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--- projects:ukhas_glider_project:master [2007/09/04 22:08] – created laurenceb
+++ projects:ukhas_glider_project:master [2008/07/19 23:33] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-<code>
+<code qbasic>
 $regfile = "m168def.dat"
 $crystal = 16000000
 $baud = 16000
-$hwstack = 64
+$hwstack = 32
 $swstack = 64
-$framesize = 64
+$framesize = 96
-Const Servogain = 10
+Open "comc.4:125000,8,N,1" For Output As #1
-Const Pterm = 1
+Open "comc.3:125000,8,N,1" For Input As #2
-Const Iterm = 0.001
+Open "comd.2:4800,8,n,1" For Input As #3                    'rx from pc
-Const Dterm = 0
+Open "comb.4:19200,8,n,1" For Output As #4                  'Logger
-Const Kalmangpsweight = 1
+Config Adc = Single , Prescaler = Auto , Reference = Internal
-const kalmangyroweight=0.05
+Config Portd.7 = Output
-const propogation=0.98*(1-kalmangyroweight)
+Config Portb.0 = Output
-const servogain=-0.007*(1-kalmangyroweight)                        'need to check these with simcode
+Config Portb.2 = Output
-Const Center = 6000                                                           'needs to be checked with servo
-Baud = 125000
-Config Portd.4 = Output
-Config Portd.2 = Output
-Config Portd.5 = Output
 Config Portb.1 = Output
+Config Portd.2 = Input                                      'rx from pc
+Config Portd.6 = Output
 Config Portd.3 = Input
-Config Portd.6 = Input
+Config Portc.2 = Input
-Config Portd.7 = Input
+Config Portd.4 = Input
-Config Portb.0 = Input
+Config Portc.1 = Output
-Config Portc.4 = Input
+Config Portc.0 = Input
-Config Portc.5 = Output
+Config Portc.5 = Input
-Config Portc.2 = Output
+Config Watchdog = 4096
-Config Portc.3 = Output
+'Config Portc.4 = Output
-'Config Spi = Soft , Din = Pinc.4 , Dout = Portc.5 , Ss = None , Clock = Portc.2
+'Config Portc.3 = Input
-'Spiinit
+Ledone Alias Portd.7
-Config Timer1 = Timer , Prescale = 64
+Ledtwo Alias Portb.0
-Config Timer0 = Timer , Prescale = 1024
+Radiocts Alias Pind.3
-Dim Rate As Integer , Temperature As Integer , Lsb As Byte , Msb As Byte       'melexis
+'Cts Alias Portd.2
-Dim Rateread As Byte , Tempread As Byte , Readmelexis As Byte , Mask As Word , Maskword As Word , Servoenable As Byte
+Groundcontrol Alias Pind.4
-Dim T As String * 30                                        'rest
+Statusled Alias Portd.6
-Dim Contents(5) As String * 20
+Requestsecond Alias Portc.1
-Dim S As Single , R As Single , Gpfloatone As Single , Gpfloattwo As Single , Oldheading As Single , Realrate As Single , Integral As Single,filteredrate as single, servo as single
+Clearsecond Alias Pinc.2
-Dim Gpbyteone As Byte , Pulses As Byte , Timeout As Byte , Error As Byte
+Cutdownpinone Alias Portb.1
-Dim U As Integer , Gpintegerone As Integer , Targetheading As Single , Gpsheading As Single , Heading As Single
+Cutdownpintwo Alias Portb.2
-Dim Gpwordone As Word , Pulselenght As Word
+Cutdownpinone = 0
-Rateread = &B10010100
+Cutdownpintwo = 0
-Tempread = &B10011100
+Baud = 4800
-Readmelexis = &B10000000
+Declare Sub Checkvoltage()
-Maskword = &B0000111111111111
+Declare Sub Cutdown(byval Channel As Byte , Byval Duration As Byte)
-Pcmsk2 = &B01000000                                         'pcint22 enabled
+Declare Sub Radiocomms()
-Pcmsk0 = &B00000001                                         'pcint0 enabled
+Echo Off
-Groundcontrol Alias Portd.4
+Start Adc
-Rts Alias Pind.3
+Dim Rate As Integer
-Cts Alias Portd.2
+Dim Temperature As Integer , Error As Byte , Heading As Single , Filteredrate As Single , Pulselenght As Word
-Servoone Alias Portd.5
+Dim Pulses As Byte
