// ****************************************************************** // Benthos.c : 17Jan2010 LAR // 17Jan10 -- Use 2010-05-31 Benthos.c for TT8 Spray as a basis to // create a version for CF2 controller. // The Benthos Modem uses the TPU port // used by ADP in normal (non-Acoustic modem) Spray. // Power to the modem is controlled by the // Aux power switch normally used by the Altimeter // 15Jun10 -- Replaced calls to tget with calls to CF2 tgets // 23AUG10 -- BDJ Added the AT$BS command to the return buffer (sent // back to groundstation) in XferSubBlk() // 10FEB11 -- BDJ check to make sure we dont already have the msg // before starting wait in XferSubBlk() // 30Nov15 -- LAR Removed btmsk from struct ACM. No bit masking is now // available to get individual 246 byte sub-blocks // 30Aug16 -- LAR Added service-wdog() to function tgetac. Dog gets // tickled on every command or read of string from REMOTE // Hopefully this will stop the ABORTs during ACM operations. // 31Aug16 -- JTS incorporated in LAR changes, +added more service-wdog. // ****************************************************************** /* #include #include #include #include #include #include #include #include #include #include "lowpow.h" #include "cf1.h" #include "eeprom.h" */ #include // Persistor BIOS and I/O Definitions #include // Persistor PicoDOS Definitions #include #include #include #include "gpio_mux.h" #include "setup.h" #include "sbd.h" #include "spi_cmd.h" #include "BenthCF2.h" #include "lifo.h" #include "miss_fnx.h" //acoustic modem uses same ports as ALT/ADP #if BENTHOS==1 || NPS==1 // PROCEED ...#endif is at the end of this file //external declarations extern short acm_xmits; //number of commands sent to the remote extern union CS CS0, CS1, CS2; extern short TSerInUse; //GLOBAL defined in start.c for Benthos // =1 if TSerial port of TPU is in use, else 0 //Used to prevent code from changing System clock or turning off //the oscillator or TPU in low power states.To do so messes up //TSerial interrupt servicing and baud rates. extern struct acm_command modem_cmd_str; //command string for remote modem (start.c) extern struct all_param all; //defined in cfxmain.c extern char Verbose; // switch for displaying more info extern short iparam [ MAX_PARAM ]; // global parameter settings long ReadCharsFromConsole(char *buffer, long n);//CFxPicoPreMain.c extern short TSerInUse; //GLOBAL defined in start.c for Benthos // =1 if TSerial port of TPU is in use, else 0 //Used to prevent code from changing System clock or turning off //the oscillator or TPU in low power states.To do so messes up //internal declarations short acm_is_on; //1 if acm is on and ready to talk short REM_TO=14; //time out secs for 1st char of remote modem response //14 secs allows one-way range=7875m //The value is adjusted in acm_Power_Up to be compatible with //LOCAL setting of Sreg7 #define MAXREPLY 500 char REMrep[MAXREPLY+1];//buffer used by cmd_acm to recv reply from REMOTE void menu_acm(void); //short GetTSdata( struct acm_param *acm ); //Read TSer interrupt buffer to Spray RAM char s_NoLOCresp[]= "No LOCAL resp to %s:\n"; //a string used often in diagnostics short acm_off() // turn off acoustic modem { //ALWAYS returns 0 (assumes success) short istat = 0; struct spi_param *ss; ss = all.sspi; // points to the spi comms struct setup_spi ( CS_GPIO, ss ); istat = spi_aux_pwr( -AUX_ON_ALT, ss ); //turn off power if (Verbose) cprintf("Err Stat off_acm = %d\n", istat); DelayMilliSecs(10); // wait istat = spi_mux( 0, SER_ADP, ss ); // turn off rs232, returns TRUE if ok if (!istat) cprintf("Err Stat off_mux\n"); //istat==TRUE if command was accepted ok. //return ( !istat ); // returns 0 if spi_mux cmd was OK return ( 0 ); //But per TT8 version, this is ignored } // end acm_off short start_acm(void) // power up and initialize acm { //On success returns // 0 = success //On errors returns: // -2 = no response from LOCAL modem short i=0,nread; char reply[200]; short istat; short found; char s[]="\n err on ACM %s chan = %d \n"; struct spi_param *ss; TUPort *tup; tup = all.tu_port[TU_ADP].tup; // tpu uart port pointer for ACM/ADP ss = all.sspi; // points to the spi comms struct setup_spi ( CS_GPIO, ss ); //ACM uses ADP subchannel of serial MUX1 with Baud=BAUD_MUX1 istat = spi_mux( 1, SER_ADP, ss ); // turn on rs232 & configure mux if ( !istat ) cprintf("Err Stat mux_adp\n" ); istat = spi_aux_pwr( AUX_ON_ALT, ss ); // modem now has power if ( istat != SPI_CRC_OK ) { // error sending the 'ON' command cprintf("Err Stat on_acm = %d\n", istat); return ( -2 );//error=no response from Local } acm_is_on=1; //the acm is on and set up for communication DelayMilliSecs(10000); // 10 second delay to let settle //Give up to 15 seconds for Benthos to send its wakeup display: /* Benthos ATM-88X LF Frequency Band Standard version 5.6 Warning battery low > */ //12Feb09 nread = tgetac( ACM_FROM,reply,198,15 ); //15Jun10 nread = tget( ACM_FROM,reply,198,15 ); nread = tgets( tup, reply,198,15,NO_EOL,&found); if( nread==0 ) return(-2); //no wakeup banner received else {printf("%s\n",reply); return(0); //got something so assume awake } } // end start_acm short acm_Power_Up( void ) {// Turn on power, initialize LOCAL acoustic modem, and get a good response // return 0=OK, // -1=error in starting -- leaves acm off short i=0, err=1,nread; uchar dbg[80]; while ( (i++<3) && (err!=0) ) { // try up to 3x to power up modem & get an ACK err = start_acm(); // turn on acm and initialize if (err <0) { //debug printf("start_acm fail--try again\n"); acm_off(); DelayMilliSecs(5000); } //try power reset } // end while trying to start if ( err != 0 )return(-1); //unable to start LOCAL //make 2 attempts to get ACK from modem while ( (i++<2) && (err!=0) ) { // try to initialize and get correct response err = ack_acm(); //see if it's awake if (err<0) // if still no response, try once more { DelayMilliSecs(500); err= ack_acm(); } } if(err != 0) { //no contact with LOCAL is fatal acm_off(); //Power down & release serial port return(-1); //return error } //initialize the state of ac modem // 09July2009 Ken Scussel of Benthos suggests the values of debug // Sreg2, Sreg7, Sreg10, Sreg13, Sreg15, Sreg16 on each dive debug // Setting of Sreg2 on LOCAL has no effect on auto-retry of blocks so don't care //10Jul09 removed cmd_acm("ATS11=1\0",REMrep,MAXREPLY,2,1); //enable RTS handshake cmd_acm("ATS7=35\0",REMrep,MAXREPLY,2,1); //acoustic response timeout debug get default from EEPROM??? cmd_acm("ATS10=255\0",REMrep,MAXREPLY,2,1); //Idle time=255 Don't go to low power //since Spray switches the power. cmd_acm("ATS12=04\0",REMrep,MAXREPLY,2,1); //ATX uses 512 bit test message cmd_acm("ATS13=03\0",REMrep,MAXREPLY,2,1); //code needs maximum verbosity on messages cmd_acm("ATS15=00\0",REMrep,MAXREPLY,2,1); //powerup in command mode cmd_acm("ATS16=00\0",REMrep,MAXREPLY,2,1); //display data packets containing errors SetSreg(-1,6,(short)iparam[IA_acm_lxmt],1 ); //set xmit power level of Local per EEPROM default //assume that commands were accepted debug //read Sreg7 = acoustic time out LSB=.5 second & set global REM_TO if( GetSreg( -1, 7, &nread,1) == 0) { REM_TO=nread/2+5; //set REM_TO to be 5 second longer if (REM_TO < 10)REM_TO=10; //lower bounds if (REM_TO > 30)REM_TO=30; //upper bounds } sprintf(dbg,"acm_Power_Up setting REM_TO=%d\n",REM_TO); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 return(0); //success } // end acm_Power_Up short tgetac ( TUPort *tup, char *str, short n, short tmo, short gap_s) { // get string from TPU Port *tup : Returns when either: // n characters are read in // tmo = #sec to wait for 1st char // gap_s = time out gap between characters // returns # of bytes actually read // the string is in *str char c=0, *cs = str; //* ch points to str buffer short i=0; //* i=# characters read in so far short ms, ok=1, reply; ulong tnow, tstart; long dt; if (tmo>30) tmo=30; // limit time-out if (gap_s >30) gap_s=30; // limit time-out ms = tmo*1000; // #ms for the first char //if (Verbose) cprintf("tgets wait = %d ms\n",ms); //== aug16, with 30s tmo, up to 500 char, this could take awhile! service_wdog(); // make sure the wdog has been serviced. tstart = RTCGetTime(0,0);// present UX time while ( ok ) //===================================================== { //keep reading while ok reply = TURxGetByteWithTimeout( tup, ms ); //get a byte // cprintf("%02x ",reply); //value>0 unless not rcv'd, then=-1 ok = ( reply>=0 ); // good char, store if (ok) //------------------------------------------------ { c = reply; // store as char *cs++ = c; // store the byte i++; // increment the counter ms = gap_s*1000; // time out on gap_s seconds gap ok = (i 300 ) //........ { // aug16 service the wdog tstart = tnow; service_wdog(); } //...................... } //================================================================== *cs = '\0'; //* tack on the end of string marker //if (Verbose) cprintf("tgets #bytes=%d, found=%d\n", i, *found); return ( i ); } //end tgetac short cmd_acm(char s_cmd[],char s_rply[],short maxlen,short to_secs,short gap_s) //send s_cmd to remote modem {//Send s_cmd string (Null terminated) to an acoustic modem. This routine works with //sending s_cmd to either a LOCAL or REMOTE modem; the difference is only in the //contents of the s_cmd string. //The local modem sets RTS=LO, ie ModemBusy()=1, while local is waiting for response to //the remote. //Wait for up to to_secs seconds for a response and put up to maxlen bytes into s_rply //Be sure to include Round trip sound transit time in to_secs if the command is //going to a REMOTE modem //Quit when the gap between successive bytes exceeds gap_s seconds //The error message parsing assumes that error messages //are displayed (LOCAL register S13=3). //On success returns actual length stored in REMrep (>0) // 0 = success but zero length response //On errors returns: // -1 = illegal command // -2 = no response from local modem or LOCAL not ON // -3 = REMOTE no response short nread,tleft; ulong tstrt,tend; TUPort *tup; tup = all.tu_port[TU_ADP].tup; // tpu uart port pointer for ACM/ADP s_rply[0] = '\0';nread=0; // set reply to NULL str if ( !acm_is_on ) return(-2); //exit immediately if acm not ON TURxFlush ( tup ); // flush the tpu port input buffer tputs( tup, s_cmd); // send command string if( strstr(s_cmd,"$") !=NULL || strstr(s_cmd,":") !=NULL || strstr(s_cmd,"ATR")!=NULL || strstr(s_cmd,"ATX")!=NULL || strstr(s_cmd,"ATY")!=NULL ) //if is a command for the remote {acm_xmits++;} //increment the query tstrt = RTCGetTime(0,0); //time when command was sent in seconds tend = tstrt+to_secs; //allow to_secs seconds for 1st char nread = tgetac( tup,s_rply,maxlen,to_secs,1 ); //12Feb09nread = tget( ACM_FROM,s_rply,maxlen,to_secs ); //look for \r\n //debug printf("cmd_rem1\n");debug_string( s_rply, nread); if ( nread <= 0 ) { //LOCAL didn't respond and neither did REMOTE printf(s_NoLOCresp,s_cmd); //"No LOCAL resp to %s:\n" return(-2); } //We got something from the LOCAL if ( strstr(s_rply,"Invalid Command") != NULL ) { printf("Invalid command: %s\n",s_cmd); return(-1); } //Normal response is "\r\n" from the LOCAL to ack receiving the command from serial port; //Usually this happens in about 1 second, but we have seen the LOCAL not respond for at //least a few seconds if the xducer is hearing a lot of noise. //In any case there will be more response following. //The LOCAL returns prompt "\r\n>" at the end if the response is complete tleft = (short)( tend - RTCGetTime(0,0) ); //seconds left until timeout expires since command sent if ( tleft > 0 && strncmp(&s_rply[nread-3],"\r\n>",3)!