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projects:ukhas_glider_project:master [2007/09/10 22:50] – laurencebprojects:ukhas_glider_project:master [2008/07/19 23:33] (current) – external edit 127.0.0.1
Line 9: Line 9:
 Open "comc.3:125000,8,N,1" For Input As #2 Open "comc.3:125000,8,N,1" For Input As #2
 Open "comd.2:4800,8,n,1" For Input As #3                    'rx from pc Open "comd.2:4800,8,n,1" For Input As #3                    'rx from pc
-'open "comb.4:19200,8,n,1" for output as #4                  logger+Open "comb.4:19200,8,n,1" For Output As #4                  'Logger
 Config Adc = Single , Prescaler = Auto , Reference = Internal Config Adc = Single , Prescaler = Auto , Reference = Internal
 Config Portd.7 = Output Config Portd.7 = Output
Line 41: Line 41:
 Declare Sub Checkvoltage() Declare Sub Checkvoltage()
 Declare Sub Cutdown(byval Channel As Byte , Byval Duration As Byte) Declare Sub Cutdown(byval Channel As Byte , Byval Duration As Byte)
 +Declare Sub Radiocomms()
 Echo Off Echo Off
 Start Adc Start Adc
 +Dim Rate As Integer
 +Dim Temperature As Integer , Error As Byte , Heading As Single , Filteredrate As Single , Pulselenght As Word
 +Dim Pulses As Byte
 Dim S As String * 100 Dim S As String * 100
 Dim T As String * 15 Dim T As String * 15
 +Dim Printstring As String * 20
 Dim K As Single Dim K As Single
-Dim Iterations As Byte +Dim Iterations As Byte , Flashcount As Byte 
-Dim Windxs(255) As Eram Byte +Dim Windxs(251) As Eram Byte 
-Dim Windys(255) As Eram Byte , Placemark As Eram Byte+Dim Windys(251) As Eram Byte , Placemark As Eram Byte 
 +Dim Target_es As Eram Single 
 +Dim Target_ns As Eram Single
 Dim Lock As Bit Dim Lock As Bit
 Dim Gpfloatone As Single , Gpsheading As Single Dim Gpfloatone As Single , Gpsheading As Single
Line 57: Line 64:
 Dim N As Byte Dim N As Byte
 Dim I As Byte Dim I As Byte
 +Dim Statuscode As Byte
 Dim Heightupto As Byte , Rxenable As Byte , Servoenable As Byte Dim Heightupto As Byte , Rxenable As Byte , Servoenable As Byte
-Dim Gpbyteone As Byte , Gpbytetwo As Byte , Telcounter As Byte+Dim Gpbyteone As Byte , Gpbytetwo As Byte , Telcounter As Byte , Landcount As Byte
 Dim Gpintegerone As Integer Dim Gpintegerone As Integer
 Dim Intcount As Integer , Timeelapsed As Integer Dim Intcount As Integer , Timeelapsed As Integer
Line 69: Line 77:
 Dim Derivative As Single Dim Derivative As Single
 Dim Target As Single Dim Target As Single
 +Dim Target_e As Single
 +Dim Target_n As Single
 Dim Offset As Single Dim Offset As Single
 Dim Windy_total As Single Dim Windy_total As Single
Line 81: Line 91:
 Dim North As Single Dim North As Single
 Dim East As Single Dim East As Single
-Dim Target_e As Single 
-Dim Target_n As Single 
 Dim Store_east As Single Dim Store_east As Single
 Dim Store_north As Single Dim Store_north As Single
Line 90: Line 98:
 Dim Degrees As String * 3 Dim Degrees As String * 3
 Dim Command As String * 10 Dim Command As String * 10
 +Statuscode = 0
 Lock = 0 Lock = 0
 Iterations = 0 Iterations = 0
Line 95: Line 104:
 Wind_x = 0 Wind_x = 0
 Wind_y = 0 Wind_y = 0
 +Landcount = 0
 +Telcounter = 0
 +Portd.3 = 1
 Waitms 100 Waitms 100
 Gpintegerone = Getadc(5) Gpintegerone = Getadc(5)
Line 105: Line 117:
  Print "Watchdog reset"  Print "Watchdog reset"
  Start Watchdog  Start Watchdog
 + Target_n = Target_ns
 + Target_e = Target_es
  Select Case Placemark  Select Case Placemark
  Case 1:  Case 1:
Line 118: Line 132:
 'Call Cutdown(1 , 4) 'Call Cutdown(1 , 4)
 Print "wind records:" Print "wind records:"
-For Gpbyteone = 1 To 255+For Gpbyteone = 1 To 251
  Gpbytetwo = Windxs(gpbyteone)  Gpbytetwo = Windxs(gpbyteone)
  Print Gpbyteone ; "," ; Gpbytetwo ; "," ;  Print Gpbyteone ; "," ; Gpbytetwo ; "," ;
Line 148: Line 162:
 Input #3 , Target_e Input #3 , Target_e
 Print Target_e Print Target_e
-Portd.3 = 1                                                 'radiocts pullup +Gpfloatone = Target_ns 
-Print "Launch!"+If Target_n <> Gpfloatone Then Target_ns = Target_n         'store in eeprom 
 +Gpfloatone = Target_es 
 +If Target_e <> Gpfloatone Then Target_es = Target_e 
 +Portd.3 = 1 
