clean up

Author: cameron-goddard

src/ControlTasks/RadioControlTask.cpp

@@ -11,7 +11,7 @@ void RadioControlTask::init()
 #ifdef VERBOSE
             Serial.println(F("Radio: Initializing ... "));
 #endif
-            // initialize SX1278 with default settings
+            // Initialize SX1278 with default settings
             code = radio.begin(constants::radio::freq, constants::radio::bw, constants::radio::sf, constants::radio::cr,
                                constants::radio::sw, constants::radio::pwr, constants::radio::pl, constants::radio::gn);
             if (code == RADIOLIB_ERR_NONE) {
@@ -28,7 +28,7 @@ void RadioControlTask::init()
 #ifdef VERBOSE
             Serial.println(F("Radio: Setting CRC parameter ... "));
 #endif
-            // set CRC parameter to true so it matches the CRC parameter on the TinyGS side
+            // Set CRC parameter to true so it matches the CRC parameter on the TinyGS side
             code = radio.setCRC(true);
             if (code == RADIOLIB_ERR_NONE) {
                 sfr::radio::start_progress++;
@@ -43,7 +43,7 @@ void RadioControlTask::init()
 #ifdef VERBOSE
                 Serial.println(F("Radio: Setting forceLDRO parameter ... "));
 #endif
-                // set forceLDRO parameter to true so it matches the forceLDRO parameter on the TinyGS side
+                // Set forceLDRO parameter to true so it matches the forceLDRO parameter on the TinyGS side
                 code = radio.forceLDRO(true);
                 if (code == RADIOLIB_ERR_NONE) {
                     sfr::radio::initialized = true;
@@ -60,7 +60,7 @@ void RadioControlTask::init()
 
 bool RadioControlTask::transmit(uint8_t *packet, uint8_t size)
 {
-    // blink LED during transmit
+    // Blink LED during transmit
     if (millis() - sfr::gps::boot_time > constants::led::led_on_time) {
         digitalWrite(constants::led::led_pin, HIGH);
     }
@@ -82,7 +82,7 @@ bool RadioControlTask::transmit(uint8_t *packet, uint8_t size)
 #endif
 
     if (code == RADIOLIB_ERR_NONE) {
-        // the packet was successfully transmitted
+        // The packet was successfully transmitted
 #ifdef VERBOSE
         Serial.println(F("success!"));
         Serial.print(F("[SX1278] Datarate:\t"));
@@ -93,10 +93,10 @@ bool RadioControlTask::transmit(uint8_t *packet, uint8_t size)
     } else {
 #ifdef VERBOSE
         if (code == RADIOLIB_ERR_TX_TIMEOUT) {
-            // timeout occurred while transmitting packet
+            // Timeout occurred while transmitting packet
             Serial.println(F("timeout!"));
         } else {
-            // some other error occurred
+            // Some other error occurred
             Serial.print(F("failed, code "));
             Serial.println(code);
         }
@@ -131,13 +131,13 @@ bool RadioControlTask::receive()
     } else {
 #ifdef VERBOSE
         if (code == RADIOLIB_ERR_RX_TIMEOUT) {
-            // timeout occurred while waiting for a packet
+            // Timeout occurred while waiting for a packet
             Serial.println(F("timeout!"));
         } else if (code == RADIOLIB_ERR_CRC_MISMATCH) {
-            // packet was received, but is malformed
+            // Packet was received, but is malformed
             Serial.println(F("CRC error!"));
         } else {
-            // some other error occurred
+            // Some other error occurred
             Serial.print(F("failed, code "));
             Serial.println(code);
         }
@@ -148,7 +148,7 @@ bool RadioControlTask::receive()
 
 void RadioControlTask::execute()
 {
-    // implements the state machine described in: https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki
+    // Implement the state machine described in https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki
     switch (sfr::radio::mode) {
     case radio_mode_type::init: {
 #ifdef VERBOSE
@@ -177,24 +177,24 @@ void RadioControlTask::execute()
 #ifdef VERBOSE
         Serial.println(F("Radio: Downlink State"));
 #endif
-        // downlink when slot reached
+        // Downlink when slot reached
         if (!sfr::radio::downlinked_in_slot && millis() - sfr::radio::downlink_window_start >= constants::radio::transmit_slot_length * sfr::radio::downlink_slot) {
             executeDownlink();
             sfr::radio::downlinked_in_slot = true;
         }
 
-        // go into listen mode if listen period reached
+        // Go into listen mode if listen period reached
         if (millis() - sfr::radio::listen_period_start >= constants::radio::listen_period) {
             sfr::radio::mode = radio_mode_type::listen;
 
