/* Title: Docking Payload C source for FAU OE AUV Dept. File: DockingPayload.C Date: Rev. Description 8/30/04 A Initial code from FAU 5/22/06 B Changed startup mode to 3 and added ADCValidData Variable */ #include /* for the special function register declarations */ #include /* for Serial port UART*/ #include /* for the RB0/INT0 interrupt */ #include /* for delays*/ #include /* for serial port command etc*/ #include /* for Health and Powerout monitoring */ #include /* for RTC and DAC */ //#include /* Docking Payload include file*/ #include "dockPay.h" /* Docking Payload include file*/ #include /* foData conversions*/ /****************** Top function protypes ***********************/ void IntHighNotUsed (void); /* prototype needed for high interrupt 'goto'*/ void Initialize (void); /* prototype for Initialize function */ void ReadAllInputs (void); /* prototype of function for reading all inputs */ void CommunicationMan (void); /* prototype of function for Communication Manager */ void DetermineMode (void); /* prototype of function for Determining the Mode */ void DetermineOutput (void); /* prototype of function for Determining outputs */ void WriteAllOutput (void); /* prototype of function to write to all outputs */ /****************** Function protypes ***********************/ void ReadStrTimeOut (char); /*Read a string form the USART, return nul if time out*/ /*Pass a w to wait for a string to start*/ /*and any other char to exit if USART not ready*/ /*********************** Input Data *****************************/ char InCommand[3]; /* Command from Serial Port */ char InData[22]; /* command Data */ char InVolts[5]; /* Data from SV command*/ char InCurrent[5]; /* Data from SV command*/ char InString[22]; /*Data string from USART */ unsigned int V_UnReg; /*Unregulated Voltage 0-102.4V FS, 0.1V per count*/ unsigned int V_PwrOut; /*PwrOut Voltage 0-102.4V FS, 0.1V per count*/ unsigned int I_Load_40mA; /*Load Current 0 to 40.96A FS, 40mA per count*/ unsigned int I_Load_10mA; /*Load Current 0 to 10.24A FS, 10mA per count*/ unsigned int Leak_Count; /*Leak Voltage < 512 counts = Leak*/ int Amb_Temp; /*Temperture 0.5156 Deg. C per count and 0 Deg.C = = 131.5 Counts */ unsigned int V_Payload; /*Payload Input Voltage 0-102.4V FS, 0.1V per count*/ char One_Sec_Tick; /*one Second tick from RTC*/ /*********************** Control Data *****************************/ char Mode; /* Docking Payload operational Mode */ /* mission = 0*/ /* homing = 1*/ /* docking = 2*/ /* docked-nocharge = 3*/ /* docked-charge = 4*/ /* failed-docked = 5*/ /* failed-nondocked = 6*/ char OldMode; /* Old Value */ char NewCommand; /* Flag for new command = 1*/ char NewMode; /* Flag for new mode = 1*/ char ChargingError; /* Flag for Charge error, 1 = error */ char NewSetPoint; /* Voltage & Current set point for 1KW output*/ char ADCDataValid; /* Flag for valid ADC data */ char ErrorFlag; char X; unsigned long int Y; /********************* 1KW DAC Setpoint Variables **********************/ union HiLoByteInt /* For Int to High and Low byte to DAC*/ { int Setpoint; char HiLoByte[2]; }; union HiLoByteInt SetPtV; union HiLoByteInt SetPtC; #define SetPtVolts SetPtV.Setpoint /*DAC Set point Voltage 20mV per count*/ #define LoSetPtVolts SetPtV.HiLoByte[0] #define HiSetPtVolts SetPtV.HiLoByte[1] #define SetPtCurrent SetPtC.Setpoint /* DAC Setpoint Current 10mA per count*/ #define LoSetPtCurrent SetPtC.HiLoByte[0] #define