/****************************************************************************/ /* Copyright (c) 2000 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : MBARI Tailcone Application - Main C Source file */ /* Filename : tailcone.c */ /* Author : Andrew Pearce */ /* Project : Dorado AUV Tailcone */ /* Version : 1.0 */ /* Created : 01/19/00 */ /* Modified : 01/19/00 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #pragma model(196) #pragma nosignedchar #include "C:/C96/INCLUDE/string.h" /* string function library */ #include "const.h" /* Misc. constants - TRUE/FALSE etc */ #include "types.h" /* MBARI style guide declarations */ #include "microasm.h" /* Assembly language functions */ #include "applic.h" /* Microcontroller applications */ #include "malloc.h" /* Malloc support routines */ #include "applay.h" #include "microdef.h" /* Microcontroller definitions */ #include "microlib.h" /* Microcontroller Library decls. */ #include "timer.h" /* Timer library definitions */ #include "ring.h" /* Ring buffer support routines */ #include "syslib.h" /* Board Support library decls. */ #include "ibc_card.h" /* IBC Board Types and Addresses */ #include "ibc_cmd.h" /* Core IBC application definitions */ #include "ibc.h" /* IBC Function Library Definitions */ #include "filter.h" /* IBC General IIR Filter Routines */ #include "cpu196.h" /* IBC 80C196 CPU Board functions */ #include "pic.h" /* Intel 82C59 Interrupt Controller */ #include "low_pwr.h" /* Low Power Switch Board Defs */ #include "quad_serial.h" /* Quad Serial Board Definitions */ #include "scc2698.h" /* Signetics SCC2698 UART Definition*/ #include "tailcone.h" /* Application specific definitions */ #include "stp100.h" /* Stepper Motor Controller */ #include "sv203.h" /* Servo Motor Controller */ /****************************************************************************/ const Char micro_id[] = "87C196KC Tailcone"; const Char softwareRev[] = "$Revision: 1.2 $"; const Char serialNumber[] = "Tailcone 01"; const Char *microSerialNo; MLocal Boolean microEnabled; /* Enables serial command processing*/ typedef IBC_BoardEntry * IBCCardPtr; /* Array of IBC boards in backplane */ IBCCardPtr IBC_CardTable[IBC_MAX_CARDS]; Int16 IBC_CardCount; /* IBC cards found in backplane */ sv203Struct propMotor; /* Tailcone propeller motor struct */ stpStruct elevator; /* Tailcone elevator control surface*/ stpStruct rudder; /* Tailcone rudder control surface */ /* Forward declarations */ /****************************************************************************/ /* Function : processApplicCommands */ /* Purpose : Decode application specific serial port commands */ /* Inputs : Command buffer and command buffer length */ /* Outputs : Return TRUE if command recognized and processed, else FALSE*/ /****************************************************************************/ MLocal Int16 processApplicCommands( Char *commandBuf, Int16 commandLen ) { /* try to recognize the command and call */ /* the appropriate handler */ switch (wordFromBuf(commandBuf, 0)) { default: return (FALSE); /* Command not recognized return FALSE */ } /* switch */ return (TRUE); /* Command recognized & processed */ } /* processApplicCommands() */ /****************************************************************************/ /* Function : executeCommand */ /* Purpose : Check commands received from serial port and call handler */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void executeCommand( Void ) { #if 0 Byte* commandBuf; /* Pointer to the command packet data. */ Int16 commandLen; /* Length of the command packet data */ /* read a command from serial port */ while (readRecvdPacket(&commandBuf, &commandLen) == OK) { if ( wordFromBuf(commandBuf, 0) == (MICRO_APP | CMD_ENABLE) ) { microEnabled = TRUE; replyToCommand(1, CMD_OK ); } /* if */ else if (microEnabled) { /* try to recognize the command and