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projects:aerosol_code [2008/03/02 09:19] – laurencebprojects:aerosol_code [2008/07/19 23:33] (current) – external edit 127.0.0.1
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  This is in python, you can find a detailed guide on installing python on the NGW100 [[http://www.cibomahto.com/?p=82|here]]. The reed_solomon library can be found on the wiki [[code:python_reedsolomon|here]]  This is in python, you can find a detailed guide on installing python on the NGW100 [[http://www.cibomahto.com/?p=82|here]]. The reed_solomon library can be found on the wiki [[code:python_reedsolomon|here]]
- 
  
  
 <code python> <code python>
-#!/usr/bin/python +#!/media/mmcblk0p1/install/bin/python 
-##!/media/mmcblk0p1/install/bin/python+##!/usr/bin/python
  
 + 
 import reed_solomon import reed_solomon
 import serial import serial
Line 16: Line 16:
 TRUE=1 TRUE=1
 FALSE=0 FALSE=0
-mynumber="44##########"+DEG2RAD=math.pi/180.0 
 +class updatest: 
 + pass 
 +mynumber="44<really think I'd be that silly?>"
 default_target_pressure=40 default_target_pressure=40
-start_altitude=200                 #sampling starts here +limit=[200,10000,20000]                #our altitude ranges for the different samples 
-limit=[10000,20000]                #our altitude ranges for the different samples+max_flight_time=7000
 callsign="AOPP" callsign="AOPP"
 logname="flightlog.txt" logname="flightlog.txt"
-global Jxpoints +Roottwotwomgovercda = (2*9.81*2/0.72)**0.5 #work this out for our payload mass, cda from http://members.aol.com/nakkarocketry/paratest.html 
-global Jypoints +iterations=0 
-global Iterations +Jxpoints=[] 
-global Roottwomgovercda +Jypoints=[] 
- +updatestuff=updatest() 
 +  
 +  
 + 
 def gps_status(): def gps_status():
  print 'Retrieving GPS status'  print 'Retrieving GPS status'
- gpspos_parts[0]='' + gpspos_parts=['']
  while not gpspos_parts[0]=='$GPGGA':  while not gpspos_parts[0]=='$GPGGA':
  gpspos=ser_gr.readline()  gpspos=ser_gr.readline()
 + print "got" , gpspos
  gpspos_parts = gpspos.split(',')  gpspos_parts = gpspos.split(',')
- if ((gpspos_parts[6]=='2') or (gpspos_parts[6]=='3')): #2D or 3D fix+ if ((gpspos_parts[6]=='1') or (gpspos_parts[6]=='2') or (gpspos_parts[6]=='3')): #2D or 3D fix/DGPS fix
  print 'GPS fix' , gpspos_parts[6] , 'ie valid'  print 'GPS fix' , gpspos_parts[6] , 'ie valid'
- gpsstatus=TRUE+ status=TRUE
  else:  else:
  print 'GPS fix' , gpspos_parts[6] , 'ie not valid'  print 'GPS fix' , gpspos_parts[6] , 'ie not valid'
  status=FALSE  status=FALSE
  return status  return status
 + 
 def gps_data(): def gps_data():
 + ser_gr.flushInput()                       #as gps strings will have built up over time
  print 'Retrieving GPS data'  print 'Retrieving GPS data'
- gpspos_parts[0]='' + gpspos_parts=['']
  while not gpspos_parts[0]=='$GPGGA':  while not gpspos_parts[0]=='$GPGGA':
  gpspos=ser_gr.readline()  gpspos=ser_gr.readline()
  gpspos_parts = gpspos.split(',')  gpspos_parts = gpspos.split(',')
  gpstime=3600*float(gpspos_parts[1][0:2])+60*float(gpspos_parts[1][2:4])+float(gpspos_parts[1][4:])  gpstime=3600*float(gpspos_parts[1][0:2])+60*float(gpspos_parts[1][2:4])+float(gpspos_parts[1][4:])
- latitude=float(gpspos_parts[2][0:2])+float(gpspos_parts[1][2:])/60.0 + latitude=float(gpspos_parts[2][0:2])+float(gpspos_parts[2][2:])/60.0 