HiSetPtCurrent SetPtC.HiLoByte[1] /******************* Temp Variables *********************************/ unsigned char TempChar ; /*Char not used*/ /********************************** Interrupt Vectors ******************************/ /* High interrupts Vector at address 0x8. Not used at this time*/ #pragma code HIGH_INTERRUPT_VECTOR = 0x8 void high_ISR (void) { _asm goto IntHighNotUsed _endasm } /************************************************************************************/ /****************************** Start of Program Code *******************************/ /************************************************************************************/ #pragma code /* allow the linker to locate the remaining code */ /* If the buzzer is on, turn it off. If it is off, turn it on.*/ #pragma interrupt IntHighNotUsed void IntHighNotUsed (void) { /* add code here*/ INTCONbits.INT0IF = 0; /* clear flag to avoid another interrupt */ } /*** Use only if High interrupts are needed***/ void EnableHighInterrupts (void) { RCONbits.IPEN = 1; /* enable interrupt priority levels */ INTCONbits.GIEH = 1; /* enable all high priority interrupts */ } /************************************************************************************/ /************************************ Start of Main code ****************************/ /************************************************************************************/ void main (void) { Initialize( ); while (1) { ReadAllInputs(); CommunicationMan(); DetermineMode(); WriteAllOutput(); } } /************************************************************************************/ /****************************** Initialize Micro Routine *****************************/ /************************************************************************************/ void Initialize (void) { /********************** Setup Ports and Peripherals ******************/ /**** Port A Setup ****/ TRISAbits.TRISA4 = 0; /*Make RA4 an output for FanOn control */ FanOn = on; /* Turn fan on*/ /**** Port B Setup ****/ ClosePORTB(); /*Disable all Interrupts and Pullups*/ EnablePullups(); /* Enable PullUps on Port B inputs */ TRISBbits.TRISB0 = 1; /*Make RB0 an input pin for RTC_INT test*/ TRISBbits.TRISB1 = 1; /*Make RB1 an input pin for RS232_INT test*/ TRISBbits.TRISB2 = 0; /*Make RB2 an output pin for RS232_CTR0 */ RS232_CTR0 = 0; /* Set control nib to AUV Mission */ TRISBbits.TRISB4 = 0; /*Make RB4 an output pin for DAC_CS_L */ DAC_CS_L = 1; /* deselect DAC */ TRISBbits.TRISB5 = 0; /*Make RB5 an output pin for RS232_CTR1 */ RS232_CTR1 = 0; /* Set control nib to AUV Mission */ /**** Port C Setup ****/ TRISCbits.TRISC0 = 0; /*Make RC0 an output pin for SPI_RTC_CS */ RTC_CS = 0; /* deselect RTC */ TRISCbits.TRISC1 = 0; /*Make RC1 an output pin for RS232CTR2 */ RS232CTR2 = 0; /* Set control nib to AUV Mission */ TRISCbits.TRISC2 = 0; /*Make RC1 an output pin for RS232CTR3 */ RS232CTR3 = 0; /* Set control nib to AUV Mission */ /**** Port D Setup ****/ TRISDbits.TRISD0 = 0; /*Make RD0 an output pin for PC104_ON */ PC104_ON = on; /* Turn on power to PC104 */ TRISDbits.TRISD1 = 0; /*Make RD1 an output pin for RF_ETHERNET_ON */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ TRISDbits.TRISD2 = 0; /*Make RD2 an output pin for MOD_USBL_ON */ MOD_USBL_ON = on; /* Turn on power to ACOUSTIC MODEM and USBL */ TRISDbits.TRISD3 = 0; /*Make RD3 an output pin for RESOLVER_ON */ RESOLVER_ON = off; /* Turn off power to