head	1.11;
access;
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	Hobson_Rock_14Dec2009:1.11
	HEAD_CTD_MERGE:1.10.0.4
	BEFORE_VCS_CHANGE:1.11
	Hobson_Rock_16Oct2009:1.11
	Hobson_Rock_29June2009:1.11
	Jun15_2009:1.11
	Apr_7_2009:1.11
	mar19_2009:1.11
	mar18_2009:1.11
	feb13_2009:1.11
	feb10-2009:1.11
	feb09-2009:1.11
	dec15_2008:1.11
	dec12_2008:1.11
	ST_10_5:1.11
	ST_10_4b:1.11
	ST_10_4:1.11
	ST_10_3:1.11
	ST10_HW:1.11
	ST_10_2:1.11
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	AUTONOMY:1.11
	AUTONOMY-2008_07_30:1.11
	TREX_ST_1_0:1.10
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	Development_With_Wayne_060804:1.9
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	Rel-15Dec2003:1.8
	Dev-2Dec2003:1.8
	Dev-1Dec2003:1.8
	Rel-26Nov2003:1.8
	OctansJune5:1.8
	Ver3-0:1.7
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	Ver1-2:1.4
	Ver1-1:1.4
	Validate1:1.4
	OdysseyMatch2:1.3;
locks; strict;
comment	@# @;


1.11
date	2008.07.29.15.32.52;	author fpy;	state Exp;
branches;
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1.10
date	2004.11.02.22.30.28;	author rob;	state Exp;
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1.9
date	2004.02.14.00.09.54;	author rob;	state Exp;
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1.8
date	2001.06.04.11.52.51;	author hthomas;	state Exp;
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1.7
date	2000.03.21.21.57.27;	author oreilly;	state Exp;
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1.6
date	2000.03.20.19.33.42;	author oreilly;	state Exp;
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date	2000.01.18.03.03.50;	author amarsh;	state Exp;
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desc
@@


1.11
log
@added global configuration file for make under autonomy
@
text
@##########################################################################
# Copyright 1999 MBARI                                             
##########################################################################
# Summary  : Makefile for Drop Weight Driver
# Filename : Makefile
# Author   : Andrew Pearce
# Project  : 
# Version  : Version 1.0
# Created  : 12/06/99
# Modified : 12/06/99
# Archived :
##########################################################################
# Modification History:
# $Header: /home/cvs/auv-qnx/auv/altex/onboard/DropWeight/Makefile,v 1.10 2004/11/02 22:30:28 rob Exp $
#
##########################################################################

CC	    = cc
CCPP	    = cc
LD	    = cc
AR 	    = wlib
DEPEND_TOOL = makedepend

DEBUG 	    = -g
EXCEPTION_HANDLING = -WC,-xs

## OPTIMIZE = -4 -Os
OPTIMIZE = 

## MAP_OUTPUT = -S -ms -M
MAP_OUTPUT =

AUV_BIN_DIR = ../bin

CFLAGS	    = -c $(DEBUG) $(MAP_OUTPUT) $(OPTIMIZE) -D_QNX -DUNIX  
CPPFLAGS    = -c $(DEBUG) $(MAP_OUTPUT) $(OPTIMIZE) -D_QNX -DUNIX \
	         $(EXCEPTION_HANDLING)

INCLUDES    = -I.  \
	      -I.. \
	      -I../utils \
	      -I../framework \
	      -I../taskIF \
	      -I../DataLog \
	      -I/usr/include           

LDFLAGS	    = -g
LIBPATH	    = /usr/lib:../lib

LIBS        =   ../utils/utils.lib \
		../taskIF/taskInterfaces.lib \
		../DataLog/dataLog.lib \
		../framework/auvFramework.lib


OBJS	    =	DropWeight.o \
		DropWeightServer.o \
		DropWeightLog.o \
		DropWeightOutput.o

TARGETS =	dropWeight dropWeightServer dropWeightTest reset

ifeq ($(AUTONOMY), 1)
# Specific configuration for AUTONOMY group
# this allow to alter the value of the different variables
# used by make when AUTONOMY variable has been set to 1
# on the calling shell  
-include ../autonomy.make # this file contains the general
                       # modifications we want to apply to
                       # all the modules 

# following line are more specific to this file 

# end of AUTONOMY specific
endif 

all:		$(OBJS) $(TARGETS)


dropWeight:  _dropWeight.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _dropWeight.o $(OBJS) $(LIBS) -o $@@

dropWeightServer:  _dropWeightServer.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _dropWeightServer.o $(OBJS) $(LIBS) -o $@@

dropWeightTest:  _dropWeightTest.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _dropWeightTest.o $(OBJS) $(LIBS) -o $@@

reset:	Reset.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) Reset.o $(OBJS) $(LIBS) -o $@@

install:
		cp -f $(TARGETS)	$(AUV_BIN_DIR)/. 



##########################################################################
# Do not modify anything below this line unless absolutely necessary

.SUFFIXES:
.SUFFIXES:	.o .c .cc .d .idl

%.d: %.c
	    @@echo Generating dependencies for $?
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@.tmp
	    @@mv $@@.tmp $@@
%.d: %.cc
	    @@echo Generating dependencies for $?
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@.tmp
	    @@mv $@@.tmp $@@

%.o: %.c 
	    $(CC) $(CFLAGS) $(INCLUDES) $< -o $@@	
	    @@echo
%.o: %.cc
	    $(CCPP) $(CPPFLAGS) $(INCLUDES) $< -o $@@
	    @@echo

DEST	    = .

