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--- projects:ukhas_glider_project:master [2007/09/23 21:56] – new code laurenceb
+++ projects:ukhas_glider_project:master [2008/07/19 23:33] (current) – external edit 127.0.0.1
@@ Line 106: / Line 106: @@
 Landcount = 0
 Telcounter = 0
+Portd.3 = 1
 Waitms 100
 Gpintegerone = Getadc(5)
@@ Line 165: / Line 166: @@
 Gpfloatone = Target_es
 If Target_e <> Gpfloatone Then Target_es = Target_e
-Portd.3 = 1                                                 'radiocts pullup
+Portd.3 = 1
-Print "Launch!"
+Print "Launch!"                                             'radiocts pullup
 Start Watchdog
 Placemark = 1                                               'write eeprom to say in ascent
@@ Line 240: / Line 241: @@
 Requestsecond = 1
 While Clearsecond = 0
- Waitus 10
+ Waitus 10                                                  'I did commented this out as we should give the slave a message 1 second before the first valid gps
-Wend
+Wend                                                        'but that was a stupid idea as in the slave code, when if first enters the decent loop
-Requestsecond = 0
+Requestsecond = 0                                           'it waits for a new gps before doing anything other than running off the gyro
-Waitus 50
+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
@@ Line 394: / Line 395: @@
  If Radiocts = 1 Then                                       'is CTS=1 from the radio modem?
   Call Radiocomms()
-  Printstring = Str(gpsheading)
-  Printstring = Left(printstring , 8)
  End If
 Loop
 Sub Checkvoltage()
+S = "UKHASD,"
 Gpintegerone = Getadc(5)
 Gpfloatone = Gpintegerone
 Gpfloatone = Gpfloatone * 9.503
 Gpfloatone = Gpfloatone / 1000
-If Radiocts = 1 Then Print "Servo voltage=" ; Gpfloatone ; ",";
+Printstring = Str(gpfloatone )                              'servo
+S = S + Printstring
+S = S + ","
 Gpintegerone = Getadc(0)
 Gpfloatone = Gpintegerone
 Gpfloatone = Gpfloatone * 4.250
 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
 End Sub
@@ Line 419: / Line 429: @@
 While Radiocts = 0 And Gpbyteone < 30                       'wait for radio with timeout
  Waitms 500
+ Reset Watchdog
  Incr Gpbyteone
 Wend
-Print "Cutdown channel=" ; Channel ; " Time=" ; Duration
+Print "UKHASC,Cutdown channel=" ; Channel ; " Time=" ; Duration
 If Channel = 1 Then Cutdownpinone = 1
 If Channel = 2 Then Cutdownpintwo = 1
@@ Line 434: / Line 445: @@
 Sub Radiocomms()
  If Statuscode = 0 Then
-  Print "UKHAS>" ;
+  S = "UKHAS>"
  Else
-  Print "UKHAS<" ;
+  S = "UKHAS<"
  End If
- Print Contents(3) ; Contents(4) ; Contents(5) ; Contents(6) ; Contents(10) ;       'nmea data
+ S = S + Contents(3)
- Print #4 , "UKHAS>" ; Contents(3) ; Contents(4) ; Contents(5) ; Contents(6) ; Contents(10) ;
+ S = S + Contents(4)
+ S = S + Contents(5)
+ S = S + Contents(6)
+ S = S + Contents(10)                                       'nmea data
  Printstring = Fusing(gpsheading , "#.#")
- Print "," ; Printstring;
+ Printstring = "," + Printstring
- Print #4 , "," ; Printstring;
+ S = S + Printstring
  Printstring = Fusing(target , "#.#")
- Print "," ; Printstring;
+ Printstring = "," + Printstring
- Print #4 , "," ; Printstring;
+ S = S + Printstring
  Printstring = Str(rate)
- Print "," ; Printstring;
+ Printstring = "," + Printstring
- Print #4 , "," ; Printstring;
+ S = S + Printstring
  Printstring = Str(temperature)
- Print "," ; Printstring;
+ Printstring = "," + Printstring
- Print #4 , "," ; Printstring;
+ S = S + Printstring
- Print "," ; Error;
+ Printstring = Str(error)
- Print #4 , Error;
+ Printstring = "," + Printstring
+ S = S + Printstring
  Printstring = Fusing(heading , "#.#")
- Print "," ; Printstring;
+ Printstring = "," + Printstring
- Print #4 , "," ; Printstring;
+ S = S + Printstring
  Printstring = Fusing(filteredrate , "#.#")
- Print "," ; Printstring;
+ Printstring = "," + Printstring
- Print #4 , "," ; Printstring;
+ S = S + Printstring
- Printstring = Str(pulselenght)
+ Gpbyteone = Checksum(s)
- Print "," ; Printstring;
+ S = S + "*"
- Print #4 , "," ; Printstring;
+ Printstring = Hex(gpbyteone)
- Printstring = Str(pulses)
+ S = S + Printstring
- Print "," ; Printstring
+ Print S
- Print #4 , "," ; Printstring                               'we copy everything to the logger
+ Print #4 , S
 End Sub
 </code>