RESOLVER */ TRISDbits.TRISD6 = 0; /*Make RD6 an output pin for PWROUT */ PWROUT = off; /* Disable 1KW power Output */ TRISDbits.TRISD7 = 0; /*Make RD7 an output pin for PWROUT_L */ PWROUT_L = 1; /* Disable 1KW power Output */ /**** Setup USART, 9600 Baud ****/ OpenUSART( USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH, 25 ); /***** Setup Timer 0 *****/ OpenTimer0( TIMER_INT_OFF & T0_16BIT & T0_SOURCE_INT & T0_PS_1_256 ); /* 4MhZ xTAL = 1uSec * 256 = 256uSec per count = 16.777 Sec FS*/ /****** Setup ADC ******/ OpenADC( ADC_FOSC_8 & /* FOSC/8 FOR 4 MHz Xtal/8 = .5MHz = 2uS (ADC min. is 1.6uS)*/ ADC_RIGHT_JUST & ADC_8ANA_0REF, ADC_CH0 & /*Unregulated Voltage 0-102.4V FS, 0.1V per count*/ ADC_CH1 & /*PwrOut Voltage 0-102.4V FS, 0.1V per count*/ ADC_CH2 & /*Load Current 0 to 40.96A FS, 40mA per count*/ ADC_CH3 & /*Load Current 0 to 10.24A FS, 10mA per count*/ ADC_CH4 & /*Leak Voltage < 512 counts = Leak*/ ADC_CH5 & /*Temperture 0.5156 Deg. C per count and 0 Deg.C = = 131.5 Counts */ ADC_CH6 & /*Spare */ ADC_CH7 & /*Payload Input Voltage 0-102.4V FS, 0.1V per count*/ ADC_INT_OFF); /****** Setup SPI ******/ OpenSPI( SPI_FOSC_16, /* 4MHz/16 = 250KHz SPI Clock Rate */ MODE_00, /*SSPSTAT register = 0x40 Data transmitted on rising edge of clock SSPCON1 register = 0x00 Idle state of clock is low*/ SMPMID); /* Input data sampled a middle of data output*/ /*********************** Initialize Real Time Clock (RTC) ***********************/ /* Now set the RTC to alarm every second */ RTC_CS = 1; /* Select RTC */ WriteSPI(0x8B); /* Set RTC address to start at Sec Alarm 1 Register address */ WriteSPI(0x80); /* Write RTC Seconds Alarm register mask bit */ WriteSPI(0x80); /* Write RTC minutes Alarm register mask bit */ WriteSPI(0x80); /* Write RTC hour Alarm register mask bit */ WriteSPI(0x80); /* Write RTC days Alarm register mask bit */ WriteSPI(0x06); /* Write RTC Control Reg data till no collision */ RTC_CS = 0; /* DeSelect RTC */ /******************************* Initialize DAC **********************************/ /*DAC channel A is the 1KW charger output voltage setpoint 0-81.92V = 0 to 4095 counts = 20mV per count*/ /*DAC channel B is the 1KW charger output Current setpoint 0-40.96 = 0 to 4095 counts = 10mA per count*/ /* Set both to zero at reset*/ /*Note the 4 MSBs of the 16 bite value are the address pointer in the DAC*/ /* DAC A Voltage setpoint = 0000 DDDD DDDD DDDD */ /* DAC B Current setpoint = 0001 DDDD DDDD DDDD */ /* DAC O/P Wakeup = 1111 XXXX XXX1 X000 */ DAC_CS_L = 0; /* select DAC */ WriteSPI(0x00); /*Set DAC A to 0 */ WriteSPI(0x00); /*Set DAC A to 0 */ DAC_CS_L = 1; /* Deselect DAC */ DAC_CS_L = 0; /* select DAC */ WriteSPI(0x10); /*Set DAC B to 0*/ WriteSPI(0x00); /*Set DAC B to 0*/ DAC_CS_L = 1; /* Deselect DAC */ DAC_CS_L = 0; /* select DAC */ WriteSPI(0xF0); /*Wake DAC A & B*/ WriteSPI(0x10); /*Wake DAC A & B*/ DAC_CS_L = 1; /* Deselect DAC */ /*********************************** Initialize Variables *************************/ strcpypgm2ram(InCommand,""); /* Set Input Command to No new command*/ strcpypgm2ram(InString,""); /* Set InString to null */ strcpypgm2ram(InVolts,""); /* Set point Voltage */ strcpypgm2ram(InCurrent,""); /* Set point current */ Mode = 3; V_UnReg = 0; V_PwrOut = 0; I_Load_40mA = 0; I_Load_10mA = 0; Leak_Count = 0; Amb_Temp = 0; V_Payload = 0; One_Sec_Tick = 0; ADCDataValid = 0; } /*^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^*/ /*^^^^^^^^^^^^^^^^^^^^^^ End of Initialize Micro Routine ^^^^^^^^^^^^^^^^^^^^^^^^^^*/ /*^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^*/ /************************************************************************************/ /****************************** Read all Inputs Routine *****************************/ /************************************************************************************/ void ReadAllInputs (void) { NewCommand = no; /*************** Read RTC and toggle 1 second tick **************/ if (RTC_INT == 0) { /* Read RTC alarm register to clear RTC_INT and Set 1 sec tick*/ One_Sec_Tick = 1; /*Set 1 second tick*/ /* Clear RTC_INT by reading the second alarm reg*/ RTC_CS = 1; /* Select RTC */ WriteSPI(0x0B); /* Set RTC address to start at Sec Alarm 1 Register address */ TempChar = ReadSPI(); /* Read RTC Seconds Alarm register mask bit */ RTC_CS = 0; /* DeSelect RTC */ } else /* clear 1 second tick */ { One_Sec_Tick = 0; } /******************* Read Health and Powerout*******************/ if (One_Sec_Tick) { SetChanADC(ADC_CH0); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); V_UnReg = ReadADC(); /*PwrOut Voltage 0-102.4V FS, 0.1V per count*/ SetChanADC(ADC_CH1); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); V_PwrOut = ReadADC(); /*Unregulated Voltage 0-102.4V FS, 0.1V per count*/ SetChanADC(ADC_CH2); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); I_Load_40mA = ReadADC(); /*Load Current 0 to 40.96A FS, 40mA per count*/ SetChanADC(ADC_CH3); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); I_Load_10mA= ReadADC(); /*Load Current 0 to 10.24A FS, 10mA per count*/ SetChanADC(ADC_CH4); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); Leak_Count = ReadADC(); /*Leak Voltage < 512 counts = Leak*/ ADCDataValid = 1; /* Set ADC data valid flag */ SetChanADC(ADC_CH5); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); Amb_Temp = ReadADC();/*Temperture 0.5156 Deg. C per count and 0 Deg.C = = 131.5 Counts */ SetChanADC(ADC_CH7); Delay10TCYx(1); /*Delay for 10 instr. cycles = 10uS*/ ConvertADC(); while (BusyADC()); V_Payload = ReadADC(); /*Payload Input Voltage 0-102.4V FS, 0.1V per count*/ } } /************************************************************************************/ /****************************** Get New Command *************************************/ /************************************************************************************/ void CommunicationMan (void) { if (!NewCommand) { /****************** Get Command from serial port ***************/ ReadStrTimeOut('T'); /*check for command string*/ if (strlen(InString) == 2) { strcpy(InCommand,InString); if(!strcmppgm2ram(InCommand,"ss")) { putrsUSART("SS OK\r\n"); putrsUSART("enter mode\r\n"); putrsUSART("mission, homing, docking, docked-nocharge, docked-charge\r\n"); ReadStrTimeOut('W'); /*Get New mode type string*/ if( (!strcmppgm2ram(InString,"mission")) || (!strcmppgm2ram(InString,"homing")) || (!strcmppgm2ram(InString,"docking"))|| (!strcmppgm2ram(InString,"docked-nocharge"))|| (!strcmppgm2ram(InString,"docked-charge"))|| (!strcmppgm2ram(InString,"failed-docked"))|| (!strcmppgm2ram(InString,"failed-nondocked")) ) { strcpy(InData,InString); putrsUSART("GOOD\r\n"); NewCommand = yes; } } if(!strcmppgm2ram(InCommand,"sv")) { putrsUSART("SV OK\r\n"); putrsUSART("vv.vv ii.ii\r\n"); ReadStrTimeOut('W'); /*Get New mode type string with wait on first byte*/ if( strcmppgm2ram(InString,"e1") && (strlen(InString) == 