/****************************************************************************** // param.c handles the configuration parameters // //***************************************************************************** // // Dec2008, created // // Oct11 updated writing eeprom param // jan16 updated for non-volatile ram for profile, surface counters // may16 update for more flash card properly mounted. // //==== Future Expansion ======================================================= // last update: Jan2009 // // 1. // 2. getting/setting parameters in the msp430 modules // 3. break out the mission id into 2 words: YYMM and id# // 4. parse command '2' // 5. ability to update Eeprom params from menus and shore commands // 6. variations on passwords? // 7. read in old config file and just use names to update. // *******************************************************************************/ #include // Persistor BIOS and I/O Definitions #include // Persistor PicoDOS Definitions #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "cf2_qsm332.h" #include "spi_cmd.h" #include "nav.h" #include "lifo.h" #include "setup.h" // globals extern char Verbose; // switch for displaying more info extern char IRQ_Flag; // interrupt flag: says what caused the interrupt extern short iparam [ MAX_PARAM ]; // global parameter settings extern struct all_param all; //=== jan16 moving Surf_N, Prof_N from eeprom to non-volatile RAM ========== ulong NvRamSurf_N : 0xC010; // surface counter ulong NvRamProf_N : 0xC014; // profile counter #define END_GROUP 126 // END of table has group setting character =126 struct group_param group[] = //============================================== { // table with group char linked to label // this is used strictly for display purposes, // and for individually modifying paramaters within a group // 123456789012345678901234567890 { 'V', "Vehicle_ID,Sensor_Settings" }, { 'A', "Attitude-Control(pitch)" }, { 'B', "Attitude-Control(roll)" }, { 'C', "Compiler_settings" }, { 'D', "Doppler_settings" }, { 'E', "Exception_settings" }, { 'H', "Hydraulic_settings" }, { 'M', "Mission_settings" }, { 'N', "Nav_Compass_settings" }, { 'R', "Route_settings" }, { 'S', "Steering_Control" }, { 'T', "Communication,Timing" }, { 'X', "Request_Reply" }, { 'U', "NOT ASSIGNED" }, { 'W', "Watchdog settings" }, #if BENTHOS==1 || NPS==1 { 'L', "Acoustic_Link_settings" }, #endif { END_GROUP, "END" } }; //======================================================================== #if BENTHOS==1 || NPS==1 #define NGROUP 17 //max # of groups in the above+1 #else #define NGROUP 16 //max # of groups in the above+1 #endif struct shore_cmd shore[] = //================================================ { // shore command assignments { '0', 0, 1, 'E', 1, 2, "Spray_RESET" }, { '1', 0, 2, 'E', 1, 1, "END_MISSION" }, { '2', 0, 1, 'V', 2, 2, "Change_Val[addr]" }, { '3', 0, 2, 'R', 3, 3, "Change_Waypt[i]" }, { '4', 0, 0, 'M', 3, 3, "Drift_Timing" }, { '5', 0, 0, 'H', 1, 2, "Air_Vent_Control" }, { '5','1', 0, 'H', 3, 3, "Auto-Degas Loop" }, // jun15 #if BENTHOS==1 || NPS==1 { '6', 0, 2, 'L', 0, 0, "Acoustic_Link" }, { '6','0', 2, 'L', 0, 0, "Acoustic_Link" }, { '6','1', 2, 'L', 0, 0, "Acoustic_Link" }, { '6','2', 2, 'L', 0, 0, "Acoustic_Link" }, { '6','3', 2, 'L', 0, 0, "Acoustic_Link" }, { '6','4', 2, 'L', 0, 0, "Acoustic_Link" }, #else { '6', 0, 0, 'U', 0, 0, "NOT_ASSIGNED" }, #endif { '7', 0, 2, 'R', 2, 5, "Change_Route[i]" }, { '8', 0, 0, 'M', 3, 3, "Max_Depth" }, { '9', 0, 0, 'T', 1, 1, "Min_Dive_Cycle" }, { 'A', 0, 0, 'V', 1, 1, "Optical_On/Off" }, { 'B', 0, 0, 'M', 1, 1, "Max_Dives" }, { 'C', 0, 0, 'H', 1, 7, "Hyd_Pump_Control" }, //dec14, added 50m pump time { 'D', 0, 1, 'S', 1, 5, "Set_Correction" }, //dec11, fnx=1; turn off manual heading { 'E', 0, 0, 'S', 1, 2, "Manual_steering" }, { 'F', 0, 0, 'D', 1, 6, "Doppler" }, #if NTK==1 { 'F','1', 0, 'D', 1, 7, "NTK" }, //aug14 update from 6 to 7 params #endif #if ZOOG==1 //=== oct16 zooGlider shore commands ================ { 'F','2', 2, 'D', 3, 3, "zooNar Pings" }, { 'F','3', 2, 'D', 3, 3, "zooNar Beam" }, #endif { 'G', 0, 0, 'M', 1, 1, "Glide_Angle" }, { 'H', 0, 0, 'V', 2, 2, "Eng_Time_Series" }, { 'I', 0, 0, 'A', 1, 5, "Pitch_Control" }, { 'J', 0, 0, 'B', 1, 5, "Roll_Control" }, { 'K', 0, 0, 'T', 1, 1, "Min_Tm_Btwn_Sat" }, { 'L', 0, 1, 'T', 1, 3, "Argos_Timing" }, { 'M', 0, 1, 'T', 1, 3, "GPS_Timing" }, // dec11, add ability to do cold reset { 'N', 0, 0, 'U', 0, 0, "NOT_ASSIGNED" }, // N is used in the ISUS code { 'O', 0, 2, 'O', 4, 4, "PP_cell_info" }, // mar11: sets general PP_DAQ param { 'O','1', 2, 'O', 4, 4, "PP_load[i]_info" }, // mar11: sets specific PP load vals { 'P', 0, 0, 'E', 1, 4, "Exception_Action" }, // dec11 added op_mode { 'R', 0, 2, 'X', 1, 1, "Request_Resend" }, { 'S', 0, 0, 'T', 2, 2, "Wing_Ant_Select" }, { 'T', 0, 0, 'S', 1, 2, "Steering_Point" }, { 'U', 0, 0, 'T', 1, 2, "SBD_Timing" }, { 'V', 0, 0, 'N', 1, 2, "Compass_Declin." }, { 'W', 0, 1, 'R', 4, 4, "Route_Settings" }, { 'Z', 0, 0, 'V', 1, 3, "Altimeter_Cntl" }, { '@', 0, 2, 'X', 0, 0, "Request_Route" }, { '!', 0, 2, 'X', 0, 0, "Request_Params" }, { END_GROUP, 0, 0, END_GROUP, 0, 0, "End_shore_commands" } }; //======================================================================== #define N_SHORE 43 // # shore commands+1 //jan14, take into account BENTHOS,NTK // parameter addr-name link, plus default settings struct lookup Param_table[] = //=========================================== { //table to look up IA_addr given ascii name //table entries are: // name (for linking address to config file) // group (group ID, used for display, sorting only) // set_type: flag of the variable status: // default value (in case of reset & cfg file is corrupted) // addr (pointer) into the global iparam. // values SET by eeprom/compile, NOT by .cfg or shore commands // 0902.5 feb11, moved sensor_cfg to compile version= installed sensor suite {"MajVer",SA_major_ver, 'C',SET_NO ,MAJ_VER, 0, 0, 0, 0, 0, "EEPROM_Version" }, {"MinVer",SA_minor_ver, 'C',SET_NO ,MIN_VER, 0, 0, 0, 0, 0, "Minor_Revision" }, {"ShoVer",SA_shore_ver, 'C',SET_NO ,SHORE_VER,0, 0, 0, 0, 0, "Shore_Cmd_Version" }, {"SENVER",SA_sensor_cfg,'C',SET_NO ,SENSE_CFG,0, 0, 0, 0, 0, "Sensor_Config" }, {"GIOVer",SA_gpio_ver, 'C',SET_NO ,0, 0, 0, 0, 0, 0, "M430_GPIO_Version" }, // SBE sensor offsets and gains {"PR_off",SA_pr_off, 'C',SET_NO , PR_OFF, 0, 0, 0, 0, 0, "SBE_Poff[dBar]" }, {"PR_gn", SA_pr_gain, 'C',SET_NO , PR_GAIN, 0, 0, 0, 0, 0, "SBE_Pgain*1000" }, {"T_off", SA_temp_off, 'C',SET_NO , T_OFF, 0, 0, 0, 0, 0, "SBE_Toff[degC]" }, {"T_gn" , SA_temp_gain,'C',SET_NO , T_GAIN, 0, 0, 0, 0, 0, "SBE_Tgain*1000" }, {"S_off", SA_sal_off, 'C',SET_NO , S_OFF, 0, 0, 0, 0, 0, "SBE_Soff[PSU]" }, {"S_gn" , SA_sal_gain, 'C',SET_NO , S_GAIN, 0, 0, 0, 0, 0, "SBE_Sgain*1000" }, // 0903: feb11, include sample timing, so documented in config file {"Dt_dn", SA_dt_dn, 'C',SET_NO , SAMP_DT_DN, 0, 0, 0, 0, 0, "Samp_Secs_Down" }, {"Dt_up", SA_dt_up, 'C',SET_NO , SAMP_DT_UP, 0, 0, 0, 0, 0, "Samp_Secs_Up" }, // values that reside in eeprom -------------------------------- {"SERNO" ,EA_serno, 'V',SET_EE , 99, 1, 999, 0, 0,0, "Spray_Ser_No" }, // dec11 0903.6, let op_mode be modified in the exceptions command. {"OPMODE",EA_op_mode, 'V',SET_EE , 0, -9, 99,'P',0,3, "Operation_Mode" }, {"OPTGN" ,EA_opt_gain, 'V',SET_EE , 0, 0, 9999, 0, 0,0, "Optical_Gain" }, // jan16 values that reside in non-volatile RAM ---------------- // change from SET_NV to SET_NO to keep config, shore commands from updating {"SURF_N",EA_surf_num, 'V',SET_NV , 0, 0, 9999, 0, 0,0, "Present_Surf_Num"}, {"PROF_N",EA_prof_num, 'V',SET_NV , 0, 0, 9999, 0, 0,0, "Present_Profile_Num"}, //values in RAM, but read in from the .cfg file ---------------- // pitch-specific control settings Mar12, expanded bounds on min, max settings {"Pi_0", IA_pitch_0, 'A',SET_OK,2048, 100, 4000, 0, 0,0, "Zero_Pitch" }, {"Pi_xmt",IA_pitch_xmt, 'A',SET_OK,1700, 100, 4000, 0, 0,0, "Pitch_Surface_Xmit" }, {"Pi_10d",IA_pitch_10d, 'A',SET_OK, 60, 10, 200, 0, 0,0, "Pitch_Cnts_for_10deg" }, {"P_dcdt",MA_pitch_dcdt, 'A',SET_OK, 23, 15, 100, 0, 0,0, "Pitch_Cnts_Per_S" }, {"Pi_wdn",IA_pi_wdn, 'A',SET_OK, 0, -15, 1, 'I', 0, 0, "Descent_Wmin[cm/s]" }, {"Pi_use",IA_pi_stat, 'A',SET_OK, 1, 0, 2, 'I', 0, 1, "Pitch_Status" }, {"Pi_dn", IA_pi_dn, 'A',SET_OK, 120, -1000, 3000, 'I', 0, 3, "Pitch_Down_Offset" }, {"Pi_up", IA_pi_up, 'A',SET_OK,-300, -3000, 3000, 'I', 0, 2, "Pitch_Up_Offset" }, {"Pi_pmp",IA_pi_pmp, 'A',SET_OK, 9, 0, 50, 'I', 0, 4, "Pitch_Pump_Cnts" }, //msp430 eeprom settings {"Pi_min",MA_pitch_min, 'A',SET_ME ,1000, 500, 4000, 0,0,0, "Min_Pitch_Cnts" }, {"Pi_max",MA_pitch_max, 'A',SET_ME ,3200, 500, 4000, 0,0,0, "Max_Pitch_Cnts" }, {"Pi_c2i",MA_pi_c2i, 'A',SET_ME, 1, 1, 4000, 0,0,0, "Pi_Cnts_to_Amp" }, {"Pi_c2v",MA_pi_c2v, 'A',SET_ME, 1, 1, 4000, 0,0,0, "Pi_Cnts_to_Volt" }, {"Pi_mxI",MA_pi_max_amps,'A',SET_ME, 150, 50, 1000, 0,0,0, "Pitch_Max_Amps" }, {"Pi_SN", MA_pi_sn, 'A',SET_ME, 1, 1, 9999, 0,0,0, "Pitch_Ser_No" }, {"Pi_Ver",MA_pi_ver, 'A',SET_ME, 0, 0, 9999, 0,0,0, "Pi_Firmware_Ver" }, // roll-specific control settings --------------------------- {"Ro_0", IA_roll_0, 'B',SET_OK,2048, 100, 4000, 0, 0,0, "Zero_Roll" }, {"Rport", IA_roll_port, 'B',SET_OK,1500, 100, 4000, 0, 0,0, "Port_Wing_Up" }, {"Rstbd", IA_roll_stbd, 'B',SET_OK,2500, 100, 4000, 0, 0,0, "Stbd_Wing_Up" }, {"Ro_10d",IA_roll_10d, 