-Servotwo Alias Portb.1
+Dim S As String * 100
-Pulsesdetect Alias Pind.6
+Dim T As String * 15
-Inputone Alias Pinb.0
+Dim Printstring As String * 20
-Inputtwo Alias Pind.7
+Dim K As Single
-Slave Alias Portc.3
+Dim Iterations As Byte , Flashcount As Byte
-Din Alias Pinc.4
+Dim Windxs(251) As Eram Byte
-Dout Alias Portc.5
+Dim Windys(251) As Eram Byte , Placemark As Eram Byte
-Clock Alias Portc.2
+Dim Target_es As Eram Single
-Slave = 1
+Dim Target_ns As Eram Single
-'Declare Sub Ground()
+Dim Lock As Bit
-Declare Sub Talktomelexis()
+Dim Gpfloatone As Single , Gpsheading As Single
-Declare Sub Ascent()
+Dim U As String * 100
-On Pcint2 Edge
+Dim B As String * 6
-On Pcint0 Copy
+Dim Contents(17) As String * 15
-Set Pcifr.pcif2
+Dim Transfer As String * 11
-Set Pcifr.pcif0
+Dim N As Byte
-Enable Pcint2
+Dim I As Byte
-Enable Pcint0
+Dim Statuscode As Byte
+Dim Heightupto As Byte , Rxenable As Byte , Servoenable As Byte
-Servotwo = 1
+Dim Gpbyteone As Byte , Gpbytetwo As Byte , Telcounter As Byte , Landcount As Byte
-Servoone = 1
+Dim Gpintegerone As Integer
-S = 0
+Dim Intcount As Integer , Timeelapsed As Integer
-Start Timer1
+Dim Store As Integer
-Start Timer0
+Dim Test As Integer
-Enable Interrupts
+Dim L As Integer
-Wait 2
+Dim Arrayat As Integer
+Dim Rudder As Single
+Dim Integral As Single
+Dim Derivative As Single
+Dim Target As Single
+Dim Target_e As Single
+Dim Target_n As Single
+Dim Offset As Single
+Dim Windy_total As Single
+Dim Windx_total As Single
+Dim Wind_speed As Single
+Dim Airspeed As Single
+Dim X As Single
+Dim Y As Single
+Dim V As Single , Altitude As Single
+Dim Wind_x As Single
+Dim Wind_y As Single
+Dim North As Single
+Dim East As Single
+Dim Store_east As Single
+Dim Store_north As Single
+Dim V_x As Single
+Dim V_y As Single
+Dim Minutes As String * 7
+Dim Degrees As String * 3
+Dim Command As String * 10
+Statuscode = 0
+Lock = 0
+Iterations = 0
+Timeelapsed = 0
+Wind_x = 0
+Wind_y = 0
+Landcount = 0
+Telcounter = 0
+Portd.3 = 1
+Waitms 100
+Gpintegerone = Getadc(5)
+Gpfloatone = Gpintegerone
+Gpintegerone = Getadc(0)
+Gpfloatone = Gpfloatone / Gpintegerone
+If Gpfloatone < 0.5 And Gpfloatone > 0.4 Then
+ Print "Button pressed"
+Else
+ Print "Watchdog reset"
+ Start Watchdog
+ Target_n = Target_ns
+ Target_e = Target_es
+ Select Case Placemark
+ Case 1:
+ Goto Cutdownlbl                                            'cutdown if error during ascent
+ Case 2:
+ Goto Descentloop
+ Case Else:
+ Goto Cutdownlbl
+ End Select
+End If
+Waitms 50
+Call Checkvoltage()
+'Call Cutdown(1 , 4)
+Print "wind records:"
+For Gpbyteone = 1 To 251
+ Gpbytetwo = Windxs(gpbyteone)
+ Print Gpbyteone ; "," ; Gpbytetwo ; "," ;
+ Gpbytetwo = Windys(gpbyteone)
+ Print Gpbytetwo
+Next
+Print Version()
+Print "Demo flight: 4km/20 minute"
+Print "Now check gps"
 Do
- Incr Timeout
+ Input S
- If Timeout > 250 Then Timeout = 250
+ B = Mid(s , 2 , 6)
- While Timer0 < 250
+ If B = "$GPGGA" Then
- Wend
+  Print S                                                   'shows us the GGA string
- Reset Timer0
+  I = Split(s , Contents(1) , ",")
- If Pulselenght > 250 And Pulselenght < 500 And Timer1 < 20000 Then
+  K = 0
-  Incr Pulses
+  K = Val(contents(10))
- Else
+  If K <> 0 Then                                            'if nonzero altitude then we've got something
-  Pulses = 0
+   Goto Gotlock
-  Groundcontrol = 0
- End If
- If Pulses > 10 Then
-  Groundcontrol = 1                                         'we enable servo relaying
-  Pulses = 10
- End If
-If Rts = 1 Then                                             'check for comms
- Cts = 1
- Input T
- Cts = 0
