/************************************************************************/ /* Copyright 2009-2012 MBARI */ /************************************************************************/ /* Summary : Definitions for interfacing to libSensorNode */ /* Filename : sensorNode.h */ /* Author : Robert Herlien (rah) */ /* Project : xFOCE */ /* Revision: 1.0 */ /* Created : 04/22/2013 */ /* */ /* MBARI provides this documentation and code "as is", with no warranty, */ /* express or implied, of its quality or consistency. It is provided without*/ /* support and without obligation on the part of the Monterey Bay Aquarium */ /* Research Institute to assist in its use, correction, modification, or */ /* enhancement. This information should not be published or distributed to */ /* third parties without specific written permission from MBARI. */ /* */ /************************************************************************/ /* Modification History: */ /* 22apr2013, rah */ /************************************************************************/ #ifndef INCsensorNodeh #define INCsensorNodeh 1 #include #include #include /****************************************/ /* Typedefs and definitions */ /****************************************/ #define SENSOR_NODES 16 /* Max SensorNodes supported */ #define SN_SER_PORTS 3 /* Number ser ports on SensorNode*/ #define SN_PWR_PORTS 4 /* Num pwr ports on SensorNode */ #define SN_AD_CHANS 8 /* Num A/D channels on SensorNode*/ #ifndef SNLIB typedef void *SensorNodeHandle; typedef void *RemSerHandle; #endif #ifndef DEF_MBOOL typedef short int MBool; #define DEF_MBOOL #endif #ifndef DEF_ERRNO typedef int Errno; #define DEF_ERRNO #endif #ifndef BLINKY_STATE typedef enum {BlinkyOff=0, BlinkyOn, BlinkyDebug} BlinkyState; #define BLINKY_STATE #endif #ifndef FALSE #define FALSE 0 #endif #ifndef TRUE #define TRUE ~FALSE #endif #ifndef ON #define ON TRUE #endif #ifndef OFF #define OFF FALSE #endif #define OK 0 #define SUCCESS 0 #define ERROR -1 #define FOREVER while(TRUE) /****************************************/ /* Declarations for Analog Channels */ /* (chan parameter for snAnalogChan) */ /****************************************/ #define AD_INSTR_CURR 0 /* Total current to all 4 instrument ports */ #define AD_INSTR_VOLT 1 /* Voltage to the instrument ports */ #define AD_INSTR_1_CURR 2 /* Current to instrument port 1 */ #define AD_INSTR_2_CURR 3 /* Current to instrument port 2 */ #define AD_INSTR_3_CURR 4 /* Current to instrument port 3 */ #define AD_INSTR_4_CURR 5 /* Current to instrument port 4 */ #define AD_4_20_MA_VOLT 6 /* Current from the 4-20 mA current loop */ /* snAnalogChan() return, in the *val parameter, the resulting A/D count in */ /* the range of 0 - 65535. Conversion to engineering units is a 2-step process */ /* First, convert to an A/D voltage in the range of 0.0 to 3.0 volts, via */ /* adVolts = 3.0 * cnt / 65536 */ /* Next, the conversion from adVolts to engineering units is channel-specific */ /* Chan 0: amps = 2.0 * adVolts */ /* Chan 1: instrVolts = 16.0 * adVolts */ /* Chan 2: amps = 0.667 * adVolts */ /* Chan 3: amps = 0.667 * adVolts */ /* Chan 4: amps = 0.667 * adVolts */ /* Chan 5: amps = 2.0 * adVolts */ /* Chan 6: milliamps = 6.1 * adVolts + 4.0 */ /* For chan 6, the max valid reading is 57235 (20 ma). Higher readings indicate*/ /* an error in the measurement. */ /****************************************/ /* Serial Error Bits */ /****************************************/ #define PERR_BIT 0x10 #define FERR_BIT 0x08 #define OERR_BIT 0x04 #define XERR_BIT 0x02 #define YERR_BIT 0x01 /****************************************/ /* Function Declarations */ /****************************************/ /* Library-wide functions */ void initSensorNodeLib(void); void snSetDebug(MBool onoff); SensorNodeHandle openSensorNode(char *dev, int baud, int slaveID); Errno closeSensorNode(SensorNodeHandle snh); /* libmodbus functions made available to sensorNode library */ void modbusSetDebug(SensorNodeHandle snh, MBool onoff); void modbusGetResponseTimeout(SensorNodeHandle snh, struct timeval *timeout); void modbusSetResponseTimeout(SensorNodeHandle snh, struct timeval *timeout); void modbusGetByteTimeout(SensorNodeHandle snh, struct timeval *timeout); void modbusSetByteTimeout(SensorNodeHandle snh, struct timeval *timeout); /* Remote Serial Functions */ RemSerHandle snOpenSerial(SensorNodeHandle snh, uint16_t port); Errno snSerInit(RemSerHandle rsh, int baud, char parity, int stop); Errno snCloseSerial(RemSerHandle rsh); uint32_t snSerRead(RemSerHandle rsh, char *buffer, uint32_t len); uint32_t snSerWrite(RemSerHandle rsh, const char *buffer, uint32_t len); Errno snSerDrain(RemSerHandle rsh, uint32_t tmout); Errno snSerIFlush(RemSerHandle rsh); Errno snSerOFlush(RemSerHandle rsh); int16_t snSerRxCount(RemSerHandle rsh); Errno snSerBreak(RemSerHandle rsh, uint16_t breakTime); Errno snSerSetTxEnbl(RemSerHandle rsh, MBool enbl); Errno snSerGetErrFlags(RemSerHandle rsh, uint16_t *flags); Errno snSerClearErrFlags(RemSerHandle rsh, uint16_t flags); /* Remote Power Functions */ Errno snPower(SensorNodeHandle snh, uint16_t port, MBool onoff); int16_t snPowerIsOn(SensorNodeHandle snh, uint16_t port); Errno snGetPowerVector(SensorNodeHandle snh, uint16_t *vect); /* Remote A/D Functions */ Errno snAnalogChan(SensorNodeHandle snh, uint16_t chan, uint16_t *val); Errno snAnalogChans(SensorNodeHandle snh, uint16_t chan, uint16_t nchans, uint16_t *val); Errno snSetAnalogParms(SensorNodeHandle snh, uint16_t chan, uint16_t nchans, uint16_t *parms); Errno snGetAnalogParms(SensorNodeHandle snh, uint16_t chan, uint16_t nchans, uint16_t *parms); /* Misc */ Errno snGetSerialNum(SensorNodeHandle snh, uint16_t *num); Errno snGetSoftwareRev(SensorNodeHandle snh, uint16_t *num); Errno snGetBoardConfig(SensorNodeHandle snh, uint32_t *cfg); Errno snGetHwConfig(SensorNodeHandle snh, uint16_t *cfg); Errno snBlinky(SensorNodeHandle snh, BlinkyState state); Errno snSetDCAlwaysOn(SensorNodeHandle snh, MBool on); Errno snResetConfigMode(SensorNodeHandle snh); #endif /* INCsensorNodeh */