FMCtrl:FroboLightHouse

FrobomindLightHouse Hardware

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| FrobomindController
24V LED TOWER R/Y/G CABLE - RS-ordernumber : 478-3894

FrobomindLightHouse Firmware

Firmware: https://github.com/mikkel-kildemand/FroboLightHouse_V1

FroboMind: FroboLightHouse :Protocol

RowCA protocol
The protocol is based on NMEA 0183 [1] over a serial port.
Serial communication
Baudrate: 57600
Frame length: 11 bits (N81)
Max bytes per second: 57600/11 = 5236
Max NMEA strings per second: 57600/11/50 = 104 (assuming a total length of 50 chars)

RowCA Status (PFLHI) transmitted by the RowCA firmware

$PFRHI,hw_version, firmware_version_Major_Version, firmware_version_Minor_Version,reset_cause*CS<cr><lf>
hw_version: The Frobit hardware version
1. RoboCard 2. FroboMind Controller

firmware_version_Major_Version: The Row Cleaner major firmware version

1. RowCA
2. N/A

firmware_version_Minor_Version: The Row Cleaner minor firmware version

1. 2014-09-22
reset_cause: The reason why the RowCA hardware was reset:
0. Power on reset 1. Reset 2. Brown-out reset 4. Watchdog reset (15ms timeout) 5. JTAG reset

This message is transmitted only once after boot.

Frobit Status (PFLST) transmitted by FroboLightHouse FW

$PFLST,state,voltage,red_signal,yellow_signal,green_signal*CS<cr><lf>

state: Normal states
• STATE_OK (1)
Warning states
• STATE_NMEA_WARN(2) At least one nmea packet disregarded due to invalid format/CS since last PFBST message.

Error states

• STATE_WATCHDOG (3) No valid nmea packet received for the past 0.2s. (auto reset)
• STATE_LOW_BAT (5) Battery voltage critically low (auto reset).

voltage: Battery voltage (10 bit ADC out from voltage divider to allow external calibration)
“Coller”_signal, reprecent the amount of flashes given by eatch coller.
0 = off, 1-9 = 1-9 flashes, 10 = constant on.

Frobit RowCA Parameters (PFLSP) accepted by FroboLigthHouse FW

$PFLSP,voltage_min*CS<cr><lf>
voltage_min: Battery minimum voltage threshold (10 bit value corresponding to ADC out from voltage divider)

Frobit Communication Parameters (PFLCP) accepted by FroboLightHouse FW

$PFLCP,pfbst_interval, pfbct_wd_timeout*CS<cr><lf>
pfbst_interval: Rate of the Frobit Status (PFBST) 1-1000 * [ms] (default 100)
pfbct_wd_timeout: NMEA watchdog timeout (monitoring PFBCT)
0: disable
1-1000 * [ms]

Frobit Signal Light (PFLSL) accepted by FroboLightHouse FW

$PFLSL,red_signal,yellow_signal,green_signal*CS<cr><lf>

red_signal: 0 = LED off, 1-9 = 1-9 LED blink, 10 = LED on.
yellow_signal: 0 = LED off, 1-9 = 1-9 LED blink, 10 = LED on.
green_signal: 0 = LED off, 1-9 = 1-9 LED blink, 10 = LED on.