=0 ) { //wait for more that will be coming nread += tgetac( tup,&s_rply[nread],maxlen-nread,tleft,gap_s ); //debug printf("cmd_rem2\n");debug_string( s_rply, nread); } //At this point the buffer should have either an error message from the local, an error //message from the REMOTE, or the response from the REMOTE. if ( strstr(s_rply,"Error in header") != NULL ) { //LOCAL detected bad header from the REMOTE. The REMOTE thinks everything is OK //so more might be coming in but the LOCAL will send"Response" err and will ignore it tleft = (short)( tend - RTCGetTime(0,0) ); //secs left until timeout expires since command sent nread += tgetac( tup,&s_rply[nread],maxlen-nread,tleft,gap_s ); //debug printf("cmd_rem3\n");debug_string( s_rply, nread); } if ( strstr(s_rply,"Response Not Received") != NULL ) { //LOCAL got nothing from the REMOTE. Either the REMOTE didn't get the command //or the LOCAL didn't hear its response. printf("\nNo REM resp to %s:\n",s_cmd); //if the REMOTE has retry enabled and this was a data transfer, REMOTE could //try again return(-3); //remote not responding } return ( nread ); //return bytes stored into s_rply } // end cmd_acm short ack_acm(void) //send AT to modem & look for '\r\nOK\r\n>' {//On success returns // 0 = success //On errors returns: // -1 = illegal remote ID // -2 = no response from local modem or LOCAL not ON // -4 = unexpected,illegal, or unparsable response short nread,to=1; nread=cmd_acm("AT",REMrep,MAXREPLY,to,1); //send"AT" to acoustic modem if ( nread<0 ) {return(nread); //return negative error code on failure } else {//printf("\n");debug_string( sget, nread); //debug display response REMrep[19]='\0';//just in case too long or no NULL if( strncmp(REMrep,"\r\nOK\r\n>",7)==0 ) return(0); //success else return(-4); //unexpected response } } // end ack_acm void Transparent_ACM( void ) //Added special for updating Benthos firmware { //A Transparent path between Spray's serial COMM port and the //Benthos modem. Quits when both ends are idle for COM_to seconds. //Assumes the LOCAL modem is powered up and leaves it on when done. short COM_to, ifecho; char c; unsigned long now,tl_com; TUPort *tup; tup = all.tu_port[TU_ADP].tup; // tpu uart port pointer for ACM/ADP /*acm_off(); printf("Power Up ");fflush(stdout); err=acm_Power_Up(); //make sure LOC is powered up if (err>=0) printf("OK\n"); else { printf("Err=%d\n",err); return; }*/ SerInFlush(); //flush Spray COMM input buffer printf("Idle channel timeout (seconds)? ");fflush(stdout); scanf("%d",&COM_to); printf("Local echo of Spray output (y/n)? ");fflush(stdout); ifecho=YesNo(); TURxFlush ( tup ); // flush the tpu port input buffer SerInFlush(); //flush Spray COMM input buffer //transfer bytes in both directions until neither end has transmitted //for tl_com seconds now=tl_com=RTCGetTime(0,0); while( (short)(now-tl_com) <= COM_to ) { if( SCIRxQueuedCount() ) { //xfer byte waiting at Spray COMM port to AC modem c = (char)SCIRxGetChar(); TUTxPutByte ( tup, c, 0); if(ifecho)SCITxPutChar(c); //provide local echo tl_com=RTCGetTime(0,0); //secs of last char from COMM } if( TURxQueuedCount(tup) ) { //xferbyte waiting at AC modem to Spray COMM port c = (char)TURxGetByte(tup,FALSE); //read in character SCITxPutChar(c); tl_com=RTCGetTime(0,0); //secs of last char from modem } now=RTCGetTime(0,0); } printf("Channel has been Idle for %d seconds\n",COM_to); return; } //end Transparent short all_Sregs( short remID ) //Fill string with S-register status {//Asks remote modem remID for contents of all Sregisters. //stores up to MAXREPLY chars into global REMrep, terminates with NULL char //If remID <0, asks the local modem //On success returns actual length stored in sreg (>0) // 0 = success but zero length response //On errors returns: // -1 = illegal remote ID // -2 = no response from local modem or LOCAL not ON // -3 = REMOTE no response // -4 = unexpected,illegal, or unparsable response short nread,to=1,n; char *r_ptr,cmd[8]; if ( remID < 0 ) {//ask the local modem for its Sregisters if( (nread=cmd_acm("ATS?",REMrep,MAXREPLY,to,1))>0 ) //"ATS?" gets Sreg 0 thru 20 {n=cmd_acm("ATS22?",&REMrep[nread],MAXREPLY-nread,to,1); //"ATS22?" gets 22 thru 40 if(n>0) nread += n; //total bytes read in S00 through S40 } else {return(nread); } } else {//ask the remote modem for its Sregisters sprintf(cmd,"AT$S%02d\0",remID); //create the command string nread=cmd_acm(cmd,REMrep,MAXREPLY,REM_TO,5); //send"AT$Snn" to remote modem gets 0 thru 20 } if ( nread <0 ) {return(nread); //return failure code } else {//compact the response r_ptr=strstr(REMrep,"S00="); //look for S00= in reply if(r_ptr == NULL ) {//bad response return(-4); } else {//legal Sreg reply--shuffle "S00=" to char[0] nread=(short)(&REMrep[nread]-r_ptr); //chars to shuffle memmove(REMrep,r_ptr,nread); REMrep[nread-3]='\0'; //terminate with NULL char return ( strlen(REMrep) ); } } } // end all_Sregs short GetSreg( short remID, short regno , short *value , short Ntry ) //Read specified S register { //Asks remote modem remID for contents of Sregister regno and fills value. //If remID <0, asks the local modem //Make Ntry attempts before returning for REMOTE modem. One try for LOCAL // return 0=ok //On errors returns: // -1 = illegal remote ID // -2 = no response from local modem // -3 = REMOTE no response // -4 = can't parse response //14Jul09 version only asks for the single register desired rather that // asking for all registers and parsing out the desired one short nread,temp,err,n; char cmd[14],*ptr; if( regno < 0 ) { //illegal register number printf("Ill. Sreg:%d\n",regno); return (-1); } if( remID == -1 ) { //get Sreg from LOCAL modem sprintf(cmd,"ATS%02d?\0",regno); nread=cmd_acm(cmd,REMrep,MAXREPLY,2,1); //send cmd to local modem if ( nread < 0 ) { //unable to read Sregs return(nread); //return error code } else { //printf("\ndebug GetSreg\n");debug_string( REMrep, nread); //debug display response nread=sscanf(REMrep,"%d",&temp); //parse the value into temporary value if(nread==1) { *value=temp;//success in extracting value, return the value return(0); } else return(-4);//failed extracting the value, leaves value unchanged } } else { //get Sreg from REMOTE modem for(n=0;n LOCAL modem {//reg4 = contents of Sreg 4 //convert to baud rate switch ( reg4 ) {case 2:*baud= 140;break; case 3:*baud= 300;break; case 4:*baud= 600;break; case 5:*baud= 800;break; case 6:*baud=1066;break; case 7:*baud=1200;break; case 8:*baud=2400;break; default: return(-4); //unknown baud rate } return (0); //success } else {return(nerr); //failed reading the register } } // end GetBaud //Commands and requests to remote modems short RemRange( short remID , short *meters , short Ntries ) //range to remote modem {//legal remote_IDs= 0,..,99 //On success returns // 0 = success //On errors returns: // -1 = illegal remote ID // -2 = no response from local modem or LOCAL not ON // -3 = REMOTE no response // -4 = unexpected,illegal, or unparsable response short nread,err,n; char cmd[11],*ptr; float frnge=0.;//floating range //uchar dbg[200]; //generate command string sprintf(cmd,"ATR%02d\0",remID); for(n=0;n"); //look for ">" just before 1st AGC reading AGCavg=0; if ( ptr !=NULL) { //found the AGC readings ptr++; //advance to 1st reading printf("AGC: %s\n",ptr); //display raw AGC readings ptr+=4; //skip 1st reading in the average as it may be old for(n=0 ; n<5 ;n++ ) { nread=sscanf(ptr,"%d",&agc); if(nread == 0 )break; AGCavg += agc; ptr +=4;//advance to next reading } if(n>0) AGCavg=(float)AGCavg/n+.5; else AGCavg=-1.; } return(AGCavg); } //end AGCamb short LinkQ(short remID,short *nbytes,struct acm_param *acm) //get data from remote modem {//On success returns // 0 = success //On errors returns: // -1 = illegal remote ID // -2 = no response from local modem or LOCAL not ON // -3 = REMOTE no response // -4 = unexpected,illegal, or unparsable response //Get the quality status of the acoustic link to remote modem remID. //Put up to MAXREPLY bytes of response into global array REMrep. The response string //is NULL terminated ASCII. Maxby must allow room for the NULL. //nbytes returns length of the reply //Example of interrogation response(161 bytes): // 00140 bits/sec // Acquisition stats SNR:-05.1 MPD:01.5 SPD:+00.0 // Header stats CRC:Pass SNR:23.5 CCERR:013 // MOD:02 ERR:000 SNR:23.0 AGC:16 SPD:+00.0 CCERR:013 // //The baud rate is determined by S4 of the remote and is encoded in MOD. //The length of the test message is determined by S12 of the local modem . //fills acm->baud with the baud rate of the remote modem & other test results short nread,tlen; short found; char cmd[7], *ptr; float f_inp; TUPort *tup; tup = all.tu_port[TU_ADP].tup; // tpu uart port pointer for ACM/ADP *nbytes=0;//nothing has been read yet //Clear the >acm structure so won't confuse new and old contents acm->baud = acm->tst_bytes = 0; acm->SourceID = acm->CRC = acm->mpd = acm->snr =999; acm->agc = acm->spd = acm->ccerr=999; acm->ber = 9999; //The local Sreg12 determines the length of the test message if( GetSreg(-1, 12, &tlen ,1 )==0 ) { //success reading S12, parse the coded value switch (tlen) //get number of bits in test message { case 0: case 128: tlen=8;break; //8 bytes case 1: case 129: tlen=32;break; //32 bytes case 2: case 130: tlen=128;break; case 3: case 131: tlen=256;break; case 4: case 132: tlen=512;break; case 5: case 133: tlen=1024;break; case 6: case 134: tlen=2048;break; case 7: case 135: tlen=4096;break; default: tlen=1; } } else { //failed to get S12 tlen=1;//default value } acm->tst_bytes=tlen; //number of bytes in test message //generate command string sprintf(cmd,"ATX%02d\0",remID); nread=cmd_acm(cmd,REMrep,MAXREPLY,REM_TO+16,5); //send"ATXn" to remote if (nread < 0) {return(nread);//return neg error code } //The local Spray modem returns "\r\n" when it accepts the command. When it //receives the header for the test message from the remote, it returns the baud rate.Then //there is a delay since the local modem then doesn't return anything until the test //message has been completely received. For an 8 byte test (S12=0) this takes //0.5 second @ 140 baud. For an 128 byte test (S12=2) this takes 7.5 second @ 140 baud. //got something from remote //The first 16 bytes should be "\r\nBBBBB bits/sec" where BBBBB=remote baud rate //We can use the baud rate to estimate how long the remote will take to send the //test message of acm->tst_bytes bytes ptr=REMrep; //start at beginning of link status reply ptr=strstr(ptr,"bits/sec"); //look for "bits/sec" if(ptr == NULL )return(-4);//bad format sscanf(ptr-6,"%d",&acm->baud); //baud rate of remote