The Compact Control Language was developed by Roger Stokey at WHOI, to facilitate AUV telemetry and control via the WHOI Micro-modem 32 byte data frame. The language is a set of binary messages, each with a unique type flag as the first byte.

Documentation

• Overview - "A Compact Control Language for AUV Acoustic Communication," recent Oceans Europe Conference Paper describing the Compact Control Language.
• Specification - Specification for the Compact Control Language (CCL).

Downloads

• iMicroModem - A Micro-modem driver code example. CCL capable Micro-Modem driver for MOOS. Allows CCL message-based comms, including navigation. This driver contains NMEA, UMODEM, and CCL modules and is a standalone process, using a network connection to the MOOS AUV database, and MoosInstrument connection to the modem serial port.
• Seabed AUV modem driver - A Micro-modem driver code example. CCL capable Micro-Modem driver for WHOI Seabed AUV. Allows CCL message-based comms, ping-based ranging, and LBL navigation. This driver contains NMEA, UMODEM, and CCL modules and is a thread, using a shared memory interface to the AUV controller.