'B',SET_OK, 70, 10, 200, 0, 0,0, "Roll_Cnts_for_10deg" }, {"R_dcdt",MA_roll_dcdt, 'B',SET_OK, 17, 15, 100, 0, 0,0, "Roll_Cnts_Per_S" }, //0902.5 feb11 increased max limit on Ro_use {"Ro_use",IA_ro_use, 'B',SET_OK, 1, 0, 999,'J',0,0, "Use_Roll_Angle" }, {"Ro_up", IA_ro_up, 'B',SET_OK, 0, -30, 30,'J',0,1, "Roll_Angle_Up" }, {"Ro_dn", IA_ro_dn, 'B',SET_OK, 0, -30, 30,'J',0,2, "Roll_Angle_Down" }, {"Ro_tau",IA_ro_rtau, 'B',SET_OK, 10, -200, 200,'J',0,3, "Roll_PI_Ptau" }, //jan16 allow <0 {"Ro_eta",IA_ro_etau, 'B',SET_OK, 10,-2000, 2000,'J',0,4, "Roll_PI_Itau" }, // msp430 eeprom settings {"Ro_min",MA_roll_min, 'B',SET_ME ,1400, 500, 4000, 0,0,0, "Min_Roll_Cnts" }, {"Ro_max",MA_roll_max, 'B',SET_ME ,2700, 500, 4000, 0,0,0, "Max_Roll_Cnts" }, {"Ro_c2i",MA_ro_c2i, 'B',SET_ME, 1, 1, 4000, 0,0,0, "Roll_Cnts_to_Amp" }, {"Ro_c2v",MA_ro_c2v, 'B',SET_ME, 1, 1, 4000, 0,0,0, "Roll_Cnts_to_Volt"}, {"Ro_mxI",MA_ro_max_amps,'B',SET_ME, 150, 50, 1000, 0,0,0, "Roll_Max_Amps" }, {"Ro_SN", MA_ro_sn, 'B',SET_ME, 1, 1, 9999, 0,0,0, "Roll_Ser_No" }, {"Ro_Ver",MA_ro_ver, 'B',SET_ME, 0, 0, 9999, 0,0,0, "Roll_Firmware_Ver"}, // hydraulic settings --------------------------------------- {"MinPmp",IA_min_pump, 'H',SET_OK, 360, 300, 900, 0,0,0, "Min_Pump_Sec" }, {"MaxPmp",IA_max_pump, 'H',SET_OK, 600, 300, 1200,'C',0,0, "Max_Pump_Sec" }, {"Pmp50m",IA_pmp_50m, 'H',SET_OK, 8, 2, 300,'C',0,1, "Pump_50m" }, //dec14 {"BuoyPm",IA_buoy_pump, 'H',SET_OK, 150, 50, 400,'C',0,2, "Buoy_Pump_Sec" }, {"DtPmp", IA_delta_pump, 'H',SET_OK, 35, 10, 100,'C',0,3, "Delta_Pump_Sec" }, {"wUpmin",IA_wmin_up, 'H',SET_OK, 10, 5, 30,'C',0,4, "Wmin_Up[cm/s]" }, {"MaxAmp",IA_max_amp, 'H',SET_OK, 300, 100, 500,'C',0,5, "Max_Pump_Amps" }, {"AmpAct",IA_amp_action, 'H',SET_OK, 1, 0, 2,'C',0,6, "Bad_Amp_Action" }, {"OilMax",IA_oil_max, 'H',SET_OK,2000, 200, 4000, 0,0,0, "Max_Oil_Counts" }, // vent control {"VntCtl",IA_cntl_vent, 'H',SET_OK, 0, 0, 1000,'5',0,0, "Vent_Control" }, {"Vnt_Tm",IA_tm_vent, 'H',SET_OK, 0, 0, 40,'5',0,1, "Vent_Evac_Sec" }, // msp430 eeprom settings {"H_c2i", MA_hyd_c2i, 'H',SET_ME, 61, 1, 4000, 0,0,0, "Hyd_Cnts_to_Amps" }, {"H_c2v", MA_hyd_c2v, 'H',SET_ME, 67, 1, 4000, 0,0,0, "Hyd_Cnts_to_Volt" }, {"HydSN", MA_hyd_sn, 'H',SET_ME, 1, 1, 9999, 0,0,0, "Hyd_Ser_No" }, {"HydVer",MA_hyd_ver, 'H',SET_ME, 0, 0, 9999, 0,0,0, "Hyd_Firmware_Ver" }, // route settings ------------------------------------------- {"Nroute",IA_num_route, 'R',SET_OK, 1, 1,MAX_WAYPTS,'W',0,0, "Num_Route" }, {"Rnow", IA_route_now, 'R',SET_OK, 1, 1,MAX_WAYPTS,'W',0,1, "Route_Now" }, {"R_end", IA_route_end, 'R',SET_OK, 1, 1, 3,'W',0,2, "End_Route" }, {"Rdir", IA_route_dir, 'R',SET_OK, 1, -1, 1,'W',0,3, "Route_Dir" }, //route list is stored separately // Compass settings ----------------------------------------- {"MagVar",IA_mag_var, 'N',SET_OK, 0, -90, 90,'V',0,0, "Mag_Declination" }, {"UseMC", IA_use_moff, 'N',SET_OK, 1, 0, 2,'V',0,1, "User_Mag_Cal" }, {"Moff_X",IA_moff_x, 'N',SET_OK, 0, -999, 999, 0, 0,0, "Mag_Offset_X" }, {"Moff_Y",IA_moff_y, 'N',SET_OK, 0, -999, 999, 0, 0,0, "Mag_Offset_Y" }, {"Moff_Z",IA_moff_z, 'N',SET_OK, 0, -999, 999, 0, 0,0, "Mag_Offset_Z" }, // Steering control -------------------------------------- {"UseSet",IA_use_set, 'S',SET_OK, 0, 0, 1,'D',0,0, "Use_Set_Corr." }, {"Cross", IA_cross, 'S',SET_OK, 0, -180, 180,'D',0,1, "Steer_Current" }, {"Set_ND",IA_set_nprof, 'S',SET_OK, 0, 0, 9999,'D',0,2, "Set_Nprofs" }, {"SetMin",IA_set_min, 'S',SET_OK, 0, -360, 360,'D',0,3, "Set_Min_Correct" }, {"SetMax",IA_set_max, 'S',SET_OK, 0, -360, 360,'D',0,4, "Set_Max_Correct" }, {"ManAng",IA_man_theta, 'S',SET_OK, 0, -2, 360,'E',0,0, "Manual_Heading" }, {"Man_ND",IA_man_nprof, 'S',SET_OK, 0, 0, 9999,'E',0,1, "Manual_Nprofs" }, {"Str_Pt",IA_steer_pt, 'S',SET_OK, 0, 0, 1000,'T',0,0, "Steering_Pt_km" }, {"Str_ND",IA_steer_nprof,'S',SET_OK, 0, 0, 9999,'T',0,1, "Steer_Nprofs" }, // Mission settings ----------------------------------------- {"MisID" ,IA_miss_id, 'M',SET_OK, 0, 0,32565, 0 ,0,0, "Mission_ID" }, {"Nprofs",IA_nprofs, 'M',SET_OK, 200, 1, 9999,'B',0,0, "Num_Profiles" }, {"Zmax0" ,IA_first_zmax, 'M',SET_OK, 100, 20, 1100,'0',0,1, "First_Dive_Zmax" }, {"Zmax", IA_zmax, 'M',SET_OK, 100, 20, 1100,'8',0,0, "Max_Depth[dBar]" }, {"Tglide",IA_max_dive_tm,'M',SET_OK, 25, 10, 600,'8',0,1, "Max_Descent_Time" }, {"N_Avg", IA_num_avg, 'M',SET_OK, 1, 1, 50,'8',0,2, "Npts_to_Avg" }, {"G_Ang", IA_glide_angle,'M',SET_OK, 17, 6, 40,'G',0,0, "Pitch_Angle[deg]" }, // mission drift settings {"DrftTm",IA_drift_tm, 'M',SET_OK, 0, 0,32766,'4',0,0, "Drift_Minutes" }, {"DrftNS",IA_drift_ns, 'M',SET_OK, 1, 1,32766,'4',0,1, "Drift_N_Sample" }, // 0903 feb11 add drift initial pump time {"Tpmp0" ,IA_drift_pmp, 'M',SET_OK, 40, 1, 900,'4',0,2, "Drift_T_pump[s]" }, // Timing settings ------------------------------------------ {"GPS_Tm",IA_gps_tm, 'T',SET_OK, 15, 0, 20,'M',0,0, "GPS_Time[m]" }, {"Argos", IA_argos_tm, 'T',SET_OK, 15, 0, 1440,'L',0,0, "Argos_Time[m]" }, {"Xmit0", IA_min_xmit_tm,'T',SET_OK, 15, 10, 600,'K',0,0, "Min_Xmit_Time[m]" }, // mission start-up timing {"T_Dly", IA_delay_start,'T',SET_OK, 10, 0,32767, 0,0,0, "Start_Delay_Tm[m]"}, {"T_strt",IA_try_start, 'T',SET_OK, 0, 0,32767, 0,0,0, "Start_Roll_Try" }, {"P_strt",IA_try_press, 'T',SET_OK, 0, 0, 9999, 0,0,0, "Start_Press_Hrs" }, // sbd modem timing {"SBD_Tm",IA_sbd_max_tm, 'T',SET_OK, 900, 60, 1800,'U',0,0, "Max_SBD_Time[s]" }, {"SBD_Pk",IA_sbd_pack_tm,'T',SET_OK, 60, 30, 200,'U',0,1, "SBD_Pkt_Wait[s]" }, // Exception settings --------------------------------------- {"No_GPS",IA_no_gps, 'E',SET_OK, -1, -3, 360,'M',0,1, "No_GPS_Heading" }, {"SatMax",IA_abort_max_sat,'E',SET_OK,24, 0, 100, 0,0,0, "Sat_Fail_Hr" }, {"GpsMax",IA_abort_max_gps,'E',SET_OK,24, 0, 100, 0,0,0, "GPS_Fail_Hr" }, {"PMP_?", IA_pmp_rcvry, 'E',SET_OK, 0, 0, 3,'P',0,0, "Pump_Exception" }, {"SBD_?", IA_sbd_rcvry, 'E',SET_OK, 1, 0, 3,'P',0,1, "SBD_Exception" }, {"Mx_RST",IA_max_reset, 'E',SET_OK, 0, 0, 10,'P',0,2, "Max_Num_Resets" }, // dec11 0903.6, op_mode added to end of cmd 'P' {"AMult", IA_argos_mult, 'E',SET_OK, 0, 0, 10,'L',0,1, "Argos_Multiplier" }, {"AbtPmp",IA_abort_pump, 'E',SET_OK, 0, 0, 1,'L',0,2, "Abort_Pump_Try" }, //Vehicle/sensor settings ----------------------------------- {"UseOpt",IA_use_opt, 'V',SET_OK, 1, 0, 1,'A',0,0, "Use_Optical" }, {"UseAlt",IA_use_alt, 'V',SET_OK, 0, 0, 1,'Z',0,0, "Use_Altimeter" }, {"AltZ1", IA_alt_z_1st, 'V',SET_OK, 50, 0, 1100,'Z',0,1, "Alt_1st_Use_Z" }, {"Alt_Z", IA_alt_z, 'V',SET_OK, 20, 0, 50,'Z',0,2, "Alt_Min_2_Bot" }, {"EngDec",IA_eng_ndec, 'V',SET_OK, 2, 0, 500,'H',0,0, "Eng_Decimate" }, {"EngMsk",IA_eng_mask, 'V',SET_OK, 255, 0, 255,'H',0,1, "Eng_mask" }, {"W0_gps",IA_wing0_GPS, 'V',SET_OK, 2, 0, 2,'S',0,0, "GPS_Wing_Ant_SW" }, {"W0_sbd",IA_wing0_SBD, 'V',SET_OK, 2, 0, 2,'S',0,1, "SBD_Wing_Ant_SW" }, #if ADP==1 //Doppler settings ------------------------------------------ {"A_Zmax",IA_adp_zmax, 'D',SET_OK,500, 0, 600,'F',0,0, "ADP_Max_Depth" }, {"A_Cell",IA_adp_ncell, 'D',SET_OK, 5, 2, 5,'F',0,1, "ADP_Num_Cells" }, {"A_Clen",IA_adp_cellsize,'D',SET_OK, 4, 2, 10,'F',0,2, "ADP_Cell_Size" }, {"APulse",IA_adp_pulse, 'D',SET_OK, 8, 2, 10,'F',0,3, "ADP_Pulse_Len" }, {"A_SNR" ,IA_adp_minsnr, 'D',SET_OK, -1, -1, 9,'F',0,4, "ADP_Min_SNR" }, {"ADP_ns",IA_adp_nsh, 'D',SET_OK, 0, 0, 28,'F',0,5, "ADP_N_Shallow" }, //Doppler, hard-coded {"ADP_k1",SA_adp_k1, 'D',SET_NO, K1_ABS,0, 0, 0, 0,0, "ADP_Bin1_ABScat" }, {"ADP_k2",SA_adp_k2, 'D',SET_NO, K2_ABS,0, 0, 0, 0,0, "ADP_Bin2_ABScat" }, {"ADP_BD",SA_adp_bd, 'D',SET_NO, BD, 0, 0, 0, 0,0, "ADP_Blank_Dist" }, {"Aalpha",SA_adp_alpha, 'D',SET_NO, ALPHA, 0, 0, 0, 0,0, "ADP_alpha" }, #endif #if NTK==1 //NTK settings ---------------------------------------------- {"N_Zmax",IA_ntk_zmax, 'D',SET_OK,500, -1, 1000,'F','1',0, "NTK_Zmax" }, {"N_nc" ,IA_ntk_nc, 'D',SET_OK, 15, 1, 60,'F','1',1, "NTK_#cells" }, {"N_cs" ,IA_ntk_cs, 'D',SET_OK, 20, 5, 50,'F','1',2, "NTK_Cell_size" },//may16 {"N_tmDZ",IA_ntk_tmDZ, 'D',SET_OK, 4, 1, 100,'F','1',3, "NTK_Ping_decim" }, {"N_tmCD",IA_ntk_tmCD, 'D',SET_OK, 2, 1, 60,'F','1',4, "NTK_#cells_avg" }, {"N_sr" ,IA_ntk_sr, 'D',SET_OK,180, 1, 600,'F','1',5, "NTK_Sample_rate" }, {"N_fwd" ,IA_ntk_fwd, 'D',SET_OK, 0, 0, 1,'F','1',6, "NTK_beam_orient" }, //aug14 added #endif //MSP430 watchdog settings ---------------------------------- {"WD_Act",MA_wdt_action, 'W',SET_ME, 7, 0, 255, 0,0,0, "Wdog_Action" }, {"WDAttn",MA_wdt_attn, 'W',SET_ME,600, 10, 9999, 0,0,0, "Wdog_CF2_Attn_Ti"}, {"WDtCf2",MA_wdt_cf2_rst, 'W',SET_ME,900, 10, 9999, 0,0,0, "Wdog_CF2_Rst_Ti" }, {"WDtRst",MA_wdt_430_rst, 'W',SET_ME,920, 10, 9999, 0,0,0, "Wdog_430_Rst_Ti" }, {"WDtMlt",MA_wdt_mult, 'W',SET_ME, 1, 0, 9999, 0,0,0, "Wdog_Ti_Mult" }, //MSP430 watchdog analog settings --------------------------- {"Wc2v14",MA_wdt_c2v_14, 'W',SET_ME, 66, 1, 9999, 0,0,0, "Wdog_C_to_V_14" }, {"Wc2v07",MA_wdt_c2v_07, 'W',SET_ME, 40, 1, 9999, 0,0,0, "Wdog_C_to_V_07" }, {"Wc2vac",MA_wdt_c2vac, 'W',SET_ME,967, 1, 9999, 0,0,0, "Wdog_Vac_gain" }, {"W_Voff",MA_wdt_Voff, 'W',SET_ME,3000, 1, 9999, 0,0,0, "Wdog_Vac_off" }, {"Wc2mv", MA_wdt_c2mv, 'W',SET_NO, IC2mV, 0, 0, 0,0,0, "Wdog_C_to_mV" }, //oct14, add sn, ver {"WD_SN", MA_wdt_sn, 'W',SET_ME, 1, 1, 9999, 0,0,0, "GPIO_Ser_No" }, {"WD_Ver",MA_wdt_ver, 'W',SET_ME, 0, 0, 9999, 0,0,0, "GPIO_Firm_Ver" }, #if BENTHOS==1 || NPS==1 //Benthos Acoustic modem settings ---------------------------------- {"ACcomm",IA_acm_tm, 