All mbed code for control over dive planes, pump motor, valve motor, BCUs, UART interface, etc.
Dependencies: mbed ESC mbed MODDMA
Diff: robotic_fish_6/data_stream_format.txt
- Revision:
- 0:c3a329a5b05d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/robotic_fish_6/data_stream_format.txt Tue Jan 14 19:17:05 2020 +0000 @@ -0,0 +1,31 @@ +Day 1 +uint32: goertzel 36k (0) +uint32: goertzel 30k (1) +uint16: signal level (average over last buffer) +uint8 : codeword (21) in most significant 5 bits, gain index in least significant 3 bits +uint16: fish state event in upper 5 bits, fish state in lower 11 bits + +Day 2 +3 bytes: goertzel 36k (0) >> 8 +3 bytes: goertzel 30k (1) >> 8 +2 bytes: (signal level >> 2) in lower 11 bits, codeword (21) in upper 5 bits +2 bytes: fish state event in upper 5 bits, fish state in lower 11 bits + + +fish state events: + 0: no event + 1: bad word timing + 2: bad word timing + 3: bad word hamming + 4: timeout + 5: good acoustic word + 6: button: yaw left + 7: button: yaw right + 8: button: faster + 9: button: slower + 10: button: pitch up + 11: button: pitch down + 12: button: shutdown pi + 13: button: reset mbed + 14: button: auto mode (toggle) + 15: button: invalid combination \ No newline at end of file