 #ifdef VERBOSE
             Serial.println(F("Radio: Listen Flag Downlink"));
 #endif
-            // downlink with listen flag = true
+            // Downlink with listen flag = true
             normalReportDownlink();
             sfr::radio::command_wait_start = millis();
         }
-        // reset window and choose slot for next downlink
+        // Reset window and choose slot for next downlink
         else if (millis() - sfr::radio::downlink_window_start >= sfr::radio::downlink_window_length) {
             downlinkSettings();
         }
@@ -204,7 +204,7 @@ void RadioControlTask::execute()
 #ifdef VERBOSE
         Serial.println(F("Radio: Listen State"));
 #endif
-        // built in timeout is 100 LoRa symbols
+        // Built in timeout is 100 LoRa symbols
         bool receive_success = receive();
         if (receive_success) {
             processUplink();
@@ -250,7 +250,7 @@ bool RadioControlTask::executeDownlink()
 
 bool RadioControlTask::normalReportDownlink()
 {
-    // see https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/2.-Telemetry for more info
+    // See https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/2.-Telemetry for more info
     uint16_t lat = sfr::gps::latitude * 100;
     uint16_t lon = sfr::gps::longitude * 100;
     uint16_t alt = sfr::gps::altitude / 10;
@@ -300,7 +300,7 @@ uint8_t RadioControlTask::map_range(float value, int min_val, int max_val)
 
 void RadioControlTask::processUplink()
 {
-    // see https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/3.-Commands for more info
+    // See https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/3.-Commands for more info
     switch (received[0]) {
     case constants::opcodes::no_op: // No-Op
 #ifdef VERBOSE

src/ControlTasks/RadioControlTask.hpp

@@ -21,7 +21,7 @@ class RadioControlTask
     void init();
 
     /**
-     * Resets the transmit window start time and picks a new slot
+     * @brief Resets the transmit window start time and picks a new slot
      */
     void downlinkSettings();
 

src/MainControlLoop.cpp

@@ -74,7 +74,7 @@ void MainControlLoop::execute()
     gps_monitor.execute();
     radio_control_task.execute();
 
-    // turn off LED 5 seconds after boot
+    // Turn off LED 5 seconds after boot
     if (millis() - sfr::gps::boot_time > constants::led::led_on_time) {
         digitalWrite(constants::led::led_pin, LOW);
     }

src/Monitors/GPSMonitor.cpp

@@ -9,7 +9,7 @@ void GPSMonitor::init()
     digitalWrite(constants::gps::reset_pin, LOW);
     sfr::gps::on = true;
 
-    // writes NMEA output message type to SRAM and Flash
+    // Writes NMEA output message type to SRAM and Flash
     uint8_t SetNMEA[] = {
         0xA0, 0xA1, 0x00, 0x03, 0x09, 0x01, 0x01, 0x09, 0x0D, 0x0A};
 
@@ -19,7 +19,7 @@ void GPSMonitor::init()
 
 void GPSMonitor::execute()
 {
-    // turn on GPS after boot mode is over (30 seconds)
+    // Turn on GPS after boot mode is over (10 seconds)
     if (!sfr::gps::on) {
         if (millis() - sfr::gps::boot_time > constants::gps::boot_time) {
             init();
@@ -35,7 +35,7 @@ void GPSMonitor::execute()
         serial_reads++;
     }
 
-    // read GPS values if they are valid
+    // Read GPS values if they are valid
     if (gps.location.isUpdated() && gps.location.isValid()) {
         sfr::gps::latitude = gps.location.lat();
         sfr::gps::longitude = gps.location.lng();

src/Monitors/GPSMonitor.hpp

@@ -27,7 +27,7 @@ class GPSMonitor
     SoftwareSerial ss = SoftwareSerial(constants::gps::rx_pin, constants::gps::tx_pin);
 
     /**
-     * Begins the software serial instance and configures the GPS receiver
+     * @brief Begins the software serial instance and configures the GPS receiver
      */
     void init();
 };

src/Monitors/IMUMonitor.cpp

@@ -18,33 +18,32 @@ void IMUMonitor::execute()
         } else {
             sfr::imu::initialized = true;
         }
-
     } else {
         capture_imu_values();
     }
 }
 
 void IMUMonitor::capture_imu_values()
 {
-    // check if the gyroscope, accelerometer, or magnetometer has new data available
+    // Check if the gyroscope, accelerometer, or magnetometer has new data available
     if (IMU.gyroscopeAvailable()) {
         IMU.readGyroscope(
             sfr::imu::gyro_x,
             sfr::imu::gyro_y,
-            sfr::imu::gyro_z); // data is in degrees/s
+            sfr::imu::gyro_z); // Data is in degrees/s
     }
 
     if (IMU.accelerationAvailable()) {
         IMU.readAcceleration(
             sfr::imu::acc_x,
             sfr::imu::acc_y,
-            sfr::imu::acc_z); // data is in m/s^2
+            sfr::imu::acc_z); // Data is in m/s^2
     }
 
     if (IMU.magneticFieldAvailable()) {
         IMU.readMagneticField(
             sfr::imu::mag_x,
             sfr::imu::mag_y,
-            sfr::imu::mag_z); // data in uT
+            sfr::imu::mag_z); // Data in uT
     }
 }

