seniordesign-firmware Changeset - e3153d5a767c

Changeset - e3153d5a767c

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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-21 20:59:15
ethanzonca@CL-ENS241-08.cedarville.edu

Implemented new serial protocol and slave sensor data storage technique, appears to be functional.

6 files changed with 52 insertions and 65 deletions:

master/master/config.h

master/master/lib/gps.c

master/master/lib/sensordata.c

master/master/lib/sensordata.h

master/master/lib/serparser.c

master/master/lib/slavesensors.c

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master/master/config.h

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@@ @@ -40,26 +40,14 @@ @@
 #define ERROR_CRAP 15
 // --------------------------------------------------------------------------
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 // NOT USED. Could integrate into slavesensors.c setup function for configurability eventually.
 // Currently manual configuration of sensors is done in slavesensors.c
 #define SLAVE0_SENSORS BOARDTEMP
 #define SLAVE1_SENSORS BOARDTEMP | HUMIDITY | TEMPERATURE | PRESSURE | AMBIENTLIGHT
 #define SLAVE2_SENSORS BOARDTEMP | GEIGER
 #define SLAVE3_SENSORS BOARDTEMP | CAMERA
 #define SLAVE4_SENSORS NONE
 #define SLAVE5_SENSORS NONE
 #define SLAVE6_SENSORS NONE
 #define SLAVE7_SENSORS NONE
 // MAX_SLAVES should be one more than the number of slaves we actually have (loop ends when next slave first sensor is NONE)
 #define MAX_SLAVES 8
 #define MAX_SLAVE_SENSORS 8
 #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"
 // --------------------------------------------------------------------------
 // Command Parser config (serparser.c)

master/master/lib/gps.c

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@@ @@ -117,21 +117,16 @@ enum decodeState { @@
 	RMC_DATE,
 	RMC_MAG_VARIATION,
 }decodeState;
 char debugBuff[128];
 ISR(USART1_RX_vect)
+{
 	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
 	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
 	//serial0_sendChar(UDR1);
 	//snprintf(debugBuff, 32, "GPS: bdp: %d, bpp: %d decodestate: %u \r\n", nmeaBufferDataPosition, nmeaBufferParsePosition, decodeState);
 	//serial0_sendString((debugBuff));
+}
 // Could inline if program space available
 static void setParserState(uint8_t state)
+{
@@ @@ -160,15 +155,12 @@ void parse_gps_transmission(void){ @@
 	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {
 	led_on(LED_ACTIVITY);
 		byte = nmeaBuffer[nmeaBufferParsePosition];
 		//snprintf(debugBuff, 64, "GPSParse: byte [%c] decodestate: %u bp: %u pp: %u\r\n",  byte, decodeState, nmeaBufferDataPosition, nmeaBufferParsePosition);
 		//serial0_sendString((debugBuff));
 		if(decodeState == INITIALIZE) //start of transmission sentence
+		{
 			if(byte == '$') {
 				#ifdef DEBUG_NMEA
 				serial0_sendString("found $\r\n");
 				#endif
@@ @@ -641,13 +633,12 @@ void parse_gps_transmission(void){ @@
+				}
 				#ifdef DEBUG_NMEA
 				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
 				#endif
 				serial0_sendString((debugBuff));
 				setParserState(INITIALIZE);
 				numBytes = 0; //prep for next phase of parse
+			}
 			else //store data
+			{
 				setParserState(GPS_CHECKSUM);