- Gpbyteone = Split(t , Contents(1) , ",")
- If Gpbyteone = 2 Then Call Ascent()                        'go to servo waggle if short message
- T = Contents(2)
- If Timeout < 80 Then                                       'ie we had another message not long ago
-  Gpsheading = Val(t)
-  Gpfloatone = Gpsheading - Oldheading              'so dont update
-  If Gpfloatone < -180 Then
-   Gpfloatone = Gpfloatone + 360
   End If
-  If Gpfloatone > 180 Then
-   Gpfloatone = Gpfloatone - 360
-  End If
-  Gpfloatone = Kalmangpsweight * Gpfloatone
-  Heading = Heading + Gpfloatone
  End If
- Oldheading = Heading                                     'but always store the past heading
+Loop
- Timeout = 0
+Gotlock:
- T = Contents(3)
+Print "Okay we have GPS"
- Targetheading = Val(t)
+Print "check rc ground control, then"
- T = Contents(4)
+Print "Enter target north and east"
- Servoenable = Val(t)
+Input #3 , Target_n
- T = Contents(5)
+Print Target_n
- Gpbyteone = Val(t)
+Input #3 , Target_e
- If Gpbyteone = 1 Then
+Print Target_e
-  Enable Interrupts
+Gpfloatone = Target_ns
- Else
+If Target_n <> Gpfloatone Then Target_ns = Target_n         'store in eeprom
-  Disable Interrupts
+Gpfloatone = Target_es
- End If
+If Target_e <> Gpfloatone Then Target_es = Target_e
- Waitus 250
+Portd.3 = 1
- Print "#," ; Rate ; "," ; Temperature ; "," ; Error ; "," ; Heading ; "," ; Pulselenght ; "," ; Pulses
+Print "Launch!"                                             'radiocts pullup
-End If
+Start Watchdog
-Call Talktomelexis()
+Placemark = 1                                               'write eeprom to say in ascent
-Gpintegerone = Rate
+Do
-Gpintegerone = Gpintegerone - 1018
+ Reset Watchdog
-Gpfloatone = Gpintegerone
+ Do
-Gpfloatone = Gpfloatone / 13.653
+  Input U
-Realrate = Gpfloatone                                       'now  in degrees per second
+  B = Mid(u , 2 , 6)
-gpfloatone=gpfloatone*kalmangyroweight
+ Loop Until B = "$GPGGA"
-filteredrate=propogation*filteredrate
+ Do
-filteredrate=filteredrate+gpfloatone
+  Input S
-gpfloatone=servo*servogain
+  B = Mid(s , 2 , 6)
-filteredrate=filteredrate+gpfloatone
+ Loop Until B = "$GPRMC"
-gpfloatone=filteredrate/62.5
+   I = Split(s , Contents(1) , ",")                         'process rmc
-Heading = Heading + gpfloatone
+   K = Val(contents(9))
-If Heading > 360 Then
+   V = Val(contents(8))
- Heading = Heading - 360
+   K = Deg2rad(k)
-End If
+   Wind_x = Sin(k)                                          'WORK OUT WIND IN Y=NORTH frame - the trig library works in radians
-If Heading < 0 Then
+   Wind_x = Wind_x * V
- Heading = Heading + 360
+   Wind_y = Cos(k)
-End If
+   Wind_y = Wind_y * V
-Gpfloatone = Targetheading - Heading                        'heading offset
+   Windx_total = Windx_total + Wind_x                       'add it to our total wind
-If Gpfloatone < -180 Then
+   Windy_total = Windy_total + Wind_y
- Gpfloatone = Gpfloatone + 360
+   Incr L                                                   'incrament the denominator for our averaging
-End If
+   Incr Timeelapsed
-If Gpfloatone > 180 Then
+   I = Split(u , Contents(1) , ",")                         'now process gga
- Gpfloatone = Gpfloatone - 360
+   K = Val(contents(10))
-End If
+   K = K / 100
-Gpfloattwo = Gpfloatone * Pterm
+   Arrayat = Int(k)                                         'find the altitude in 100m incraments
-Realrate = Dterm * Realrate                                 'pid
+   If Arrayat > Heightupto Then
-Integral = Integral + Heading
+    Incr Heightupto                                         'do we now fall into another (higher) 100m incrament ?
