////////////////////////////////////////////////////////////////////
//
// 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.argoPlatform = "000000";
Vehicle.argoProgram = "0000";
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
Vehicle.sendDataToShore = 1 bool; // If true, telemeter data to shore
//
// 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<A/B><number>
// NAME-uart:
// Uart device, if any -- something like /dev/ttyS#, ttyTX# or tty<A/B># 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;
AHRS_M2.loadControl = "/dev/loadC7";
AHRS_M2.uart = "/dev/ttyC7";
AHRS_M2.baud = 115200 bps;
Aanderaa_O2.loadControl = "/dev/loadB2";
Aanderaa_O2.uart = "/dev/ttyB2";
Aanderaa_O2.baud = 9600 bps;
AcousticModem_Benthos_ATM900.loadControl = "/dev/loadB1";
AcousticModem_Benthos_ATM900.uart = "/dev/ttyB1";
AcousticModem_Benthos_ATM900.baud = 9600 bps;
BackSeatDriver.loadControl = "/dev/loadC4";
BackSeatDriver.uart = "/dev/ttyC4";
BackSeatDriver.baud = 115200 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;
CANONSampler.loadControl = "/dev/loadB6";
CANONSampler.uart = "/dev/ttyB6";
CANONSampler.baud = 19200 bps;
// MainGroundfault uses Motherboard SPI A/D 0.
CBITMainGroundfault.ad = "/dev/mcp3551-0";
CBITMainGroundfault.adRes = 22 bit;
CBITMainGroundfault.adTimeout = 125 ms;
CBITMainGroundfault.adVref = 10 V;
// Water Detection Circuit uses onboad A/D chan 0-2.
// Bow
CBITWaterAlarmBow.ad = "/dev/adlpc32xx_0";
CBITWaterAlarmBow.adRes = 10 bit;
CBITWaterAlarmBow.adVref = 3.15 V;
// Stern
CBITWaterAlarmStern.ad = "/dev/adlpc32xx_1";
CBITWaterAlarmStern.adRes = 10 bit;
CBITWaterAlarmStern.adVref = 3.15 V;
// Aux
CBITWaterAlarmAux.ad = "/dev/adlpc32xx_2";
CBITWaterAlarmAux.adRes = 10 bit;
CBITWaterAlarmAux.adVref = 3.15 V;
// Water Detection
CTD_NeilBrown.loadControl = "/dev/loadC4";
CTD_NeilBrown.uart = "/dev/ttyC4";
CTD_NeilBrown.baud = 9600 bps;
CTD_Seabird.loadControl = "/dev/loadC6";
CTD_Seabird.uart = "/dev/ttyC6";
CTD_Seabird.baud = 9600 bps;
CTD_SeabirdLCM.loadControl = "/dev/loadC6";
CTD_SeabirdLCM.uart = "/dev/ttyC6";
CTD_SeabirdLCM.baud = 9600 bps;
CTD_SeabirdLCM.lcmApplication = "nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev";
DAT.loadControl = "/dev/loadB1";
DAT.uart = "/dev/ttyB1";
DAT.baud = 9600 bps;
DDM.loadControl = "/dev/loadA6";
DDM.uart = "/dev/ttyA6";
DDM.baud = 115200 bps;
Depth_Keller.loadControl = "/dev/loadA0";
Depth_Keller.ad = "/dev/mcp3553A0";
Depth_Keller.adRes = 21 bit;
Depth_Keller.adTimeout = 125 ms;
Depth_Keller.adVref = 2.5 V;
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;
ESPComponent.loadControl = "/dev/loadA6";
ESPComponent.loadControl2 = "/dev/loadA7";
ESPComponent.uart = "/dev/ttyTX1";
ESPComponent.consoleUart = "/dev/ttyA6";
ESPComponent.baud = 115200 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.i2c = "/dev/i2c-0";
OnboardHumidity.i2cAddr = 39 count; // 0x27
OnboardPressure.i2c = "/dev/i2c-0";
OnboardPressure.i2cAddr = 96 count; // 0x60
// Battery current uses Motherboard SPI A/D 1.
// OnboardSecondaryBatteryCurrent.ad = "/dev/ad7888_1";
// OnboardSecondaryBatteryCurrent.adRes = 12 bit;
// OnboardSecondaryBatteryCurrent.adVref = 3.15 V;
// Battery current uses Motherboard SPI A/D 2.
// OnboardEmergencyBatteryCurrent.ad = "/dev/ad7888_2";
// OnboardEmergencyBatteryCurrent.adRes = 12 bit;
// OnboardEmergencyBatteryCurrent.adVref = 3.15 V;
// Motherboard 5V current uses Motherboard SPI A/D 3.
// OnboardMotherboard5VCurrent.ad = "/dev/ad7888_3";
// OnboardMotherboard5VCurrent.adRes = 12 bit;
// OnboardMotherboard5VCurrent.adVref = 3.15 V;
// Motherboard 3.15V current uses Motherboard SPI A/D 4.
// OnboardMotherboard3_15VCurrent.ad = "/dev/ad7888_4";
// OnboardMotherboard3_15VCurrent.adRes = 12 bit;
// OnboardMotherboard3_15VCurrent.adVref = 3.15 V;
// Motherboard 3.3V current uses Motherboard SPI A/D 5.
// OnboardMotherboard3_3VCurrent.ad = "/dev/ad7888_5";
// OnboardMotherboard3_3VCurrent.adRes = 12 bit;
// OnboardMotherboard3_3VCurrent.adVref = 3.15 V;
// 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.adRes = 21 bit;
PAR_Licor.adTimeout = 125 ms;
PAR_Licor.adVref = 2.5 V;
PNI_TCM.loadControl = "/dev/loadB7";
PNI_TCM.uart = "/dev/ttyB7";
PNI_TCM.baud = 38400 bps;
PowerOnly.loadControl = "/dev/loadC1";
Radio_Surface.loadControl = "/dev/loadA2";
// surface radio is only a "dumb" interface to some sort of surface radio that
// is self contained. No uart is supported.
RDI_Pathfinder.loadControl = "/dev/loadB4";
RDI_Pathfinder.uart = "/dev/ttyB4";
RDI_Pathfinder.baud = 115200 bps;
rhodamine.loadControl = "/dev/loadB0";
rhodamine.ad = "/dev/mcp3553B0";
rhodamine.adRes = 21 bit;
rhodamine.adTimeout = 125 ms;
rhodamine.adVref = 2.5 V;
Rowe_600.loadControl = "/dev/loadB5";
Rowe_600.uart = "/dev/ttyB5";
Rowe_600.baud = 115200 bps;
Rowe_600LCM.loadControl = "/dev/loadB4";
Rowe_600LCM.uart = "/dev/ttyB4";
Rowe_600LCM.baud = 38400 bps;
Rowe_600LCM.lcmApplication = "nohup ./auv-shared/bin/roweadcp -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev";
Rowe_600LCM.lcmChannelBottom = "Rowe_600LCM.adcp_dvl.bottom_track";
Rowe_600LCM.lcmChannelDVL = "rowe_dvl.rowe";
Rowe_600LCM.lcmChannelWater = "Rowe_600LCM.adcp_dvl.vehicle_water_velocity";
Rowe_600LCM.maxSpeed = 1.75 m/s;
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;
VemcoVR2C.loadControl = "/dev/loadB3";
VemcoVR2C.uart = "/dev/ttyTX1";
VemcoVR2C.baud = 9600 bps;
WetLabsBB2FL.loadControl = "/dev/loadB3";
WetLabsBB2FL.uart = "/dev/ttyB3";
WetLabsBB2FL.baud = 19200 bps;
WetLabsSeaOWL_UV_A.loadControl = "/dev/loadB3";
WetLabsSeaOWL_UV_A.uart = "/dev/ttyB3";
WetLabsSeaOWL_UV_A.baud = 19200 bps;
WetLabsUBAT.loadControl = "/dev/loadC1";
WetLabsUBAT.uart = "/dev/ttyC1";
WetLabsUBAT.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;