  if gpspos_parts[3]=="S":  if gpspos_parts[3]=="S":
  latitude=-latitude  latitude=-latitude
Line 55: Line 62:
  if gpspos_parts[5]=="W":  if gpspos_parts[5]=="W":
  longitude=-longitude  longitude=-longitude
 + if gpspos_parts[9]=='':
 + gpspos_parts[9]='0.0'
  altitude=float(gpspos_parts[9])  altitude=float(gpspos_parts[9])
 + #print gpstime,latitude,longitude,altitude
  return gpstime,latitude,longitude,altitude  return gpstime,latitude,longitude,altitude
 + 
 def db_stats(): def db_stats():
 + ser_daughter.flushInput()         #we done want to mess things up with old data in the buffer
  ser_daughter.write("V1\r\n")      #the high voltage values  ser_daughter.write("V1\r\n")      #the high voltage values
  V1=ser_daughter.readline()  V1=ser_daughter.readline()
Line 72: Line 83:
  PD=ser_daughter.readline()  PD=ser_daughter.readline()
  ser_daughter.write("T\r\n")        #new - temperature sensor, to be fitted  ser_daughter.write("T\r\n")        #new - temperature sensor, to be fitted
- TS=ser_daugher.readline() + TS=ser_daughter.readline() 
- return V1,V2,V3,IC,VB,PD,TS + return V1[:len(V1)-2],V2[:len(V2)-2],V3[:len(V3)-2],IC[:len(IC)-2],PD[:len(PD)-2],TS[:len(TS)-2] 
 + 
 def HV_enable(n): def HV_enable(n):
  stringy='H'+str(n)+"\r\n"  stringy='H'+str(n)+"\r\n"
  ser_daughter.write(stringy)  ser_daughter.write(stringy)
  print ser_daughter.readline()  print ser_daughter.readline()
 + 
 def Set_pressure_target(P): def Set_pressure_target(P):
  ser_daughter.write('P'+str(P)+"\r\n")  ser_daughter.write('P'+str(P)+"\r\n")
 +  
 +def air_density(alt):    # NASA air temperature/pressure/density model 
 + if (alt < 11000.0): 
 +         # below 11Km - Troposphere 
 + temp = 15.04 - (0.00649 * alt) 
 + pres = 101.29 *(((temp + 273.1) / 288.08)**5.256)  
 + else: 
 + if (alt < 25000.0): 
 +         # between 11Km and 25Km - lower Stratosphere 
 + temp = -56.46 
 + pres = 22.65 * math.exp(1.73 - ( 0.000157 * alt)) 
 + else: 
 +         # above 25Km - upper Stratosphere 
 + temp = -131.21 + (0.00299 * alt) 
 + pres = 2.488 *(((temp + 273.1) / 216.6)**-11.388) 
 + return(pres / (0.2869 * (temp + 273.1))) 
 +  
 + 
 def Updatepredict(Seconds,North,East,Altitude): def Updatepredict(Seconds,North,East,Altitude):
- global Predictedn                                       #means they keep their values + Deltae=East-updatestuff.Oldeast 
- global Predictede  + Deltan=North-updatestuff.Oldnorth 
- global Oldeast + Deltaa=Altitude-updatestuff.Oldaltitude 
- global Oldnorth + Deltat=Seconds-updatestuff.Oldseconds 
- global Oldseconds + Averagealt=(updatestuff.Oldaltitude+Altitude)/2
- global Oldaltitude +
- if Iterations==0: +
- Predictedn=North +
- Predictede=East +
- Oldeast=East                                            #start +
- Oldnorth=North +
- Oldaltitude=Altitude +
- Oldseconds=Seconds +
- Deltae=East-Oldeast +
- Deltan=North-Oldnorth +
- Deltaa=Altitude-Oldaltitude +
- Deltat=Seconds-Oldseconds +
- Averagealt=(Oldaltitude+Altitude)/2 +
- Oldeast=East +
- Oldnorth=North +
- Oldaltitude=Altitude +
- Oldseconds=Seconds+
  if Deltaa>0:  if Deltaa>0:
- K=Roottwomgovercda*0.90909*math.exp(Averagealt/20869)  #we now have the velocity of decent+ K=Roottwotwomgovercda*(air_density(Averagealt)**-0.5)  #we now have the velocity of decent
  print "Descent velocity=",K  print "Descent velocity=",K