-Gpfloatone = Integral * Iterm
+    Windx_total = Windx_total / L
-If Gpfloatone > 30 Then Integral = 30 / Iterm               'wind up prevension
+    Gpbyteone = Windx_total + 127
-If Gpfloatone < -30 Then Integral = -30 / Iterm
+    Windxs(heightupto) = Gpbyteone                          'we are storing as a signed byte
-Gpfloatone = Gpfloatone + Realrate
+    Windy_total = Windy_total / L
-Gpfloatone = Gpfloatone + Gpfloattwo
+    Gpbyteone = Windy_total + 127                           'we find the average and shove it in the eeprom
-Gpfloatone = Servogain * Gpfloatone
+    Windys(heightupto) = Gpbyteone
-If Gpfloatone > 500 Then Gpfloatone = 500                   'limits
+    L = 0                                                   'this was forgotten in the flight code doh
-If Gpfloatone < -500 Then Gpfloatone = -500
+   End If
-servo=gpfloatone                                                        'store servo
+   If Arrayat > 40 Then
-Gpintegerone = Gpfloatone
+    Print "Altitude cutdown" ; Arrayat
-Gpintegerone = Gpintegerone + Center
+    Goto Cutdownlbl                                         '4Km/20 minute cutdown
-Portd.5 = 1
+   End If
-If Groundcontrol = 0 And Servoenable = 1 Then Pulseout , Portd , 5 , Gpintegerone       'only if not under ground control
+   If Timeelapsed > 1200 Then
+    Print "Time cutdown"
+    Goto Cutdownlbl
+   End If
+   Requestsecond = 1
+   While Clearsecond = 0
+    Waitus 10
+   Wend
+   Requestsecond = 0
+   Waitus 50
+   Printbin #1 , Statuscode
+   Waitus 150                                               'tells slave we are going up
+   Inputbin #2 , Rate , Temperature , Error
+   Incr Telcounter
+   If Telcounter > 10 Then Call Checkvoltage()              ' our callsign is UKHAS
+   If Radiocts = 1 Then                                     'is CTS=1 from the radio modem?
+    Call Radiocomms()
+   End If
 Loop
-Edge:
+Cutdownlbl:
-If Groundcontrol = 1 Then Servotwo = Not Inputtwo
+If L > 0 Then                                               'set a valid wind for cutdown altitude
-If Inputtwo = 0 Then
+ Wind_x = Windx_total / L
- Pulselenght = Timer1
+ Wind_y = Windy_total / L
 End If
-Timer1 = 0
+Call Cutdown(1 , 12)
-Return
+Placemark = 2                                               'write eeprom
+Descentloop:
+Statuscode = 1
+Requestsecond = 1
+While Clearsecond = 0
+ Waitus 10                                                  'I did commented this out as we should give the slave a message 1 second before the first valid gps
+Wend                                                        'but that was a stupid idea as in the slave code, when if first enters the decent loop
+Requestsecond = 0                                           'it waits for a new gps before doing anything other than running off the gyro
+Waitus 50                                                   ' the first update after this then goes into the gps lag compensation stage, but NOT YET !!!!