tlen=(short)((8L*acm->tst_bytes)/acm->baud)+3; //seconds to xmit test message //listen for up to tlen secs for message to quit (in case it hasn't) //12Feb09 nread += tgetac( ACM_FROM,&REMrep[nread],(short)(MAXREPLY-nread),tlen,1); //15Jun10 nread += tget( ACM_FROM,&REMrep[nread],(short)(MAXREPLY-nread),tlen); nread += tgets( tup,&REMrep[nread],(short)(MAXREPLY-nread),tlen,NO_EOL,&found); //the Spray Benthos modem prepends an \r\n to start and appends an \r\n> to the //reply from the remote modem. Remove these 5 extra bytes so buffer has //only the data stream from the remote if ( !strncmp(REMrep,"\r\n",2) ) {memmove(REMrep,&REMrep[2],nread-2);//trim initial \r\n nread -= 2;//correct the length if ( !strncmp(&REMrep[nread-3],"\r\n>",3) ) {//\r\n> as expected at end--trim them by nread -= 3;//correcting the length and REMrep[nread]='\0'; //terminating with NULL char *nbytes=nread; //number of bytes in REMrep //parse the response and fill LinkQ area in ACM structure with //baud,errct,snr,agc,spd, and ccerr //Example of interrogation response(161 bytes): // 00140 bits/sec // Acquisition stats SNR:-05.1 MPD:01.5 SPD:+00.0 // Header stats CRC:Pass SNR:23.5 CCERR:013 // MOD:02 ERR:000 SNR:23.0 AGC:16 SPD:+00.0 CCERR:013 // ptr=strstr(ptr,"MPD:"); //look for "MPD:" in message stats if(ptr == NULL )return(-4);//bad format sscanf(ptr+4,"%f",&f_inp); //multipath delay in floating millisecs acm->mpd=(short)(10*f_inp); //LSB = 0.1 millisec ptr=strstr(ptr," ERR:"); //look for " ERR:" in message stats if(ptr == NULL )return(-4);//bad format sscanf(ptr+5,"%d",&acm->ber); //count of bit errors 25Jul09 Prior to this ber //was the bit error rate computed via //acm->ber=(short)((1000L*n_inp)/(8L*acm->tst_bytes)); ptr=strstr(ptr,"SNR:"); //look for "SNR:" in message stats if(ptr == NULL )return(-4);//bad format sscanf(ptr+4,"%f",&f_inp); //SNR in floating db acm->snr=(short)(10*f_inp); //LSB = 0.1 dB ptr=strstr(ptr,"AGC:"); //look for "AGC:" in message stats if(ptr == NULL )return(-4);//bad format sscanf(ptr+4,"%d",&acm->agc); //AGC 0-95 ptr=strstr(ptr,"SPD:"); //look for "SPD:" in message stats if(ptr == NULL )return(-4);//bad format sscanf(ptr+4,"%f",&f_inp); //SPD in floating kts acm->spd=(short)(10*f_inp); //LSB = 0.1 kt ptr=strstr(ptr,"CCERR:"); //look for "CCERR:" in message stats if(ptr == NULL ) {//if REMOTE is 2400 baud it doesn't send CCERR so ignore return(0);// the bad format and leave CCERR unchanged } else sscanf(ptr+6,"%d",&acm->ccerr); //CCERR 0-14 return (0) ;// success } else {//no \r\n at the end return(-4); } } else {//something wrong with format--no initial \r\n so don't trim //but still try to trim end if ( !strncmp(&REMrep[nread-3],"\r\n>",3) ) {//\r\n> as expected at end--trim them by nread -= 3;//correcting the length and REMrep[nread]='\0'; //terminating with NULL char } *nbytes=nread; //number of bytes in REMrep return (-4) ;//only a partial success-- } } //end LinkQ short SetBaud( short RemID , short baud,struct acm_param *acm ,short Ntry ) //Set acoustic baud rate on remote {// return 0=ok // -1 = illegal remote ID // -2 = no response from local modem // -3 = REMOTE no response // -4 = can't parse REMOTE's response //Sets acoustic baud rate of RemID //If RemID == -1, sets ac baud of local modem //Make Ntry attempts for REMOTE modem. One try for LOCAL short reg4,err,nread,n; char cmd[24]; uchar dbg[200]; //lookup Sreg 4 setting to get desired baud switch ( baud ) {case 140: reg4=2; break; case 300: reg4=3; break; case 600: reg4=4; break; case 800: reg4=5; break; case 1066: reg4=6; break; case 1200: reg4=7; break; case 2400: reg4=8; break; default: return(-2); //unknown baud } //send the command if( RemID == -1 ) {//set acoustic baud of local modem err=SetSreg(-1, 4 , reg4 ,1 ); return(err); } else { //remote RemID for(n=0;n0) && (strncmp(&REMrep[nread-7],"\r\nOK\r\n>",7) == 0) ) { //printf("\n");debug_string( REMrep, nread); //debug display response //remote baud was changed OK. The remote determines data xfer rate so acm->baud=baud;//set baud rate in ACM struct err=0; break;//success } else { err=-4; //return -4 on failure to parse remote's response } } sprintf(dbg,"SetBaud %6ld %s err=%d\n",RTCGetTime(0,0),cmd,err); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(err); } } // end SetBaud short SetPower( short RemID , short level , short Ntry ) //Set acoustic output level on remote { // return 0=ok // -1 = illegal remote ID // -2 = no response from local modem // -3 = REMOTE no response // -4 = can't parse REMOTE's response //Sets output level of RemID //If RemID == -1, sets level of local modem //If setting power on a REMOTE modem then make Ntry attempts before returning. //Changes of LOCAL power are always a single try. short err,nread,n; char cmd[24],dbg[80]; //legal levels are 1 (-21 dB) thru 8 (0 dB=max output power) if( (level < 1) || (level > 8) ) return(-2); //send the command if( RemID == -1 ) { //set level of local modem err=SetSreg(-1, 6 , level ,1 ); //single try for LOCAL sprintf(dbg,"CHPOW %6ld ID=%d Pow=%d err=%d\n",RTCGetTime(0,0),RemID,level,err); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(err); } else { //remote RemID for(n=0;n0) && (strncmp(&REMrep[nread-7],"\r\nOK\r\n>",7) == 0) ) { err=0; //remote power was changed OK. break; } else { //printf("\n");debug_string( REMrep, nread); //debug display response err=-4;//set negative error code } } sprintf(dbg,"CHPOW %6ld ID=%d Pow=%d err=%d\n",RTCGetTime(0,0),RemID,level,err); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(err); } } // end SetPower short SetSreg( short RemID ,short regno , short value , short Ntry ) //Set specified S register on remote {//put value into Sregister regno of remote RemID //If RemID == -1, sets Sreg of local modem //Make Ntry attempts for REMOTE modem, single attempt for LOCAL //On success returns // 0 = success //On errors returns: // -1 = illegal remote ID, register, or value // -2 = no response from local modem or LOCAL not ON // -3 = REMOTE no response // -4 = unexpected,illegal, or unparsable response short nread,n,err; char cmd[20]; if( regno < 0 ) {//illegal register number printf("Ill. Sreg:%d\n",regno); return (-1); } if( RemID == -1 ) { //set register of local modem if( regno<=20 ) { sprintf(cmd,"ATS%02d=%03d\0",regno,value); } else { //undocumented registers >20 have special form of command sprintf(cmd,"ATS%02d*%03d\0",regno,value); } nread=cmd_acm(cmd,REMrep,MAXREPLY,1,1); //send command if ( nread<0 ) { return(nread); //return neg error code on failure } else { if( strncmp(&REMrep[nread-7],"\r\nOK\r\n>",7)==0 ) return(0); //success else { //printf("\n");debug_string( REMrep, nread); //debug display response return(-4);//unexpected response } } } //End setting LOCAL register else { //not local modem--set REMOTE register using ATEC,EW command. Note that this is a //nonvolatile setting of the register. for(n=0;nthis_blk with the next 4K block to get from the REMOTE //Obtains info from the ACM struct //and manipulates values of //new_blk, old_blk,xfer_mode,this_blk in the ACM struct //Returns 0 if there is data to get // -1 if there is no more data blocks to get from this REMOTE //NEW_BLK transfers blocks incrementing by blk_inc(set from ee_acm_binc value) //OLD_BLK transfers blocks icrement by 1 regardless of blk_inc (ee_acm_binc)value if( ACM->new_blk <= ACM->lnew_blk ) { ACM->xfer_mode= NEW_BLK; //there is new data to get ACM->this_blk = ACM->new_blk; //from this block ACM->new_blk += ACM->blk_inc; //now it points to next NEW block } else if( ACM->old_blk <= ACM->lold_blk ) { //there is old data that GS wants us to repeat ACM->xfer_mode= OLD_BLK; //there is new data to get ACM->this_blk = ACM->old_blk; //from this block ACM->old_blk++; //now it points to next OLD block( Increments by 1) } else { return(-1); //neither new nor old data to get } return(0); //there is data to get } //end WhatBlock void Adjust4NxtDive(struct acm_param *ACM) { //15Feb09 -- Once this_blk block is xferred successfully we don't need to look // for it on the the next dive.If this block had 4Kbytes // then on the next dive start at this_blk+1. // If we didn't read a full 4K bytes, // then we have to read it again later. // NOTE: The memory of the last dive successfully transferred is // lost when Spray is set to interrogate another modem by // changing the settings in ACM->modem struct. //09Dec09 -- Whether or not the transfer was successful,this_blk is incremented by // ee_acm_binc for the next dive. Let the ground station handle the // logic for repeating invalid data //30May2010 -- Neither NEW_BLK nor OLD_BLK transfers alter the modem database so the transfer // will repeat on the next dive until Ground Station reprograms the // desired block settings. Adjust4NxtDive does nothing and immediately // returns. /* need lots of work in Adjust4NxtDive. Error messages make #of bytes rec'd a poor indicator of whether block was completely xferred. Must parse the DATA(xxxx) to see how many bytes were transferred and need to add total of sub-block hunks. Need to check that CRC was good on all hunks of the block. Ddon't want to advance to next block on next dive if only a partial block was read or if CRC was bad on any part of the block*/ return; //Until we figure auto-increment out, Adjust4NxtDive does nothing } //end Adjust4NxtDive short XferBlk(struct acm_param *ACM) //get data from remote modem { //Makes ee_acm_mxtry attempts to start transfer of 4K data block this_blk from REMOTE //ACM->remID = REMOTE modem mID //ACM->this_blk = index of the REMOTE 4K byte block to get //Watches the TS buffer and collect responses in ACM->buf. ACM->by_read = bytes //read (also points to where next byte will be stored in ACM->buf) //Uses the TPU TS UART serial port. If the start is successful, TSerInUse is //set =1 to prevent lpwait and Snooze functions from changing Sys clock or stopping //TPU or CPU oscillator. Any of these make interrupt-driven TSerial fail. //This version written 02Mar09 based on StartXfer, does not use the RTS //output line from the Benthos modem. //On success returns // 0 = success data xfer without error //On errors returns: // -2 = no response from LOC modem or invalid command // -3 = REMOTE no response // -4 = unparseable, unknown, or illegal response // -5 = remote data block is empty // -6 = data xferred but had CRC error // -7 = bad data header // -8 = can't start the REMOTE because it is transmitting //The return status is also put in ACM->Xfer_err char cmd[13]; short nread,i; short found; ulong secs,tend,nbytes; uchar dbg[80]; TUPort *tup; tup = all.tu_port[TU_ADP].tup; // tpu uart port pointer for ACM/ADP TSerInUse=1; //assume REMOTE is going to respond so make sure don't change //CPU clock rate or stop it //Set Transfer status values to clearly illegal ACM->SourceID = ACM->CRC = ACM->mpd = ACM->snr = 999; ACM->agc = ACM->spd = ACM->ccerr = ACM->rem_pkt = 999; ACM->StX_tries=0; //haven't yet tried to start the transfer do { ACM->StX_tries++; //20Feb09--make sure the REMOTE isn't talking tend = RTCGetTime(0,0)+2*REM_TO; //for twice the round-trip time sprintf(dbg,"XferBlk %6ld blk %d try#%d wait for idle