  K=Deltaa/K                                            #time of decent for this layer  K=Deltaa/K                                            #time of decent for this layer
Line 113: Line 124:
  K=K/Deltat                                            #weighting for this layer  K=K/Deltat                                            #weighting for this layer
  print "Layer weighting=",K  print "Layer weighting=",K
- K=K+1                                                 #need to account for ascent drift + updatestuff.Predictedn+=(K+1)*Deltan                #need to account for ascent drift 
- Predictedn+=K*Deltan + updatestuff.Predictede+=Deltae*( (K*math.cos(((North + updatestuff.Oldnorth)/2)*DEG2RAD)/math.cos(updatestuff.Predictedn*DEG2RAD)) +1) 
- Predictede+=K*Deltae + updatestuff.Oldeast=East 
- print "predicted north=",Predictedn + updatestuff.Oldnorth=North 
- print "predicted east=",Predictede + updatestuff.Oldaltitude=Altitude 
- return Predictedn,Predictede + updatestuff.Oldseconds=Seconds 
- + print "predicted north=",updatestuff.Predictedn 
 + print "predicted east=",updatestuff.Predictede 
 + return updatestuff.Predictedn,updatestuff.Predictede 
 +  
 + 
 def are_we_inside(gpstime,Xpos,Ypos,altitude): def are_we_inside(gpstime,Xpos,Ypos,altitude):
  count=False  count=False
- for g in range(len(Jxpoints)-1):+ print "checking",Xpos,Ypos 
 + for g in range(len(Jxpoints)):
  if g==len(Jxpoints)-1:  if g==len(Jxpoints)-1:
  gplus=0  gplus=0
  else:  else:
  gplus=g+1  gplus=g+1
- if ((Jypoints[g]>Ypos and Jypoints[gplus]<Ypos) or (Jypoints[g]<Ypos and Jypoints[gplus]>Ypos))and((Jxpoints[g]-Xpos)+(Ypos-Jypoints[g])*(Jxpoints[gplus]-Jxpoints[g])/(Jypoints[gplus]-Jypoints[g])>0):+ if ((Jypoints[g]>Ypos and Jypoints[gplus]<Ypos) or (Jypoints[g]<Ypos and Jypoints[gplus]>Ypos))and(((Jxpoints[g]-Xpos)+((Ypos-Jypoints[g])*(Jxpoints[gplus]-Jxpoints[g])/(Jypoints[gplus]-Jypoints[g])))>0):
  count=not count  count=not count
 + print "intercept",g
  print 'we are inside=',count  print 'we are inside=',count
  return count  return count
 + 
 def load_kml(filepath): def load_kml(filepath):
  xpoints=[]  xpoints=[]
Line 148: Line 164:
  ypoints+=[float(line_split[1])]  ypoints+=[float(line_split[1])]
  return xpoints,ypoints  return xpoints,ypoints
- +  
-def send_sms(s,target,smscen):+def send_sms(s,target):
  target=str(target)  target=str(target)
- smscen=str(smscen) + if not len(target)==12: 
- if not (len(target)==12 and len(smscen)==12): + print "phone number incorrect lenght"
- print "phone numbers incorrect lenght"+
  return -1  return -1
  if len(s)>160:  if len(s)>160:
Line 174: Line 189:
  Bitstring.append(0)  Bitstring.append(0)
  print "SMS"  print "SMS"
- stringy="AT+CMGS="+str(14+(int(len(s)*7/8)+1))+"\r\n" + stringy="AT+CMGS="+str(14+(int(len(s)*7/8)+1))+"\r\n" #total lenght 
- print stringy+ #print stringy
  ser_phone.write(stringy)  ser_phone.write(stringy)
- print ser_phone.readline() + print ser_phone.readline()       #echo the command 
- stringy="0791" + ser_phone.readline() 
- for g in range(6): + print ser_phone.readline()       # the "> " is recieved 
- stringy+=(smscen[2*g+1]) + stringy="0011000C91"               # SMS submit, 12 digit international
- stringy+=(smscen[2*g]) +
- stringy+="11000C91"+
  for g in range(6):  for g in range(6):
  stringy+=(target[2*g+1])  stringy+=(target[2*g+1])
  stringy+=(target[2*g])  stringy+=(target[2*g])