+Printbin #1 , Statuscode                                    'we are going down so let the slave know
-Copy:
-If Groundcontrol = 1 Then Servoone = Not Inputone
-Return
-Sub Ascent()
-Integral = 0                                                'reset integral
-Waitus 250
-Print "#," ; Rate ; "," ; Temperature
 Do
- Waitms 15
+ Reset Watchdog
- Pulseout , Portd , 5 , Center                              'keep servo centered
+ 'insert
- Call Talktomelexis()
+    Do
- If Rts = 1 Then                                            'check for comms
+     Input U
-  Cts = 1
+     B = Mid(u , 2 , 6)
-  Input T
+    Loop Until B = "$GPGGA"
-  Cts = 0
+    Do
-  Gpbyteone = Split(t , Contents(1) , ",")
+     Input S
-  If Gpbyteone > 2 Then Exit Sub
+     B = Mid(s , 2 , 6)
-  Waitus 250
+    Loop Until B = "$GPRMC"
-  Print "#," ; Rate ; "," ; Temperature ; "," ; Error
+   I = Split(s , Contents(1) , ",")                         'process rmc
-  Portd.5 = 1
+   Degrees = Left(contents(4) , 2)
-  For Gpbyteone = 0 To 10
+   Minutes = Right(contents(4) , 7)
-   Pulseout , Portd , 5 , 5500                              'wiggle servo
+   North = 0
-   Waitms 15
+   North = Val(minutes)
-  Next
+   North = North / 60
-  For Gpbyteone = 0 To 10
+   K = 0
-   Pulseout , Portd , 5 , 6500
+   K = Val(degrees)
-   Waitms 15
+   North = K + North
-  Next
+   Degrees = Left(contents(6) , 3)
+   Minutes = Right(contents(6) , 7)
+   East = 0
+   East = Val(minutes)
+   East = East / 60
+   K = 0
+   K = Val(degrees)
+   East = K + East
+   If Contents(7) = "W" Then
+    East = -east
+   End If
+   East = Target_e - East
+   K = Deg2rad(north)
+   K = Cos(k)
+   East = East * K                                          'distance to target in equatorial degree units
+   North = Target_n - North
+   K = East / North
+   Target = Atn(k)
+   Target = Rad2deg(target)
+   If North < 0 Then                                        'direction to target
+    Target = Target - 180
+   End If
+   If Target < -180 Then
+    Target = Target + 360                                   'gets it in +-180 degree range
+   End If
+   K = 0
+   K = Val(contents(9))
+   V = 0
+   V = Val(contents(8))
+   If V < 0.5 Then                                          'off if we crashed
+    If V = 0 Then
+     V = 0.01
+    End If
+    Statusled = 0
+   Else                                                     'indicator LED
+    'Incr Timeelapsed
+    Toggle Statusled
+   End If
+   K = Deg2rad(k)
+   X = Sin(k)
+   X = X * V
+   Y = Cos(k)
+   Y = Y * V
+   X = X - Wind_x                                           'wind compensation  in Y=NORTH frame
+   Y = Y - Wind_y
+   Airspeed = X * X
+   K = Y * Y
+   Airspeed = Airspeed + K
+   Airspeed = Sqr(airspeed)
+   If Y = 0 Then
+    X = 0
+    Else
+    X = X / Y                                               'stops us getting infinity
+   End If
+   K = Atn(x)
+   K = Rad2deg(k)
+   If Y < 0 Then
+    K = K - 180
+   End If                                                   'all to keep us in +-180 degree range
+   If K < -180 Then
+    K = K + 360                                             'K is now our air vector heading
+   End If
+   Gpsheading = K
+   K = K - Target                                           'k is now our heading offset (from now on is just for
+   If K < -180 Then                                         'the pretty leds)
+    K = K + 360
+   End If
+   If K > 180 Then
+    K = K - 360
+   End If
+   If K > 0 Then
+    Ledone = 0                                              'left/right indictor LEDs
+    Ledtwo = 1
+   Else
+    Ledone = 1
+    Ledtwo = 0
+   End If
+ 'end insert
+  I = Split(u , Contents(1) , ",")                          'now we do the gga
+  K = Val(contents(10))
+  Altitude = K
+ If V < 0.5 And Altitude < 250 Then                         'we have landed ?