11) ) { InVolts[0] = InString[0]; InVolts[1] = InString[1]; InVolts[2] = InString[3]; InVolts[3] = InString[4]; InVolts[4] = '\0'; InCurrent[0] = InString[6]; InCurrent[1] = InString[7]; InCurrent[2] = InString[9]; InCurrent[3] = InString[10]; InCurrent[4] = '\0'; SetPtVolts = atoi( InVolts)/2; SetPtCurrent = atoi( InCurrent); if ((SetPtVolts >= 0) && (SetPtVolts < 4096) && (SetPtCurrent >= 0) && (SetPtCurrent <4096) && ( ( (SetPtVolts/50) * (SetPtCurrent/100) ) <= 1000) ) { NewCommand = yes; putrsUSART("GOOD\r\n"); NewSetPoint = 1; } } } if(!strcmppgm2ram(InCommand,"rs")) { if (Mode == 0) { putrsUSART("The state is mission\r\n"); } if (Mode == 1) { putrsUSART("The state is homing\r\n"); } if (Mode == 2) { putrsUSART("The state is docking\r\n"); } if (Mode == 3) { putrsUSART("The state is docked-nocharge\r\n"); } if (Mode == 4) { putrsUSART("The state is docked-charge\r\n"); } if (Mode == 5) { putrsUSART("The state is failed-docked\r\n"); } if (Mode == 6) { putrsUSART("The state is failed-nondocked\r\n"); } putrsUSART("Leak reading is "); Y = ((1023-Leak_Count)*100)/1023; ultoa(Y, InData); putsUSART(InData); putrsUSART(" %\r\n"); putrsUSART("Temperature is "); Y = (Amb_Temp - 131)/2; ultoa(Y, InData); putsUSART(InData); putrsUSART(" C\r\n"); putrsUSART("Unregulated voltage from Docking Station is "); Y = V_UnReg/10; ultoa(Y, InData); putsUSART(InData); putrsUSART("."); Y = V_UnReg - (Y * 10); ultoa(Y, InData); putsUSART(InData); putrsUSART(" V\r\n"); putrsUSART("AUV Payload Bus Voltage is "); Y = V_Payload/10; ultoa(Y, InData); putsUSART(InData); putrsUSART("."); Y = V_Payload - (Y * 10); ultoa(Y, InData); putsUSART(InData); putrsUSART(" V\r\n"); putrsUSART("Battery Charge voltage is "); Y = V_PwrOut/10; ultoa(Y, InData); putsUSART(InData); putrsUSART("."); Y = V_PwrOut - (Y * 10); ultoa(Y, InData); putsUSART(InData); putrsUSART(" V\r\n"); if(Mode != 0 ) { putrsUSART("Battery Charge Current is (0 to 40.95A) "); Y = (I_Load_40mA * 4)/100; ultoa(Y, InData); putsUSART(InData); putrsUSART("."); Y = (I_Load_40mA * 4) - (Y * 100); ultoa(Y, InData); putsUSART(InData); putrsUSART(" A\r\n"); putrsUSART("Battery Charge Current is (0 to 10.23A) "); Y = (I_Load_10mA)/100; ultoa(Y, InData); putsUSART(InData); putrsUSART("."); Y = (I_Load_10mA) - (Y * 100); ultoa(Y, InData); putsUSART(InData); putrsUSART(" A\r\n"); } NewCommand = yes; } if(!strcmppgm2ram(InCommand,"dc")) { putrsUSART("Command Set:\r\n"); putrsUSART("ss = Set State\r\n"); /*putrsUSART("sc = Set Clock\r\n");*/ putrsUSART("sv = Set Power Out Voltage and Current\r\n"); putrsUSART("rs = Read Status\r\n"); NewCommand = yes; } if (NewCommand == no) { putrsUSART("Error\r\n"); strcpypgm2ram(InCommand,""); } } else { strcpypgm2ram(InCommand,""); if (strlen(InString) != 0) { putrsUSART("Error\r\n"); } } } } /************************************************************************************/ /******************** Determine Mode and output Values *****************************/ /************************************************************************************/ void DetermineMode (void) { OldMode = Mode; /* If new command update mode. If health errors reset mode to safe mode.