P11216: Wandering Campus Ambassador (part 6)
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Protocol Document

I2C Registers

Device Address Device Register Address Data Type Register Name Description Data Flow Path
0x48 Nav MSP430 0x00 Byte STATUS_REG Contains embedded controller status, such as data ready flag NavInput, delete
0x48 Nav MSP430 0x01 Byte CTRL_REG Reserved for future use, currently provides software reset bit NavInput, delete
0x48 Nav MSP430 0x10 Word FRONT_LEFT_SONAR Distance value for front top sonar sensor NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x12 Byte FRONT_LEFT_SERVO NavOuptut, delete
0x48 Nav MSP430 0x14 Word FRONT_RIGHT_SONAR Distance value for front center sonar sensor NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x16 Byte FRONT_RIGHT_SERVO NavOuptut, delete
0x48 Nav MSP430 0x18 Word FRONT_LOWER_SONAR Distance value for front bottom sonar sensor NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x1A Byte FRONT_LOWER_SERVO NavOuptut, delete
0x48 Nav MSP430 0x1C Word REAR_SONAR Distance value for rear center sonar sensor NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x1E Byte REAR_SERVO NavOuptut, delete
0x48 Nav MSP430 0x20 Word GROUND_FRONT_LEFT Distance from front left of robot chassis to ground NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x22 Word GROUND_FRONT_RIGHT Distance from front right of robot chassis to ground NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x24 Word GROUND_REAR_LEFT Distance from back left of robot chassis to ground NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x26 Word GROUND_REAR_RIGHT Distance from back right of robot chassis to ground NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 Byte ACCEL_X X-Axis Acceleration
0x48 Nav MSP430 Byte ACCEL_Y Y-Axis Acceleration
0x48 Nav MSP430 Byte ACCEL_Z Z-Axis Acceleration
0x48 Nav MSP430 0x30 Word COMPASS_X Compass X-Heading NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x32 Word COMPASS_Y Compass Y-Heading NavInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x40 Byte BUMP_FRONT Binary value if front sensor detects bump EmergencyInput, ImplementingPersonality, delete
0x48 Nav MSP430 0x41 Byte BUMP_REAR Binary value if back sensor detects bump EmergencyInput, ImplementingPersonality, delete
0x48 Nav MSP430 0xFF Byte WHO_ARE_YOU Used to test operability. Always returns 0x55. NavInput, delete
0x49 Plant MSP430 0x00 Byte STATUS_REG Contains embedded controller status, such as data ready flag PlantInput, delete
0x49 Plant MSP430 0x01 Byte CTRL_REG Reserved for future use, currently provides software reset bit PlantInput, delete
0x49 Plant MSP430 0x10 Word BATTERY Battery capacity remaining PlantInput, BasicCare, Display, delete
0x49 Plant MSP430 0x20 Word WATER Water Remaining in tank PlantInput, BasicCare, Display, delete
0x49 Plant MSP430 0x30 Word MOISTURE % relative humidity at the plant PlantInput, BasicCare, Display, delete
0x49 Plant MSP430 0x40 Word TEMPERATURE Current Temperature in degrees Fahrenheit PlantInput, BasicCare, Display, delete
0x49 Plant MSP430 0x50 Word LIGHT Amount of sun light being received by the plant PlantInput, BasicCare, Display, delete
0x49 Plant MSP430 0x60 Byte ALARM Indicates the status of the switch under the plant EmergencyInput, BasicCare, delete
0x49 Plant MSP430 0x70 Byte PUMP_1 Output to shoot water from guns
0x49 Plant MSP430 0x71 Byte PUMP_2 Output to water plants
0x49 Plant MSP430 0xFF Byte WHO_ARE_YOU Used to check communication status and operability, also for identification. Always returns 0x55. PlantInput, delete
0x50 Motor MSP430 0x00 Byte STATUS_REG Contains embedded controller status, such as data ready flag MotorInput, delete
0x50 Motor MSP430 0x01 Byte CTRL_REG Reserved for future use, currently provides software reset bit MotorInput, delete
0x50 Motor MSP430 0x02 Byte HANDSHAKE Used for interaction between HW/SW, to know that each is alive
0x50 Motor MSP430 0x10 Byte LEFT_MOTOR MotorInput, delete
0x50 Motor MSP430 0x11 Word LEFT_ENCODER MotorInput, delete
0x50 Motor MSP430 0x20 Byte RIGHT_MOTOR MotorInput, delete
0x50 Motor MSP430 0x21 Word RIGHT_ENCODER MotorInput, delete
0x50 Motor MSP430 0xFF Byte WHO_ARE_YOU Used to check communication status and operability, also for identification. Always returns 0x55. MotorInput, delete

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