MAKEFILE    = Makefile

include       $(OBJS:.o=.d)

depend:	

clean:
	rm -f core *.o $(OBJS:.o=.d) *.lib *.yy *.tab.* $(TARGETS)

update:
	cvs update $(CC_SRCS) $MAKEFILE

commit:
	cvs commit $(CC_SRCS) $MAKEFILE

##########################################################################









@


1.10
log
@Added the stand-alone program Reset.cc.
@
text
@d14 1
a14 1
# $Header: /data/altex/Master/auv/altex/onboard/DropWeight/Makefile,v 1.9 2004/02/14 00:09:54 rob Exp $
d62 14
@


1.9
log
@Initial check-in of DropWeight.cc DropWeight.h DropWeightServer.h
DropWeightServer.cc Makefile _dropWeight.cc DropWeightLog.cc DropWeightLog.h
DropWeightOutput.cc DropWeightOutput.h

The existing empty DropWeight "boilerplate" files have been modified to work
with the watchdog timeout PIC on Sib's new power board.

This driver logs data, and communicates with a server through shared memory in
the usual way.  There is also the usual idl task interface.  There is
additionally a test program, dropWeightTest, that starts up the client and
driver, and communicates through the idl interface.

This is the initial submission of the basics.  Still to come is:
* A Dropweight behavior.
* Modifications to Supervisor to leave the drop weight driver running should
either the operators slay Supervisor, or should Supervisor terminate normally.

The basic operation is simple.  Sib's explanatory note:

     The little PIC micro-controller that controls the burn wire has an RS-232
     serial interface that is hooked up to the Connectech card. Right now it
     is hooked up to /dev/ser9 at 9600,8,n,1. So you can "qtalk -m /dev/ser9".

     The commands to send are:
     "!\r"   Clear watchdog timer
     "!D\r"  Drop weight now by turning on relay
     "!R\r"  Reset counters totally and reset relay
     "!@@\r"  Reset PIC and reset relay

     So the vehicle software needs to periodically send "!\r" commands to
     /dev/ser9 at 9600,8,n,1. The watchdog timer is 900 seconds (15 minutes)
     long. If you need to drop the weight immediately, send "!D\r". You should
     not need to send the other two commands: "!R\r" and "!@@\r"

     The PIC sends out the following string every second...
     "wdt = 00035,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  WDSt_out = 0,
     DW_out = 0"

The driver parses and logs these numbers. They are all integers. Briefly, they
are:

wdt-  watchdog timer in seconds.
bwt-  burn wire relay timer in seconds.  When true, the relay is
      closed and the wire is burning.
WDC-  Unused input (watch dog clear)
ACommsDN- Acoustic Comms drop now.  It is set when the acoustic command to
	  drop is detected.  Note:  The acoustic drop signal is detected and
	  implemented entirely in hardware.  The ACommsDN flag going high is
	  how the software can find out the weight has been commanded to drop.
WDSt_out- Watch dog status Unused output (Sib can't remember).
DW_out- True if bwt is greater than zero.  The relay is on and burning
	the drop wire.
@
text
@d14 1
a14 1
# $Header: /data/altex/Master/auv/altex/onboard/DropWeight/Makefile,v 1.8 2001/06/04 11:52:51 hthomas Exp $
d61 1
a61 1
TARGETS =	dropWeight dropWeightServer dropWeightTest
d74 3
@


1.8
log
@fixed makefile to work with samba
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.7 2000/03/21 21:57:27 oreilly Exp $
d44 1
d52 1
d57 3
a59 1
		DropWeightServer.o
d61 1
a61 1
TARGETS =	dropWeight
d68 6
@


1.7
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.6 2000/03/20 19:33:42 oreilly Exp $
d78 2
a79 2
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@

d82 2
a83 1
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@ 
@


1.6
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /home/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.5 2000/03/01 18:52:32 marsh Exp $
d66 1
a66 1
		cp -f dropWeight 		$(AUV_BIN_DIR)/. 
@


1.5
log
@Modified makefiles to also delete executables and libraries
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.4 1999/12/27 19:47:00 oreilly Exp $
d22 1
a22 1
DEPEND_TOOL = /usr/altex/bin/makedepend
d62 2
a63 1
dropWeight:  dropWeight.o $(OBJS) $(LIBS) 
@


1.4
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.3 1999/12/15 23:32:37 oreilly Exp $
d57 3
a59 1
all:		$(OBJS) dropWeight
d99 1
a99 1
	rm -f core *.o $(OBJS:.o=.d) *.lib *.yy *.tab.* 
@


1.3
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.2 1999/12/15 23:18:43 oreilly Exp $
d97 1
a97 1
	rm -f core $(OBJS) $(OBJS:.o=.d) *.lib *.yy *.tab.* 
@


1.2
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/DropWeight/Makefile,v 1.1 1999/12/15 01:26:34 pean Exp $
d50 1
d57 1
a57 1
all:		$(OBJS) dropWeightServer
d60 1
a60 1
dropWeightServer:  dropWeightServer.o $(OBJS) $(LIBS) 
d63 1
a63 1
		cp -f dropWeightServer 		$(AUV_BIN_DIR)/. 
@


1.1
log
@Moved files to DropWeight subdirectory
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/kvhCompass/Makefile,v 1.1 1999/12/08 16:56:23 pean Exp $
d33 2
d56 9
a64 1
all:		$(OBJS)
@