*/ if (NewCommand == 1) { if (!strcmppgm2ram(InString,"mission")) {Mode = 0;} if (!strcmppgm2ram(InString,"homing")) {Mode = 1;} if (!strcmppgm2ram(InString,"docking")) {Mode = 2;} if (!strcmppgm2ram(InString,"docked-nocharge")) {Mode = 3;} if (!strcmppgm2ram(InString,"docked-charge")) {Mode = 4;} if (!strcmppgm2ram(InString,"failed-docked")) {Mode = 5;} if (!strcmppgm2ram(InString,"failed-nondocked")){Mode = 6;} } if (Mode == 4) { /* <<<<<< Temp. del. for testing >>>>>>>>*/ /* if (V_UnReg < 654) /* Voltage input to 1KW charger*/ /* { /*Unregulated Vin 0-102.4V = FS, = 0 to 1024 counts*/ /* Mode = 3; /* Less then 65V*/ /* } */ if (I_Load_40mA > 1000) /*Load Current 0 to 40.96A FS, 40mA per count, 30A/.03 = 1000 counts */ { Mode = 3; /* > 30Amps */ } } if ((Leak_Count < 512) && (ADCDataValid == 1)) /* 1/2 scale /*Leak Voltage < 512 counts = Leak*/ { Mode = 0; /* Safe mode all power off*/ } if (Amb_Temp > 238) /*Temperture 0.5156 Deg. C per count and 0 Deg.C = = 131.5 Counts */ { Mode = 0; /* 55/0.5156 + 131 = 238 counts for 55 Deg. C */ } if (Mode != OldMode) { NewMode = 1; /* flag for new mode*/ } if ((Mode != 4) && ((SetPtVolts != 0) || (SetPtCurrent != 0)) ) /* if not charging zero out setpoints*/ { SetPtVolts = 0; SetPtCurrent = 0; NewSetPoint = 1; } } /************************************************************************************/ /******************************* Write All Output ***********************************/ /************************************************************************************/ void WriteAllOutput (void) { /********************** Set DAC per New set point **************************/ if (NewSetPoint == 1) /* Update DAC voltage and current set pionts*/ { DAC_CS_L = 0; /* select DAC 1KW Voltage set point*/ WriteSPI(HiSetPtVolts); /*Set DAC A to 0*/ WriteSPI(LoSetPtVolts); /*Set DAC A to 0 */ DAC_CS_L = 1; /* Deselect DAC */ DAC_CS_L = 0; /* select DAC */ WriteSPI(HiSetPtCurrent | 0x10); /*Set bit 4 of high byte to address DAC B Current set point*/ WriteSPI(LoSetPtCurrent); /*Set DAC B to 0*/ DAC_CS_L = 1; /* Deselect DAC */ NewSetPoint = 0; /*Clear New set point*/ } /********************* Set power supplies per Mode ************************/ if ( NewMode ) { if (Mode == 0) /* Mission*/ { /* Set power supply bits*/ FanOn = on; /* Turn fan on */ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ MOD_USBL_ON = off; /* Turn off power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = off; /* Turn off power to RESOLVER */ PWROUT = off; /* Disable 1KW power Output */ PWROUT_L = 1; /* Disable 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 0; /* Set RS232 control nib to AUV Mission */ } if (Mode == 1) /* Homing */ { FanOn = on; /* Turn fan on*/ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ MOD_USBL_ON = on; /* Turn on power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = off; /* Turn off power to RESOLVER */ PWROUT = off; /* Disable 1KW power Output */ PWROUT_L = 1; /* Disable 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 1; /* Set RS232 control nib to AUV Mission */ } if (Mode == 2) /* Docking */ { FanOn = on; /* Turn fan on*/ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ MOD_USBL_ON = on; /* Turn on power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = on; /* Turn on power to RESOLVER */ PWROUT = off; /* Disable 1KW power Output */ PWROUT_L = 1; /* Disable 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 1; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 0; /* Set RS232 control nib to AUV Mission */ } if (Mode == 3) /* Docked-nocharge */ { FanOn = on; /* Turn fan on*/ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ MOD_USBL_ON = off; /* Turn off power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = on; /* Turn on power to RESOLVER */ PWROUT = off; /* Disable 1KW power Output */ PWROUT_L = 1; /* Disable 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 1; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 1; /* Set RS232 control nib to AUV Mission */ } if (Mode == 4) /* Docked-charge*/ { FanOn = on; /* Turn fan on*/ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ MOD_USBL_ON = off; /* Turn off power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = on; /* Turn on power to RESOLVER */ PWROUT = on; /* Enable 1KW power Output */ PWROUT_L = 0; /* Enalbe 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 1; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 0; /* Set RS232 control nib to AUV Mission */ } if (Mode == 5) /* Failed-docked*/ { FanOn = on; /* Turn fan on*/ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn on power to RF ETHERNET */ MOD_USBL_ON = off; /* Turn off power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = off; /* Turn off power to RESOLVER */ PWROUT = off; /* Disable 1KW power Output */ PWROUT_L = 1; /* Disalbe 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 1; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 1; /* Set RS232 control nib to AUV Mission */ } if (Mode == 6) /* Failed-nondocked */ { FanOn = on; /* Turn fan on*/ PC104_ON = on; /* Turn on power to PC104 */ RF_ETHERNET_ON = on; /* Turn off power to RF ETHERNET */ MOD_USBL_ON = on; /* Turn on power to ACOUSTIC MODEM and USBL */ RESOLVER_ON = off; /* Turn off power to RESOLVER */ PWROUT = on; /* Enable 1KW power Output */ PWROUT_L = 0; /* Enalbe 1KW power Output */ /* RS232 nib = mode */ RS232CTR3 = 0; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 1; /* Set RS232 control nib to AUV Mission */ } NewMode = 0; } if (RS232_INT) { /* RS232 nib = mode */ RS232CTR3 = 1; /* Set RS232 control nib to AUV Mission */ RS232CTR2 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR1 = 0; /* Set RS232 control nib to AUV Mission */ RS232_CTR0 = 0; /* Set RS232 control nib to AUV Mission */ } } /************************************************************************************/ /********************************** Functions ***************************************/ /************************************************************************************/ void ReadStrTimeOut(char Wait) /* Read a string form the USART, return nul if no data or e1 if time out*/ { if (DataRdyUSART() || (Wait == 'W')) { char i = 0; /* string pointer, exit if 21*/ while (i != 21) { INTCONbits.TMR0IF = 0; /* Clear Timer0 over flow bit*/ WriteTimer0(2^16-31250); /*Set time out to 8 sec (256uSec per count)*/ while ((!INTCONbits.TMR0IF) && (!DataRdyUSART())); /*wait for byte or time out*/ if (!INTCONbits.TMR0IF) /*If Not Time out then data ready*/ { InString[i] = ReadUSART(); /* add USART byte to string*/ if (InString[i] == 13) /* Line feed*/ { InString[i] = '\0'; i = 19; /* now get CR then exit */ if (strlen(InString) == 0) { strcpypgm2ram(InString,"dc"); } } if (InString[i] == 10) /* Carriage return*/ { InString[i] = '\0'; i = 20; /* force exit */ if (strlen(InString) == 0) { strcpypgm2ram(InString,"dc"); } } } else { i = 20; /* 20 + 1 = 21, exit with time out*/ strcpypgm2ram(InString,"e1"); /* Set string to error 1 time out*/ ErrorFlag = 1; } ++i; } } else { strcpypgm2ram(InString,""); /* Set string to null and return*/ } }