Differences

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--- msg [2018/09/25 09:00] – alberto
+++ msg [2023/09/06 11:21] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+=====Communication Protocol=====
+\\
+\\
 An adoption of NMEA0183 (National Marine electronics Association) at RS-232 voltage levels is used for the data link between level 1 and level 2. The standard was chosen on the following basis: It has a low power consumption, the bandwidth
 requirements are low, it is human readable, and the signal can be tapped for easy debugging. Level 1 will once per second transmit a request for rudder and commands to the Level 2, in the form of a NMEA message.
@@ Line 12: / Line 15: @@
 Level 2 sends messages to Level 1 containing the desired rudder angle and thruster intensity. These come as a result of high-level control (PIDs) implemented in DUNE. The format of this message is:
 \\
-<html>
+;#;
-<center></html>
+**MSG = BBB01 , RUD , THR , PWR_SETT , FALLB_MODE**
-HERE YOU CAN HAVE EVERYTHING YOU WANT
+;#;
-<html>
+Where:\\
-</center></html>
+- BBB01 is the msg ID; \\
+- RUD is the rudder angle [-450,450]; \\
+- THR is the thruster intensity [-100,100]; \\
+- PWR_SETT are the power settings: 6-bits string where 1 disables and 0 enables; \\
+- FALLB_MODE selects the fallback mode: 0 for //rudder 0//, 1 for //circle//, 2 for //autopilot//.
+\\
+=============================================================================================================================
+The operator can comminicate to Level 1 through Neptus (Java Plugin), sending messages that respect this format:\\
+;#;
+**MSG = RCC01 , RUD , THR , Kp , Ki , PWR_SETT , FALLB_MODE , MANUAL_CTRL**
+;#;
+Where:\\
+- RCC01 is the msg ID; \\
+- RUD is the rudder angle [-450,450]; \\
+- THR is the thruster intensity [-100,100]; \\
+- Kp and Ki set the gains for the Level 1 //Fallback Autopilot//; \\
+- PWR_SETT are the power settings: 6-bits string where 1 disables and 0 enables; \\
+- FALLB_MODE selects the fallback mode: 0 for //rudder 0//, 1 for //circle//, 2 for //autopilot//; \\
+- MANUAL_CTRL is a boolean: 1 for taking control (manual), 0 for giving control (autopilot).
+\\
+=============================================================================================================================
+Level 1 can send messages to the Operator showing the status of the system. These massage have the following format:\\
+;#;
+**MSG = CR601 , LEAK , PWR_SETT , LOAD, PANEL1_2 , BATT , COG , SOG , N_SAT , LAT , LONG , Kp , Ki , e , int_e , RUD , THRUST , L1_STATE , FALLB_MODE**
+;#;
+Where:\\
+- CR601 is the msg ID;\\
+- LEAK indicates a leak is happening: 1 for TRUE, 0 for FALSE;\\
+- PWR_SETT indicates the power settings: 6-bits string where 1 means disabled and 0 enabled; \\
+- LOAD is the load power (W);\\
+- PANEL1_2 is the panel 1 and panel 2 power (W);\\
+- BATT is the voltage battery (V); \\
+- COG is the course over ground (°); \\
+- SOG is the speed over ground (kn); \\
+- N_SAT is the satellites number used by the GPS; \\
+- LAT is the latitude; \\
+- LONG is the longitude; \\
+- Kp and Ki are the gains used by the PI fallback autopilot controller; \\
+- e is the error; \\
+- int_e is the integrated error; \\
+- RUD is the rudder computed by the PI fallback autopilot controller; \\
+- THR is the thruster applied to the servo; \\
+- L1_STATE shows the operating state of L1: 1 = normal, 2=fallback, 3=manual; \\
+- FALLB_MODE selects the fallback mode: 0 for //rudder 0//, 1 for //circle//, 2 for //autopilot//.