# HG changeset patch
# User Ethan Zonca <e@ethanzonca.com>
# Date 2017-01-12 09:35:10
# Node ID 2ee6c8e67f3289d8963f847df81caf940de6ef8d
# Parent  02d3447dac18c6ca9413d85e5aa3148c341285f6

Add error handling and vim modelines

diff --git a/Include/burn.h b/Include/burn.h
--- a/Include/burn.h
+++ b/Include/burn.h
@@ -27,3 +27,5 @@ void burn_queue(uint8_t burn_id, uint8_t
 void burn_process(void);
 
 #endif
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/config.h b/Include/config.h
--- a/Include/config.h
+++ b/Include/config.h
@@ -73,3 +73,5 @@
 
 
 #endif
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/error.h b/Include/error.h
--- a/Include/error.h
+++ b/Include/error.h
@@ -6,7 +6,8 @@
 // If adding errors, remember to define a message for each in error.c
 enum error_number
 {
-	ERR_RS485_PARSE = 0,
+	ERR_GPS_OFF = 0,
+	ERR_GPS_CHECKSUM,
 };
 
 
@@ -17,3 +18,5 @@ uint8_t error_occurred(void);
 uint8_t error_count(void);
 
 #endif
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/gps.h b/Include/gps.h
--- a/Include/gps.h
+++ b/Include/gps.h
@@ -42,3 +42,5 @@ gps_data_t* gps_getdata(void);
 uint8_t gps_ison(void);
 
 #endif /* GPS_H_ */
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/pressure.h b/Include/pressure.h
--- a/Include/pressure.h
+++ b/Include/pressure.h
@@ -33,3 +33,4 @@ int32_t pressure_getpressure(void);
 I2C_HandleTypeDef* pressure_get_i2c_handle(void);
 #endif
 
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/adc.h b/Include/system/adc.h
--- a/Include/system/adc.h
+++ b/Include/system/adc.h
@@ -8,3 +8,5 @@ uint8_t adc_get_vbatt(void);
 
 
 #endif /* SYSTEM_ADC_H_ */
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/flash.h b/Include/system/flash.h
--- a/Include/system/flash.h
+++ b/Include/system/flash.h
@@ -44,3 +44,5 @@ void flash_checksum(void);
 
 
 #endif // flash_h
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/gpio.h b/Include/system/gpio.h
--- a/Include/system/gpio.h
+++ b/Include/system/gpio.h
@@ -20,3 +20,5 @@ void gpio_process_shutdown(void);
 
 #endif
 
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/stm32f0xx_hal_conf.h b/Include/system/stm32f0xx_hal_conf.h
--- a/Include/system/stm32f0xx_hal_conf.h
+++ b/Include/system/stm32f0xx_hal_conf.h
@@ -262,3 +262,5 @@
 #endif
 
 #endif /* __STM32F0xx_HAL_CONF_H */
+
+ // vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/stm32f0xx_it.h b/Include/system/stm32f0xx_it.h
--- a/Include/system/stm32f0xx_it.h
+++ b/Include/system/stm32f0xx_it.h
@@ -12,3 +12,5 @@ void SysTick_Handler(void);
 #endif
 
 #endif /* __STM32F0xx_IT_H */
+
+ // vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/sysclk.h b/Include/system/sysclk.h
--- a/Include/system/sysclk.h
+++ b/Include/system/sysclk.h
@@ -4,3 +4,5 @@
 void sysclock_init(void);
 
 #endif
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/uart.h b/Include/system/uart.h
--- a/Include/system/uart.h
+++ b/Include/system/uart.h
@@ -10,3 +10,5 @@ DMA_HandleTypeDef* uart_get_txdma_handle
 DMA_HandleTypeDef* uart_get_rxdma_handle(void);
 
 #endif 
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Include/system/watchdog.h b/Include/system/watchdog.h
--- a/Include/system/watchdog.h
+++ b/Include/system/watchdog.h
@@ -5,3 +5,5 @@ void watchdog_init(void);
 void watchdog_feed(void);
 
 #endif
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/error.c b/Source/error.c
--- a/Source/error.c
+++ b/Source/error.c
@@ -14,7 +14,9 @@ volatile uint8_t num_errors_asserted = 0
 // Moderately detailed messages corresponding to each error enum
 char *  error_message[] =
 {
-		"RS485 parse fail",
+		"GPS off",
+		"GPS checksum",
+
 };
 
 // Set the passed error flag
@@ -78,3 +80,5 @@ uint8_t error_count(void)
 {
 	return num_errors_asserted;
 }
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/gps.c b/Source/gps.c
--- a/Source/gps.c
+++ b/Source/gps.c
@@ -5,6 +5,7 @@
 #include "stm32f0xx_hal.h"
 
 #include "config.h"
+#include "error.h"
 #include "system/gpio.h"
 #include "system/uart.h"
 #include "gps.h"
@@ -13,6 +14,7 @@
 volatile gps_data_t position;
 uint8_t gpson = 0;
 
