Juan Salazar / robotic_fish_7

All mbed code for control over dive planes, pump motor, valve motor, BCUs, UART interface, etc.

Dependencies:   mbed ESC mbed MODDMA

robotic_fish_6/data_stream_format.txt

Committer:
juansal12
Date:
2020-01-14
Revision:
0:c3a329a5b05d

File content as of revision 0:c3a329a5b05d:

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