U-Boat Module Control

Arduino Hardware Control + RaspberryPi Web Interface

Project divided into three parts:

WM_InoSketch Arduino Sketch for U-Boat Hardware Control
WM_RPinoWI Operator Command Web Interface for RaspberryPi Web Server
WM_Shield Arduino Shield for U-Boat Hardware Control

 Copyright (C) 2016 Martinelli Michele

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.

Description:

Hardware:

ARDUINO Mega 2560
RaspberryPi
Ethernet Shield
Monster Moto Shiled (Main Engine + Ballast Tank)
Current Sensor ACS714
GPS Module EM406A
Compass Module CMPS10
Servo Controller (Rudders Direction/Depth)
Pressure Sensor SSCDRNN015PAAA5 Honeywell
Temperature Sensor DS18B20 Maxim
Temperature Sensor LM35 (Motors)
Sonar Sensor MB7078 XL-MaxSonar-WRCA
Arduino U.M.C. Shield (UMC_SHD1310_0xxx + UMC_PWR1310_0xxx + UMC_AUX1310_0xxx)

Library:

SPI
Ethernet
Servo
Wire
TinyGPS
OneWire
DHT22

Arduino:

Reading DS18B20 Sensors
Reading DHT22 Sensors
Compass Module CMPS10
GPS Module EM406A
Data Calculations
Web Communication
Main Engine Command
Rudders Command
Ballast Tank Command
Auxiliary Command
Serial Print Debug

RaspberryPi:

LAMP Web Server
OP.Cmd Web Interface
MySQL Datalogger

Wiring:

PWM Out:

Pin 2 - Main Engine Direction Ahead
Pin 3 - Main Engine Direction Astern
Pin 4 - Main Engine Speed
Pin 5 - Rudder 01 (Diving/Direction X Rudders)
Pin 6 - Rudder 02 (Diving/Direction X Rudders)
Pin 7 - Ballast Tank Direction Diving
Pin 8 - Ballast Tank Direction Emersion
Pin 9 - Ballast Tank Speed
Pin 10 - (Ethernet Shield)
Pin 11 - (Ethernet Shield)
Pin 12 - (Ethernet Shield)

General I/O:

Pin 13 - Link Client Connect Signaling
Pin 22 - Temperature Sensors (DS18B20 OneWire Protocol)

Communication:

Pin 18 - EM406A GPS Module (Serial1 - TX)
Pin 19 - EM406A CPS Module (Serial1 - RX)
Pin 20 - CMPS10 Compass Module (SDA)
Pin 21 - CMPS10 Compass Module (SCL)

Analog In:

Pin 2 - Rudders 1-3 Position Trim (Optional)
Pin 3 - Rudders 2-4 Position Trim (Optional)
Pin 4 - Ballast Tank Proportional Trim
Pin 5 - Main Engine Motor Temperature
Pin 6 - Ballast Tank Motor Temperature
Pin 7 - Main Engine Motor Current Sense
Pin 8 - Ballast Tank Motor Current Sense
Pin 9 - Engine Battery Current
Pin 10 - RaspberryPi Supply (3,3V)
Pin 11 - Pressure (Sensor SSCDRNN015P)
Pin 12 - Hardware Battery Voltage
Pin 13 - Engine Battery Voltage
Pin 14 - Front Sonar Sensor(Sensor MB7078 Vcc/1024 for Cm)
Pin 15 - Bottom Sonar Sensor(Sensor MB7078 Vcc/1024 for Cm)

Digital In:

Pin 24 - Ballast Tank Full
Pin 26 - Ballast Tank Empty
Pin 29 - Flooding Sensor
Pin 31 - Collision Sensor Bow
Pin 33 - Collision Sensor Stern
Pin 35 - Collision Sensor Port
Pin 37 - Collision Sensor Starboard
Pin 39 - Temperature and Humidity Sensor DHT22
Pin 41 - RaspberryPi GPIO

Digital Out

Pin 23 - Auxiliary IO
Pin 25 - Auxiliary IO
Pin 27 - Auxiliary IO
Pin 40 - Flashing Signaling
Pin 41 - Auxiliary IO
Pin 43 - Horn Signaling
Pin 44 - Navigation Lights
Pin 45 - Auxiliary Light
Pin 47 - Buzzer Signaling

System Structure:

ARDUINO Main U-Boat controller

Function...
Web Comunication Function Send Satus Data via GET method: http://..../index.php?TimeSc=...&DateD=...&DateM=...

Status Data:

    TimeSc Time On

    DateD  Day
    DateM  Month
    DateY  Year
    TimeH  Hour
    TimeM  Minute

    GPSLat GPS Latitude
    GPSLng GPS Longitude
    CmpsH  Compass Heading
    CmpsP  Compass Pitch
    CmpsR  Compass Roll
    Speed  Speed
    Depth  Depth

    TmpExt Temperature External
    TmpInt Temperature Internal
    HmdInt Humidity Internal
    TmpH2O Temperature Water
    MEnTmp Main Engine Motor Temperature
    BlTTmp Ballast Tank Motor Temperature

    HdwBtV HdwBtV Hardware Battery Voltage
    EngBtV Engine Battery Voltage
    EngBtI Engine Battery Current
    RPiBtV RPi Battery Voltage
    BtAtmy Battery Autonomy
    MEnSnI Main Engine Motor Current
    BlTSnI Ballast Tank Motor Current

    SonarF Sonar Front
    SonarB Sonar Back
    CllSnr Collision Sensors

    OprCmd Operator Command
    PrmCmd Parameter Command
    MsgAlm Message Allarm
    CmdSts Command Status
    InpSts Digital Input Status
    OutSts Digital Output Status

Arduino Read Instruction Data via GET method: Instruction Data = OpCmd (Operator Command) + PrCmd (Parameter Command)

'$' Read OpCmd (Operator Command)
'@' Read PrCmd (Parameter Command)
OpCmd_Rd0 Op.Command Care On
OpCmd_Wt0 Waiting Care On
PrCmd_Rd0 Calculation Parameter
OpCmd_Rd0 + OpCmd_Wt0 = OpCmd_Rd1 Op.Command Execution

RASPBERRY PI Web Server for Operator Command Web Interface

RaspberryPi Read Instruction Data via GET method:
Instruction Data = OpCmd (Operator Command) + PrCmd (Parameter Command)
Send Instruction Data via GET method http://..../index.php?$[OpCmd]@[OpCmd Parameter]

OpCmd List:

       00  "Engine Stop"
       01  "Fixed/Reset Rudder Direction"
       02  "Quadrant Turn Port Direction"
       03  "Quadrant Turn Starboard Direction"
       04  "90° Turn Port Direction"
       05  "90° Turn Starboard Direction"
       06  "Reversing Port Direction"
       07  "Reversing Starboard Direction"
       08  "Engine Astern"
       09  "Engine Ahead"
       10  "Dynamic Emersion"
       11  "Dynamic Diving"
       12  "Static Emersion"
       13  "Static Diving"
       14  "Surface"
       15  "Fixed/Reset Rudder Depth"
       21   C1
       22   C2
       23   C3
       24   C4
       25   F1
       26   F2
       27   F3
       28   F4

emmesolutions / Model_UBoatMC

readme

U-Boat Module Control

Description:

Wiring:

System Structure: