//////////////////////////////////////////////////////////////////// // // 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 // 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_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; AcousticModem_Benthos_ATM900.loadControl2 = "/dev/null"; AMEcho.loadControl = "/dev/loadB4"; AMEcho.uart = "/dev/ttyB4"; AMEcho.baud = 4800 bps; BackseatComponent.loadControl = "/dev/loadC4"; BackseatComponent.loadControl2 = "/dev/null"; BackseatComponent.uart = "/dev/ttyC4"; BackseatComponent.baud = 115200 bps; BPC1A.uart = "/dev/ttyTX0"; BPC1A.baud = 19200 bps; BPC1B.uart = "/dev/ttyTX2" BPC1B.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; DAT.loadControl = "/dev/loadB3"; DAT.uart = "/dev/ttyB3"; DAT.baud = 115200 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; DepthKeller33X.loadControl = "/dev/loadC3"; DepthKeller33X.uart = "/dev/ttyC3" DepthKeller33X.baud = 19200 bps; DockingServo.loadControl = "/dev/loadB1"; DockingServo.uart = "/dev/ttyB1" DockingServo.baud = 9600 bps; DUSBL_Hydroid.loadControl = "/dev/loadC4"; DUSBL_Hydroid.uart = "/dev/ttyC4"; DUSBL_Hydroid.baud = 57600 bps; 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; MassServo.loadControl = "/dev/loadA3"; MassServo.uart = "/dev/ttyA3" MassServo.baud = 9600 bps; Micromodem.loadControl = "/dev/null"; Micromodem.uart = "/dev/null" Micromodem.baud = 19200 bps; NAL9602.loadControl = "/dev/loadA1"; NAL9602.uart = "/dev/ttyS2"; NAL9602.baud = 19200 bps; NanoDVR.loadControl = "/dev/loadC4"; NanoDVR.uart = "/dev/ttyC4"; NanoDVR.baud = 115200 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; Power24vConverter.loadControl = "/dev/loadB2"; PowerOnly.loadControl = "/dev/loadC1"; PowerOnly.loadControl2 = "/dev/null"; PowerOnly.loadControl3 = "/dev/null"; 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; 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/loadA1"; ThrusterServo.uart = "/dev/ttyA1" ThrusterServo.baud = 9600 bps; ThrusterHE.loadControl = "/dev/loadA1"; ThrusterHE.uart = "/dev/ttyA1" ThrusterHE.baud = 9600 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;