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projects:aerosol_code [2008/03/03 01:01] – laurencebprojects:aerosol_code [2008/07/19 23:33] (current) – external edit 127.0.0.1
Line 5: Line 5:
  
 <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 15: Line 16:
 TRUE=1 TRUE=1
 FALSE=0 FALSE=0
 +DEG2RAD=math.pi/180.0
 class updatest: class updatest:
  pass  pass
-mynumber="44##########"+mynumber="44<really think I'd be that silly?>"
 default_target_pressure=40 default_target_pressure=40
 limit=[200,10000,20000]                #our altitude ranges for the different samples limit=[200,10000,20000]                #our altitude ranges for the different samples
Line 25: Line 27:
 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 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
 iterations=0 iterations=0
 +Jxpoints=[]
 +Jypoints=[]
 updatestuff=updatest() updatestuff=updatest()
- +  
- +  
 + 
 def gps_status(): def gps_status():
  print 'Retrieving GPS status'  print 'Retrieving GPS status'
Line 43: Line 47:
  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=['']   gpspos_parts=['']
Line 57: 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  #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 76: Line 84:
  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_daughter.readline()  TS=ser_daughter.readline()
- return V1,V2,V3,IC,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/denisity model+def air_density(alt):    # NASA air temperature/pressure/density model
  if (alt < 11000.0):  if (alt < 11000.0):
          # below 11Km - Troposphere          # below 11Km - Troposphere
Line 102: Line 110:
  return(pres / (0.2869 * (temp + 273.1)))  return(pres / (0.2869 * (temp + 273.1)))
    
 + 
 def Updatepredict(Seconds,North,East,Altitude): def Updatepredict(Seconds,North,East,Altitude):
- if iterations==0: 
- updatestuff.Predictedn=North 
- updatestuff.Predictede=East 
- updatestuff.Oldeast=East                                            #start 
- updatestuff.Oldnorth=North 
- updatestuff.Oldaltitude=Altitude 
- updatestuff.Oldseconds=Seconds 
  Deltae=East-updatestuff.Oldeast  Deltae=East-updatestuff.Oldeast
  Deltan=North-updatestuff.Oldnorth  Deltan=North-updatestuff.Oldnorth
Line 116: Line 117:
  Deltat=Seconds-updatestuff.Oldseconds  Deltat=Seconds-updatestuff.Oldseconds
  Averagealt=(updatestuff.Oldaltitude+Altitude)/2  Averagealt=(updatestuff.Oldaltitude+Altitude)/2
- updatestuff.Oldeast=East 
- updatestuff.Oldnorth=North 
- updatestuff.Oldaltitude=Altitude 
- updatestuff.Oldseconds=Seconds 
  if Deltaa>0:  if Deltaa>0:
  K=Roottwotwomgovercda*(air_density(Averagealt)**-0.5)  #we now have the velocity of decent  K=Roottwotwomgovercda*(air_density(Averagealt)**-0.5)  #we now have the velocity of decent
Line 127: 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 
- updatestuff.Predictedn+=K*Deltan + updatestuff.Predictede+=Deltae*( (K*math.cos(((North + updatestuff.Oldnorth)/2)*DEG2RAD)/math.cos(updatestuff.Predictedn*DEG2RAD)) +1) 
- updatestuff.Predictede+=K*Deltae+ updatestuff.Oldeast=East 
 + updatestuff.Oldnorth=North 
 + updatestuff.Oldaltitude=Altitude 
 + updatestuff.Oldseconds=Seconds
  print "predicted north=",updatestuff.Predictedn  print "predicted north=",updatestuff.Predictedn
  print "predicted east=",updatestuff.Predictede  print "predicted east=",updatestuff.Predictede
  return updatestuff.Predictedn,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
Line 143: Line 143:
  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 163: 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 189: 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?\r\n")  ser_phone.write("AT+CSCA?\r\n")
Line 218: Line 216:
  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...   ")
  shutdown()  shutdown()
- #os.system("echo 0 > /config/gpio/cuttertwo/enabled")      #payload release+ os.system("echo 0 > /config/gpio/cuttertwo/enabled")      #payload release
  time.sleep(6)  time.sleep(6)
- #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
  Set_pressure_target(0) #pump off  Set_pressure_target(0) #pump off
  time.sleep(1)            #wait, to avoid smoke contamination  time.sleep(1)            #wait, to avoid smoke contamination
- #os.system("echo 0 > /config/gpio/cutterone/enabled")      #cut plunger + os.system("echo 0 > /config/gpio/cutterone/enabled")      #cut plunger 
  time.sleep(3)  time.sleep(3)
- #os.system("echo 1 > /config/gpio/cutterone/enabled") + os.system("echo 1 > /config/gpio/cutterone/enabled")
  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+")  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_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_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+")+ #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")+ #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")) 
- log.write(reed_solomon.encode_string("Hello, I am a reed solomon encoded string :P")) + #log.write(reed_solomon.encode_string("Hello, I am a reed solomon encoded string :P")) 
- while not gps_status(): +# while not gps_status(): 
- #ser_gr.write("waiting for the gps to lock") +# ser_gr.write("waiting for the gps to lock") 
- log.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") 
- log.write("GPS locked")+ #log.write("GPS locked")
  print gps_data()  print gps_data()
  print 'now probing daughterboard'  print 'now probing daughterboard'
Line 291: Line 289:
  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()+ 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
 + calibrate=0
  layercounter=0  layercounter=0
  cut_down=''  cut_down=''
Line 307: Line 313:
  print 'in loop'  print 'in loop'
  system_vector=gps_data()  system_vector=gps_data()
- print system_vector 
  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))+ #log.write(reed_solomon.encode_string(callsign+datastring))
  #t=reed_solomon.encode_string(callsign+datastring)  #t=reed_solomon.encode_string(callsign+datastring)
  #print t  #print t
  #print reed_solomon.decode_string(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 calibrate==30:
 + ser_daughter.write("K\r\n")                            #recalibrates the pressure sensor
 + calibrate=0
 + calibrate+=1
  if cut_down=='':  if cut_down=='':
  if system_vector[3]/100>layercounter:                                 #100m altitude layers  if system_vector[3]/100>layercounter:                                 #100m altitude layers
  layercounter+=1                                               #we move up a layer  layercounter+=1                                               #we move up a layer
  up=Updatepredict(*system_vector)  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  if not are_we_inside([0],up[1],up[0],[0]):      #update and check against the polygon
  print "geofence cutdown"  print "geofence cutdown"
Line 364: Line 376:
  time.sleep(10)  time.sleep(10)
  iterations+=1                                              #10 seconds sleep  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.1204506070.txt.gz · Last modified: 2008/07/19 23:31 (external edit)
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