+
 // Private methods
 static void gps_ubx_checksum(uint8_t* data, uint8_t len, uint8_t* cka, uint8_t* ckb);
 static uint8_t _gps_verify_checksum(uint8_t* data, uint8_t len);
@@ -24,7 +26,7 @@ void gps_update_data(void)
 	// Error!
 	if(!gpson)
 	{
-//		led_blink(5);
+		error_assert(ERR_GPS_OFF);
 		return;
 	}
 
@@ -54,9 +56,10 @@ void gps_update_data(void)
     volatile HAL_StatusTypeDef res = HAL_UART_Receive(uart_gethandle(), buf, 100, 3000);
 
     // Check 60 bytes minus SYNC and CHECKSUM (4 bytes)
-//    if( !_gps_verify_checksum(&buf[2], 96) )
-//        led_blink(2);
-
+    if( !_gps_verify_checksum(&buf[2], 96) )
+    {
+		error_assert(ERR_GPS_CHECKSUM);
+    }
 
     //volatile uint32_t gpstime_ms = (buf[6+0] << 24) | (buf[6+1] << 16) | buf[6+2] << 8) | (buf[6+3]);
 
@@ -179,9 +182,6 @@ void gps_poweron(void)
 //	HAL_Delay(100);
 //
 //
-
-
-
     // Begin DMA reception
     //HAL_UART_Receive_DMA(uart_gethandle(), nmeaBuffer, NMEABUFFER_SIZE);
 
diff --git a/Source/main.c b/Source/main.c
--- a/Source/main.c
+++ b/Source/main.c
@@ -43,15 +43,11 @@ int main(void)
   hal_init();
   sysclock_init();
   gpio_init();
-
   adc_init();
-
   afsk_init();
   si446x_init();
   si446x_init();
-
   gps_poweron();
-
   pressure_init();
 
   // Software timers
@@ -81,7 +77,9 @@ int main(void)
 		  si446x_cw_off();
 
 	  // High-frequency function calls
-//	  watchdog_feed();
+	  watchdog_feed();
   }
 }
 
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/pressure.c b/Source/pressure.c
--- a/Source/pressure.c
+++ b/Source/pressure.c
@@ -107,3 +107,5 @@ inline I2C_HandleTypeDef* pressure_get_i
 	return &hi2c1;
 }
 
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/system/_sbrk.c b/Source/system/_sbrk.c
--- a/Source/system/_sbrk.c
+++ b/Source/system/_sbrk.c
@@ -20,3 +20,5 @@ heap_end += incr;
 
 return (caddr_t)prev_heap_end;
 }
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/system/adc.c b/Source/system/adc.c
--- a/Source/system/adc.c
+++ b/Source/system/adc.c
@@ -95,3 +95,5 @@ DMA_HandleTypeDef* adc__hdma_gethandle(v
 {
 	return &hdma_adc;
 }
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/system/flash.c b/Source/system/flash.c
--- a/Source/system/flash.c
+++ b/Source/system/flash.c
@@ -230,3 +230,5 @@ void flash_erase(void)
 }
 */
 
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/system/gpio.c b/Source/system/gpio.c
--- a/Source/system/gpio.c
+++ b/Source/system/gpio.c
@@ -59,3 +59,6 @@ void gpio_init(void)
   // Toggle the power LED
   HAL_GPIO_TogglePin(LED_POWER);
 }
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
+
diff --git a/Source/system/interrupts.c b/Source/system/interrupts.c
--- a/Source/system/interrupts.c
+++ b/Source/system/interrupts.c
@@ -44,3 +44,5 @@ void DMA1_Channel1_IRQHandler(void)
 {
   HAL_DMA_IRQHandler(adc__hdma_gethandle());
 }
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/system/sysclk.c b/Source/system/sysclk.c
--- a/Source/system/sysclk.c
+++ b/Source/system/sysclk.c
@@ -82,3 +82,5 @@ void sysclock_init(void)
 	  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
 }
 
+// vim:softtabstop=4 shiftwidth=4 expandtab
+
diff --git a/Source/system/uart.c b/Source/system/uart.c
--- a/Source/system/uart.c
+++ b/Source/system/uart.c
@@ -117,3 +117,5 @@ DMA_HandleTypeDef* uart_get_rxdma_handle
     return &hdma_usart1_rx;
 }
 
+
+// vim:softtabstop=4 shiftwidth=4 expandtab
diff --git a/Source/system/watchdog.c b/Source/system/watchdog.c
--- a/Source/system/watchdog.c
+++ b/Source/system/watchdog.c
@@ -31,3 +31,5 @@ void watchdog_feed(void)
 	HAL_IWDG_Refresh(&hiwdg);
 #endif
 }
+
+// vim:softtabstop=4 shiftwidth=4 expandtab