/****************************************************************************/ /* Copyright 2011 MBARI. */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ #include #include #include #include "parser.h" #include "errors.h" #include "serial.h" #include "spi.h" #include "analog.h" #include "data_flash.h" #include "sys_timer.h" #include "ex_rtc.h" #include "config.h" #include "tasks.h" #include "sys_defs.h" _CONFIG1(JTAGEN_OFF & GCP_OFF & GWRP_OFF & COE_OFF & FWDTEN_OFF & ICS_PGx1) _CONFIG2(IESO_OFF & FNOSC_PRI & FCKSM_CSDCMD & OSCIOFNC_ON & DISUVREG_OFF & POSCMOD_XT) _CONFIG3(WPDIS_WPDIS) #define MAX_CHARS 80 /* maximum command line entry length */ #define NO_LINE 0 #define GOT_LINE 1 #define LANC_MODE 2 static ConfigData configData; void lancMode(); int getCommand(char* cmd); int main(void) { int ret_val; char cmd_buff[MAX_CHARS]; char err_buff[32]; char* cmd_ptr; /* move peripheral setup to perhip.c */ /* Configure select analog pins for digital */ _PCFG0 = 1; /* Set for digital */ _PCFG1 = 1; /* Set for digital */ _PCFG2 = 1; /* Set for CS2 */ _PCFG3 = 1; /* Set for digital */ _PCFG4 = 1; /* Set for digital */ _PCFG5 = 1; /* Set for digital */ _PCFG6 = 1; /* Set for digital */ _PCFG7 = 1; /* Set for digital */ _PCFG8 = 1; /* Set for digital */ _PCFG9 = 1; /* Set for digital */ _PCFG10 = 0; /* Analog in 2 */ _PCFG11 = 0; /* Battery voltage */ _PCFG12 = 1; /* LED 1 power bit */ _PCFG13 = 1; /* LED 2 power bit */ _PCFG14 = 1; /* Inst 2 power bit */ _PCFG15 = 1; /* Set for digital */ /* wait for LANC chip to initialize */ tmrInit(); tmrDelayMs(500L); /*************************** Map Pins UART 1 ****************************/ /* Assign U1RX To Pin RP17 */ _U1RXR = 17; /* Assign U1TX (5) To Pin RP16 */ _RP16R = 3; /*************************** Map Pins UART 2 ****************************/ /* Assign U2RX To Pin RP11 */ _U2RXR = 11; /* Assign U2TX (5) To Pin RP12 */ _RP12R = 5; /* Setup pin RG6 as console xcvr control and enable */ _TRISG6 = 0; _LATG6 = 1; /* Setup power switch outputs */ /* Camera */ _TRISF0 = 0; _LATF0 = 0; /* LED 1 */ _TRISB12 = 0; _LATB12 = 0; /* LED 2 */ _TRISB13 = 0; _LATB13 = 0; /* HDMI->NTSC */ _TRISF1 = 0; _LATF1 = 0; /* Strobe */ _TRISC13 = 0; _LATC13 = 0; /* Instrument 1 */ _TRISC14 = 0; _LATC14 = 0; /* Instrument 2 */ _TRISB14 = 0; _LATB14 = 0; /* Setup trigger inputs */ _TRISD6 = 1; _TRISD7 = 1; /* map SPI bus pins */ _RP4R = 7; /* Make Pin RP4 SDO (MOSI) */ _SDI1R = 3; /* Make Pin RP3 SDI (MISO) */ _RP2R = 8; /* Make Pin RP2 SCK */ /* init everything here */ anaInit(); serInit(); spiInit(); dmInit(); rtcInit(); /* show the sign-on banner */ sprintf(cmd_buff, "\r\ntlCamera Controller %s, %s\r\n", __DATE__, __TIME__); serPutString(SER_CONSOLE, cmd_buff); sprintf(cmd_buff, "CVS tag \"%s\"\r\n", "$Name: $"); serPutString(SER_CONSOLE, cmd_buff); /* read the config struct */ if ( cfgRead(&configData) != 0 ) { /* set the defaults */ cfgDefault(); serPutString(SER_CONSOLE, "ERR: CONFIG READ FAILED, USING DEFAULT\r\n"); /* reread the