master/master/lib/sensordata.c

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@@ @@ -10,36 +10,34 @@ @@
+ *
  */
 #include "../config.h"
 #include "sensordata.h"
 int16_t boardTemps[MAX_SLAVES];
 uint16_t variousSensors[MAX_SLAVES * (MAX_SLAVE_SENSORS - 1)];
 int16_t slaves[MAX_NUM_SLAVES][MAX_NUM_SENSORS];
 void sensordata_setup()
+{
 	for(int i=0; i<MAX_SLAVES; i++)
+	{
 		boardTemps[i] = 0;
 	for(int i=0; i<MAX_NUM_SLAVES; i++) {
 		for(int j=0; j<MAX_NUM_SLAVES; j++) {
 			slaves[i][j] = -32768; // minimum value of 16 bit integer
+		}
+	}
+}
-void sensordata_set(uint8_t type, uint16_t value)
+void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value)
+{
 	variousSensors[type] = value;
 	if(nodeID < MAX_NUM_SLAVES) {
 		slaves[nodeID][type] = value;
+}
 uint16_t sensordata_get(uint8_t type)
+{
 	return variousSensors[type];
+}
-void sensordata_setBoardTemp(uint8_t slaveID, int16_t value)
+uint16_t sensordata_get(uint8_t nodeID, uint8_t type)
+{
 	boardTemps[slaveID] = value;
 	// Avoid reading out of bad places!
 	if(nodeID < MAX_NUM_SLAVES) {
 		return slaves[nodeID][type];
+}
 int16_t sensordata_getBoardTemp(uint8_t slaveID)
+{
 	return boardTemps[slaveID];
+}
@@ \ No newline at end of file @@
 	else {
 		return 0;
+	}
+}

master/master/lib/sensordata.h

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@@ @@ -14,12 +14,12 @@ @@
 #ifndef SENSORDATA_H_
 #define SENSORDATA_H_
 #include "slavesensors.h"
 void sensordata_setup();
 void sensordata_set(uint8_t type, uint16_t value);
 uint16_t sensordata_get(uint8_t type);
 void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value);
 uint16_t sensordata_get(uint8_t nodeID, uint8_t type);
 void sensordata_setBoardTemp(uint8_t slaveID, int16_t value);
 int16_t sensordata_getBoardTemp(uint8_t slaveID);
 #endif /* SENSORDATA_H_ */
@@ \ No newline at end of file @@

master/master/lib/serparser.c

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@@ @@ -87,13 +87,13 @@ ISR(USART0_RX_vect) @@
 	//serial0_sendString((debugBuff));
+}
 #define DEBUG
+//#define DEBUG
 // Parse data from circular buffer
 int serparser_parse(void)
+{
 	char byte;
@@ @@ -126,13 +126,13 @@ int serparser_parse(void) @@
 		// Get payload type ID
 		else if(parserState == STATE_GETDATATYPE)
+		{
 			#ifdef DEBUG
 			serial0_sendString("type\r\n");
 			#endif
 			receivedPayloadType = byte; // Store the type of data receiving
+			receivedPayloadType = byte - 0x30; // Store the type of data receiving
 			checksumCalc += byte;
 			setParserState(STATE_GETDATA);
+		}
 		// Get payload data
 		else if(parserState == STATE_GETDATA)
@@ @@ -191,13 +191,14 @@ int serparser_parse(void) @@
 			else {
 				#ifdef DEBUG
 				serial0_sendString("bcheck\r\n");
 				#endif
 				setParserState(STATE_RESET);
 				return PARSERESULT_FAIL;
 				return PARSERESULT_PARSEOK;
 				// !!!!!!!!!!!!!DEBUGGGGG ignore checksum ///// return PARSERESULT_FAIL;
+			}
 			/*
 			if(bufferParsePosition == bufferDataPosition)
+			{
 				// We are at the end of the line. No more data to parse.