 +Print "Launch!"                                             'radiocts pullup
 Start Watchdog Start Watchdog
-Placemark = 1+Placemark = 1                                               'write eeprom to say in ascent
 Do Do
  Reset Watchdog  Reset Watchdog
Line 192: Line 210:
     Goto Cutdownlbl                                         '4Km/20 minute cutdown     Goto Cutdownlbl                                         '4Km/20 minute cutdown
    End If    End If
-   If Timeelapsed > 900 Then+   If Timeelapsed > 1200 Then
     Print "Time cutdown"     Print "Time cutdown"
     Goto Cutdownlbl     Goto Cutdownlbl
Line 201: Line 219:
    Wend    Wend
    Requestsecond = 0    Requestsecond = 0
-   Print #1 , "#,ascent" +   Waitus 50 
-   Waitus 200 +   Printbin #1 , Statuscode 
-   Input #2 , S+   Waitus 150                                               'tells slave we are going up 
 +   Inputbin #2 , Rate , Temperature , Error
    Incr Telcounter    Incr Telcounter
-   If Telcounter > 10 Then Call Checkvoltage() +   If Telcounter > 10 Then Call Checkvoltage()              ' our callsign is UKHAS
-                                                             ' our callsign is UKHAS+
    If Radiocts = 1 Then                                     'is CTS=1 from the radio modem?    If Radiocts = 1 Then                                     'is CTS=1 from the radio modem?
-    Print "UKHAS>" ; Contents(3) ; Contents(4) ; Contents(5) ; Contents(6) ; Contents(10) ; S+    Call Radiocomms()
    End If    End If
 Loop Loop
  
 Cutdownlbl: Cutdownlbl:
-Placemark = 2+If L > 0 Then                                               'set a valid wind for cutdown altitude 
 + Wind_x = Windx_total / L 
 + Wind_y = Windy_total / L 
 +End If
 Call Cutdown(1 , 12) Call Cutdown(1 , 12)
 +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
  
  
-Descentloop: 
 Do Do
  Reset Watchdog  Reset Watchdog
Line 319: Line 349:
   K = Val(contents(10))   K = Val(contents(10))
   Altitude = K   Altitude = K
- If V = 0 And Altitude < 300 Then                           'turn servo off on landing + If V < 0.5 And Altitude < 250 Then                         'we have landed ? 
-   Servoenable = 0+  Incr Landcount
  Else  Else
-   Servoenable = 1 +  Landcount = 0 
- End If                                                     'enable ground control near the ground + End If 
- If Altitude < 300 Then + If Landcount > 4 Then 
-   Rxenable = 1+   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  Else
-   Rxenable = 0+  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  End If
  Requestsecond = 1  Requestsecond = 1
Line 334: Line 380:
  Wend  Wend
  Requestsecond = 0  Requestsecond = 0
- Print #1 , "#," ; Gpsheading ; "," ; Target ; "," ; Servoenable ; "," ; Rxenable+ Waitus 50                                                  'make sure slave is ready 
 + Printbin #1 , Statuscode ; Gpsheading ; Target ; Servoenable ; Rxenable
  Waitus 200  Waitus 200
- Input #2 , S+ Inputbin #2 , Rate , Temperature , Error , Heading , Filteredrate , Pulselenght , Pulses
  K = K / 100  K = K / 100
  Arrayat = Int(k)  Arrayat = Int(k)
  Incr Arrayat                                               'as minimum altitude incrament=0 but array starts at 1  Incr Arrayat                                               'as minimum altitude incrament=0 but array starts at 1
  Gpbyteone = Windxs(arrayat)                                'gives us the correct wind for our altitude  Gpbyteone = Windxs(arrayat)                                'gives us the correct wind for our altitude
- Wind_x = Gpbyteone - 127+ If Gpbyteone <> 255 Then Wind_x = Gpbyteone - 127          'handles an unrecorded eeprom byte
  Gpbyteone = Windys(arrayat)  Gpbyteone = Windys(arrayat)
- Wind_y = Gpbyteone - 127+ If Gpbyteone <> 255 Then Wind_y = Gpbyteone - 127          'handles unrecorded
  Incr Telcounter  Incr Telcounter
  If Telcounter > 10 Then Call Checkvoltage()  If Telcounter > 10 Then Call Checkvoltage()
  If Radiocts = 1 Then                                       'is CTS=1 from the radio modem?  If Radiocts = 1 Then                                       'is CTS=1 from the radio modem?