'L',SET_OK, 60, 0, 1440,'6',0,0, "ACM_comm[min]" }, {"ACRtry",IA_acm_try, 'L',SET_OK, 1, 0, 3,'6',0,0, "ACM_Rtries" }, {"AC_inc",IA_acm_binc, 'L',SET_OK, 0, 0, 10,'6',0,0, "ACM_auto_inc" }, {"ACIdle",IA_acm_rmdly, 'L',SET_OK, 60, 0, 180,'6',0,0, "ACM_idle_dly[s]" }, {"ACXtry",IA_acm_mxtry, 'L',SET_OK, 3, 0, 10,'6',0,0, "ACM_Xtries" }, {"ACmode",IA_acm_mode, 'L',SET_OK, 0, 0, 2,'6',0,0, "ACM_mode" }, {"ACdpth",IA_acm_dpth, 'L',SET_OK, 20, 0, 800,'6',0,0, "ACM_depth" }, {"ACLpwr",IA_acm_lxmt, 'L',SET_OK, 8, 1, 8,'6',0,0, "ACM_Loc_pwr" }, {"ACptch",IA_acm_ptch, 'L',SET_OK, 0,-1000, 1000,'6',0,0, "ACM_ptch_chng" }, #endif /* //=== added jun15 for auto-degassing (adg) =========================== {"adgCyc",IA_adg_ncycle, 'H',SET_OK, 0, 0, 25,'5','1',0, "ADG_N_Cycles" }, {"adgInc",IA_adg_incr, 'H',SET_OK, 1, 1, 60,'5','1',1, "ADG_N_Incr" }, {"adgMod",IA_adg_modulo, 'H',SET_OK, 99, 0, 999,'5','1',2, "ADG_Modulo" }, */ {"!END!!",IA_END, END_GROUP, SET_NO, 99, 99, 99, 0, 0,0, "End_Params" } }; //========================================================================== short set_default_param( void ) //******************************************** { // set the Param_table to the default values // then read in the .cfg file to set to the most current values // dec11, set default value to 1, and eeprom values are updated after cfg read. // oct14, return 1 if config-file error, // else return 0 short j=0, addr ; // start at beginning of the table short file_err; // oct14 error if no file is present while ( Param_table[j].group != END_GROUP && j< MAX_PARAM ) //===== { // set all to their default values, or value stored in eeprom addr = Param_table[j].addr; // address for this variable if ( addr>=0 && addr < MAX_PARAM) //------------------- { // then it is legal iparam[ addr ] = Param_table[j].x0; // =default value if ( Param_table[j].set_type == SET_EE ) // then set the value from the EEPROM lookup set_eeprom_param( j, 0, 1 ); //if not found, force to the default } //--------------------------------------------------- j++; } //================================================================= file_err = read_config( -1, TRUE ); // read in the config file settings //===the above does NOT update eeprom values, nor NV-RAM values // dec11, make sure that the eeprom values are as stored, not as in the .cfg j = 0; // step through all parameters while ( Param_table[j].group != END_GROUP && j< MAX_PARAM ) //===== { addr = Param_table[j].addr; // address for this variable if ( addr>=0 && addr < MAX_PARAM) //------------------- { // then it is legal if ( Param_table[j].set_type == SET_EE ) set_eeprom_param( j, 0, 1 ); //read in the value //dec11, forcing default to 1, so if bad eeprom, op-mode //will cause spurious interrupt } //--------------------------------------------------- j++; } //================================================================= //===jan16, make sure the profile, surf # agree with non-volatile ram //=== this overrides anything that may have been in the .cfg file //=== thus maintaining counters across resets. iparam[ EA_surf_num ] = NvRamSurf_N; iparam[ EA_prof_num ] = NvRamProf_N; return (file_err); } //*************************************************************************** void set_eeprom_param( short j, short update, short xnew ) //***************** { // set a parameter value from a eeprom lookup // j = pointer into the Param_table // update = flag=TRUE to update the eeprom // if FALSE, then will set it to the default value IF it is not in EEPROM yet. // xnew = new value to use // mods Oct11 for clearer logic, diagnostics // dec11, make sure RAM value is always the same as EEPROM value short addr, x, x0, op_mode, write_ok; char name[LKNAMSIZ+1]; strcpy(name, Param_table[j].name ); // name copy //n = strlen( name ); addr = Param_table[j].addr; // address for this variable x = x0 = Param_table[j].x0; // default value cprintf("EEPROM check for %s[%3d] ", name, addr ); write_ok = addr>=0 && addr < MAX_PARAM; if (!write_ok) { //--catch bad addr cprintf("ILLEGAL ADDRESS !!!\n"); return; } //---------------- op_mode = (short) VEEFetchLong( "OPMODE", NO_VEE_VAL); // Spray mode of op x = (short) VEEFetchLong( name, NO_VEE_VAL ); //if (Verbose) cprintf("OPMODE = %d\n", op_mode); //===catch special case of setting to default param=== if (x == NO_VEE_VAL && !update && op_mode == 0 ) { // eeprom was NOT found, and NOT want to update --- // this is the set_default_param() special case // it is OK to update to the default value cprintf("%s NOT FOUND in EEPROM; forcing to default value\n",name); xnew = x0; // force it to the default value } //-------------------------------------------------- else { // NOT special case, only update if desired write_ok = update; // this would be false on RESET w/op_mode!=0 } //-------------------------------------------------- if (write_ok) { //-- then write the new value ------------ VEEStoreLong( name, (long) xnew ); //write it x = (short) VEEFetchLong( name, NO_VEE_VAL ); //read it back cprintf("...EEPROM update... " ); iparam[ addr ] = x; // store the value to ram as well } //---------------------------------------- cprintf("= %d\n",x); // print the value //dec11, make sure no matter what, the eeprom value and ram agree x = (short) VEEFetchLong( name, NO_VEE_VAL ); //read it back iparam[ addr ] = x; // store the value to ram as well return; } //*************************************************************************** void set_surf_num ( short n ) //********************************************** { // set both the eeprom and iparam surfacing num to value n // updated jan16 to use non-volatile ram instead of eeprom // short x; // char name[] = "SURF_N"; iparam[ EA_surf_num ] = n; // save NvRamSurf_N = n; // save in non-volatile area /* x = (short) VEEFetchLong( name, NO_VEE_VAL ); if (x == NO_VEE_VAL) { cprintf("SURF_N was NOT found??? Setting=1\n"); iparam [ EA_surf_num ] = 1; x=1; } else { VEEStoreLong( name, (long) n ); x = (short) VEEFetchLong( name, NO_VEE_VAL ); iparam [ EA_surf_num ] = n; } */ return; } //*************************************************************************** void set_prof_num ( short n ) //********************************************** { // set both the eeprom and iparam profile num to value n // updated jan16 to use non-volatile ram instead of eeprom // short x; // char name[] = "PROF_N"; iparam[ EA_prof_num ] = n; // save NvRamProf_N = n; // also save in non-volatile area /* x = (short) VEEFetchLong( name, NO_VEE_VAL ); if (x == NO_VEE_VAL) { cprintf("PROF_N was NOT found??? Setting=1\n"); iparam [ EA_prof_num ] = 1; x=1; } else { VEEStoreLong( name, (long) n ); x = (short) VEEFetchLong( name, NO_VEE_VAL ); iparam [ EA_prof_num ] = n; } */ return; } //*************************************************************************** void set_op_mode ( short n ) //*********************************************** { // set both the eeprom and iparam op_mode to value n short x; char name[] = "OPMODE"; x = (short) VEEFetchLong( name, NO_VEE_VAL ); if (x == NO_VEE_VAL) { cprintf("OPMODE was NOT found??? Setting=1\n"); iparam [ EA_op_mode ] = 1; x=1; } else { VEEStoreLong( name, (long) n ); x = (short) VEEFetchLong( name, NO_VEE_VAL ); iparam [ EA_op_mode ] = n; } cprintf("OPMODE = %d\n",x); return; } //*************************************************************************** short incr_surf_num ( void ) //************************************************ { // increment the surfacing# by 1 // updated jan16 to use non-volatile ram instead of eeprom short x, y, xbad, ybad; //char surf_n[] = "SURF_N"; x = iparam[ EA_surf_num ]; // present RAM value y = NvRamSurf_N; // non-volatile backup value xbad = ( x<0 || x>32000 ); // TRUE if BAD ybad = ( y<0 || y>32000 ); // TRUE if BAD if ( xbad ) //====================================== { // then local ram has been corrupted! if ( ybad ) { // both are bad! x = 0; // reset to 0 } else // else we think y is OK { x = y; } } //================================================ //=== no matter what, we now believe x x++; // increment the local copy iparam[ EA_surf_num ] = x; // save NvRamSurf_N = x; // save in non-volatile area /* x = (short) VEEFetchLong( surf_n, NO_VEE_VAL ); if (x == NO_VEE_VAL) //------------------------------------ { // then NOT found !! cprintf("SURF_N NOT FOUND in EEPROM. Setting to 1 \n" ); x = 1; } //------------------------------------------------------- // increment and store the value x++; // increment VEEStoreLong( surf_n, (long) x ); // store in eeprom iparam[ EA_surf_num ] = x; // store the value */ return (x); } //*************************************************************************** short incr_prof_num ( void ) //************************************************ { // increment the dive# by 1 // updated jan16 to use non-volatile ram instead of eeprom // char prof_n[] = "PROF_N"; short x, y, xbad, ybad; x = iparam[ EA_prof_num ]; // present RAM value y = NvRamProf_N; // non-volatile backup value xbad = ( x<0 || x>32000 ); // TRUE if BAD ybad = ( y<0 || y>32000 ); // TRUE if BAD if ( xbad ) //====================================== { // then local ram has been corrupted! if ( ybad ) { // both are bad! x = 0; // reset to 0 } else // else we think y is OK { x = y; } } //================================================ //=== no matter what, we now believe x x++; // increment the local copy iparam[ EA_prof_num ] = x; // save NvRamProf_N = x; // also save in non-volatile area /* x = (short) VEEFetchLong( prof_n, NO_VEE_VAL ); if (x == NO_VEE_VAL) //------------------------------------ { // then NOT found !! cprintf("PROF_N NOT FOUND in EEPROM. Setting to 1 \n" ); x = 1; } //------------------------------------------------------- // increment and store the value x++; // increment VEEStoreLong( prof_n, (long) x ); // store in eeprom iparam[ EA_prof_num ] = x; // store the value */ return (x); } //*************************************************************************** short find_name (char name[], struct lookup *t ) //**************************** { // search for name in the lookup table // returns the lookup index if found, // returns -1 if NOT FOUND short j=0, k, done, n; k = strlen(name); if (k>LKNAMSIZ) k=LKNAMSIZ; do //================================================================ { // look for a comparison n = strlen( t[j].name ); if (n == k) //+++++++++++++++++++++++++++++ { // then the correct length if ( !strncmp(t[j].name, name, k) ) return( j );//found it !!! } //+++++++++++++++++++++++++++++++++++++++ // else not a match, go to the next entry j++; done = !