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

##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

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