- stringy+="0000AA"             #PDU string to Mobile + stringy+="0000AA"             #PDU string to Mobile, 4 day validity 
- stringy+="%.2X" % len(s)+ stringy+="%.2X" % len(s)      #datalenght
  for G in Bitstring:  for G in Bitstring:
- stringy+="%.2X" % G + stringy+="%.2X" % G   #a load of HEX 
- stringy+=chr(026)+ stringy+=chr(26)             #send it
  ser_phone.write(stringy)  ser_phone.write(stringy)
  for n in range(4):  for n in range(4):
  print ser_phone.readline()  print ser_phone.readline()
- print stringy+# print stringy
  return 0  return 0
 + 
 def get_smscen(): def get_smscen():
- ser_phone.write("AT+CSCA?")+ ser_phone.write("AT+CSCA?\r\n")
  ser_phone.readline()  ser_phone.readline()
  s=ser_phone.readline()  s=ser_phone.readline()
  s=s.split('"')  s=s.split('"')
  return str(s[1:2])[3:15]  return str(s[1:2])[3:15]
 + 
 def cutdown(): def cutdown():
  ser_gr.write("Cutdown...   ")  ser_gr.write("Cutdown...   ")
Line 211: Line 224:
  os.system("echo 1 > /config/gpio/cuttertwo/enabled")      #and we are on the way down  os.system("echo 1 > /config/gpio/cuttertwo/enabled")      #and we are on the way down
  print "released"  print "released"
 + 
 def shutdown(): def shutdown():
  HV_enable(0)             #all off  HV_enable(0)             #all off
Line 221: Line 234:
  print "plunger cut"  print "plunger cut"
  ser_gr.write("Shutdown\r\n")  ser_gr.write("Shutdown\r\n")
 + 
 try: try:
  print 'AOPP aerosol experiment running'  print 'AOPP aerosol experiment running'
- log=open("/media/mmcblk0p1/"+logname,"a+")+ #log=open("/media/mmcblk0p1/"+logname,"a+") 
 + log=open("./"+logname,"a+")
  ser_gr=serial.Serial('/dev/ttyS2',4800, timeout=2, rtscts=1)    #we have a CTS line from the radio  ser_gr=serial.Serial('/dev/ttyS2',4800, timeout=2, rtscts=1)    #we have a CTS line from the radio
 + #ser_gr=open("radio.txt","r")
  ser_daughter=serial.Serial('/dev/ttyS1',19200, timeout=2)  ser_daughter=serial.Serial('/dev/ttyS1',19200, timeout=2)
 + #ser_daughter=open("daughter.txt","a+")
  ser_phone=serial.Serial('/dev/ttyS0',9600,timeout=4)  ser_phone=serial.Serial('/dev/ttyS0',9600,timeout=4)
 + #ser_phone=open("phone.txt","a+")
  print 'serial is open to gps,radio, and daughterboard'  print 'serial is open to gps,radio, and daughterboard'
  ser_gr.write("Hello world")  ser_gr.write("Hello world")
 + #log.write("Hello world")
  reed_solomon.setup_rs()  reed_solomon.setup_rs()
  ser_gr.write(reed_solomon.encode_string("Hello, I am a reed solomon encoded string :P"))  ser_gr.write(reed_solomon.encode_string("Hello, I am a reed solomon encoded string :P"))
- while not gps_status: + #log.write(reed_solomon.encode_string("Hello, I am a reed solomon encoded string :P")) 
- ser_gr.write("waiting for the gps to lock")+# while not gps_status(): 
 +# ser_gr.write("waiting for the gps to lock") 
 + #log.write("waiting for the gps to lock")
  print 'ok, gps is ready, we are at:'  print 'ok, gps is ready, we are at:'
  ser_gr.write("GPS locked")  ser_gr.write("GPS locked")
- print gps_data+ #log.write("GPS locked") 
 + print gps_data()
  print 'now probing daughterboard'  print 'now probing daughterboard'
  print db_stats()  print db_stats()
Line 242: Line 263:
  HV_enable(1)  HV_enable(1)
  print 'HV1 on, probing board'  print 'HV1 on, probing board'
 + time.sleep(1)
  print db_stats()  print db_stats()
  print 'testing other HV channels'  print 'testing other HV channels'
  for x in [2,3]:  for x in [2,3]:
- time.sleep(1) 
  HV_enable(x)  HV_enable(x)
- print 'HV channel' + str(x) + 'stats:' + db_stats()+ time.sleep(1) 
 + print 'HV channel' + str(x) + 'stats:' + str(db_stats())
  HV_enable(0)  HV_enable(0)
  print 'ok, now testing the pump @ 20%'  print 'ok, now testing the pump @ 20%'
Line 255: Line 277:
  time.sleep(1)  time.sleep(1)
  Set_pressure_target(0)  Set_pressure_target(0)
 + print 'pressure set to zero'
  for i in range(6):  for i in range(6):
  print db_stats()  print db_stats()
Line 260: Line 283:
  print 'Testing done'  print 'Testing done'
  print 'opening KML cutdown file'  print 'opening KML cutdown file'
- Jxpoints,Jypoints=load_kml('/media/mmcblk0p1/cutdown.kml')+ Jxpoints,Jypoints=load_kml('./cutdown.kml')
  print Jxpoints,Jypoints  print Jxpoints,Jypoints
  print 'testing phone'  print 'testing phone'
- ser_phone.write("AT")+ ser_phone.write("AT\r\n")
  print ser_phone.readline()  print ser_phone.readline()
  print ser_phone.readline()  print ser_phone.readline()
- smscen=get_smscen() + #smscen=get_smscen() 
- send_sms("hello world",mynumber,smscen) + send_sms("hello world",mynumber) 
- ser_daughter.flushinput()+ ser_daughter.flushInput() 
 + ser_phone.flushInput() 
 + system_vector=gps_data() 
 + updatestuff.Predictedn=system_vector[1] 
 + updatestuff.Predictede=system_vector[2] 
 + updatestuff.Oldeast=system_vector[2]                                            #start 
 + updatestuff.Oldnorth=system_vector[1] 
 + updatestuff.Oldaltitude=system_vector[3] 
 + updatestuff.Oldseconds=system_vector[0]
  count=0  count=0
- iterations=0+ calibrate=0
  layercounter=0  layercounter=0
  cut_down=''  cut_down=''
  system_vector=gps_data()  system_vector=gps_data()
  maxaltitude=system_vector[3]  maxaltitude=system_vector[3]
- print 'ok launch the fucking balloon'+ startuptime=system_vector[0] 
 + HV=0 
 + pump=FALSE 
 + print 'ok launch the balloon'
  while 1:  while 1:
  print 'in loop'  print 'in loop'
- iterations+=1 
  system_vector=gps_data()  system_vector=gps_data()
  daughter_board=db_stats()  daughter_board=db_stats()
- datastring=str(system_vector)+str(daughter_board)+cut_down+ datastring = ','.join(['%.0f' % system_vector[0]]+['%.6f' % system_vector[1]]+['%.6f' % system_vector[2]]+['%.0f' % system_vector[3]]+['%.4f' % updatestuff.Predictedn]+['%.4f' % updatestuff.Predictede]) 
 + datastring+=str(daughter_board)+cut_down 
 + print datastring
  log.write(datastring+"\r\n")  log.write(datastring+"\r\n")
  ser_gr.write(reed_solomon.encode_string(callsign+datastring))         #all our telemetery over the radio link  ser_gr.write(reed_solomon.encode_string(callsign+datastring))         #all our telemetery over the radio link
 + #log.write(reed_solomon.encode_string(callsign+datastring))
 + #t=reed_solomon.encode_string(callsign+datastring)
 + #print t
 + #print reed_solomon.decode_string(t,[])
  if count==2:  if count==2:
- send_sms(datastring,mynumber,smscen)                          #every third time+ send_sms(datastring,mynumber)                          #every third time
  count=0  count=0
  os.system("sync")  os.system("sync")
  count+=1  count+=1
- if system_vector[3]/100>layercounter:                                 #100m altitude layers + if calibrate==30: 
