Logical Interface - Subsystem Registers

  • Propulsion
  • Sonar
  • Vision
  • Navigation
  • Central Command & Control

Propulsion

Registers
Function
Values
Description
00
Motor status 00h = All motors off (READ ONLY) 8-bit unsigned number
01
Port motor direction 0 = Forwards 1 = Backwards (READ ONLY) 8-bit unsigned number
02
Port motor speed Range = 0 to 99 (READ ONLY) 8-bit unsigned number
03
Starboard motor direction 0 = Forwards
1 = Backwards		 (READ ONLY) 8-bit unsigned number
04
Starboard motor speed Range = 0 to 99 (READ ONLY) 8-bit unsigned number
05
Vertical motor direction 0 = Up
1 = Down		 (READ ONLY) 8-bit unsigned number
06
Vertical motor speed Range = 0 to 99 (READ ONLY) 8-bit unsigned number
07
Shift motor direction 0 = Left
1 = Right		 (READ ONLY) 8-bit unsigned number
08
Shift motor speed Range = 0 to 99 (READ ONLY) 8-bit unsigned number

Sonar

Registers
Function
Values
Description
02
Impact data available/unavailable 0 = Unavailable
1 = Available		 (READ ONLY) 8-bit unsigned number
03
Impact level 0 = No impact
1 = Light impact
2 = Heavy impact		 (READ ONLY) 8-bit unsigned number
28
Pinger available/unavailable 0 = Unavailable
1 = Available		 (READ ONLY) 8-bit unsigned number
31
Angle relative to submarine heading Range = -179 to 180 (READ ONLY) 8-bit signed number

Vision

Registers
Function
Values
Description
00
Status/error log 0 = Normal operation
1 = Camera #1 error
2 = Camera #2 error
3 = Camera #1 and #2 error		 (READ ONLY) 8-bit unsigned number
01
Camera #1 setting 0 = Detecting path
1 = Detecting target bins		 (READ and WRITE) 8-bit unsigned number
02
Camera #2 setting 0 = Detecting buoy
1 = Detecting air duct		 (READ and WRITE) 8-bit unsigned number
03
Angle of path Range = -90 to 90 (READ ONLY) 8-bit unsigned number
04
X-position of image center for camera #1 Range = 0 to 255 (READ ONLY) 8-bit unsigned number
05
Y-position of image center for camera #1 Range = 0 to 255 (READ ONLY) 8-bit unsigned number
06
Specified color pixel count for camera #1 Range = 0 to 255 (READ ONLY) 8-bit unsigned number
07
X-position of the image center for camera #2 Range = 0 to 255 (READ ONLY) 8-bit unsigned number
08
Y-position of the image center for camera #2 Range = 0 to 255 (READ ONLY) 8-bit unsigned number
09
Specified color pixel count for camera #2 Range = 0 to 255 (READ ONLY) 8-bit unsigned number

Navigation

Registers
Function
Values
Description
29
Air duct exit 0 = Not detected
1 = Detected		 (READ ONLY) 8-bit unsigned number
30
Heading Range = 0 to 255 (READ ONLY) 8-bit unsigned number
31
Position Range = 0 to 255 (READ ONLY) 8-bit unsigned number

Central Command & Control

Command and Control's responsibility is to communicate to each subsystem's registers as displayed above. Therefore its logical interface will consist of a conglomeration of the said registers.