====== Strato Pi CAN setup======
===== Jumpers =====
  * For the CAN bus, we use the built in 120Ω terminal resistor, activated by bridging jumper JP3.
  * For the RS-485, we use the built in bias network of resistors, activated by bridging jumpers JP1, JP2 and JP4.
===== Logic Controller Configuration =====
Configuration of the StratoPi logic controller is performed through a 1200 baud, 8N1 UART connection at the following pins (5V if board is not connected to RPI)

^ USBUART      ^ Stratopi       ^ Corresponding pin on RPI          ^
| GND    | 6     | GND        |
| 5V    | 2 | 5V |
| RX    | 35     | GPIO19        |
| TX    | 33     | GPIO13        |
Pin counting begins with the pin closest to the screw terminals as 1.

This configuration assumes FW 3.5 on the logic controller.

==== Watchdog ====
  * ''XWED'' Set the watchdog enable mode to disabled (Badly named, in this mode, it's enabled by setting WatchdogEnable gpio pin from the RPI).
  * ''XWH00005'' Set timeout to 5 sec.
  * ''XWW00001'' Set the watchdog forced shutdown timeout to 1sec(min).
  * ''XCCS''  Make configuration permanent.

==== RS-485 ====
The StratoPi uses the PIC MCU to toggle between receiving and transmitting on the half-duplex RS-485 connection. selecting the toggleing configuration is supposed to happen automatically, but for 115200baud, this happens too slow in cases where the receiving and transmitting switches instantaneously, producing garbage data. An example of this is the command mode of the TB Live hydrophone used.

To fix this, the [[https://www.sferalabs.cc/files/strato/doc/stratopi-logic-controller-advanced-configuration-guide.pdf|StratoPi logic controller]] must be configured sending these commands over the 1200 8N1 setup serial:

  XSMF // Set TX-Enable fixed speed mode
  XSP98N1 // Set 115200 baud, 8N1
  XCCS // Make configuration permanent


==== Board Status ====


^ Board      ^ Firmware       ^ Configured ^ Location ^ Note ^
| SPBC12X-FX314618SC-296 | 3.5 | X | Loose | |
| SPBC12X-FX314618SC-297 | 3.5 | X | Loose | PPS lever-shifter |
| SPBC12X-FX314618SC-292 | 3.5 | X | Loose |  |
| SPBC12X-FX432220SC-F21200269 | 4.3/0.8 | X | ntnu-otter-02 |  |
| SPBC12X-FX314618SC-F21200097 | 4.3/0.8 | X | ntnu-otter-01 |  |
| SPBC12X-FX314618SC-F21200301 | 4.3/0.8 | X | ntnu-otter-03 |  |