REM\n", RTCGetTime(0,0),ACM->this_blk,ACM->StX_tries); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 i=0; while( RTCGetTime(0,0)Xfer_err = -8; sprintf(dbg,"XferBlk %6ld REMOTE is talking\n",RTCGetTime(0,0)); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 //REMOTE is talking so delay before next try if( ACM->StX_triesStX_tries)*iparam[IA_acm_rmdly]; //time to quit while( RTCGetTime(0,0) < secs) { DelayMilliSecs(1000);//1 second delays (not low power) and doesn't //change CPU clock rate } } continue; //20Feb09----go to next try } //We haven't heard from the REMOTE for two RT travel times so lets start Xfer //of the desired block sprintf(cmd,"AT$BB%02d,%03d\0",ACM->remID,ACM->this_blk); //generate command string TURxFlush ( tup ); // flush the tpu port input buffer tputs( tup, cmd); // send command string acm_xmits++; ACM->buf[0] = '\0';ACM->by_read=0; // set reply to NULL str //15Jun10 ACM->by_read = tget(ACM_FROM,ACM->buf,40,1);//Local sends \r\n when it gets command and starts it ACM->by_read = tgets(tup,ACM->buf,40,1,NO_EOL,&found);//Local sends \r\n when it gets command and starts it //but there could be other LOCAL error messages also ACM->buf[ACM->by_read]='\0'; //NULL terminate the reply if ( ACM->by_read<2 ) { //didn't get the expected "\r\n" from the LOCAL ACM->Xfer_err = -2; sprintf(dbg,"XferBlk %6ld No LOC resp to %s\n",RTCGetTime(0,0),cmd); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 strcpy(&ACM->buf[ACM->by_read],dbg); //05Dec09 put error message in buf ACM->by_read +=strlen(dbg); continue; //try again } else if ( strstr(ACM->buf,"Invalid") != NULL ) { ACM->Xfer_err = -2; //invalid command sprintf(dbg,"XferBlk %6ld Invalid cmd:%s\n",RTCGetTime(0,0),cmd); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 ACM->by_read +=nread; //02Dec09 error message is preserved in buf continue; //try again } //update ACM->by_read so the LOCAL response is appended to the ACM buf ACM->by_read += nread; ACM->p_wrking = &ACM->buf[ACM->by_read]; //save the start of the message being worked on (for use by ParseBuf) //Listen for REMOTE's response, which could be an error message or nothing //But if REM is close and data block is short, it could be real data message //15Jun10 nread = tget(ACM_FROM,&ACM->buf[ACM->by_read],MAXREPLY,REM_TO); //allow time for REM to respond nread = tgets(tup,&ACM->buf[ACM->by_read],MAXREPLY,REM_TO,NO_EOL,&found); //allow time for REM to respond ACM->buf[ACM->by_read+nread]='\0'; //NULL terminate if ( strstr(ACM->p_wrking,"Response Not Received") != NULL ) { //no response from REMOTE modem ACM->Xfer_err = -3; //remote not responding sprintf(dbg,"XferBlk %6ld No REM resp to cmd:%s\n",RTCGetTime(0,0),cmd); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 ACM->by_read +=nread; //08Nov09 error message is preserved in buf continue; //try again } else if ( strstr(ACM->p_wrking,"Block Empty") != NULL ) { //REMOTE modem no data in this block ACM->Xfer_err = -5; sprintf(dbg,"XferBlk %6ld Empty REM block %d\n", RTCGetTime(0,0),ACM->this_blk); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 return(ACM->Xfer_err); //don't try again--this is not really an error } else { //We haven't received any known error message. //If nothing was received (ACM->by_read==0) then we assume REM is started //If something was received (ACM->by_read>0) then we it was real REM data //and is stored at start of ACM->buf //In either case, we stop trying to start the transfer and start //looking for the rest of the DATA ACM->by_read +=nread; ACM->Xfer_err = 0; break; } } while (ACM->StX_triesXfer_err<0 ); //debug do we really want to try more than once? if( ACM->Xfer_err <0 ) return(ACM->Xfer_err); //quit if unable to start the Xfer //At this point we have detected and responded to error codes // -2,-3,-5,-8. Remain to check for: 0=data is all OK,-6=data has bad CRC, // -4=bad format, -7=bad header secs=RTCGetTime(0,0); //save time that xmit was started //Fill ACM->endXfer with expected time that last byte will be received at LOCAL //calc size of block to be xmitted if(ACM->rem_bytes > 0 ) { //LOCAL obtained number of bytes stored in REMOTE in OpenAcLink nbytes= ACM->rem_bytes - 4096L*ACM->this_blk; //# of bytes after start of desired REM block if(nbytes>4096L)nbytes=4096L; //bytes that will be in the block } else nbytes=4096L; //assume have to send a whole block if don't know REMOTE byte count if(ACM->baud > 0 ) { //LOCAL obtained the baud rate at REMOTE in OpenAcLink ACM->blk_secs = (nbytes*8L)/ACM->baud+5; //seconds to send the block, 5 sec REMOTE latency } else { //assume 140 baud if don't know the REMOTE setting ACM->blk_secs = (nbytes*8L)/140+5; } if( ACM->Sreg2==0 ) { //Retry isn't enabled so REMOTE will send only once ACM->endXfer=secs +ACM->blk_secs+REM_TO; } else { //Retry is enabled on REMOTE so it will re-try twice for total of 3 times ACM->endXfer=secs + 3*(ACM->blk_secs + REM_TO); //allow for two way travel of NACK } sprintf(dbg,"XferBlk %6ld Blk:%d Expect end at %ld\n", secs,ACM->this_blk,ACM->endXfer); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 while( RTCGetTime(0,0) < ACM->endXfer ) { //periodically suck whatever is in TS buffer and append to ACM buffer //15Jun10 nread = tget(ACM_FROM,&ACM->buf[ACM->by_read],(ACM->bufsize-ACM->by_read),10); nread = tgets(tup,&ACM->buf[ACM->by_read],(ACM->bufsize-ACM->by_read),10,NO_EOL,&found); if( nread > 0 ) { //something was waiting ACM->by_read += nread; //bump storage pointer //Look for command termination string "\r\n>" if( strncmp(&ACM->buf[ACM->by_read-3],"\r\n>",3)==0 ) { //termination string at end of message indicates LOCAL thinks it's done //with the REMOTE. Either the message received is the end of the DATA or //it is an error message generated by LOCAL, e.g. Bad header. //If if is a "Bad header" message, the REMOTE will still be sending the //data message because it doesn't know the LOCAL didn't get the header. if( strncmp(&ACM->buf[ACM->by_read-10],"\r\n",7)==0 ) { //"\r\n\r\n>" terminates the reception of data buffer break; //so can leave now to check the data's validity } else { //LOCAL quit with an error message of some sort continue; //keep listening until timeout or see end of data //this is a punt that should be expanded in future } } //LOCAL thinks more is coming yet } //wait for more until time expires or hit end of message } ACM->buf[ACM->by_read]='\0'; //NULL terminate //Examine ACM->buf to extract data if possible and ascertain its validity ACM->p_wrking = ACM->buf; //start parsing at beginning of buf ACM->Xfer_err = ParseBuf(ACM); //sprintf(dbg,"XferBlk %6ld Err=%d Blk:%d Try:%d\n", // RTCGetTime(0,0),ACM->Xfer_err,ACM->this_blk,ACM->RdB_tries); //buf_to_cf1V( strlen(dbg),dbg); //printf("%s",dbg); return(ACM->Xfer_err); } //end XferBlk short XferSubBlk(short subindex, struct acm_param *ACM) //get data from remote modem { //Makes ee_acm_mxtry attempts to start transfer of ACM->modem.nsub sub-blocks of //256bytes using AT$BS starting at sub-block index subindex. //NOTE that subindex is not the same as the 4K block index but they are related: // subindex of 1st sub-blok of this_blk = 16*ACM->this_blk //ACM->remID = REMOTE modem ID //Watches the TS buffer and collect responses in ACM->buf. ACM->by_read = bytes //read (also points to where next byte will be stored in ACM->buf). //XferSubBlk appends to this buffer and ASSUMES ACM->by_read has been initialized previously //24Jul09 The transfer of each 4K block is broken into transfers of modem.nsub // sub-blocks. Each sub-block contains 256 bytes; nsub={1,2,4,8,16} // The value of nsub is sent to REMOTE Sreg 57 which actually controls the size // of the transfer. // If nsub<16 then the AT$BSn,ISUB command is used // where n = REM ID // ISUB = index in REM Flash of the starting sub-block. The sub-block // index of 1st sub-block in 4K block BLOK is ISUB = 16*BLOK. // Sub-blocks Isub, Isub+1,...,Isub+15 are all in BLOK // // If nsub=16 then the AT$BBn,BLOK command is used in XferBlk // where n = REM ID // BLOK = index in REM Flash of the 4K block. //Uses the TPU TS UART serial port. If the start is successful, TSerInUse is //set =1 to prevent lpwait and Snooze functions from changing Sys clock or stopping //TPU or CPU oscillator. Any of these make interrupt-driven TSerial fail. //This version written 02Mar09 based on StartXfer, does not use the RTS //output line from the Benthos modem. //On success returns // 0 = success data xfer without error //On errors returns: // -2 = no response from LOC modem or invalid command // -3 = REMOTE no response // -4 = unparseable, unknown, or illegal response // -5 = remote data block is empty // -6 = data xferred but had CRC error // -7 = bad data header // -8 = can't start the REMOTE because it is transmitting //The return status is also put in ACM->Xfer_err char cmd[13]; short nread,i; short found; ulong secs,tend,nbytes,end_sub; uchar dbg[80]; TUPort *tup; tup = all.tu_port[TU_ADP].tup; // tpu uart port pointer for ACM/ADP TSerInUse=1; //assume REMOTE is going to respond so make sure don't change //CPU clock rate or stop it //Set Transfer status values to clearly illegal ACM->SourceID = ACM->CRC = ACM->mpd = ACM->snr = 999; ACM->agc = ACM->spd = ACM->ccerr = ACM->rem_pkt = 999; //01feb11 move this to do_acm function /*if( subindex%16 == 0 ) { //this is 1st sub-block of a 4K block ACM->buf[0] = '\0';ACM->by_read=0; //initialize the concatenating buffer to receive //1st sub-block at beginning of the buf. //Subsequent sub-blocks are appended to the first hunk }*/ ACM->StX_tries=0; //haven't yet tried to start the transfer do { ACM->StX_tries++; //02Aug09--make sure the REMOTE isn't talking tend = RTCGetTime(0,0)+2*REM_TO; //for twice the round-trip time sprintf(dbg,"XfSbBlk %6ld Blk:%d SbIndx:%d try#%d wait for idle REM\n", RTCGetTime(0,0),ACM->this_blk,subindex,ACM->StX_tries); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 i=0; while( RTCGetTime(0,0)Xfer_err = -8; sprintf(dbg,"XfSbBlk %6ld REMOTE is talking\n",RTCGetTime(0,0)); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 //REMOTE is talking so delay before next try if( ACM->StX_triesStX_tries)*iparam[IA_acm_rmdly]; //time to quit while( RTCGetTime(0,0) < secs) { DelayMilliSecs(1000);//1 second delays (not low power) and doesn't //change CPU clock rate } } continue; //20Feb09----go to next try } //We haven't heard from the REMOTE for two RT travel times so lets start Xfer //Start Xfer of the desired sub-block sprintf(cmd,"AT$BS%02d,%04d\0",ACM->remID,subindex); //generate command string strcpy(&ACM->buf[ACM->by_read],cmd); //+++BDJ added for gs parsing ACM->by_read += strlen(cmd); //+++BDJ added for gs parsing TURxFlush ( tup ); // flush the tpu port input buffer tputs( tup, cmd); // send command string acm_xmits++; //15Jun10 nread = tget(ACM_FROM,&ACM->buf[ACM->by_read],40,1);//Local sends \r\n when it gets command and starts it nread = tgets(tup,&ACM->buf[ACM->by_read],40,1,NO_EOL,&found);//Local sends \r\n when it gets command and starts it //but there could be other LOCAL error messages also ACM->buf[ACM->by_read+nread]='\0'; //NULL terminate the reply if ( nread<2 ) { //didn't get the