call*/ /* the appropriate handler */ if ( processApplicCommands( commandBuf, commandLen ) == FALSE ) if ( processIBCCommands ( IBC_CardTable, IBC_CardCount, commandBuf, commandLen ) == FALSE ) processMicroCommands ( commandBuf, commandLen ); } /* if */ freeRecvdPacket(commandBuf);/* Free up the memory allocated for the */ /* packet by readSerialPacket() */ } /* while */ #endif } /* executeCommand() */ /****************************************************************************/ /* Function : initializeAlarms */ /* Purpose : Initializes various alarm status and thresholds */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ MLocal Void initializeAlarms( Void ) { } /* initializeAlarms() */ Int16 initializePropMotor(sv203Struct *propMotor, Nat16 serialChan) { sv203OpenSerialChan(propMotor, (Byte*) QUAD_SERIAL_0_ADDR, serialChan, IBC_CardTable, IBC_CardCount ); sv203BoardSelect(propMotor, 1); sv203ServoSelect(propMotor, 1); } /* initializePropMotor() */ Int16 initializeControlSurface(stpStruct *ctrlSurface, Nat16 serialChan) { stp100OpenSerialChan(ctrlSurface, (Byte*) QUAD_SERIAL_0_ADDR, serialChan, IBC_CardTable, IBC_CardCount ); stp100InitializeController(ctrlSurface, CTRL_SURFACE_CTRL_PERIOD); stp100FindHome(ctrlSurface); stp100StepDelay(ctrlSurface, 256); stp100VelocityProfile(ctrlSurface, 2000, 5); } /* initializeControlSurface() */ MLocal Void switchOnActuators( Void ) { Int16 card; /* Card index into Card Table */ LPS_BoardEntry *lpsBoard; if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, (Byte *) LOW_PWR_SWITCH_24V_0_ADDR, LOW_POWER_SWITCH) ) != ERROR) { lpsBoard = (LPS_BoardEntry *) IBC_CardTable[card]; /* Switch Vicor Output On */ LPS_BoardVicorCtrl( lpsBoard, ON ); LPS_BoardSwitch( lpsBoard, RUDDER_LPS_CHAN, ON ); LPS_BoardSwitch( lpsBoard, ELEVATOR_LPS_CHAN, ON ); LPS_BoardSwitch( lpsBoard, PROP_MOTOR_LPS_CHAN, ON ); } /* if */ } /* switchOnActuators() */ /****************************************************************************/ /* Function : mainLoop */ /* Purpose : C main program called from assembler startup routine */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void mainLoop( Void ) { char firmware[20]; Byte position; Int16 psn, i; initIoport1(); /* Initialize Input/Output Port 1 */ initIoport2(); /* Initialize Input/Output Port 2 */ initMalloc(); /* Initialize Memory allocator */ initBoardStatus(); /* Initialize board status word */ microEnabled = FALSE; /* Disabled processing of serial commands */ microSerialNo = serialNumber; /* Initialize installed IBC Cards */ IBC_CardCount = IBC_initializeCards( IBC_CardTable, IBC_MAX_CARDS); initializeAlarms(); /* Initialize application specific alarms */ switchOnActuators(); /* Power up actuators */ /* Initialize propeller motor */ initializePropMotor(&propMotor, PROP_MOTOR_SER_CHAN); #if 0 /* Initialize rudder control surface */ initializeControlSurface(&rudder, RUDDER_SER_CHAN); #endif /* Initialize rudder control surface */ initializeControlSurface(&elevator, ELEVATOR_SER_CHAN); i = 0; elevator.desiredPosition = 2000; FOREVER { stp100PositionControl(&elevator); if (i == 100) elevator.desiredPosition = -2000; if (i++ == 200) { i = 0; elevator.desiredPosition = 2000; } } FOREVER { for (position = 122; position < 160; position++) sv203MoveAbsolute(&propMotor, position); taskDelay(10); for (position = 160; position > 122; position--) sv203MoveAbsolute(&propMotor, position); taskDelay(10); for (position = 122; position > 84; position--) sv203MoveAbsolute(&propMotor, position); taskDelay(10); for (position = 84; position < 122; position++) sv203MoveAbsolute(&propMotor, position); taskDelay(10); } /* forever */ FOREVER { /* Repeat forever */ executeCommand(); /* Process any commands from the VME CPU */ /* Execute any IBC card specific functions */ IBC_CardFunctions( &(IBC_CardTable[0]), IBC_CardCount ); } /* forever */ } /* mainLoop() */