//////////////////////////////////////////////////////////////////// // // PURPOSE: List of vehicle parameters that are shared across several // modules, or used in core vehicle code. // // NOTES: All values (except "strings") must be followed by // a unit abbreviation (or one of the unit-like // abbreviations: n/a, bool, enum, count). // //////////////////////////////////////////////////////////////////// Vehicle.name = "Tethys"; Vehicle.id = 0 enum; Vehicle.kmlColor = "ff0055ff"; // 4 hex bytes indicating alpha, blue, green, and red // In this case, orange. Vehicle.argoProgram = "0000"; Vehicle.argoPlatform = "000000"; Vehicle.sendDataToShore = 1 bool; // If true, telemeter data to shore Vehicle.checkMTQueue = 1 bool; // Tells the vehicle whether to explicitly check for MT SBD messages in the queue. Will only check immediately following a GPS fix // // Data and Load Controller Settings // // ("NAME" should match the name specified in component interface header) // // NAME-card: // Load Controller device, if any -- something like /dev/load // NAME-uart: // Uart device, if any -- something like /dev/ttyS#, ttyTX# or tty# for the MAX3100 SPI uarts // NAME-ad: // A/D device, if any -- something like /sys/class/hwmon/hwmon0/device/? // NAME-baud: // Baud rate for uart // NAME-address: // Address for RS-485 buses // NAME-vref: // VRef for for A/D devices // AHRS_3DMGX3.loadControl = "/dev/loadB6"; AHRS_3DMGX3.uart = "/dev/ttyB6"; AHRS_3DMGX3.baud = 115200 bps; AHRS_sp3003D.loadControl = "/dev/loadB7"; AHRS_sp3003D.uart = "/dev/ttyB7"; // "/dev/ttyS1"; AHRS_sp3003D.baud = 38400 bps; Aanderaa_O2.loadControl = "/dev/loadB2"; Aanderaa_O2.uart = "/dev/ttyB2"; Aanderaa_O2.baud = 9600 bps; BPC1A.uart = "/dev/ttyTX0" BPC1A.baud = 19200 bps; BPC1B.uart = "/dev/ttyTX2" BPC1B.baud = 19200 bps; Batt_Ocean_ServerA.uart = "/dev/ttyTX0" Batt_Ocean_ServerA.baud = 19200 bps; Batt_Ocean_ServerB.uart = "/dev/ttyTX2" Batt_Ocean_ServerB.baud = 19200 bps; BuoyancyServo.loadControl = "/dev/loadA4"; BuoyancyServo.uart = "/dev/ttyA4" BuoyancyServo.baud = 9600 bps; // MainGroundfault uses Motherboard SPI A/D 0. CBITMainGroundfault.ad = "/dev/ad7888_0"; CBITMainGroundfault.adVref = 3.15 V; CBITMainGroundfault.adRes = 12 bit; CTD_NeilBrown.loadControl = "/dev/loadB4"; CTD_NeilBrown.uart = "/dev/ttyB4"; CTD_NeilBrown.baud = 9600 bps; DAT.loadControl = "/dev/loadB1"; DAT.uart = "/dev/ttyS1"; // couldn't do xmodem on LCB "/dev/ttyB0"; DAT.baud = 9600 bps; Depth_Keller.loadControl = "/dev/loadA0"; Depth_Keller.ad = "/dev/mcp3553A0"; Depth_Keller.adTimeout = 125 ms; Depth_Keller.adVref = 2.5 V; Depth_Keller.adRes = 21 bit; DVL_micro.loadControl = "/dev/loadB5"; DVL_micro.uart = "/dev/ttyB5"; DVL_micro.baud = 115200 bps; ElevatorServo.loadControl = "/dev/loadA6"; ElevatorServo.uart = "/dev/ttyA6"; ElevatorServo.baud = 9600 bps; ISUS.loadControl = "/dev/loadB1"; ISUS.uart = "/dev/ttyB1"; ISUS.baud = 38400 bps; MassServo.loadControl = "/dev/loadA3"; MassServo.uart = "/dev/ttyA3" MassServo.baud = 9600 bps; NAL9602.loadControl = "/dev/loadA1"; NAL9602.uart = "/dev/ttyS2"; NAL9602.baud = 19200 bps; OnboardHumidity.ad = "/dev/adlpc32xx_0"; OnboardHumidity.adVref = 3.15 V; OnboardHumidity.adRes = 10 bit; OnboardTemperature.ad = "/dev/adlpc32xx_1"; OnboardTemperature.adVref = 3.15 V; OnboardTemperature.adRes = 10 bit; OnboardPressure.ad = "/dev/adlpc32xx_2"; OnboardPressure.adVref = 3.15 V; OnboardPressure.adRes = 10 bit; // Battery current uses Motherboard SPI A/D 1. OnboardSecondaryBatteryCurrent.ad = "/dev/ad7888_1"; OnboardSecondaryBatteryCurrent.adVref = 3.15 V; OnboardSecondaryBatteryCurrent.adRes = 12 bit; // Battery current uses Motherboard SPI A/D 2. OnboardEmergencyBatteryCurrent.ad = "/dev/ad7888_2"; OnboardEmergencyBatteryCurrent.adVref = 3.15 V; OnboardEmergencyBatteryCurrent.adRes = 12 bit; // Motherboard 5V current uses Motherboard SPI A/D 3. OnboardMotherboard5VCurrent.ad = "/dev/ad7888_3"; OnboardMotherboard5VCurrent.adVref = 3.15 V; OnboardMotherboard5VCurrent.adRes = 12 bit; // Motherboard 3.15V current uses Motherboard SPI A/D 4. OnboardMotherboard3_15VCurrent.ad = "/dev/ad7888_4"; OnboardMotherboard3_15VCurrent.adVref = 3.15 V; OnboardMotherboard3_15VCurrent.adRes = 12 bit; // Motherboard 3.3V current uses Motherboard SPI A/D 5. OnboardMotherboard3_3VCurrent.ad = "/dev/ad7888_5"; OnboardMotherboard3_3VCurrent.adVref = 3.15 V; OnboardMotherboard3_3VCurrent.adRes = 12 bit; // Motherboard 1.8V current uses Motherboard SPI A/D 6. OnboardMotherboard1_8VCurrent.ad = "/dev/ad7888_6"; OnboardMotherboard1_8VCurrent.adVref = 3.15 V; OnboardMotherboard1_8VCurrent.adRes = 12 bit; PAR_Licor.loadControl = "/dev/loadB0"; PAR_Licor.ad = "/dev/mcp3553B0"; PAR_Licor.adTimeout = 125 ms; PAR_Licor.adVref = 2.5 V; PAR_Licor.adRes = 21 bit; PNI_TCM.loadControl = "/dev/loadB7"; PNI_TCM.uart = "/dev/ttyB7"; PNI_TCM.baud = 38400 bps; Radio_CDMA.loadControl = "/dev/loadA2"; Radio_CDMA.uart = "/dev/ttyTX1"; Radio_CDMA.baud = 115200 bps; Radio_Freewave.loadControl = "/dev/loadA2"; Radio_Freewave.uart = "/dev/ttyS1"; // This is ttl Radio_Freewave.baud = 115200 bps; Radio_Surface.loadControl = "/dev/loadB6"; // surface radio is only a "dumb" interface to some sort of surface radio that // is self contained. No uart is supported. rhodamine.loadControl = "/dev/loadB0"; rhodamine.ad = "/dev/mcp3553B0"; rhodamine.adTimeout = 125 ms; rhodamine.adVref = 2.5 V; rhodamine.adRes = 21 bit; Rowe_600.loadControl = "/dev/loadB5"; Rowe_600.uart = "/dev/ttyB5"; Rowe_600.baud = 115200 bps; RudderServo.loadControl = "/dev/loadA5"; RudderServo.uart = "/dev/ttyA5" RudderServo.baud = 9600 bps; SCPI.loadControl = "/dev/loadB2"; SCPI.uart = "/dev/ttyB2"; SCPI.baud = 9600 bps; ThrusterServo.loadControl = "/dev/loadA7"; ThrusterServo.uart = "/dev/ttyA7" ThrusterServo.baud = 9600 bps; Turbulence_NPS.loadControl = "/dev/loadB2"; Turbulence_NPS.uart = "/dev/ttyS1"; // Was losing bytes on "/dev/ttyB0"; Turbulence_NPS.baud = 115200 bps; WetLabsBB2FL.loadControl = "/dev/loadB3"; WetLabsBB2FL.uart = "/dev/ttyB3"; WetLabsBB2FL.baud = 19200 bps; // Solder pad V45 uses Motherboard SPI A/D 7. // ElevatorCompensatorLow.ad = "/dev/ad7888_7"; // ElevatorCompensatorLow.adVref = 3.15 V; // ElevatorCompensatorLow.adRes = 12 bit;