expected "\r\n" from the LOCAL ACM->Xfer_err = -2; sprintf(dbg,"XfSbBlk %6ld No LOC resp to %s\n",RTCGetTime(0,0),cmd); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 strcpy(&ACM->buf[ACM->by_read],dbg); //05Dec09 put error message in buf ACM->by_read +=strlen(dbg); continue; //try again } else if ( strstr(&ACM->buf[ACM->by_read],"Invalid") != NULL ) { ACM->Xfer_err = -2; //invalid command sprintf(dbg,"XfSbBlk %6ld Invalid cmd:%s\n",RTCGetTime(0,0),cmd); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 ACM->by_read +=nread; //08Nov09 error message is preserved in buf continue; //try again } //update ACM->by_read so the LOCAL response is appended to the ACM buf ACM->by_read += nread; ACM->p_wrking = &ACM->buf[ACM->by_read]; //save the start of the message being worked on (for use by ParseBuf) //Listen for REMOTE's response, which could be an error message or nothing //But if REM is close and data block is short, it could be real data message //15Jun10 nread = tget(ACM_FROM,ACM->p_wrking,MAXREPLY,REM_TO); //allow time for REM to respond nread = tgets(tup,ACM->p_wrking,MAXREPLY,REM_TO,NO_EOL,&found); //allow time for REM to respond ACM->buf[ACM->by_read+nread]='\0'; //NULL terminate if ( strstr(ACM->p_wrking,"Response Not Received") != NULL ) //fixed 05Nov09 { //no response from REMOTE modem ACM->Xfer_err = -3; //remote not responding sprintf(dbg,"XfSbBlk %6ld No REM resp to cmd:%s\n",RTCGetTime(0,0),cmd); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 ACM->by_read +=nread; //08Nov09 error message is preserved in buf continue; //try again } else if ( strstr(ACM->p_wrking,"Block Empty") != NULL ) { //REMOTE modem no data in this block ACM->Xfer_err = -5; sprintf(dbg,"XfSbBlk %6ld Empty REM block %d subindex=%d\n", RTCGetTime(0,0),ACM->this_blk,subindex); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 ACM->by_read +=nread; return(ACM->Xfer_err); //don't try again--this is not really an error } else { //We haven't received any known error message. //If nothing was received (ACM->by_read==0) then we assume REM is started //If something was received (ACM->by_read>0) then we it was real REM data //and is stored at start of ACM->buf //In either case, we stop trying to start the transfer and start //looking for the rest of the DATA ACM->by_read +=nread; ACM->Xfer_err = 0; break; } } while (ACM->StX_triesXfer_err<0 ); //debug do we really want to try more than once? if( ACM->Xfer_err == -3 ) { //Remote failed to respond--put annotation in Iridium data stream //GapInDATA(xxxx) where xxxx=number of bytes in the hunk that failed to start //hunk has ACM->modem.nsub sub-blocks of 256 bytes each sprintf(&ACM->buf[ACM->by_read],"GapInDATA(%04d)",256*ACM->modem.nsub); ACM->by_read += 15; ACM->buf[ACM->by_read]='\0'; //NULL terminate } if( ACM->Xfer_err <0 ) return(ACM->Xfer_err); //quit if unable to start the Xfer //At this point we have detected and responded to error codes // -2,-3,-5,-8. Remain to check for: 0=data is all OK,-6=data has bad CRC, // -4=bad format, -7=bad header secs=RTCGetTime(0,0); //save time that xmit was started //Fill ACM->endXfer with expected time that last byte will be received at LOCAL //calc size of hunk to be xmitted nbytes=ACM->modem.nsub*256; //hunk has nsub sub-blocks of 256 byte if(ACM->baud > 0 ) { //LOCAL obtained the baud rate at REMOTE in OpenAcLink ACM->blk_secs = (nbytes*8L)/ACM->baud+5; //seconds to send the block, 5 sec REMOTE latency } else { //assume 140 baud if don't know the REMOTE setting ACM->blk_secs = (nbytes*8L)/140+5; } if( ACM->Sreg2==0 ) { //Retry isn't enabled so REMOTE will send only once ACM->endXfer=secs +ACM->blk_secs+REM_TO; } else { //Retry is enabled on REMOTE so it will re-try twice for total of 3 times ACM->endXfer=secs + 3*(ACM->blk_secs + REM_TO); //allow for two way travel of NACK } sprintf(dbg,"XfSbBlk %6ld Blk:%d SbIndx:%d Expect end at %ld\n", secs,ACM->this_blk,subindex,ACM->endXfer); printf("%s",dbg);//print diagnostic buf_to_cf1V( strlen(dbg),dbg); //and write to CF1 //10feb11 BDJ check to make sure we dont already have the msg before starting wait if( !strncmp(&ACM->buf[ACM->by_read-10],"\r\n",7)==0 ) { //"\r\n\r\n>" terminates the reception of data buffer while( RTCGetTime(0,0) < ACM->endXfer ) { //periodically suck whatever is in TS buffer and append to ACM buffer nread = tgets(tup,&ACM->buf[ACM->by_read],(ACM->bufsize-ACM->by_read),10,NO_EOL,&found); if( nread > 0 ) { //something was waiting ACM->by_read += nread; //bump storage pointer //Look for command termination string "\r\n>" if( strncmp(&ACM->buf[ACM->by_read-3],"\r\n>",3)==0 ) { //termination string at end of message indicates LOCAL thinks it's done //with the REMOTE. Either the message received is the end of the DATA or //it is an error message generated by LOCAL, e.g. Bad header. //If if is a "Bad header" message, the REMOTE will still be sending the //data message because it doesn't know the LOCAL didn't get the header. if( strncmp(&ACM->buf[ACM->by_read-10],"\r\n",7)==0 ) { //"\r\n\r\n>" terminates the reception of data buffer break; //so can leave while loop now to check the data's validity } else { //LOCAL quit with an error message of some sort continue; //keep listening until timeout or see end of data //this is a punt that should be expanded in future } }//end if strncmp //LOCAL thinks more is coming yet }//end if read something //wait for more until time expires or hit end of message }//end while loop } //end if !strncmp ACM->buf[ACM->by_read]='\0'; //NULL terminate end_sub= RTCGetTime(0,0) - ACM->endLinks; //seconds since end of OpenAcLink if(end_sub>32767)end_sub=32767; else if (end_sub<0) end_sub=0; ACM->eb_secs = (short)end_sub; //secs from end of OpenAcLink to end of //acoustic xfer of this block. Granularity //depends how frequently CheckXfer is called. //Examine ACM->buf to extract data if possible and ascertain its validity ACM->Xfer_err = ParseBuf(ACM); //starts parsing at ACM->p_wrking //sprintf(dbg,"XfSbBlk %6ld Err=%d Blk:%d Try:%d\n", // RTCGetTime(0,0),ACM->Xfer_err,ACM->this_blk,ACM->RdB_tries); //buf_to_cf1V( strlen(dbg),dbg); //printf("%s",dbg); return(ACM->Xfer_err); } //end XferSubBlk short ParseBuf( struct acm_param *ACM ) { //parses ACM->buf, extracts parameters of interest, detemines validity //of data message. Fills values into ACM diagnostic structure //The parsing starts at byte pointed to by ACM->p_wrking which is set by XferSubBlk and //XferBlock to the start of the current area being filled and worked on. //This value is set to 0 for the XferBlk of a full 4K block or points to the current //hunk for XferSubBlk of sub-blocks //Returns // 0 = success data xfer without error //On errors returns: // -2 = no response from LOC modem or invalid command // -3 = REMOTE no response // -4 = unparseable, unknown, or illegal response // -5 = remote data block is empty // -6 = data xferred but had CRC error // -7 = bad data header // -8 = can't start the REMOTE because it is transmitting short s_dum,err,CRCmap; uchar *ptr,*mess_start; char strng[5],dbg[80]; float f_inp; //look for a REMOTE packet ID in whatever we received //Do this for all returns, even those with errors if ( (ptr=strstr(ACM->p_wrking,"sequence #")) != NULL )//start at beg. of raw buffer { //Found the packet ID ptr += 10; sscanf(ptr,"%d",&ACM->rem_pkt); //Remote packet ID //999 if no packet ID found printf("rem_pkt=%d\n",ACM->rem_pkt); } //05Nov09 There can be more than one instance of CRC failure if REM has retries enabled. //Find the hex map of sub-blocks with bad CRC ptr=ACM->p_wrking; //XferBlock starts at ACM->buf[0], XferSubBlk at start of current hunk CRCmap=0; //no bad sub-blocks identified yet while ( ptr != NULL) { ptr=strstr(ptr,"CRC Fail ("); //look for hex map of sub-blocks with bad CRC if( ptr==NULL ) { break; //no CRC error maps found } else { //parse this CRC error map ptr += 10; //points to the hex rep of bad sub-blocks. LSB=sub-block0 sscanf(ptr,"%04x",&CRCmap); sprintf(dbg,"ParseBuf %6ld CRCmap=0x%04x\n", RTCGetTime(0,0),CRCmap); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //header line with source, time, CRCmap } } //debug working here 06Nov09 //need some way to determine and indicate that the DATA was corrected finally or if still //has an error.I guess if there are 3 CRCmaps we know the DATA is still bad? ptr=strstr(ACM->p_wrking,"DATA("); //look for "DATA(" to get message length if( ptr==NULL ) { //no "DATA(" found in the buffer. if ( strstr(ACM->p_wrking,"Error in header") != NULL ) { //The header had some error so the LOCAL thinks we're done but the //REMOTE could be transmitting away thinking all is well with the transfer. //But at least we know the REMOTE is there and talking. err = -7; } else { err = -4; //bad format } } else { //Found DATA--extract params of interest ptr += 5; s_dum=4096; sscanf(ptr,"%d",&s_dum); //bytes in message sent by remote //01Mar09 assume full block sprintf(dbg,"ParseBuf %6ld %4d bytes in DATA mess\n", RTCGetTime(0,0),s_dum); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //header line with source, time, # bytes ptr=strstr(ptr,"):"); //look for "):" at end of message length if( ptr==NULL ) { err = -4; //bad format } mess_start=ptr+2; //points to 1st byte of the actual message ptr = mess_start + s_dum; //1st byte past message ptr=strstr(ptr,"Source:"); //look for "Source:" if( ptr!=NULL ) { ptr += 7; sscanf(ptr,"%d",&ACM->SourceID); //ID read from message } ptr=strstr(ptr,"CRC:"); if( ptr!=NULL ) { //found CRC--is it OK? ptr += 4; sscanf(ptr,"%s",&strng); //CRC Fail or Pass? if( !strncmp(strng,"Pass",4) ) { ACM->CRC = 0 ; //CRC passed err = 0; //DATA present with good CRC } else { ACM->CRC = 1 ; //CRC failure err = -6; //DATA present with bad CRC } } ptr=strstr(ptr,"MPD:"); //look for "MPD:" in message stats if( ptr!=NULL ) { ptr += 4; sscanf(ptr,"%f",&f_inp); //multipath delay in floating millisecs ACM->mpd=(short)(10*f_inp); //LSB = 0.1 millisec } ptr=strstr(ptr,"SNR:"); //look for "SNR:" in message stats if( ptr!=NULL ) { ptr += 4; sscanf(ptr,"%f",&f_inp); //SNR in floating dB ACM->snr=(short)(10*f_inp); //LSB = 0.1 dB } ptr=strstr(ptr,"AGC:"); //look for "AGC:" in message stats if( ptr!=NULL ) { ptr += 4; sscanf(ptr,"%d",&ACM->agc); //AGC 0-65 } ptr=strstr(ptr,"SPD:"); //look for "SPD:" in message stats if( ptr!=NULL ) { ptr += 4; sscanf(ptr,"%f",&f_inp); //SPD in knots ACM->spd=(short)(10*f_inp); //LSB = 0.1 knot } ptr=strstr(ptr,"CCERR:"); //look for "CCERR:" in message stats if( ptr!