(strncmp( t[j].name,"!END!!",LKNAMSIZ)); } while ( !done && j end not found // 0 -> NSHORE not long enough // 1 -> NSHORE long enough short i=-1; //=== make sure NSHORE is big enough ================== while (shore[i].cmd != END_GROUP )i++; if (i>N_SHORE) { cprintf("!!!! N_SHORE=%d commands is LESS THAN %d commands defined !!!!\n", N_SHORE,i); return(0); } if (i<=N_SHORE) { //cprintf("N_SHORE=%d commands is >= %d commands defined\n", // N_SHORE,i); return(1); } return(-1); } //************************************************************************** short find_addr( short addr, struct lookup *t ) //***************************** { // Find the index that matches the desired address // returns the index into the lookup table // returns -1 if it was not found short j=0; do //++++++++++++++++++++++++++++++++++++++++++++++++++++ { // search for a match if ( t[j].addr == addr ) return(j); //match found! } while (j++ < MAX_PARAM); //++++++++++++++++++++++++++++ return(-1); // here if no match was found } //************************************************************************** void display_info( short addr, struct lookup *t ) //*************************** { // display addr, value and label name for addr in lookup // searches the lookup table for the same addr and then displays label short j; char name[LKNAMSIZ+1]; j = find_addr( addr, t ); // look for the address if (j>=0 && jLKNAMSIZ) n=LKNAMSIZ; for (k=n; k Parameter group[%02d] %c= %s",i, group[i].group, group[i].label ); if (fp == NULL || fp == stdin ) cprintf("%s\n", line); else fprintf(fp,"%s\r\n", line); display_group(fp, group[i].group, t); i++; } //0902, display waypoint and route file as well display_route( FALSE ); waypt_display( FALSE ); return; } //*************************************************************************** void display_group(FILE *fp, short igroup, struct lookup *t ) //************** { // display all lookup parameters in group i short j=0, addr, k, n ; // start at beginning of the table char line[80]; // output line char name[LKNAMSIZ+1]; while ( t[j].group != END_GROUP && j< MAX_PARAM ) //================ { if ( t[j].group == igroup ) //------------------------------ { // then it's part of the group, display addr = t[j].addr; if (addr>=0 && addr < MAX_PARAM ) { // then legal! line[0] = '!'; // delimiter strcpy( name, t[j].name ); n = strlen(name); if (n>LKNAMSIZ) n=LKNAMSIZ; for (k=0; k Parameter group[%02d] %c= %s\n", i, group[i].group, group[i].label ); i++; } //---------------------------------------------- cprintf("give group character to modify (q to quit) >\n"); SerInFlush(); // flush any characters gc = -1; // illegal value - means it timed out gc = SCIRxGetCharWithTimeout(18000 ); // get a new character gc = ch_l2u( gc ); // upper-case //--- see if gc is legal ------------------------- ig = -1; // illegal group index i = 0; // search for char gc while ( i \n"); n = get_num(&addr); //addr to modify j = find_addr( addr, t ); // look for corresponding index ok = ( j>=0 && t[j].group == gc ); if (ok ) { // then legal & in right group ----------------- display_info( addr, t ); if ( addr == IA_miss_id ) //,,,,,,,,,,,,,,,, { change_miss_id ( j, t ); } else //,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, { // get the new value cprintf("Give the new value > \n"); n = get_num(&reply); if (n==1) // then legal change_param(j, reply, TRUE, t, FALSE ); } //,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, } //---------------------------------------------- } while ( ok ); //+++++++++++++++++++++++++++++++++++++++ } while (ig>=0); //====================================================== return; } //*************************************************************************** void change_miss_id ( short j, struct lookup *t ) //************************ { // the mission ID is an encoded word of yy:mm:id : get info here short n1, n2, n3, m1=0, m2=0, m3=0, x; cprintf("Give new year value (0..100) >\n"); n1 = get_num(&x); if (n1==1) m1 = x; cprintf("Give new month value (1..12) >\n"); n2 = get_num(&x); if (n2==1) m2 = x; printf("Give mission id (0..15) >\n"); n3 = get_num(&x); if ( n1==1 && n2==1 && n3==1 ) //---------------- { // create new mission id m3 = x & 0x000f; // save lsnibble m2 = m2 & 0x000f; // save lsnibble m1 = m1 & 0x00ff; // save lsb x = (m1 << 8) + (m2 <<4) + m3; cprintf("writing out %d = %02d/%02d:%02d\n", x, m1, m2, m3); change_param( j, x, TRUE, t, FALSE ); } //--------------------------------------------- else { cprintf("NOT VALID - mission ID was not updated\n"); } return; } //*************************************************************************** short find_name_addr(char name[], struct lookup *t ) //*********************** //look up name and return the address. {//returns -1 if unable to find name short i; i=find_name(name, t);//get index, -1=not found if (i > -1) i = t[i].addr; // set i to the address return(i); } //*************************************************************************** short change_param( short j, short x, short ee_update, struct lookup *t, short display ) //*** { // change parameter in lookup table[j] to value x // if it resides in eeprom and want to update, ee_update must=TRUE // if display==true, then the update is displayed if valid // returns the new value : -1 if not valid short val =-1; // init to not-valid number short addr, set_type; short imin, imax; char str[80], name[LKNAMSIZ+1]; set_type = t[j].set_type; if ( set_type>= SET_OK ) //------------------------------ { // then OK to change the value addr = t[j].addr; // address imin = t[j].imin; // min bound imax = t[j].imax; // max bound if ( x>=imin && x <=imax ) //.................. { // yes, we can change the parameter iparam[ addr ] = x; // set to the new value fill_name( t[j].name, name); if (display) cprintf("%5d = %s\n", x, name ); // display the update sprintf(str,"!%s %4d %7d %d %ld", name, addr, x, iparam[ EA_prof_num ], RTCGetTime(0,0) ); if ( all.fp_sco !=NULL ) fprintf(all.fp_sco,"%s\r\n", str ); // jan16, if non-volatile, update the NV_RAM as well if ( set_type == SET_NV && ee_update) //,,,, { // ee_update must also ==true to update values if ( addr == EA_prof_num ) NvRamProf_N = x; if ( addr == EA_surf_num ) NvRamSurf_N = x; } //,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, } //............................................ val = iparam [ addr ]; } //----------------------------------------------------- else if ( set_type == SET_EE && ee_update) { // eeprom-type and we want to modify addr = t[j].addr; // address imin = t[j].imin; // min bound imax = t[j].imax; // max bound if ( x>=imin && x <=imax ) //.................. { //dec11, checked bounds, update set_eeprom_param( j, ee_update, x ); val = iparam [ addr ]; //dec11, updated value //--dec11, write to the change-file fill_name( t[j].name, name); if (display) cprintf("%5d = %s\n", val, name ); // display the update sprintf(str,"!%s %4d %7d %d %ld", name, addr, val, iparam[ EA_prof_num ], RTCGetTime(0,0) ); if ( all.fp_sco !=NULL ) fprintf(all.fp_sco,"%s\r\n", str ); } //............................................ } //----------------------------------------------------- return( val ); // and return } //*************************************************************************** short change_name_param( char name[], short x, struct lookup *t ) //*********** { // change variable 'name' value to x // this is only called from the user menu, so it WILL allow // changing an eeprom value // returns the new value : -1 if not valid short val =-1; // init to not-valid number short j; j = find_name( name, t ); // find the name in the lookup table if ( j>-1) //================================================ { // then it was found val = change_param( j, x, TRUE, t, FALSE ); } //=========================================================== return( val ); // and return } //*************************************************************************** void lifo_store_param ( void ) //******************************************* { //** store Spray parameters // in param.c so has access to the Param_table short i, j, addr, k, n=0; uchar dat[512]; // MAJ_VER serves as the version for this packet type dat[0] = SBD_PARAM; //assign id = 0xd3 = Spray settings // dat[1], dat[2] = #bytes in the message; set at end of fnx // dat[3], dat[4] = #of entries in the parameter list i = b2_store(5,dat,MAJ_VER ); // i = 7; // eeprom entries follow j=0; // start @ 1st entry --------------------------------------- while ( Param_table[j].group != END_GROUP && jsend_param = FALSE; // no longer request to send eeprom return; } //*************************************************************************** // shore command section ****************************************************** //***************************************************************************** void display_shore_cmd ( void ) //******************************************** { // display all parameters, by group short i=0, sub; while ( i Cmd %c%c: [Narg=%1d-%1d] %s \n", shore[i].cmd, sub, shore[i].imin, shore[i].imax, shore[i].label ); i++; } return; } //*************************************************************************** short test_shore_cmd ( void ) //********************************************** { // display all parameters, by group short i=0, c0=0, sub=0, n, err; char str[80]; cprintf("give command >\n"); gets(str); // read in the name n = strlen(str); if (n==0) return ( CMD_NO ); c0= str[0]; // cmd if (n>1) sub = str[1]; // sub-cmd if (n<3) display_cmd( c0, sub ); // display the command else err = parse_cmd( str ); return ( err ); } //*************************************************************************** void display_cmd( char c1, char sub ) //************************************** { // display the shore command c0, sub-command sub short i=0, done=0, match, k, imin, imax, def; //make case-insensitive c1 = ch_l2u( c1 ); sub = ch_l2u( sub); while ( i Cmd %c%c: %s, N_Arg_Min=%d, N_Arg_Max=%d, \n", c1, sub, shore[i].label, shore[i].imin, shore[i].imax ); done = ( shore[i].cmd == END_GROUP) || match; i++; } //===================================================================== if (!match) cprintf("Command was not found\n"); // else found a match i=0; // reset index to now search the lookup table Param_table[] while ( Param_table[i].group != END_GROUP && i< MAX_PARAM ) //========= { // search for the correct cmd/sub-cmd match = ( c1 == Param_table[i].c1 ) && ( sub== Param_table[i].c2 ); if (match) //-------------------------------------------- { // then display the argument parameters k = Param_table[i].i1; // argument index imin= Param_table[i].imin; // minimum value imax= Param_table[i].imax; // maximum value def = Param_table[i].x0; // default value cprintf("arg[%d] = %s: range= %d<=value<=%d : default=%d, %s\n", k, Param_table[i].name, imin, imax, def, Param_table[i].label ); } //----------------------------------------------------- i++; } //===================================================================== return; } //*************************************************************************** short parse_cmd( char str[] ) //********************************************** { // parse the shore command c1, sub-command sub // str = full command // returns an error status // 0=CMD_OK = no errors // 1=CMD_NO = command not recognized // 2=CMD_NARG = not the correct # of arguments // 3=CMD_BOUND = value is out-of-range. // 4=CMD_WRITE = error trying to change the value short i=0, done=0, match, k, imin, imax, x0, narg, val; short err=0, ee_update = 0; short x[20]; // argument array char c2=' '; // display-character for the sub-command char c1, sub; //First character = main command char c1 = str[0]; //2nd character = sub-command (' ' = none ) sub = str[1]; //make case-insensitive c1 = ch_l2u( c1 ); sub = ch_l2u( sub); // catch illegal sub-commands if (sub <=' ' || sub>'~' || sub==';' || sub=='$') sub=0; if (sub>0) c2=sub; // display char if (Verbose) cprintf("...searching for %c%c \n", c1,c2 ); while ( i0 ) //================================================ { // then this cmd requires a specific function call switch( c1 ) //++++++++++++++++++++++++++++++++++++++++++++++++++++ { // call the correct function dependent upon cmd case '0' : // RESET err = check_passwd( x[0] ); if (!err) { // then password was OK, set the RESET flag. cprintf("Mission reset flag is set\n"); set_op_mode(-1); // nov10 flag that issuing reset all.exc->reset = TRUE; // set flag to reset } break; case '1' : // ABORT err = check_passwd( x[0] ); if (!err) { // then password was OK, set the ABORT flag, cprintf("Mission abort flag is set\n"); all.exc->abort = 9; // aug15, 9=remote-abort cmd } break; case '2' : // change a specific address entry err = cmd_2( sub, narg, x ); break; case '3' : // change a waypoint entry : floating point # err = parse_waypt( sub, &str[2] ); all.sbd->save_waypt = TRUE; // flag to write new waypt file all.sbd->calc_route = TRUE; // set flag to recalculate break; case '6' : // change Acoustic Modem parameters err = cmd_6( &str[0] ); break; case '7' : // change a route entry err = cmd_7( sub, narg, x ); all.sbd->save_route = TRUE; // flag to save new route file all.sbd->calc_route = TRUE; // set flag to recalculate break; case 'D' : // dec11, current-crossing; turn off manual val = x[1]; // current-crossing angle; if>0, turn OFF manual heading if (val != 0) iparam [ IA_man_nprof ] = 0; //command to turn ON, not off break; #if ZOOG==1 //=== oct16 add shore commands for zooGlider case 'F' : // mar11, parse polyplus data if (sub=='2') { err = cmd_F2( narg, x ); } else if (sub=='3') { err = cmd_F3( narg, x ); } break; #endif case 'L' : // request to change Argos parameters all.exc->nose_down = 0; // reset nose_down=0 all.exc->rfx = 1; // reset multiplier break; case 'M' : // dec11 request to change GPS params if ( narg==3 ) //---------------- { //then includes cold-reset param all.exc->gps_cold = x[2]; narg=2; //so below won't try to parse this one cprintf(" gps_cold = %d\n", x[2] ); } //----------------------------- break; #if PPLUS==1 //add polyplus shore cmd fnxs case 'O' : // mar11, parse polyplus data if (sub== 0 ) { err = cmd_O_( narg, x ); } else if (sub=='1') { err = cmd_O1( narg, x ); } break; #endif case 'R' : // request to resend a dive # retransmit_lifo( x[0] ); // x[0]=dive # break; case 'W' : // change the route parameters all.sbd->save_route = TRUE; // flag to save new route file all.sbd->calc_route = TRUE; // set flag to recalculate // the below while loop will update the params break; case '@' : // request the route to be queued all.sbd->send_waypts = TRUE; // set flag to send waypoints break; case '!' : // request the parameter list all.sbd->send_param = TRUE; // set flag to send all param //dec11, update the file as well write_config (-1); // rewrite .cfg, saving params if reset cprintf("updated the cfg file\n"); break; default: err = CMD_NO_FNX; // NO function } //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ if (shore[i].fnx==2 || err>0) return( err ); // return if there is a parsing error, or no other params to parse } //===================================================================== // else time to parse =================================================== err = 0; // no errors so far i=0; // reset index to search the lookup table Param_table[] while ( Param_table[i].group != END_GROUP && i< MAX_PARAM ) //========= { // search for the correct cmd/sub-cmd //cprintf("table[%d].group = %c\n",i,Param_table[i].group); //DelayMilliSecs(5); match = ( c1 == Param_table[i].c1 ) && ( sub== Param_table[i].c2 ); //DelayMilliSecs(5); //cprintf("%d %04x %04x %04x %04x\n",match, c1,Param_table[i].c1,sub,Param_table[i].c2); if (match) //-------------------------------------------- { // then read the argument parameters k = Param_table[i].i1; // argument index imin= Param_table[i].imin; // minimum value imax= Param_table[i].imax; // maximum value if (k // = waypoint index, , are decimal degrees short i, iw, err=0; float xlat, xlon; struct s_waypt *waypt; waypt = all.nav->waypt; // point to the waypoint structure //route = all.nav->route; // point to the route structure i = sub; // dummy to keep compiler from complaining i = sscanf(str,"%d %f %f",&iw, &xlat,&xlon); // read in values if (i==3) //========================================================= { // right # of arguments: try processing err != insert_waypt(waypt, iw, xlat, xlon); // err=0 if good if (err) //------------------------------------------------- { err = CMD_BOUND; } // set to bounds problem else { // no error, update what's needed if ( iw== iparam[ IA_route_now ] ) // updated present waypt all.nav->bear = -999; // = Gets updated in check_waypt. if (!verify_route() ) // called to update all values err = CMD_ROUTE; // flag as something bad with the route } //--------------------------------------------------------- } else err = CMD_NARG; //============================================== return( err ); } //*************************************************************************** short cmd_7( short sub, short narg, short x[] ) //***************************** { // parse shore command 7 = change individual route info // sub = sub-command..presently not used // narg = # of arguments in x // x = array of data // shore command 7 form = 7 short ir, iw, a, d, r, err=0; struct route_param *route; route = all.nav->route; // point to the route structure a = sub; // use to keep compiler from complaining ir = x[0]; // route entry index iw = x[1]; // waypoint index to link to ir //======================================================================== if ( ( narg >=2 ) && ( ir>=0 && ir <= iparam[ IA_num_route ] ) // legal && ( iw>=0 && iw < MAX_WAYPTS ) // legal index ) // in bounds, OK to process { // assign the values //================================================ // assign the defaults first route->rlist [ir] = iw; // link route entry ir to waypoint iw route->blist [ir] = 0; // approach angle: 0 = auto-range route->detect[ir] = 1; // watch-circle or finish line detect route->circle[ir] = 0; // 0 = auto-range on the watch-circle switch( narg ) //++++++++++++++++++++++++++++++++++++++++++++++++ { // use what ever settings are present case 5 : r = x[4]; // watch-circle radius if ( r>=0 && r<20 ) route->circle[ir] = r; // no break: process the next as well case 4 : d = x[3]; // detect mode // detect decides when near a waypoint // 0=range only, 1=range or finish line, 2=finish line only if ( d>=0 && d<3 ) route->detect[ir] = d; // no break: process the next as well case 3 : a = x[2]; // approach angle if ( a>=0 && a<361 ) route->blist[ir] = a; break; } //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ if ( ir == iparam[ IA_route_now] ) // we're updating the present waypt info all.nav->bear = -999; // set to a value so a new bearing // to this waypt is updated correctly in check_waypt } //==================================================================== else { err = CMD_BOUND; }// set that it failed due to error cprintf("@r%d: Waypt %d,approach=%d detect= %d range= %d, err=%d\n", ir, iw, a, d, r, err ); return( err ); } //*************************************************************************** #if PPLUS==1 //add polyplus shore cmd fnxs short cmd_O_( short narg, short x[] ) //***************************** { // parse shore command O = polyplus cell general settings : mar11 // narg = # of arguments in x // x = array of data // shore command O form = O short icell, nload, tstart, kdec, err=0; icell = x[0]; // which cell we're setting (0 or 1) nload = x[1]; // #of load settings tstart= x[2]; // start delay before applying the first load kdec = x[3]; // decimation for sending the data back //======================================================================== if ( ( narg ==4 ) && ( icell>=0 && icell <= 1 ) // legal && ( nload>=0 && nload <= PP_LMAX ) // legal ) // in bounds, OK to process { // assign the values //================================================ all.pp->cell[icell].nload = nload; all.pp->cell[icell].tstart = tstart; all.pp->cell[icell].kdec = kdec; } //==================================================================== else { err = CMD_BOUND; }// set that it failed due to error cprintf("cmd_0_, icell=%d, Nload=%d, Tstart=%d, kdec=%d, err=%d\n", icell, nload, tstart, kdec, err ); return( err ); } //*************************************************************************** #endif // end pplus #if PPLUS==1 //add polyplus shore cmd fnxs short cmd_O1( short narg, short x[] ) //************************************** { // parse shore command O1 = polyplus cell specific settings : mar11 // narg = # of arguments in x // x = array of data // shore command O form = O1 short icell, iload, load, secs, nload=0, err=0; icell = x[0]; // which cell we're setting (0 or 1) iload = x[1]; // which load index load = x[2]; // the actual load setting secs = x[3]; // #of seconds to apply the load if (icell==0 || icell==1 ) nload = all.pp->cell[icell].nload; // else nload = 0 //======================================================================== if ( ( narg ==4 ) && ( icell>=0 && icell <= 1 ) // legal && ( iload>=0 && iload < nload ) // legal && ( load>=0 && load <= 4 ) // legal && ( secs>=0 ) // legal ) // in bounds, OK to process { // assign the values //================================================ all.pp->cell[icell].t[iload] = secs; all.pp->cell[icell].L[iload] = load; } //==================================================================== else { err = CMD_BOUND; }// set that it failed due to error cprintf("cmd_01, icell=%d, iload=%d, load=%d, secs=%d, err=%d\n", icell, iload, load, secs, err ); return( err ); } //*************************************************************************** #endif // **************************************************************************** #if ZOOG==1 // **** oct16 add zooGlider shore commands *********************** short cmd_F2( short narg, short x[] ) // ************************************* { // parse shore command F2 = zonar ping parameters // narg = # of arguments in x // x = array of data // shore command F2 form = F2 short nPings, tBin, dtBurst, err=0; struct zonar_param *zs; zs = all.zonar; // point to the zonar struct nPings = x[0]; // # pings per burst tBin = x[1]; // ms of data to average into 1 satellite output bin. dtBurst = x[2]; // seconds between burst (0=manually triggered) //=== could do error checking here. if (narg>3) narg=3; // limit //=== store new variables ======== if (narg>0) zs->nPings = nPings; if (narg>1) zs->tBin = tBin; if (narg>2) zs->dtBurst = dtBurst; zs->f2Num = narg; // value>0 tells zonar code to update these parameters. return( err ); } // ************************************************************************** short cmd_F3( short narg, short x[] ) // ************************************* { // parse shore command F3 = zonar beam parameters // narg = # of arguments in x // x = array of data // shore command F3 form = F3 short iBeam, pulse, scan, ping, blank, err=0, n; struct zonar_param *zs; zs = all.zonar; // point to the zonar struct iBeam = x[0]; // beam 1 = 200 kHz, beam 2 = 1 MHz pulse = x[1]; // ms duration of ping scan = x[2]; // ms duration of acquiring data (range[ms]) ping = x[3]; // ms between pings blank = x[4]; // ms blanking distance if (iBeam<1 || iBeam>2 ) { //== out of range ===== err = CMD_BOUND; zs->f3Num = 0; return ( err ); } //===================== //=== could do error checking here. if (narg>5) narg=5; // limit; narg = lsn of output char n = ( iBeam * 0x10 ) + narg; // msn is beam # //=== store new variables ======== if ( iBeam == 1 ) //++++++++++++++++++++++++++++ { // change beam 1 values if (narg>1) zs->pulse1 = pulse; if (narg>2) zs->tScan1 = scan; if (narg>3) zs->tPing1 = ping; if (narg>4) zs->blank1 = blank; } else //+++++++++++++++++++++++++++++++++++++++ { // change beam 2 values if (narg>1) zs->pulse2 = pulse; if (narg>2) zs->tScan2 = scan; if (narg>3) zs->tPing2 = ping; if (narg>4) zs->blank2 = blank; } //+++++++++++++++++++++++++++++++++++++++++++ zs->f3Num = n; // value>0 tells zonar code to update these parameters. return( err ); } // ************************************************************************** #endif // *** end if ZOOG ***************************************************** // **************************************************************************** short cmd_2( short sub, short narg, short x[] ) //***************************** { // parse shore command 2 = change individual address // sub = sub-command..presently not used // narg = # of arguments in x // x = array of data // shore command 2 form = 2 // dec11: this DOES allow updating eeprom value = op_mode short a, addr, x0, j, err=0, val; short imin, imax; short ee_update = FALSE; //dec11, do NOT allow eeprom updates a = sub; // use to keep compiler from complaining addr = x[0]; // iparam addr x0 = x[1]; // new value if ( narg != 2 ) return ( CMD_NARG ); j = find_addr( addr, Param_table ); // look for corresponding index if (j>0) //============================================================== { // found the addr in the table, read the bounds imin= Param_table[j].imin; // minimum value imax= Param_table[j].imax; // maximum value if ( imin<=x0 && x0<=imax ) { // then it is legal ee_update = ( addr == EA_op_mode ); //dec11 v0903.6, allow eeprom change to the op mode val = change_param( j, x0, ee_update, Param_table, TRUE ); if (val != x0) err = CMD_WRITE; } else err = CMD_BOUND; } //==================================================================== else { err = CMD_ADDR; }// set that it failed due to no addr return( err ); } //*************************************************************************** #if BENTHOS==1 || NPS==1 #include "BenthCF2.h" extern struct acm_command modem_cmd_str; //command string for remote modem short cmd_6(char *ch) //************************ { // parse shore command 6 to alter params and/or ops of acoustic modem for CORC shuttle //GS sends cmdfmt // where cmdfmt specifies the format of command in //Command format was changed 28Mar10 for cmdfmt=1,2,3,4 //If cmdfmt = 0 is sent to the LOCAL modem without alteration // //#if BENTHOS ==1 //If cmdfmt = 1 = IA_drift_tm IA_drift_ns btmsk[0-3] // 30Nov15 -- LAR removed parsing of this sub-command. Since use of btmsk has been // removed, there is no need for this command. //#endif // //#if NPS ==1 //If cmdfmt = 1 = modem_on/off dummy[0-4] // modem_on/off 1 = turn on modem immediately // 0 = turn off modem immediately // // retaining dummy var 1-4 so groundstation doesnt complain //#endif // //If cmdfmt = 2 = IA_acm_tm IA_acm_mode IA_acm_dpth IA_acm_ptch IA_acm_lxmt // IA_acm_tm = max minutes to drift trying acoustic xfer // IA_acm_mode = Acoustic communication mode // 0 = no acoustic communications // 1 = acoustic communications at bottom of dive // 2 = acoustic communications after ascending to acm_dpth meters // below the surface // IA_acm_dpth = Depth (dbar) at which to start surface comms (only if