+  Incr Landcount
+ Else
+  Landcount = 0
+ End If
+ If Landcount > 4 Then
+   Landcount = 5                                            'ie we had 5 stationary gps updates
+   Incr Flashcount                                          'flashes leds
+   If Flashcount > 9 Then
+    Cutdownpintwo = 1
+    Flashcount = 0
+   Else
+    Cutdownpintwo = 0                                       'turn off landing lights
+   End If
+   Servoenable = 0                                          'turn servo off on landing
+ Else
+  If Altitude < 300 Then                                    'so we are moving but low
+    Cutdownpintwo = 1                                       'turn on landing lights
+    Rxenable = 1                                            'enable ground control near the ground
+  Else
+    Cutdownpintwo = 0
+    Rxenable = 0
+  End If
+  Flashcount = 0
+  Servoenable = 1                                           'always enable servo
+ End If
+ Requestsecond = 1
+ While Clearsecond = 0
+  Waitus 10
+ Wend
+ Requestsecond = 0
+ Waitus 50                                                  'make sure slave is ready
+ Printbin #1 , Statuscode ; Gpsheading ; Target ; Servoenable ; Rxenable
+ Waitus 200
+ Inputbin #2 , Rate , Temperature , Error , Heading , Filteredrate , Pulselenght , Pulses
+ K = K / 100
+ Arrayat = Int(k)
+ Incr Arrayat                                               'as minimum altitude incrament=0 but array starts at 1
+ Gpbyteone = Windxs(arrayat)                                'gives us the correct wind for our altitude
+ If Gpbyteone <> 255 Then Wind_x = Gpbyteone - 127          'handles an unrecorded eeprom byte
+ Gpbyteone = Windys(arrayat)
+ If Gpbyteone <> 255 Then Wind_y = Gpbyteone - 127          'handles unrecorded
+ Incr Telcounter
+ If Telcounter > 10 Then Call Checkvoltage()
+ If Radiocts = 1 Then                                       'is CTS=1 from the radio modem?
+  Call Radiocomms()
  End If
 Loop
+Sub Checkvoltage()
+S = "UKHASD,"
+Gpintegerone = Getadc(5)
+Gpfloatone = Gpintegerone
+Gpfloatone = Gpfloatone * 9.503
+Gpfloatone = Gpfloatone / 1000
+Printstring = Str(gpfloatone )                              'servo
+S = S + Printstring
+S = S + ","
+Gpintegerone = Getadc(0)
+Gpfloatone = Gpintegerone
+Gpfloatone = Gpfloatone * 4.250
+Gpfloatone = Gpfloatone / 1000
+Printstring = Str(gpfloatone )
+S = S + Printstring
+S = S + ","
+Printstring = Str(pulselenght)
+S = S + Printstring
+S = S + ","
+Printstring = Str(pulses)
+S = S + Printstring
+Print S
+Print #4 , S
+Telcounter = 0
 End Sub
-'Sub Ground()
+Sub Cutdown(byval Channel As Byte , Byval Duration As Byte)
-'Groundcontrol = 1
+Gpbyteone = 0
-'While Timer1 < 20000 And Pulselenght > 200 And Pulselenght < 600
+While Radiocts = 0 And Gpbyteone < 30                       'wait for radio with timeout
- 'Servoone = Not Inputone
+ Waitms 500
- 'Servotwo = Not Inputtwo
+ Reset Watchdog
-'Wend
+ Incr Gpbyteone
-'Servotwo = 1