=NULL ) { ptr += 6; sscanf(ptr,"%d",&ACM->ccerr); //error metric } //Index in REMOTE memory of last byte of the data message just rec'd ACM->indx_recd=(long)ACM->this_blk*4096L +s_dum -1; //16Mar09 } return(err); } //end ParseBuf // remove OpenAcLink 22Jul09 to save 3312 bytes of ROM short OpenAcLnk3( void ) //Try to open Acoustic Link to ACM->modem { //Based on control parameters stored in ACM->modem structure, try to communicate //with a remote modem. //This version has a different sequence to establishing a link, going from commands //with short responses to increasingly long responses. //24Jul09 changed the power adjust method // 1) Set REMOTE to min power spec by ACM->modem.minpwr and use // REMOTE's response to verify it's there // The REMOTE responds to a power level change at the new setting. // 2) Adjust REMOTE power upwards until a response is received. // 3) Set REMOTE power to (highest_level_with_no_response + ACM->modem.pmargin) // Each step up increases output by 3 dB. // 4) Get range reading // 5) Get number of bytes of data available at REM // Unlike original version (OpenAcLink), the inability to receive the // number of data byes available is not fatal and does not turn off the LOCAL. // 6) Get REM battery voltage // 7) Check the link and adjust to lower baud rates as needed. // 8) If ACM->modemlist.nsub = 0 then adjust ACM->modem.nsub to agree with baud // and use AT$BS transfer of 256-byte sub-blocks // If ACM->modemlist.nsub ={1,2,4,8} then use AT$BS transfer of nsub sub-blocks // If ACM->modemlist.nsub == 16 then always use AT$BB transfer of 4K block //If all this succeeds, send any commands in the modinfo struct to the REMOTE //Obtain control and config info from struct modinfo filled from GS via Iridium cmd_6. // Uses struct ACM->modem.ib_new to compute what remote blocks // contain new data. // Uses struct ACM->modem.ib_rpt and nb_rpt to compute what remote blocks // contain old data that the GS wants to repeat. //Results are placed in the ACM struct BUT THE XFER IS NOT STARTED //Returns 0 = Link is established,all queries answered // -3 = No response heard from REMOTE when it xmitted at max power // -1 = unable to power up LOCAL or no response to LinkQ query // Does NOT turn off power to LOCAL short n,stat,nread,newbaud,bstat; short Ntries=3; //number of retries for max power,get REM Sreg6,set REM baud,getRange long l; uchar dbg[200]; float xmitV; struct acm_param *ACM; ACM=all.acm; ACM->remID=ACM->modem.id; //Copy the ID of the modem being sought ACM->depth=(short)(10*(all.dat->dbar));//depth in 0.1 dBar //clear misc modem info in ACM struct that won't be cleared or filled by LinkQ //Clear the >acm structure so won't confuse new and old contents ACM->baud = ACM->tst_bytes = 0; ACM->SourceID = ACM->CRC = ACM->mpd = ACM->snr =999; ACM->agc = ACM->spd = ACM->ccerr=999; ACM->ber = 9999; ACM->rem_bytes=ACM->indx_recd=0L; ACM->by_read = 0; //no bytes have yet been read from this REMOTE ACM->new_blk= ACM->lnew_blk =0; //first,last blocks with new data in REMOTE flash ACM->endLinks = 0; //time in seconds when successful OpenAcLink ended ACM->battV=9999; //Remote battery voltage in .01 V ACM->LocBatt=9999;//LOCAL battery voltage in .01V ACM->Sreg2=0xff; //Remote Sreg2 setting (only legal values are 0 and 1) ACM->AGCamb = 0;//ambient noise from LOCAL AGC before start talking ACM->Lnk_tries=0; ACM->rempwr=9; //Power setting of the remote hasn't been set yet. ACM->CRC=999; //CRC=FAIL until see valid block ACM->range=ACM->rem_pkt=ACM->StX_tries=ACM->RdB_tries=0; //Seen if LOCAL modem is already ON and active if( ack_acm() != 0 ) //send AT to modem & look for '\r\nOK\r\n>' { //It isn't powered up //This isn't really a problem as normal dive activities would not yet //have turned on the modem so don't generate an error message 10Jan09 nread=acm_Power_Up(); //Try to power the modem sprintf(dbg,"PwrUpLOC %6ld err=%d\n",RTCGetTime(0,0),nread); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if ( nread < 0 ) { return(-1); //set error flag but leave LOCAL ON } } //8Dec09 now that LOCAL is awake send modem_cmd_str if it is LOCAL command // If the command is to a REMOTE or expects a response from a remote the // sending of the command is deferred until a link to ANY remote has been // established if( modem_cmd_str.nbytes>0 ) { //there is a command waiting to be sent. //All Commands with either $ or : are to REMOTE. Other commands //which look for response from a remote are ATRn,ATXn,ATYn modem_cmd_str.command[modem_cmd_str.nbytes]='\0'; //null terminate for sure if( strstr(modem_cmd_str.command,"$")==NULL && strstr(modem_cmd_str.command,":")==NULL && strstr(modem_cmd_str.command,"ATR")==NULL && strstr(modem_cmd_str.command,"ATX")==NULL && strstr(modem_cmd_str.command,"ATY")==NULL ) { //This command is to LOCAL and expects no reply from a REMOTE printf("Command to LOCAL\n"); //debug debug_string( modem_cmd_str.command, modem_cmd_str.nbytes); //debug stat=cmd_acm(modem_cmd_str.command,REMrep,MAXREPLY,REM_TO,10); //send string and get response printf("%d bytes:\n%s\n",stat,REMrep); //debug output //queue command string and results to Iridium (also annotates to CF1) lifo_accmd(modem_cmd_str.command, modem_cmd_str.nbytes,REMrep,stat); if( stat >= 0 )modem_cmd_str.nbytes=0; //only send this command once } } stat= GetBatt(-1 ,&xmitV,1); //read battery of LOCAL modem sprintf(dbg,"OpAcLnk3 %6ld LOCBatt err=%d %5.2f V\n",RTCGetTime(0,0),stat,xmitV); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if ( stat >= 0 ) { ACM->LocBatt=(short)(100*xmitV); //update batt voltage in ACM struct LSB=.01V } else { ACM->LocBatt=9999; //illegal batt voltage in ACM structe } ACM->AGCamb=AmbAGC(); //15Jul08 use LOCAL AGC to estimate ambient noise sprintf(dbg,"AGCamb %6ld AGC=%d\n",RTCGetTime(0,0),ACM->AGCamb); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //Make Ntries tries at max power to see if the modem is there stat=SetPower(ACM->remID,8,2*Ntries); if(stat==0) { //Spray heard response when REMOTE xmitted at max power sprintf(dbg,"OpAcLnk3 %6ld REMid %d Heard @ max pwr \n",RTCGetTime(0,0),ACM->remID); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); } else { //never heard from REM sprintf(dbg,"OpAcLnk3 %6ld REMid %d no reply\n",RTCGetTime(0,0),ACM->remID); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); return(-3); //failure here returns with ACM->rempwr=9 } //REMOTE was heard and is at max power ACM->rempwr hasn't been changed from rempwr=9 //Send any command string which is queued for delivery to a REMOTE //As of 08Dec2009 no check to see if command is for ACM->remID if( modem_cmd_str.nbytes>0 ) { //there is a command waiting to be sent. //All Commands with either $ or : are to REMOTE. Other commands //which look for response from a remote are ATRn,ATXn,ATYn modem_cmd_str.command[modem_cmd_str.nbytes]='\0'; //null terminate for sure if( strstr(modem_cmd_str.command,"$")!=NULL || strstr(modem_cmd_str.command,":")!=NULL || strstr(modem_cmd_str.command,"ATR")!=NULL || strstr(modem_cmd_str.command,"ATX")!=NULL || strstr(modem_cmd_str.command,"ATY")!=NULL ) { //This command is to a REMOTE printf("Command to REMOTE\n"); //debug debug_string( modem_cmd_str.command, modem_cmd_str.nbytes); //debug stat=cmd_acm(modem_cmd_str.command,REMrep,MAXREPLY,REM_TO,10); //send string and get response printf("%d bytes:\n%s\n",stat,REMrep); //debug output //queue command string and results to Iridium (also annotates to CF1) lifo_accmd(modem_cmd_str.command, modem_cmd_str.nbytes,REMrep,stat); if( stat >= 0 )modem_cmd_str.nbytes=0; //only send this command once } } //debug working here 24Jul09 Get REMOTE AGC history via AT$Gx after delay for silence //Adjust REMOTE power to save energy and minimize multipath problems //Start at ACM->modem.minpwr and increase power until REMOTE responds ACM->rempwr=ACM->modem.minpwr; //Note if minpwr=8 then no search is done while( ACM->rempwr < 8 ) { if( (stat=SetPower(ACM->remID,ACM->rempwr,Ntries)) != 0 ) { ACM->rempwr++; //no response,bump up one level if( ACM->rempwr == 8 ) { //level 7 didn't work //We already know 8 worked but REMOTE is at lev 7 stat=SetPower(ACM->remID,ACM->rempwr,Ntries); //Set REM back to 8 } else if (ACM->rempwr > 8 ) ACM->rempwr=8; //keep it legal & try again } else { //heard it @ ACM->rempwr--add power margin ACM->rempwr += ACM->modem.pmargn;; if( ACM->rempwr>8 ) ACM->rempwr=8; //keep it legal stat=SetPower(ACM->remID,ACM->rempwr,Ntries); break; } } //SetPower annotates success/fail of each call to CF1 //Proceed regardless of success of last change since we know we heard //REM at max power //Read the actual setting from the REMOTE, Ntries tries stat=1;ACM->rempwr=-ACM->rempwr; //If we can't read the REMOTE Sreg6 then //ACM->rempwr is negative of last setting //that was sent to the REMOTE stat=GetSreg(ACM->remID,6,&ACM->rempwr,Ntries); sprintf(dbg,"OpAcLnk3 %6ld REMid %d Sreg6=%d err=%d\n", RTCGetTime(0,0),ACM->remID,ACM->rempwr,stat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); stat=RemRange(ACM->remID ,&n,Ntries); //get range from remote modem sprintf(dbg,"OpAcLnk3 %6ld Range err=%d %d m\n",RTCGetTime(0,0),stat,n); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if ( stat >= 0 ) { ACM->range=n; //update range in ACM struct } else { ACM->range=0; //update range in ACM structe } stat=DataBy(ACM->remID ,&l,Ntries); //l=(long) # bytes stored in remote sprintf(dbg,"OpAcLnk3 %6ld DataBy err=%d %ld REM bytes\n",RTCGetTime(0,0),stat,l); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if ( stat < 0 ) { ACM->rem_bytes=-1L; //DataBy failed--set error bit } else { ACM->rem_bytes=l; //save bytes in remote Flash in ACM struct } stat= GetBatt(ACM->remID ,&xmitV,Ntries); //read battery of remote modem sprintf(dbg,"OpAcLnk3 %6ld REMBatt err=%d %5.2f V\n",RTCGetTime(0,0),stat,xmitV); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if ( stat >= 0 ) { ACM->battV=(short)(100*xmitV); //update batt voltage in ACM struct LSB=.01V } else { ACM->battV=9999; //illegal batt voltage in ACM structe } stat=LinkQ(ACM->remID,&nread,ACM);//check link quality //fills ACM->baud if successful //On errors LinkQ returns: // -1 = illegal remote ID // -2 = no response from local modem or LOCAL not ON // -3 = REMOTE no response // -4 = unexpected,illegal, or unparsable response // 0 = success and sets ACM->baud to REMOTE's acoustic baud sprintf(dbg,"OpAcLnk3 %6ld LinkQ err=%d\n",RTCGetTime(0,0),stat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //debug working here--several Jan09 dives had 55 minute gap between the time of // this message and the next diagnostic print. This was seen with both // the "OpAcLink" diagnostic after baud changes below or the "Start Xfer" // diagnostic in StartXfer // Need more diagnostics here to find what it is doing for that 55 min if ( (stat==-1) || (stat==-2) ) { return(-1); //illegal remID or no local response is fatal.Leave ON } if( ACM->baud != ACM->modem.baud ) { //the REMOTE isn't at the desired baud so change it //Will also get here if the initial LinkQ is not successful if( ACM->modem.baud==140 || ACM->modem.baud==300 || ACM->modem.baud==600 || ACM->modem.baud==800 || ACM->modem.baud==1066 || ACM->modem.baud==1200 || ACM->modem.baud==2400) { //try to set legal baud on remote bstat=SetBaud( ACM->remID , ACM->modem.baud, ACM,Ntries ); //Set REM ac baud rate sprintf(dbg,"OpAcLnk3 %6ld StBd(1) to %d err=%d\n",RTCGetTime(0,0),ACM->modem.baud,bstat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //ACM->baud is changed if SetBaud succeeds stat=LinkQ(ACM->remID,&nread,ACM);//check link quality at new baud sprintf(dbg,"OpAcLnk3 %6ld LinkQ aft StBd(1) err=%d\n",RTCGetTime(0,0),stat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); } } for(ACM->Lnk_tries=1;ACM->Lnk_tries<3 ;ACM->Lnk_tries++) { //make