SW8-Microcontrollers

Microcontroller Code for Seawolf 8 Electronics

Designed for MSP430 Launchpad boards. Currently supported boards:

• MSP-EXP430G2ET w/ G2553
• MSP-EXP430FR2433

Use this Arduino core: Arduino-Core-MSP430

Official energia may work (though is abandoned at this point), but is known to have issues with various boards.

Communication Protocol

This is a clone of the AUVControlBoard protocol, however the UART is fixed to a 57600 baud rate.

Note that the max length of a message is also much shorter (16 bytes) because the MSP430G2553 has only 512 bytes of RAM.

Messages

There are multiple types of messages

• Commands / Queries: Sent to MEB instructing it to perform some action. Will be acknowledged. Queries will have the requested data in the acknowledge message
• Acknowledgements: Response to commands. May contain data. Follow same format as AUVControlBoard acknowledgements
• Status Messages: Sent from MEB to computer. Contain unrequested information.

Commands & Queries

None yet

Status messages

Note that these status messages are all send periodically, EXCEPT the SDOWN message, which is send only if the system is about to shut down.

• TEMP[temp][humid]: Data from temperature and humidity sensor. Each of [temp] and [humid] are a 32-bit float (little endian).
• LEAK[status]: Leak sensor status. [status] = 0 or 1 (1 = leak)
• TARM[status]: Thruster arm status; [status] = 0 or 1 (1 = armed)
• VSYS[voltage]: System voltage measurement (using voltage divider). [voltage] is a 32-bit float (little endian).
• SDOWN[cause]: System is shutting down. [cause] is an unsigned 8-bit integer indicating the cause.