+Wend
-'Servoone = 1
+Print "UKHASC,Cutdown channel=" ; Channel ; " Time=" ; Duration
-'Groundcontrol = 0
+If Channel = 1 Then Cutdownpinone = 1
-'End Sub
+If Channel = 2 Then Cutdownpintwo = 1
+For Gpbyteone = 0 To Duration
+ Wait 1
+ Reset Watchdog
+Next
+Cutdownpinone = 0
+Cutdownpintwo = 0
+End Sub
+Sub Radiocomms()
+ If Statuscode = 0 Then
-Sub Talktomelexis()
+  S = "UKHAS>"
- Clock = 0
+ Else
- Dout = 0
+  S = "UKHAS<"
- Slave = 0
+ End If
- Error = 0
+ S = S + Contents(3)
- Waitus 1
+ S = S + Contents(4)
- For Gpbyteone = 7 To 0 Step -1
+ S = S + Contents(5)
-  Dout = Rateread.gpbyteone
+ S = S + Contents(6)
-  Waitus 1
+ S = S + Contents(10)                                       'nmea data
-  Clock = 1
+ Printstring = Fusing(gpsheading , "#.#")
-  Waitus 1
+ Printstring = "," + Printstring
-  Clock = 0
+ S = S + Printstring
- Next
+ Printstring = Fusing(target , "#.#")
- For Gpbyteone = 15 To 0 Step -1
+ Printstring = "," + Printstring
-  Waitus 1
+ S = S + Printstring
-  Clock = 1
+ Printstring = Str(rate)
-  Waitus 1
+ Printstring = "," + Printstring
-  Clock = 0
+ S = S + Printstring
- Next
+ Printstring = Str(temperature)
- Waitus 1
+ Printstring = "," + Printstring
- Slave = 1
+ S = S + Printstring
- Waitus 300
+ Printstring = Str(error)
- Slave = 0
+ Printstring = "," + Printstring
- For Gpbyteone = 7 To 0 Step -1
+ S = S + Printstring
-  Dout = Readmelexis.gpbyteone
+ Printstring = Fusing(heading , "#.#")
-  Waitus 1
+ Printstring = "," + Printstring
-  Clock = 1
+ S = S + Printstring
-  Waitus 1
+ Printstring = Fusing(filteredrate , "#.#")
-  Clock = 0
+ Printstring = "," + Printstring
- Next
+ S = S + Printstring
- For Gpbyteone = 7 To 0 Step -1
+ Gpbyteone = Checksum(s)
-  Waitus 1
+ S = S + "*"
-  Clock = 1
+ Printstring = Hex(gpbyteone)
-  Msb.gpbyteone = Din
+ S = S + Printstring
-  Waitus 1
+ Print S
-  Clock = 0
+ Print #4 , S
- Next
- For Gpbyteone = 7 To 0 Step -1
-  Waitus 1
-  Clock = 1
-  Lsb.gpbyteone = Din
-  Waitus 1
-  Clock = 0
- Next
- Waitus 1
- Slave = 1
- Rate = Makeint(lsb , Msb)
- Rate = Rate And Maskword
- Shift Rate , Right , 1
- If Msb.6 = 1 Then Error = 1
- Slave = 0
- Waitus 1
- For Gpbyteone = 7 To 0 Step -1
-  Dout = Tempread.gpbyteone
-  Waitus 1
-  Clock = 1
-  Waitus 1
-  Clock = 0
- Next
- For Gpbyteone = 15 To 0 Step -1
-  Waitus 1
-  Clock = 1
-  Waitus 1
-  Clock = 0
- Next
- Waitus 1
- Slave = 1
- Waitus 300
- Slave = 0
- For Gpbyteone = 7 To 0 Step -1
-  Dout = Readmelexis.gpbyteone
-  Waitus 1
-  Clock = 1
-  Waitus 1
-  Clock = 0
- Next
- For Gpbyteone = 7 To 0 Step -1
-  Waitus 1
-  Clock = 1
-  Msb.gpbyteone = Din
-  Waitus 1
-  Clock = 0
- Next
- For Gpbyteone = 7 To 0 Step -1
-  Waitus 1
-  Clock = 1
-  Lsb.gpbyteone = Din
-  Waitus 1
-  Clock = 0
- Next
- Waitus 1
- Slave = 1
- Temperature = Makeint(lsb , Msb)
- If Msb.6 = 1 Then Error = 1
- Temperature = Temperature And Maskword
- Shift Temperature , Right , 1
 End Sub
 </code>