correct default config */ cfgRead(&configData); } /* initialize all parameters */ tskSetCaptureMode(configData.captureMode); tskSetStartDeploy(configData.startOfDeploy); tskSetLenDeploy(configData.lenOfDeploy); tskSetSampleInt(configData.sampleInterval); tskSetVidLen(configData.lenOfVideo); tskSetBattLevel(configData.battLevel); /* taskInit has to come after the parameters are initialized */ tskInit(); for (;;) { tskExecute(ALL_TASK); ret_val = getCommand(cmd_buff); /* check for lanc mode first */ if ( ret_val == LANC_MODE ) { lancMode(); /* if you are exiting lanc mode you don't have a command */ ret_val = NO_LINE; } /* if you didn't enter lanc mode check for command */ if ( ret_val == NO_LINE ) { ret_val = ERR_NO_LINE; } else { /* Skip white space here */ cmd_ptr = prsSkip(cmd_buff, " \t"); /* If the cmd from getCommand was empty then return here. */ if ( !strlen(cmd_ptr) ) ret_val = ERR_EMPTY_LINE; else ret_val = prsParse(cmd_ptr, cmdsRoot, ERR_NO_COMMAND); } /* display ERR code or RDY prompt */ if ( ret_val != ERR_NO_LINE) { if ((ret_val != ERR_SUCCESS) && (ret_val != ERR_EMPTY_LINE)) { sprintf(err_buff,"ERR %04d\r\n", ret_val); serPutString(SER_CONSOLE, err_buff); } serPutString(SER_CONSOLE, "RDY\r\n"); } } } void lancMode() { unsigned char b; int lanc_mode = TRUE; /* flush everything */ serRxFlush(SER_SPARE); serRxFlush(SER_CONSOLE); serTxFlush(SER_SPARE); serTxFlush(SER_CONSOLE); serPutString(SER_CONSOLE, "LANC MODE ENABLED\r\n"); while ( lanc_mode ) { /* if you're in lan c mode keep the timers updated, but don't run other tasks */ tskExecute(TMR_TASK); /* if you get a lanc byte send it to the console */ if ( serGetByte(SER_SPARE, &b) ) serPutByte(SER_CONSOLE, b); /* if you get a console byte send it to the lanc bus */ if ( serGetByte(SER_CONSOLE, &b) ) { /* got Ctrl-X, exit LANC pass through */ if ( b == 0x18 ) lanc_mode = FALSE; else serPutByte(SER_SPARE, b); /* reset lanc session timer */ /* Need to add timer here */ } /* if lanc session timer expires exit LANC mode */ /* Need to add timer here */ } /* flush everything */ serRxFlush(SER_SPARE); serRxFlush(SER_CONSOLE); serTxFlush(SER_SPARE); serTxFlush(SER_CONSOLE); serPutString(SER_CONSOLE, "LANC MODE DISABLED\r\n"); return; } #define ECHO_MODE 1 int getCommand(char* cmd) { static int char_count = 0; static char line[MAX_CHARS] = ""; const unsigned char terminator = '\r'; int got_line; unsigned char b; int i; got_line = NO_LINE; if ( serGetByte(SER_CONSOLE, &b) ) { /* got Ctrl-L, enter LANC pass through */ if ( b == 0x0C ) { /* dump current line */ line[char_count] = '\0'; char_count = 0; return LANC_MODE; } if ( ECHO_MODE ) { serPutByte(SER_CONSOLE, b); if (b == '\r') serPutByte(SER_CONSOLE, '\n'); } if ( b != terminator ) { if ( (b != '\b') && (char_count < MAX_CHARS) ) line[char_count++] = b; else if ( char_count > 0 ) --char_count; cmd[0] = '\0'; } else { got_line = GOT_LINE; line[char_count] = '\0'; for (i = 0; i <= char_count; i++) cmd[i] = line[i]; char_count = 0; } } return got_line; }