master/master/lib/slavesensors.c

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Show inline comments

@@ @@ -21,28 +21,24 @@ @@
 #include <util/delay.h>
 #include <avr/wdt.h>
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 uint16_t slaves[MAX_SLAVES][MAX_SLAVE_SENSORS];
 bool requesting = false;
 void slavesensors_setup()
+{
+}
 #define DEBUG_NETWORKSCAN
 char* bufPtr = 0x00;
 char debugBuf[64];
 char slaveAddressLow[6][9];
 char slaveAddressHigh[6][9];
 char slaveAddressLow[MAX_NUM_SLAVES][9];
 char slaveAddressHigh[MAX_NUM_SLAVES][9];
 uint8_t loggerIndex = 255;
 uint8_t nodeCount = 0;
 void slavesensors_network_scan() {
 	serial0_ioff();
@@ @@ -57,18 +53,15 @@ void slavesensors_network_scan() { @@
 	led_on(LED_ACTIVITY);
 	atOK = slavesensors_enterAT();
 	char nameString[20] = "NONE";
 	char slaveNames[6][16]; // Hold 16-char addresses of max 6 nodes, we only need them for debug so they are local
 	char slaveNames[MAX_NUM_SLAVES][16]; // Hold 16-char addresses of max MAX_NUM_SLAVES nodes, local so the memory can be reused
 	// wait for OK
 	//todo
 	if(atOK == 0)
+	{
 		led_on(LED_CYCLE);
 		serial0_sendString("ATND");
 		serial0_sendChar(0x0D);
@@ @@ -102,13 +95,13 @@ void slavesensors_network_scan() { @@
 				strcpy(nameString, bufPtr);
 				strcpy(slaveNames[nodeCount], bufPtr);
+			}
 			// If we've finished one chunk (including the newline after it). Can't be else if because it controls increment.
 			if(lineCount == 9) {
-				// bufPtr should be null at this point, because we read in a newlinem after one chunk
+				// bufPtr should be null at this point, because we read in a newline after one chunk
 				nodeCount++;
 				lineCount = 0;
+			}
 			else {
 				lineCount++;
+			}
@@ @@ -136,21 +129,24 @@ void slavesensors_network_scan() { @@
 	led_on(LED_SIDEBOARD);
 	_delay_ms(200);
 	led_off(LED_SIDEBOARD);
 	#ifdef DEBUG_OUTPUT
 	char debugBuf[64];
 	serial0_sendString("Discovered: \r\n");
 	for(int i=0; i<nodeCount; i++) {
 		snprintf(debugBuf, 64, "  %s - %s%s\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[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)
+		{
@@ @@ -242,12 +238,14 @@ int xbeeIsOk() @@
+	{
 		led_errorcode(ERROR_NOXBEE);
 		return 1;
+	}
+}
 bool slavesensors_isrequesting()
+{
 	return requesting;
+}
 void slavesensors_startprocess()
@@ @@ -261,13 +259,13 @@ void slavesensors_request() @@
+{
 	//slavesensors_selectnode(currentSlave);
 	serial_sendCommand("@"); // Request data!
+}
-int numValues = 0; // number of values that the slave is about to send (testing)
+int 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) {
@@ @@ -284,43 +282,54 @@ void slavesensors_process(uint8_t parseR @@
 	else if(parseResult == PARSERESULT_PARSEOK)
+	{
 		// We got some data, let's handle it
 		// ASCII payload
 		uint8_t len = getPayloadLength();
 		uint8_t* load = getPayload();
 		uint8_t type = getPayloadType();
 		uint16_t parsedVal = atoi(load);
 		// Special case for slave telling us how many things we're about to get
 		if(type + 0x30 == '@') {
 			serial0_sendString("Got an awesome count!\r\n");
 			serial0_sendChar(parsedVal + 0x30);
 			serial0_sendString("\r\n");
 			numReadingsToExpect = parsedVal;
 			currentSlave = 0;
 			currentSlaveSensor = 0;
 			requesting = true;
+		}
 		else {
 		// Store data in structure
 		//sensordata_set(slaves[currentSlave][currentSlaveSensor], parsedVal);
 			sensordata_set(currentSlave,type,parsedVal);
 			serial0_sendString("Stored some sexy data!\r\n");
 		// If we finished all sensors for all slaves
-		if(currentSlave >= nodeCount && currentSlaveSensor >= numValues)
+			if(currentSlave >= nodeCount && currentSlaveSensor >= numReadingsToExpect)
+		{
 			currentSlave = 0;
 			currentSlaveSensor = 0;
 			requesting = false;
+		}
 		// If we finished up one slave, go to the next
-		else if(currentSlaveSensor >= numValues)
+			else if(currentSlaveSensor >= (numReadingsToExpect-1))
+		{
 			currentSlave++;
 			currentSlaveSensor = 0;
 			requesting = true;
 			slavesensors_request();
+		}
 		// If we haven't finished a slave (or all of them), just get the next sensor of the current slave
 		else
+		{
 			// request data for the current sensor of the current slave
 			currentSlaveSensor++;
 			requesting = true;
 			slavesensors_request();
 				//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
+			}
+		}
+	}
 	// If fail, try retransmit. Or we could skip and hit it next time.
 	// TODO: Maximum number of retransmissions
 	else if(parseResult == PARSERESULT_FAIL) {

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