Firmware for Tuco Flyer bots. Each of the winches and the flyer itself contain a Tiva-C microcontroller with Ethernet. This common firmware codebase handles network configuration, processing incoming UDP commands, and broadcasting sensor readings over UDP.
| Bot | Header | Pin | Device | Function |
|---|---|---|---|---|
| Any | A1.7 | PD3 (SSI2CLK) | APA102 | SPI CLK |
| Any | D1.6 | PD1 (SSI2XDAT0) | APA102 | SPI MOSI |
| Flyer | A1.1 | PB3 (I2C0SDA) | BNO055 | I2C SDA |
| Flyer | A1.3 | PC4 (U7RX) | Gimbal | Host to Gimbal Serial (PITCH) |
| Flyer | A1.4 | PC5 (U7TX) | Gimbal | Gimbal to Host Serial (YAW) |
| Flyer | A1.9 | PB2 (I2C0SCL) | BNO055 | I2C SCL |
| Flyer | B1.3 | PE0 (AIN3) | IR Prox | Proximity sensor 3 analog input |
| Flyer | B1.4 | PE1 (AIN2) | IR Prox | Proximity sensor 2 analog input |
| Flyer | B1.5 | PE2 (AIN1) | IR Prox | Proximity sensor 1 analog input |
| Flyer | B1.6 | PE3 (AIN0) | IR Prox | Proximity sensor 0 analog input |
| Flyer | B2.5 | PK0 (AIN16) | IR Prox | Proximity sensor 4 analog input |
| Flyer | B2.6 | PK1 (AIN17) | IR Prox | Proximity sensor 5 analog input |
| Flyer | B2.7 | PK2 (AIN18) | IR Prox | Proximity sensor 6 analog input |
| Flyer | B2.8 | PK3 (AIN19) | IR Prox | Proximity sensor 7 analog input |
| Flyer | C1.5 | PL4 (T0CCP0) | Xband | Doppler pulse input (via 1k resistor) |
| Flyer | C2.5 | PM1 | Lidar | Enable output 0 (via 1k resistor) |
| Flyer | C2.6 | PM2 (T3CCP0) | Lidar | PWM input 0 |
| Flyer | D2.2 | PM7 (T5CCP1) | Lidar | PWM input 3 |
| Flyer | D2.3 | PP5 | Lidar | Enable output 3 (via 1k resistor) |
| Flyer | D2.4 | PA7 (T3CCP1) | Lidar | PWM input 1 |
| Flyer | D2.8 | PP3 | Lidar | Enable output 1 (via 1k resistor) |
| Flyer | D2.9 | PQ1 | Lidar | Enable output 2 (via 1k resistor) |
| Flyer | D2.10 | PM6 (T5CCP0) | Lidar | PWM input 2 |
| Winch | A2.7 | PQ0 (SSI3CLK) | HX711 | SPI CLK |
| Winch | C1.1 | PF1 | H-Bridge | Motor Enable output |
| Winch | C1.2 | PF2 (M0PWM2) | H-Bridge | Motor PWM A output |
| Winch | C1.3 | PF3 (M0PWM3) | H-Bridge | Motor PWM B output |
| Winch | C1.8 | PL1 (PhA0) | Encoder | Quadrature Phase A input |
| Winch | C1.9 | PL2 (PhB0) | Encoder | Quadrature Phase B input |
| Winch | D2.7 | PQ3 (SSI3XDAT1) | HX711 | SPI MISO |