up to 3 tries to get LinkQ while trying lower baud rates if (stat <0 || ACM->ber>2 ) //25Jul09 added check on BER { //LinkQ failed or had more than 2 bit errors in 256-byte test message if( ACM->modem.baud == 0 ) { continue;//don't change the remote baud before try again } else { //current baud failed.Drop baud and try again if either autoselect or //specified a legal baud rate. newbaud=ACM->baud; switch ( ACM->baud ) { case 300: newbaud=140;break; case 600: newbaud=300;break; case 800: newbaud=600;break; case 1200: newbaud=800;break; } if(newbaud < ACM->baud) { //change remote baud rate bstat=SetBaud( ACM->remID , newbaud, ACM ,Ntries ); //Set acoustic baud rate on remote sprintf(dbg,"OpAcLnk3 %6ld StBd(2) to %d BER=%d err=%d\n", RTCGetTime(0,0),newbaud,ACM->ber,bstat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //ACM->baud is changed if SetBaud succeeds if(newbaud ==ACM->baud) { //Remote is at new baud printf("Rem %d baud set to %d\n",ACM->remID,ACM->baud); } } stat=LinkQ(ACM->remID,&nread,ACM);//try again //14Jul09 Note that stat only reflects whether the ATX call resulted // in a response from the REMOTE that could be parsed. It does // not look at the value of ERR,MPD, CCERR which indicate the // QUALITY of the link. debug working on this sprintf(dbg,"OpAcLnk3 %6ld LinkQ aft StBd(2) BER=%d err=%d\n", RTCGetTime(0,0),ACM->ber,stat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); } } //auto-increase of baud would go here if we can figure out how to do it reliably else {break;//LinkQ succeeded } } if( stat <0 || ACM->ber>2 ) {//bad or no response to LinkQ //make a final try at nextlower baud newbaud=ACM->baud; switch ( ACM->baud ) { case 300: newbaud=140;break; case 600: newbaud=300;break; case 800: newbaud=600;break; case 1200: newbaud=800;break; } if(newbaud < ACM->baud) {//change remote baud rate bstat=SetBaud( ACM->remID , newbaud, ACM ,Ntries ); //Set acoustic baud rate on remote sprintf(dbg,"OpAcLnk3 %6ld StBd(3) to %d err=%d\n",RTCGetTime(0,0),newbaud,bstat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //ACM->baud is changed if SetBaud succeeds if(newbaud ==ACM->baud) {//Remote is at new baud printf("Rem %d baud set to %d\n",ACM->remID,ACM->baud); ACM->Lnk_tries++; stat=LinkQ(ACM->remID,&nread,ACM);//try again sprintf(dbg,"OpAcLnk3 %6ld LinkQ aft StBd(3) BER=%d err=%d\n", RTCGetTime(0,0),ACM->ber,stat); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); } } } if( stat <0 ) { //still bad or no response to LinkQ return(-1); //illegal remID or no local response is fatal.Leave ON } //LinkQ succeeded and filled baud,mpd,ber,snr,agc,spd,ccerr in ACM struct sprintf(dbg,"OpAcLnk3 %6ld REM baud=%d BER=%d\n",RTCGetTime(0,0),ACM->baud,ACM->ber); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if( ACM->modem.nsub == 0 ) { //Adjust size of data transfer according to baud rate //The transfer will be done using AT$BS to transfer in 256-byte blocks switch (ACM->baud) { case 140: ACM->modem.nsub=4; //xfer in 1k sub-blocks break; case 300: ACM->modem.nsub=8; //xfer in 2k sub-blocks break; case 600: case 800: default: ACM->modem.nsub=16; //xfer in full 4K Blocks break; } } else { //Use the value unchanged. //If modem.nsub == 16 then the transfer will be in 4K block using AT$BB regardless // of baud rate. //If modem.nsub == (1,2,4,8} the xfer will use AT$BS in hunks of {256,512,1024,2048} // bytes } sprintf(dbg,"OpAcLnk3 %6ld Xfer chunksize=%d bytes\n",RTCGetTime(0,0),256*ACM->modem.nsub); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //15Jul08 read Remote Sreg2 and save status of retry_enable in ACM->Sreg2 GetSreg( ACM->remID, 2 , &ACM->Sreg2,Ntries ); sprintf(dbg,"OpAcLnk3 %6ld REM S2=%d\n",RTCGetTime(0,0),ACM->Sreg2); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); if( iparam[IA_acm_binc] == 0) { //auto incrementing of the starting block between dives is not wanted but we ACM->blk_inc=1; //still want to read each block within a dive } else { //auto-incrementing is enabled between blocks. ACM->blk_inc=iparam[IA_acm_binc]; //there will be decimation //within a dive if blk_inc > 1 } //compute which blocks in the remote flash contain data that Spray hasn't yet seen ACM->new_blk= ACM->modem.ib_new; //start at 1st byte of 4K byte block ib_new //Value is set via Iridium cmd_6.As of 15Feb09 each //time a new block is successfully read acoustically, //ib_new is advanced by ee_acm_binc. If binc>0 next dive //won't repeat asking for blocks that have already been sent. //Compute the index of last block to ask for //send up to nb_new blocks of new data, incrementing index by blk_inc each time ACM->lnew_blk=ACM->new_blk + (ACM->modem.nb_new*ACM->blk_inc) -1; if( ACM->rem_bytes > -1L ) { //Remote responded to LinkQ and we know how much data is available //so we can refine lnew_blk a little //ACM->rem_bytes = # of bytes stored at remote //ACM->rem_bytes-1 = index of newest byte at remote n = (short)((ACM->rem_bytes-1L) / 4096L); //n=index of block with //last byte written to flash if ( ACM->lnew_blk > n )ACM->lnew_blk=n; //only ask for data if it's available } //which blocks in the remote flash contain old data that GS wants to repeat ACM->old_blk = ACM->modem.ib_rpt; //ib_rpt=1st old block to repeat (from GS cmd_6) //Value is set via Iridium cmd_6. //In contrast to new data, old data always asks for each //of nb_rpt blocks starting with old_blk. //blk_inc (derived from ee_acm_binc) is ignored for OLD blks ACM->lold_blk = ACM->old_blk + ACM->modem.nb_rpt -1 ;//send nb_rpt old blks (0 is OK) ACM->endLinks = RTCGetTime(0,0); //time in seconds when OpenAcLink ends ACM->eb_secs=0; //elapsed secs since endLinks=0 return(0); //success } //end OpenAcLnk3 void test_acm( void ) // test above functions for ac modem {char ch='?'; short nread,regno,value,nerr,tmo=0; char reply[450]; float XMITv; TUPort *tup; struct spi_param *ss; ss = all.sspi; // points to the spi comms struct setup_spi ( CS_GPIO, ss ); tup = all.tu_port[TU_ADP].tup; // correct tpu uart port pointer menu_acm(); while ( ch !='Q') { SerInFlush(); // delete any old stuff if (ch !=' ' && ch>0 ) cprintf("A_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) { // call the desired function case 'Q' : break; // will quit the program case '?' : break; // displays the directory prompt case -1 : break; // wait for another character case 'U' : menu_acm(); break; case 'R' : //remote modem functions acm_remote(); break; case 'D' : //do_acm dbg_ac_test(); break; case 'W' : acm_off(); printf("Power Up ");fflush(stdout); nread=acm_Power_Up(); //make sure LOC is powered up if (nread >= 0) printf("OK\n"); else printf("Err=%d\n",nread); break; case 'T' : //transparent pass Spray COMM to/from Modem Transparent_ACM(); break; case 'P' : //power up modem spi_aux_pwr( AUX_ON_ALT, ss ); // modem now has power acm_is_on=1; //the acm is on and set up for communication printf("Modem is ON\n"); break; case 'C' : //power cycle testing //repeatedly turns Ac modem on and off to make sure it wakes { short secbet=5,secfail=20; char s_res[]="%s #fails=%d Wait %d secs\n"; /*printf("Secs between tries,fails?\n");//debug fflush(stdout); scanf("%d %d",&secbet,&secfail);//debug */ printf("Seconds ON , seconds OFF) ?\n");//debug fflush(stdout); scanf("%d %d",&secbet,&secfail);//debug printf("Hit any key to stop\n"); value=nerr=0; //value=# of tries, nerr=# of fails do { value++; //count attempts printf("Try #%d ",value);fflush(stdout); spi_aux_pwr( AUX_ON_ALT, ss ); // modem now has power acm_is_on=1; //the acm is on and set up for communication DelayMilliSecs( (ulong)(1000*secbet) ); //ON for secbet secs acm_off(); //turn off LOCAL DelayMilliSecs( (ulong)(1000*secfail) ); //OFF for secfailt secs /* nread=acm_Power_Up(); if (nread<0) { nerr++; //count failures printf(s_res,"FAIL",nerr,secfail); acm_off(); //turn off LOCAL DelayMilliSecs( (ulong)(1000*secfail) ); //secfail secs between tries } else { printf(s_res,"GOOD",nerr,secbet); acm_off(); //turn off LOCAL DelayMilliSecs( (ulong)(1000*secbet) ); //secbet secs between tries }*/ } while( !SCIRxQueuedCount() ); printf("\n"); } break; case 'O' : acm_off(); printf("Modem is OFF\n"); break; case 'M' : printf("LOCAL mode = %d\n",LOCmode()); break; case 'G': //Get specified S register printf("Sreg to get? ");reply[0]='\0'; SerInFlush(); // delete any old stuff ReadCharsFromConsole(reply,sizeof(reply));printf("\n");//response in temp buffer regno=-1;sscanf(reply,"%d %d",®no,&value); if ( (nerr=GetSreg(-1,regno,&value,1 ))==0) {printf("S%02d=%d\n",regno,value); } else {printf("Err=%d\n",nerr); } break; case 'S': //Set specified S register printf("Sreg, value_to_set? ");reply[0]='\0'; SerInFlush(); // delete any old stuff ReadCharsFromConsole(reply,sizeof(reply));printf("\n");//response in temp buffer comma2space(reply);//remove any commas regno=-1;sscanf(reply,"%d %d",®no,&value); if ( (nerr=SetSreg(-1,regno ,value,1 ))==0) //single try for LOCAL {printf("OK\n"); } else {printf("Err=%d\n",nerr); } break; case 'A': //display all Sregisters nread=all_Sregs(-1); //local modem is remID=-1, read into REMrep if(nread>1) {printf("S-regs:\n"); printf("%s\n",REMrep); } else printf("Err=%d\n",nread); break; case 'B': //Get & change acoustic baud rate of LOCAL if ( (nerr=GetBaud(-1, &value,1))>=0) { //current baud is in value nerr=value; //save orig value & Get new value or / ChangeShort("Ac baud ",&value); if( value != nerr ) { //a new value was entered nerr=SetBaud( -1 , value, all.acm,1 ); printf("Ac baud change "); if(nerr==0) printf("OK\n"); else printf("Err=%d\n",nerr); } } else { printf("Get Ac baud err=%d\n",nerr); } break; case 'V': //read battery voltages printf("Local batts: "); nread=GetBatt(-1,&XMITv,1); //read local battery if (nread>=0) printf("OK Xmit=%5.1fV\n",XMITv); else printf("FAIL err=%d\n",nread); break; case 'N': //Ambient AGC to estimate noise printf("Amb AGC = %d\n",AmbAGC()); break; case 'L': //Assign a new lifo all.klifo = assign_lifo(all.lifo, iparam [ EA_prof_num ],0); break; case 'F': //debug phony fill of lifo { struct acm_param *ACM; ACM=all.acm; //points to ACM struct for params. ACM->buf[0] = '\0'; cprintf("how many bytes to load:"); get_num(&nread); for (ACM->by_read=0;ACM->by_readby_read++){ACM->buf[ACM->by_read]='X';} all.klifo = assign_lifo ( all.lifo, iparam [ EA_prof_num ], 0 ); lifo_acraw(); } break; //*/ default : printf(" ??\n"); } // end switch } // ** end while acm_off(); // make sure modem is off printf("Modem is off\n"); return; } // end test_acm void menu_acm(void) { //print out menu selections printf("Acoustic Modem\n" "Q.uit : U.pdt menu : R.EMOTE\n" "W.ake LOC : O.ff : T.ransparent : M.ode?