UKHAS Wiki

##  Original code by nick84, http://www.digitaldawgpound.org/nick84/post=222
##
##  Modified by Alexei Karpenko for High ALtitude Object (HALO)
##  http://www.natrium42.com/halo/flight2/
##
## Added to by James Coxon for Firefly HAL Platform
## http://www.pegasushabproject.org.uk/firefly/
## http://www.ukhas.org.uk
##
 
##### Constants #####
TRUE = 1
FALSE = 0
#Use serial
import SER
#Use build in module
import MOD
#Use AT command interface
import MDM
#Use GPS
import GPS
#Use GPIO functions
import GPIO
 
nofix_count = 0
 
#Misc Functions
def debugmsg(msgtext):
    msgtext = msgtext.replace('\r', '\\r')
    msgtext = msgtext.replace('\n', '\\n')
    SER.send(msgtext + '\r\n')
 
#GPS status
def gps_status(gpspos):
    debugmsg('Retrieving GPS status')
 
    gpspos_parts = gpspos.split(',')
 
    if ( (gpspos_parts[5] == '2') or (gpspos_parts[5] == '3') ): #2D or 3D fix
        debugmsg('GPS fix "' + gpspos_parts[5] + '" ie valid');
        status = TRUE
    else:
        debugmsg('GPS fix "' + gpspos_parts[5] + '" ie not valid');
        status = FALSE
 
    return status
 
#SMS Send
def sms_send(to, text): 
    MDM.send('AT+CMGS="' + to + '"\r', 0)
    res = MDM.receive(50)#5 sec
    MOD.sleep(1)#wait 0.1sec
 
    #Check for SMS prompt
    if (res == '\r\n> '):
 
        #Send SMS message text
        MDM.send(text, 0)
 
        #End SMS
        MDM.sendbyte(0x1A, 0)
        res2 = MDM.receive(180)#5 sec
        MOD.sleep(1)#wait 0.1sec
 
        if (res2.find('\r\nOK\r\n') != -1):
 
            status = TRUE
 
        else:
            status = FALSE
            MDM.receive(1); # may prevent +CMS ERROR: 331 crash
 
    else:
        #Abort SMS (just in case)
        MDM.sendbyte(0x1B, 0)
        MOD.sleep(1)#wait 0.1sec
 
        status = FALSE
 
    return status
 
#Setup SMS
def sms_setup():
    MDM.send('AT+CMGF=1\r', 0)
    res = MDM.receive(50)#5 sec
    MOD.sleep(1)#wait 0.1sec
 
def cutdown(alt):
    debugmsg('Check Altitude')
    alt_temp = alt.split('.')
    debugmsg(alt_temp[0])
    alt_int = int(alt_temp[0])
    if (alt_int > 5000):
        debugmsg('Cutdown')
        GPIO.setIOvalue(4, 1)
        MOD.sleep(10)
        GPIO.setIOvalue(4, 0)
    else:
        debugmsg('Still Below 5000m')
 
 
def camera():
        GPIO.setIOvalue(6, 1)
        MOD.sleep(10)
        GPIO.setIOvalue(6, 0)
 
def radio_on_of(on_off):
    if (on_off == 'on'):
        debugmsg('Radio on')
        GPIO.setIOvalue(7, 0) 
    elif (on_off == 'off'):
        debugmsg('Radio off')
        GPIO.setIOvalue(7, 1)
 
def dit():
    MOD.sleep(2)
    GPIO.setIOvalue(3, 1)
    MOD.sleep(1)
    GPIO.setIOvalue(3,0)
 
def dash():
    MOD.sleep(2)
    GPIO.setIOvalue(3, 1)
    MOD.sleep(2)
    GPIO.setIOvalue(3,0)
 
def morse_code(number):
    MOD.sleep(3)
    if (number == '.'):
        debugmsg('Dot')
    elif (number == 'N'):
        debugmsg('N')
    elif (number == 'S'):
        debugmsg('S')
    elif (number == 'E'):
        debugmsg('E')
    elif (number == 'W'):
        debugmsg('W')
    elif (number == '-'):
        debugmsg('-')
    else:
        int_number = int(number)
        debugmsg('%d' % int_number)
        if (int_number == 0):
            dash()
            dash()
        elif (int_number == 1):
            dit()
        elif (int_number == 2):
            dit()
            dit()
        elif (int_number == 3):
            dit()
            dit()
            dit()
        elif (int_number == 4):
            dit()
            dit()
            dit()
            dit()
        elif (int_number == 5):
            dash()
        elif (int_number == 6):
            dash()
            dit()
        elif (int_number == 7):
            dash()
            dit()
            dit()
        elif (int_number == 8):
            dash()
            dit()
            dit()
            dit()
        elif (int_number == 9):
            dash()
            dit()
            dit()
            dit()
            dit()
        else:
            debugmsg('Not between 0 and 9')
 
def morse_splitter(coord):
    debugmsg(coord)
    j = 0
    while j < len(coord):
        morse_code(coord[j])
        j = j + 1
 
SER.send('Outside Main\r\n')
debugmsg('Running...');
gpspos_lastvalid = ''
sms_setup()
#Main loop
while 1:
        debugmsg('Entering loop')
        debugmsg('Click')
        camera()
        #Retrieve current position
        gpspos = GPS.getActualPosition()
 
        debugmsg('Position: %s' % gpspos)
 
        #Retrieve GPS fix status
        gps_statusnow = gps_status(gpspos)
 
        #Save last valid position
        #If position fix valid, or none recorded already, use last retrieved
        if ( (gps_statusnow == TRUE) or (gpspos_lastvalid == '') ):
            gpspos_lastvalid = gpspos
            nofix_count = 0
        else:
            nofix_count = nofix_count + 1
 
        if (nofix_count > 10):
            debugmsg('Resetting GPS')
            res = GPS.resetMode(1) #Cold resets GPS module
            if (res == '-1'):
                debugmsg('Error unable to reset GPS module')
                res = GPS.resetMode(0) #Hardware restart
            nofix_count = 0
 
        debugmsg('No Fix Count: %d ' % nofix_count)
 
        #If GPS position fix valid
        if (gps_status(gpspos) == TRUE):
            GPIO.setIOdir(1, 1, 1)
            gpsdataparts = gpspos.split(',')
 
            senddata = 'T:' + gpsdataparts[0] + 'Lat:' + gpsdataparts[1] + ',Lon:' + gpsdataparts[2] + ',Alt:' + gpsdataparts[4] + ',H:' + gpsdataparts[6] + ',S:' + gpsdataparts[7] + 'km/hr'
            cutdown(gpsdataparts[4])
            #Morse code
            radio_on_of("on")
            MOD.sleep(10)
            morse_splitter(gpsdataparts[1])
            MOD.sleep(10)
            morse_splitter(gpsdataparts[2])
            MOD.sleep(10)
            morse_splitter(gpsdataparts[4])
            radio_on_of("off")
        else:
            GPIO.setIOdir(1, 0, 1)
            senddata = 'No GPS Fix'
 
 
        debugmsg(senddata)
        #Send SMS
        #sms_send('xxxxxxxxxxx', senddata)
        senddata_bot = 'track@natrium42.com ' + senddata
        #sms_send('07766404142', senddata_bot)
        debugmsg('Powersave for 50 seconds')
        #Powersave for 10 seconds
        MOD.powerSaving(45)