acm_mode=2) // IA_acm_ptch = number of counts to move pitch battery at start of // drift before starting ac comms.zero=no change // Positive moves batt FWD and puts nose down, neg=nose up // Spray5 pitch range is ~1050 to ~2710 counts // IA_acm_lxmt = power setting for xmit of Local modem (1,..,8) //If cmdfmt = 3 = IA_acm_rmdly IA_acm_mxtry IA_acm_try IA_acm_binc // IA_acm_rmdly = secs delay between waits for REM to be idle (60ish) // IA_acm_mxtry = max tries to start a transfer in XferBlk or XferSubBlk (3ish) // IA_acm_try = number of calls to XferBlk or XferSubBlk per block // (use 0,1 with autoretry) // IA_acm_binc = 0 for no block auto-increment, 1=auto-inc, 2=skip block on next // dive //If cmdfmt = 4 =modindx,id,baud,ib_new,nb_new,ib_rpt,nb_rpt, // minpwr,pmargn,nsubs // modindx = {0,..,4} is index in modem database // id = address of remote modem (legal 0 thru 99) // no attempt to link if id is outside legal range // baud = baud rate of remote // legal values 140,300,600,800,1066,1200,2400 // use baud = 0 to use current setting of the remote // ib_new = first 4K byte block of new data to transfer to GS (0-175) // If ib_new < 0 then leave ib_new unchanged // (this allows auto-incrementation of block number when sent so // next dive starts with first block not sent on previous dive) // nb_new = maximum number of 4K blocks of new data to transfer starting // with block ib_new // If nb_new=0 then transfer no data. // --After nb_new of new data have been transferred, a chance to repeat // --the transfer of old data is given. // ib_rpt = index of first 4K block to repeat (ignored if nb_rpt=0) // nb_rpt = number of blocks to repeat // no repeat data is sent if nb_rpt=0 // minpwr = min power setting of REMOTE (8 disables auto-adjust) // pmargn = power margin added to lowest successful power setting // nsubs = # 256-byte sub=blocks per chunk {1,2,4,8} use AT$BS // nsub=16 uses AT$BB regardless of baud rate short i,k1,k2,k3,k4,k5,k6,k7,k8,k9,mindx; char cmdfmt,cmdstr[41],*gptr,*sptr; uchar dbg[80]; struct acm_param *p_acm; p_acm = all.acm; //extract one char format and remainder of string i=strcspn(ch,"01234");//find 1st char that is either 0,1,2,or 3 if(i>=strlen(ch)) return(1); //no legal format char found cmdfmt=ch[i]; //got the format spec strcpy(cmdstr,&ch[i+1]); //get the command string if( cmdfmt =='0' ) { //this is a command string to be sent to LOCAL //Because the X command parsing function parse_X_reply uses '$' to identify the //start of the command checksum, the command string can't contain any embedded '$'. //Since Benthos modem strings use $ to identify a command to a REMOTE modem, the //Iridium message has every '$' replaced by '%'. gptr=sptr=cmdstr;//init get and store pointers while( *gptr != '\0') { if( *gptr != '%' ) { //transfer everything but % unaltered *sptr++ = *gptr++; //xfer and bump pointers } else { //found a % at gptr if ( *(gptr+1) == '%' ) { //2 % in a row translate to a single % so just shift left by 1 char gptr++; *sptr++ = *gptr++; //xfer and bump pointers } else { //a single % translates to a $ *sptr++ = '$'; //store $ and bump store pointer gptr++; //bump get pointer } } } *sptr='\0';//null terminate modem_cmd_str.remID = -1; modem_cmd_str.nbytes = strlen(cmdstr); //length of the command string strcpy(modem_cmd_str.command,cmdstr); //Move to queuing area printf("Cmnd str to LOCAL=%s\n",cmdstr);//debug return(0); } #if BENTHOS==1 //----------------------------------------------------- else if ( cmdfmt=='1') { //parse cmdstr to get parameters of loitering at bottom of dive //removed 30Nov2015 by LAR. Removed use of btmsk so no need to //fill the array return(0); //always a success since does nothing } #endif //------------------------------------------------------------- #if NPS==1 //--------------------------------------------------------- else if ( cmdfmt=='1') { //parse cmdstr to get modem power setting k1=0; //default to OFF i = sscanf(cmdstr,"%d",&k1);//i=#items parsed ok if( i<1 )return(1); //nothing to parse switch (i) { case 1: //read new power setting value if (k1) //turn ON modem { start_acm(); } else //turn OFF modem { acm_off(); } break; default: return(1); } //end switch //annotate the parameter change to CF1 sprintf(dbg,"CHPAR %6ld modem power=%d\n", RTCGetTime(0,0),k1); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(0); //success } #endif //--------------------------------------------------------------- else if ( cmdfmt=='2') { //parse cmdstr to change duration of comms and local power setting k1=60; //minutes to spend in acoustic communications k2=k4=0;k3=20; k5=7; //default to power level 7 (down 3 db from max power) i = sscanf(cmdstr,"%d %d %d %d %d",&k1,&k2,&k3,&k4,&k5);//i=#items parsed ok if( i<1 )return(1); //nothing to parse switch (i) { case 5: //read new ee_acm_lxmt value iparam[IA_acm_lxmt]= k5;//8=max power,..1=min power -3db per step case 4: //read new acm_pitch value iparam[IA_acm_ptch]= k4;//number cts to move pit batt FWD for ac comms (0 is OK) case 3: //read new ee_acm_dpth value iparam[IA_acm_dpth]= k3;//dpth of surface Ac comms case 2: //read new ee_acm_mode value iparam[IA_acm_mode]= k2;//0=no ac comms, 1=@bottom, 2=@surface case 1: //read new ee_acm_tm value iparam[IA_acm_tm]= k1; break; default: return(1); } //end switch //annotate the parameter change to CF1 sprintf(dbg,"CHPAR %6ld acm_tm=%d acm_mode=%d acm_dpth=%d acm_ptch=%d acm_lxmt=%d\n", RTCGetTime(0,0),k1,k2,k3,k4,k5); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(0); //success } else if ( cmdfmt=='3') { //parse XferBlk params to start REMOTE xfer k1=60;k2=3;k3=0;k4=0; i = sscanf(cmdstr,"%d %d %d %d",&k1,&k2,&k3,&k4);//i=#items parsed ok //debug if( i<1 )return(1); //nothing to parse switch (i) { case 4: //read new ee_acm_binc value iparam[IA_acm_binc]= k4;//0=no auto-inc, 1= auto inc block on //next dive, 2=skip block on next dive case 3: //read new ee_acm_try value iparam[IA_acm_try]= k3; case 2: //read new ee_acm_mxtry value iparam[IA_acm_mxtry]= k2;//max Xfer tries to make case 1: //read new ee_acm_rmdly value iparam[IA_acm_rmdly]= k1;//secs bet REM idle tries break; default: return(1); } //end switch //annotate the parameter change to CF1 sprintf(dbg,"CHPAR %6ld acm_rmdly=%d acm_mxtry=%d acm_try=%d acm_binc=%d\n", RTCGetTime(0,0),k1,k2,k3,k4); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(0); //success } else if ( cmdfmt=='4') { //modem database configuration i = sscanf(cmdstr,"%d %d %d %d %d %d %d %d %d %d", &mindx,&k1,&k2,&k3,&k4,&k5,&k6,&k7,&k8,&k9);//i=#items parsed ok if( i<1 )return(1); //nothing to parse switch (i) { case 10: //read new nsub value p_acm->modlist[mindx].nsub = k9; //# 256-byte sub=blocks per chunk case 9: //read new pmargn value p_acm->modlist[mindx].pmargn = k8; //pmargn= # levels added to lowest successful power case 8: //read new minpwr value p_acm->modlist[mindx].minpwr = k7; //min power setting of REMOTE case 7: //read new nb_rpt value p_acm->modlist[mindx].nb_rpt = k6; //number of 4K blocks of old data to get (0 is OK) case 6: //read new ib_rpt value if( k5 >= 0 ) //15Feb09--no change if command has negative value p_acm->modlist[mindx].ib_rpt = k5; //index of 1st old block of data to get(0-175) case 5: //read new nb_new value p_acm->modlist[mindx].nb_new = k4; //number of 4K blocks of new data to get // -1 to get all new data, 0 to get no new data case 4: //read new ib_new value if( k3 >= 0 ) //15Feb09--no change if command has negative value p_acm->modlist[mindx].ib_new = k3; //index (in REMOTE flash) of first 4K block of //new data to get case 3: //read new acoustic baud rate p_acm->modlist[mindx].baud = k2; //legal -1,0,140,300,600,800,1066,1200,2400 case 2: //read new modem ID p_acm->modlist[mindx].id = k1; //=modem address ID. No checks allows setting >99 //so Spray ignores modem at the waypoint. break; default: return(1); } //end switch return(0); //success } //end database configure return(1);//unknown command } //end cmd_6 ********************************************************* #else //cmd_ for NON-Benthos returns 1 short cmd_6( char *ch) //************************ { *ch = '0'; //-- dummy return(1); } //*** end cmd_6 for Non-Benthos #endif // configuration file routines ************************************************ //***************************************************************************** /* short get_ee_val ( char name[] ) //******************************************* { // get a short value from the eeprom // name[] = variable name short x; x = (short) VEEFetchLong( name, NO_VEE_VAL ); if (x == NO_VEE_VAL) //------------------------------------ { // then NOT found !! // can handle exception here } //------------------------------------------------------- return ( x ); }//**************************************************************************** */ FILE* open_sco ( void ) //*************************************************** { // opens the .sco = Spray Change Order // n = suffix index: valid range = 0<=n<=9, // otherwise writes to where XXXX is the serial # // returns error ( 0=no error ) short err = 0; short sn; FILE *fp; char name[20]; sn = (short) VEEFetchLong( "SERNO", NO_VEE_VAL ); if (sn == NO_VEE_VAL) //------------------------------------ { // then NOT found !! sn = 999; // set to default cprintf("Illegal s/n, setting to default = %d", sn); } //------------------------------------------------------- // compose the sco name --------------------------------------- { sprintf(name,"%04d.sco",sn); } //--- open the file ------------------------------------------- fp = fopen(name, "a+"); // append if needed return ( fp ); } //*************************************************************************** short write_config( short n ) //********************************************** { // write out the parameter list to a configuration file // n = suffix index: valid range = 0<=n<=9, // otherwise writes to where XXXX is the serial # // returns error ( 0=no error ) short err = 0; short sn; FILE *fp; char name[20]; sn = (short) VEEFetchLong( "SERNO", NO_VEE_VAL ); if (sn == NO_VEE_VAL) //------------------------------------ { // then NOT found !! sn = 999; // set to default cprintf("Illegal s/n, setting to default = %d", sn); } //------------------------------------------------------- // make the config name --------------------------------------- if (n >=0 && n<=9 ) { // then legal sprintf(name,"%04d.cf%1d",sn,n); } else // not legal { sprintf(name,"%04d.cfg",sn); } //--- open the file ------------------------------------------- fp = fopen(name, "w"); // write over if already exists if (fp) //----------------------------------------------------- { // then it is valid, we can write out the information display_all( fp, Param_table ); } else err=1; // open err fclose( fp ); return ( err ); } //*************************************************************************** short read_config( short n, short force ) //********************************** { // read the parameter list from a configuration file // n = suffix index: valid range = 0<=n<=9, // otherwise reads where XXXX is the serial # // force = TRUE = force the config file address to agree with iparam // this would normally be true, except when updating from a previous // compilation, and still want to load the majority of the values. // returns error ( 0=no error ) // err=1 = bad update // err=2 = bad address // err=3 = incorrect #arg // err=4 = file could not be opened. short err = 0; short sn; FILE *fp; char name[20]; sn = (short) VEEFetchLong( "SERNO", NO_VEE_VAL ); if (sn == NO_VEE_VAL) //------------------------------------ { // then NOT found !! sn = 999; // set to default cprintf("Illegal s/n, setting to default = %d", sn); } //------------------------------------------------------- // compose the config name ------------------------------------ if (n >=0 && n<=9 ) { // then legal sprintf(name,"%04d.cf%1d",sn,n); } else // not legal { sprintf(name,"%04d.cfg",sn); } //--- open the file ------------------------------------------- fp = fopen(name, "r"); // read //--- may16, try to mount the flash card if not good if (!fp) //------------------------------------- { printf("trying to mount the flash card\n"); execstr("ccc 1"); // may16 try to re-mount fp = fopen(name, "r"); // try again } //-------------------------------------------- if (fp) //----------------------------------------------------- { // then it is valid, we can read in err = read_cfg( fp, force ); // read in all lines } else { cprintf(">>>> File %s could not be opened \n",name); err=4; // open err } fclose( fp ); return ( err ); } //*************************************************************************** short read_cfg (FILE *fp, short force ) //************************************ { // read in from file until no more lines // force = TRUE = force the config file address to agree with iparam // this would normally be true, except when updating from a previous // compilation, and still want to load the majority of the values. // returns 0 if OK, else error status // err=1 = bad update: is set for eeprom values trying to be changed. // err=2 = bad address // err=3 = incorrect #arg short err = 0; short n, num, use; short addr, val, j, a; char str[80], name[20]; do //==================================================================== { // read until EOF n = fget_line( fp, str, 80 ); // read up to 80 char if (n>6 && str[0] == '!' ) //++++++++++++++++++++++++++++++++ { // then could be a legal line num = sscanf(str,"!%s %d %d",name,&addr,&val ); if (num==3) //333333333333333333333333333333333333 { // then read in correct # of arguments j = find_name( name, Param_table ); a = Param_table[j].addr; use = TRUE; // use this value... // unless want to force the addresses to agree... if (force) use = ( a == addr ); if ( use ) //-------------------------------- { // then proceed num = change_param( j, val, FALSE, Param_table, FALSE ); // first FALSE does NOT allow changing an eeprom or NV-RAM value err=0; if (num != val ) { err=1; //FLAG bad update //cprintf("could not update addr=%3d name= %s\n", addr, name); } } // else addresses do not match, set err==2 else err=2; //------------------------------- if (err==2) cprintf("Err %d:j=%d, addr[j]=%d, %s %d %d\n", err,j, a, name,addr,val ); } else err=3; //333333333333333333333333333333333333 } //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ } while (n>=0); //======================================================= return ( err ); } //*************************************************************************** //***************************************************************************** //***************************************************************************** //***************************************************************************** void param_menu(void); void test_param( void ) //***************************************************** { char ch, name[20]; //input char short i, done, n, val, tmo, k; long tnow; cprintf(" Mission/Configuration Parameters : %s \n", __DATE__); all.fp_sco = open_sco (); // open the change-order file param_menu(); done = false; tnow = RTCGetTime(0,0); // gets present time tmo = 0; while (!done) //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ { //cycle until we get a quit command while ( SCIRxQueuedCount() ) SCIRxFlush(); // delete any old stuff if (ch !=' ' && ch>0 ) printf("E_1>\n"); // display directory prompt ch = -1; // illegal value - means it timed out ch = SCIRxGetCharWithTimeout( 1000 ); // get a new character tmo = check_tmo ( &ch, tmo ); // increments the tmo counter if ch<0, and // goes to sleep mode after max_tmo. Returns *ch as upper-case //================================================================ switch(ch) //==================================================== { // and depending upon the cmd, do the appropriate action ======= case 'Q' : done=1; break; //quit function case '?' : break; // causes directory prompt to be displayed case ' ' : break; // wait for another character case 'U' : param_menu(); break; case -1 : break; // wait for another character case '+' : toggle_verbose(); // toggle verbose mode break; case 'D' : // display all parameters display_all( stdin, Param_table ); break; case 'F' : // Find a specific name cprintf("give variable name to find >\n"); gets(name); // read in the name i = find_name_addr(name, Param_table ); if (i>-1) { // then the address was found; display_info( i, Param_table ); cprintf("\n"); } else cprintf("%s not found\n",name); break; case 'M' : // modify values within a group modify_group ( Param_table ); param_menu(); break; case 'R' : // read a config file cprintf("Give cfg index 0<=i<=9 to read\n"); n = get_num(&val); if ( n>0 ) // then valid { cprintf("Force address values in file to agree with ram? "); k = YesNo(); read_config (val, k ); // read the config file } break; case 'S' : // display all shore commands display_shore_cmd( ); break; case 'T' : // display all shore commands n = test_shore_cmd( ); cprintf("shore_cmd_err = %d\n", n); break; case 'W' : // write out a config file cprintf("Give index 0<=i<=9 if want a copy, -1 to overwrite .cfg\n"); n = get_num(&val); write_config (val ); // write out the config file break; case 'X' : // get name and new value printf("Give variable name to change >\n"); gets(name); printf("Give the new value for %s >\n",name); n = get_num(&val); if (n==1) //then a legal read of value val = change_name_param(name, val, Param_table ); printf("New value = %d \n", val); break; case '8' : cprintf("Give #times to increment surface, profile numbers\n"); n = get_num(&val); if ( n>0 ) // then valid { for (i=0;i0 ) // then valid { set_op_mode(val); set_surf_num(val); } break; default : printf(" input unknown \n"); } //============================================================== } // end while !done //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ //--jun11, add auto-request to re-write the config file cprintf("IF you have changed any values, SAVE to the cfg file\n"); cprintf("Save to the cfg file now? (Y/N)\n"); if ( YesNo() ) { // dec11 display line that actually saved write_config (-1 ); // write out the config file cprintf("Saved to the .cfg file\n"); } fclose ( all.fp_sco ); return; } //*************************************************************************** void param_menu(void) //******************************************************* { //print out menu selections cprintf(" Parameter and Shore Command Menu\n" "Q.uit : U.pdate menu\n" "D.isplay All : F.ind Name : X.change value \n" "M.odify group : R.ead Config : W.rite Config \n" "S.hore cmd summary: T.est shore cmd: 9.change opmode,dive#\n" ); return; } //*************************************************************************** //*** END *********************************************************************