-  Print "UKHAS<" ; Contents(3) ; Contents(4) ; Contents(5) ; Contents(6) ; Contents(10) ; S+  Call Radiocomms()
  End If  End If
 Loop Loop
  
 Sub Checkvoltage() Sub Checkvoltage()
 +S = "UKHASD,"
 Gpintegerone = Getadc(5) Gpintegerone = Getadc(5)
 Gpfloatone = Gpintegerone Gpfloatone = Gpintegerone
 Gpfloatone = Gpfloatone * 9.503 Gpfloatone = Gpfloatone * 9.503
 Gpfloatone = Gpfloatone / 1000 Gpfloatone = Gpfloatone / 1000
-If Radiocts = 1 Then Print "Servo voltage=" ; Gpfloatone ; ",";+Printstring = Str(gpfloatone )                              'servo 
 +S = S + Printstring 
 +S = S + ","
 Gpintegerone = Getadc(0) Gpintegerone = Getadc(0)
 Gpfloatone = Gpintegerone Gpfloatone = Gpintegerone
 Gpfloatone = Gpfloatone * 4.250 Gpfloatone = Gpfloatone * 4.250
 Gpfloatone = Gpfloatone / 1000 Gpfloatone = Gpfloatone / 1000
-If Radiocts = 1 Then Print "Supply voltage=" ; Gpfloatone+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 Telcounter = 0
 End Sub End Sub
Line 370: Line 429:
 While Radiocts = 0 And Gpbyteone < 30                       'wait for radio with timeout While Radiocts = 0 And Gpbyteone < 30                       'wait for radio with timeout
  Waitms 500  Waitms 500
 + Reset Watchdog
  Incr Gpbyteone  Incr Gpbyteone
 Wend Wend
-Print "Cutdown channel=" ; Channel ; " Time=" ; Duration+Print "UKHASC,Cutdown channel=" ; Channel ; " Time=" ; Duration
 If Channel = 1 Then Cutdownpinone = 1 If Channel = 1 Then Cutdownpinone = 1
 If Channel = 2 Then Cutdownpintwo = 1 If Channel = 2 Then Cutdownpintwo = 1
Line 382: Line 442:
 Cutdownpintwo = 0 Cutdownpintwo = 0
 End Sub End Sub
-</code> 
  
 +Sub Radiocomms()
 + If Statuscode = 0 Then
 +  S = "UKHAS>"
 + Else
 +  S = "UKHAS<"
 + End If
 + S = S + Contents(3)
 + S = S + Contents(4)
 + S = S + Contents(5)
 + S = S + Contents(6)
 + S = S + Contents(10)                                       'nmea data
 + Printstring = Fusing(gpsheading , "#.#")
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Printstring = Fusing(target , "#.#")
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Printstring = Str(rate)
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Printstring = Str(temperature)
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Printstring = Str(error)
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Printstring = Fusing(heading , "#.#")
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Printstring = Fusing(filteredrate , "#.#")
 + Printstring = "," + Printstring
 + S = S + Printstring
 + Gpbyteone = Checksum(s)
 + S = S + "*"
 + Printstring = Hex(gpbyteone)
 + S = S + Printstring
 + Print S
 + Print #4 , S
 +End Sub
 +</code>
projects/ukhas_glider_project/master.1189464612.txt.gz · Last modified: 2008/07/19 23:32 (external edit)
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