHeader[128];
 					csvHeader[0] = 0x00;
 					// Add master data headers
 					snprintf(csvHeader, 128, "Time,BoardTemp,Lat,Lon,HDOP,Speed,GPS SV,");
 					for(uint8_t i=0; i<MAX_NUM_SLAVES; i++) {
 						for(uint8_t j=0; j<MAX_NUM_SENSORS; j++) {
 							int16_t tmp = sensordata_get(i, j);
 							if(tmp != -32768) {
 								// FIXME: will the 128 here really provide safety? might want to subtract the strlen
-								snprintf(csvHeader + strlen(csvHeader), 128,"%s-Sensor%u,", slavesensors_slavename(i), j);
+								snprintf(csvHeader + strlen(csvHeader), 128,"%s-%s,", slavesensors_slavename(i), slavesensors_getLabel(j));
+							}
+						}
+					}
 					snprintf(csvHeader + strlen(csvHeader), 128,"\r\n");
 					serial0_sendString(csvHeader);
 					logger_log(csvHeader);
 					dataWasReady = true;
+				}
 				logbuf[0] = 0x00;
 				snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 				for(int i=0; i<MAX_NUM_SLAVES; i++) {
 					for(int j=0; j<MAX_NUM_SENSORS; j++) {
 						int16_t tmp = sensordata_get(i, j);
 						if(tmp != -32768) {
 							snprintf(logbuf + strlen(logbuf),128," %d,", tmp);
+						}
+					}
+				}
 				snprintf(logbuf + strlen(logbuf),128,"\r\n");
 				serial0_sendString(logbuf);
 				logger_log(logbuf);
+			}
 			// Print out logger debug
 			#ifdef DEBUG_OUTPUT
 			//serial0_sendString("LOG> ");
 			//serial0_sendString(logbuf);
 			#endif
 			led_off(LED_CYCLE);
 			lastLog = time_millis();
+		}
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD)
+		{
 			while(afsk_busy());
 			serial1_ioff();
 			aprs_send(); // non-blocking
 			//serial0_sendString("Initiating APRS transmission...\r\n");
 		// Periodic: Data Request
 		if(time_millis() - lastDataReq > DATAREQUEST_RATE)  {
 			// Start getting values for next transmission
 			if(slavesensors_isrequesting())
+			{
 				// TODO: something is terribly wrong
+			}
 			else
+			{
 				slavesensors_startprocess();
+			}
 			lastDataReq = time_millis();
+		}
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD)
+		{
 			while(afsk_busy());
 			serial1_ioff();
 			aprs_send(); // non-blocking
 			lastAprsBroadcast = time_millis();
+		}
 		parseResult = serparser_parse();
 		slavesensors_process(parseResult);
 		parse_gps_transmission();
 		wdt_reset();
+    }
+}
@@ \ No newline at end of file @@

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