- layercounter+=1                                               #we move up a layer + ser_daughter.write("K\r\n")                            #recalibrates the pressure sensor 
- if not are_we_inside([0]+Updatepredict(system_vector)+[0]):      #update and check against the polygon + calibrate=0 
- print "geofence cutdown" + calibrate+=1 
- log.write("geofence cutdown\r\n") + if cut_down=='': 
 + if system_vector[3]/100>layercounter:                                 #100m altitude layers 
 + layercounter+=1                                               #we move up a layer 
 + up=Updatepredict(*system_vector) 
 + log.write(str(up)+"\r\n") 
 + if not are_we_inside([0],up[1],up[0],[0]):      #update and check against the polygon 
 + print "geofence cutdown" 
 + log.write("geofence cutdown\r\n")  
 + cutdown() 
 + cut_down='CG' 
 + if system_vector[0]-startuptime>max_flight_time: 
 + print "time cutdown" 
 + log.write("time cutdown\r\n")
  cutdown()  cutdown()
- cut_down='CG' + cut_down='CT' 
- if system_vector[0]-startuptime>max_flight_time: + #if daughter_board[4]<battery_limit: 
- print "time cutdown" + # print "voltage cutdown" 
- log.write("time cutdown\r\n") + # log.write("voltage cutdown\r\n")  
- cutdown() + # cutdown() 
- cut_down='CT' + # cut_down='CB' 
- if daughter_board[4]<battery_limit: + if system_vector[3]-maxaltitude<-100: 
- print "voltage cutdown" + print "balloon popped" 
- log.write("voltage cutdown\r\n")  + log.write("balloon popped\r\n") 
- cutdown() + shutdown() 
- cut_down='CB' + cut_down='BP'
- if system_vector[3]-maxaltitude<-100: +
- print "balloon popped" +
- log.write("balloon popped\r\n") +
- shutdown() +
- cut_down='BP'+
  if system_vector[3]>maxaltitude:  if system_vector[3]>maxaltitude:
  maxaltitude=system_vector[3]  maxaltitude=system_vector[3]
- if system_vector[3]>start_altitude:+ if system_vector[3]>limit[0] and pump==FALSE:
  print 'turning on the pump (setting pressure target)'  print 'turning on the pump (setting pressure target)'
  HV_enable(1)  HV_enable(1)
  Set_pressure_target(default_target_pressure)  Set_pressure_target(default_target_pressure)
  log.write("HV1 on\r\n")  log.write("HV1 on\r\n")
- if system_vector[3]>limit[1]:                                #set the right HV channel for the altitude                                 + pump=TRUE 
- if system_vector[3]<limit[2]: + HV=1 
- HV_enable(2) + if system_vector[3]>limit[1] and HV==1:                          #set the right HV channel for the altitude                                 
- log.write("HV2 on\r\n") + HV_enable(2) 
- else: + log.write("HV2 on\r\n") 
- HV_enable(3) + HV=2 
- log.write("HV3 on\r\n") + if system_vector[3]>limit[2] and HV==2: 
- time.sleep(10)                                              #10 seconds sleep + HV_enable(3) 
 + log.write("HV3 on\r\n")  
 + HV=3 
 + time.sleep(10) 
 + iterations+=1                                              #10 seconds sleep 
 + 
 finally: finally:
  log.close()  log.close()
- ser_phone.write("AT+CFUN=0\r\n")      #phone off+# ser_phone.write("AT+CFUN=0\r\n")      #phone off
  ser_phone.close()  ser_phone.close()
  ser_gr.close()  ser_gr.close()
  ser_daughter.close()  ser_daughter.close()
  print "bye"</code>  print "bye"</code>
projects/aerosol_code.1204449558.txt.gz · Last modified: 2008/07/19 23:31 (external edit)
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