src/constants.hpp

@@ -12,15 +12,15 @@ namespace constants {
         constexpr int radio_di0_pin = 2;
         constexpr int radio_rst_pin = 5;
         constexpr int radio_busy_pin = 16;
-        // TODO: Document units
-        constexpr float freq = 437.4;
-        constexpr float bw = 62.5;
-        constexpr int sf = 10;
-        constexpr int cr = 5;
-        constexpr int sw = 18;
-        constexpr int pwr = 20;
-        constexpr int pl = 8;
-        constexpr int gn = 0;
+
+        constexpr float freq = 437.4; // MHz
+        constexpr float bw = 62.5;    // kHz
+        constexpr int sf = 10;        // Between 7 and 12
+        constexpr int cr = 5;         // Between 5 and 8. 4/8 coding ratio. One redundancy bit for every data bit
+        constexpr int sw = 18;        // Sync-word (defines network). Default is 0d18
+        constexpr int pwr = 20;       // Between 2 and 17, or 20 for max power
+        constexpr int pl = 8;         // Payload length
+        constexpr int gn = 0;         // Gain
 
         constexpr uint8_t max_alive_signal_dlinks = 3;
 
@@ -35,14 +35,14 @@ namespace constants {
         constexpr uint32_t callsign_interval = 10 * constants::time::one_minute;
 
         constexpr uint32_t transmit_slot_length = 700; // ms
-    // TODO: Verify sensor data on alive signal
+        // TODO: Verify sensor data on alive signal
     } // namespace radio
     namespace imu {
-        constexpr int gyro_min = -245; // default gyro range is +/- 245 dps
+        constexpr int gyro_min = -245; // Default gyro range is +/- 245 dps
         constexpr int gyro_max = 245;
-        constexpr int acc_min = -20; // default accel range is +/- 2 G
+        constexpr int acc_min = -20; // Default accel range is +/- 2 G
         constexpr int acc_max = 20;
-        constexpr int mag_min = -100; // default mag range is +/- 4 guass -> 100 uT
+        constexpr int mag_min = -100; // Default mag range is +/- 4 guass -> 100 uT
         constexpr int mag_max = 100;
     } // namespace imu
     namespace temperature {
@@ -63,12 +63,10 @@ namespace constants {
         constexpr uint8_t no_op = 0x00;
         constexpr uint8_t change_downlink_window = 0x11;
     } // namespace opcodes
-
     namespace led {
         constexpr int led_pin = 9;
         constexpr uint32_t led_on_time = 5 * constants::time::one_second;
     } // namespace led
-
-}; // namespace constants
+};    // namespace constants
 
 #endif

src/main.cpp

@@ -5,7 +5,7 @@ MainControlLoop mcl;
 
 void setup()
 {
-    // configure watchdog timer
+    // Set up watchdog timer
     wdt_disable();
     wdt_enable(WDTO_8S);
 #ifdef VERBOSE
@@ -14,19 +14,19 @@ void setup()
 
     sfr::gps::boot_time = millis();
 
-    // sets ChipSat LED high for debugging
+    // Set ChipSat LED high for debugging
     pinMode(constants::led::led_pin, OUTPUT);
     digitalWrite(constants::led::led_pin, HIGH);
 
-    // cuts off power to GPS
+    // Cut off power to GPS
     pinMode(constants::gps::reset_pin, OUTPUT);
     digitalWrite(constants::gps::reset_pin, HIGH);
 
-    // prevents current from leaking over GPS serial line (~79mA -> ~22mA)
+    // Prevents current from leaking over GPS serial line (~79mA -> ~22mA)
     pinMode(constants::gps::tx_pin, OUTPUT);
     digitalWrite(constants::gps::tx_pin, LOW);
 
-    // seed random number gen with noise from unconnected analog pin
+    // Seed random number gen with noise from unconnected analog pin
     randomSeed(analogRead(A0));
 }
 

src/sfr.cpp

@@ -1,17 +1,14 @@
 #include "sfr.hpp"
 
 namespace sfr {
-
     namespace imu {
+        bool initialized = false;
 
         float gyro_x, gyro_y, gyro_z;
         float acc_x, acc_y, acc_z;
         float mag_x, mag_y, mag_z;
 
-        bool initialized = false;
-
     } // namespace imu
-
     namespace temperature {
         float temp_c;
     } // namespace temperature
@@ -31,7 +28,6 @@ namespace sfr {
         uint8_t alive_signal_dlinks = 0;
 
         // This must be a multiple of constants::radio::transmit_slot_length
-        // Ideally window should be 10x the slot length
         uint32_t downlink_window_length = 3500; // ms
         uint32_t downlink_window_start;
         uint32_t listen_period_start;
@@ -45,5 +41,4 @@ namespace sfr {
         uint8_t invalid_uplinks = 0;
 
     } // namespace radio
-
-}; // namespace sfr
+};    // namespace sfr

src/sfr.hpp

@@ -7,6 +7,8 @@
 
 namespace sfr {
     namespace imu {
+        extern bool initialized;
+
         extern float gyro_x;
         extern float gyro_y;
         extern float gyro_z;
@@ -19,7 +21,6 @@ namespace sfr {
         extern float mag_y;
         extern float mag_z;
 
-        extern bool initialized;
     } // namespace imu
     namespace temperature {
         extern float temp_c;
@@ -56,7 +57,6 @@ namespace sfr {
 
         extern uint32_t boot_time;
     } // namespace gps
-
-}; // namespace sfr
+};    // namespace sfr
 
 #endif