\n" "V.oltages : B.aud : N.oiseAGC : C.ycle pwr\n" //"A.ll Sregs : S.et Sreg : G.et Sreg : F.ill phony\n"); "A.ll Sregs : S.et Sreg : G.et Sreg : P.wr On\n" "D.o_acm : L. Assign LIFO\n"); return; } // end menu_acm void GetModemInfo( short Index ) { //Copy info from database for modem Index into ACM->modem struct acm_param *ACM; ACM= all.acm; ACM->modem.id =ACM->modlist[Index].id; ACM->modem.baud =ACM->modlist[Index].baud; ACM->modem.ib_new =ACM->modlist[Index].ib_new; ACM->modem.nb_new =ACM->modlist[Index].nb_new; ACM->modem.ib_rpt =ACM->modlist[Index].ib_rpt; ACM->modem.nb_rpt =ACM->modlist[Index].nb_rpt; ACM->modem.dft_pit=iparam[IA_acm_ptch]; //28Mar10 use EEPROM val //for all modems.Modlist.dft_pit //is no longer used or specified ACM->modem.minpwr =ACM->modlist[Index].minpwr; ACM->modem.pmargn =ACM->modlist[Index].pmargn; ACM->modem.nsub =ACM->modlist[Index].nsub; return; } //end GetModemInfo void acm_dbase( void ) //manage modem database { char ch='?'; short nmod,tmo=0; struct acm_param *ACM; ACM= all.acm; menu_acm_dbase(); while ( ch !='Q') { SerInFlush(); // delete any old stuff if (ch !=' ' && ch>0 ) cprintf("A_3>\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) { // call the desired function case 'Q': break; // will quit the fn case '?': break; // causes directory prompt to be displayed case -1 : break; // wait for another character case 'U': menu_acm_dbase(); break; case 'I': //initialize modem database //initialize selected elements of the modem database printf("Database has modem indices 0 thru %d\n",MAX_MODEMS-1); printf("Index of modem to initialize (-1 = all) ? ");fflush(stdout); nmod=MAX_MODEMS+1;scanf("%d",&nmod); if(nmod>MAX_MODEMS||nmod<-1)break; cprintf("\n"); if(nmod==-1) { for(nmod=0;nmodmodlist[nmod].id=-1; ACM->modlist[nmod].baud=600; ACM->modlist[nmod].ib_new=0; ACM->modlist[nmod].nb_new=1; ACM->modlist[nmod].ib_rpt=0; ACM->modlist[nmod].nb_rpt=0; ACM->modlist[nmod].dft_pit=0; ACM->modlist[nmod].minpwr=8; ACM->modlist[nmod].pmargn=2; ACM->modlist[nmod].nsub=8; } } else { ACM->modlist[nmod].id=-1; //no modem at this waypoint ACM->modlist[nmod].baud=600; //600 baud is the default ACM->modlist[nmod].ib_new=0; //GS has no data from this REMOTE so start // with the first block ACM->modlist[nmod].nb_new=1; //but only send 1 block per dive ACM->modlist[nmod].ib_rpt=0; //block 0 is first old block but ACM->modlist[nmod].nb_rpt=0; //don't send any old data ACM->modlist[nmod].dft_pit=0; //don't change pitch at start of ac comms ACM->modlist[nmod].minpwr=8; //Don't adjust remote power below 8 ACM->modlist[nmod].pmargn=2; //Inc. REMOTE Xmit pwr by pmargn steps above lowest success ACM->modlist[nmod].nsub=8; //Xfer data in 2K blocks } //Copy info into struct ACM->modem used for next modem to be accessed GetModemInfo(0); break; case 'D': //display modem database printf("Database has modem indices 0 thru %d\n",MAX_MODEMS-1); printf("Index of modem to display? ");fflush(stdout); nmod=MAX_MODEMS+1;scanf("%d",&nmod); if(nmod>MAX_MODEMS||nmod<0)break; printf("\nid =%d\n",ACM->modlist[nmod].id); printf("baud =%d\n",ACM->modlist[nmod].baud); printf("ib_new =%d\n",ACM->modlist[nmod].ib_new); printf("nb_new =%d\n",ACM->modlist[nmod].nb_new); printf("ib_rpt =%d\n",ACM->modlist[nmod].ib_rpt); printf("nb_rpt =%d\n",ACM->modlist[nmod].nb_rpt); printf("minpwr =%d\n",ACM->modlist[nmod].minpwr); printf("pmargn =%d\n",ACM->modlist[nmod].pmargn); printf("nsub =%d\n",ACM->modlist[nmod].nsub); break; case 'C': //change modem info printf("Database has modem indices 0 thru %d\n",MAX_MODEMS-1); printf("Index of modem to change? ");fflush(stdout); nmod=MAX_MODEMS+1;scanf("%d",&nmod); if(nmod>MAX_MODEMS||nmod<0)break; ChangeShort("\nModemID (-1 to terminate dbase)",&ACM->modlist[nmod].id); ChangeShort("Baud",&ACM->modlist[nmod].baud); ChangeShort("first new blk",&ACM->modlist[nmod].ib_new); ChangeShort("# of new blks",&ACM->modlist[nmod].nb_new); ChangeShort("first old blk",&ACM->modlist[nmod].ib_rpt); ChangeShort("# of old blks",&ACM->modlist[nmod].nb_rpt); ChangeShort("Min REM pwr",&ACM->modlist[nmod].minpwr); ChangeShort("REM pwr margin",&ACM->modlist[nmod].pmargn); ChangeShort("#sub-blks/4K block",&ACM->modlist[nmod].nsub); break; case 'T': //quick test setup for(nmod=0;nmodmodlist[nmod].id=-1; ACM->modlist[nmod].baud=600; ACM->modlist[nmod].ib_new=0; ACM->modlist[nmod].nb_new=1; ACM->modlist[nmod].ib_rpt=0; ACM->modlist[nmod].nb_rpt=0; ACM->modlist[nmod].dft_pit=0; ACM->modlist[nmod].minpwr=8; ACM->modlist[nmod].pmargn=2; ACM->modlist[nmod].nsub=8; } ACM->modlist[0].id=0; ACM->modlist[0].baud=600; ACM->modlist[0].ib_new=4; ACM->modlist[0].nb_new=1; ACM->modlist[0].ib_rpt=0; ACM->modlist[0].nb_rpt=0; ACM->modlist[0].dft_pit=0; ACM->modlist[0].minpwr=8; ACM->modlist[0].pmargn=2; ACM->modlist[0].nsub=8; break; default : printf(" ??\n"); } // end switch } // ** end while return; } // end acm_dbase void menu_acm_dbase(void) {//print out menu selections printf("Modem Config\n" "Q.uit : U.pdt menu \n" "I.nit : D.isplay : C.hange\n"); return; } // end menu_acm_dbase void acm_remote( void ) //functions for remote modem { char ch='?'; short nread,nerr,value,regno,Ntry,tmo=0; long l; float XMITv; char reply[450]; struct acm_param *ACM; ACM=all.acm; menu_acm_rem(); ACM->remID=99; //Deck Modem has reserved ID=99 printf("\nremID = %d\n",ACM->remID); while ( ch !='Q') { SerInFlush(); // delete any old stuff if (ch !=' ' && ch>0 ) cprintf("A_2>\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) { // call the desired function case 'Q': break; // will quit the fn case 'U': menu_acm_rem(); break; case '?' : break; // displays the directory prompt case -1 : break; // wait for another character case 'C': //change remID SerInFlush(); // delete any old stuff printf("remID? "); //which remote? ACM->remID=-1; scanf("%d",&ACM->remID); printf("remID=%d\n",ACM->remID); break; case 'M' : //Manage modem data base acm_dbase(); break; case 'L': //Link quality value=LinkQ(ACM->remID,&nread,ACM); printf("LinkQ ",ACM->remID); if ( value>=0 ) {printf("OK\n"); } else {printf("Err=%d\n",value);//unable to communicate } printf("%s\n",REMrep); break; case 'R': //Range to remote printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); nread=RemRange(ACM->remID ,&value,Ntry); //get range from remote modem printf("Rng "); if( nread >=0 ) {printf("%d m\n",value); } else {printf("Err=%d\n",nread); } break; case 'V': //read remote battery voltages printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); nread=GetBatt(ACM->remID,&XMITv,Ntry); //read remID battery printf("Batts: "); if (nread>=0) printf("OK Xmit=%5.1fV\n",XMITv); else printf("Err=%d\n",nread); break; case 'B': //Get & change acoustic baud rate of remote printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); if ( (nerr=GetBaud(ACM->remID, &value,Ntry))>=0) //single try { //current baud is in value nerr=value; //save orig value & Get new value or / ChangeShort("Ac baud ",&value); if( value != nerr ) { //a new value was entered nerr=SetBaud( ACM->remID , value, ACM,Ntry ); printf("Ac baud change "); if(nerr==0) printf("OK\n"); else printf("Err=%d\n",nerr); } } else { printf("Get Ac baud err=%d\n",nerr); } break; case 'P': //Set acoustic power level of remote to max printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); nerr=SetPower( ACM->remID , 8 , Ntry ); //S6=8 is max power output, 0 is -21dB printf("MaxPwr: "); if(nerr>=0) printf("OK\n"); else printf("FAIL err=%d\n",nerr); break; case 'F': //get # bytes of data at remote printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); nerr=DataBy(ACM->remID ,&l,Ntry); //l=(long) # bytes stored in remote printf("%ld bytes err=%d\n",l,nerr); break; case 'D': //display of last Xfer printf("ID=%d battV=%d Sreg2=%d REMpkt=%d LOCbatt=%d\n" "remBy=%ld indx_rec=%ld blk_secs=%d AGCamb=%d\n" "blk=%d by_read=%d\n" "Rd_try=%d Rd_err=%d Xtry=%d\n" "Xerr=%d secs=%d dpth=%d rng=%d\n" "Lnktry=%d baud=%d ber=%d snr=%d\n" "agc=%d spd=%d mpd=%d CRC=%d\n" "n_blk=%d ln_blk=%d o_blk=%d lo_blk=%d\n", ACM->remID,ACM->battV,ACM->Sreg2,ACM->rem_pkt,ACM->LocBatt, ACM->rem_bytes,ACM->indx_recd,ACM->blk_secs,ACM->AGCamb, ACM->this_blk,ACM->by_read, ACM->RdB_tries,ACM->RdB_err,ACM->StX_tries, ACM->Xfer_err,ACM->eb_secs,ACM->depth,ACM->range, ACM->Lnk_tries,ACM->baud,ACM->ber,ACM->snr, ACM->agc,ACM->spd,ACM->mpd,ACM->CRC, ACM->new_blk,ACM->lnew_blk,ACM->old_blk,ACM->lold_blk); break; case 'A': //display all S registers nread=all_Sregs(ACM->remID);//read into REMrep printf("S-regs:"); if(nread>1) {printf("OK\n%s\n",REMrep); } else printf("err=%d\n",nread); break; case 'G': //Get specified S register printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); printf("Sreg to get? ");reply[0]='\0'; SerInFlush(); // delete any old stuff ReadCharsFromConsole(reply,sizeof(reply));printf("\n");//response in temp buffer regno=-1;sscanf(reply,"%d %d",®no,&value); if ( (nerr=GetSreg(ACM->remID,regno,&value,Ntry ))==0) {printf("S%02d=%d\n",regno,value); } else {printf("Err=%d\n",nerr); } break; case 'S': //set REMOTE Sreg printf("Number of tries? ");Ntry=1;scanf("%d",&Ntry); printf("Sreg, value_to_set? ");reply[0]='\0'; SerInFlush(); // delete any old stuff ReadCharsFromConsole(reply,sizeof(reply));printf("\n");//response in temp buffer comma2space(reply);//remove any commas regno=-1;sscanf(reply,"%d %d",®no,&value); if ( (nerr=SetSreg(ACM->remID,regno ,value,Ntry ))==0) //Make a single try {printf("OK\n"); } else {printf("Err=%d\n",nerr); } break; case 'Z': //write last data rec'd by GetTSdata to CF1 and to Iridium LIFO //writes acoustic data to Iridium Lifo in a new packet w/id=0 all.klifo = assign_lifo(all.lifo,iparam[EA_surf_num],0); printf("LIFO index = %d\n",all.klifo); lifo_acdiag(); lifo_acraw(); break; case 'O': //execute OpenAcLnk3 nerr=OpenAcLnk3(); printf("OpenAcLnk3 err=%d\n",nerr); break; default : printf(" ??\n"); } // end switch } //end while return; } // end acm_remote void menu_acm_rem(void) { //print out menu selections printf("Remote Modem\n" "Q.uit : U.pdt menu : C.hng ID : M.odemConf\n" "L.ink qual : R.ange : V.olts : B.aud : F.lash filld : G.et Sreg\n" "A.ll Sregs : Z blk->LIFO: P.wr HI : S.et Sreg : D.isp stat : O.pnAcLnk\n"); return; } // end menu_acm_rem // LIFOs special to BENTHOS version============================================== uchar isubuf[1960]; //working buffer for Iridium message //*24Mar2010--remove lifo_acdat since only use lifo_acraw void lifo_acraw( void ) //** queue up raw acm data messages { //break the Ac modem buffer into Iridium messages <= 1944 bytes including segmentation info //and queue each to Iridium. //This is same function as lifo_acdat except the sensor ID code is 0xa1 and //the message contains all the header, trailer info. Thus the byte index "aa" //is the byte index within the RAW message and not just the DATA portion //Each segment has the format: // IDjjrbaa; // where ID = one-byte sensor ID code = 0xa0. // jj = Number of bytes in the message. // The count includes ID, jj, the data, and the trailing ; // The count is in 2 binary bytes with MSB first and LSB second. // The maximum value that fits in an Iridium message is // 1944 bytes(limited by append_lifo). // r = Remote modem ID (0,..,99) in one byte. // b = index of 4K block in Remote modem's memory (0,..,175) in one byte. // aa = index in that block of first byte of (0,..,4K) in two bytes // = The modem data without editing. up to 1936 bytes. short j,n,istor; short blksiz=1936; //bytes of ac data per block uchar *gptr; //uchar dbg[80]; struct acm_param *ACM; ACM = all.acm; gptr=ACM->buf; //initialize get pointer to start of buf n=0; //index of current byte being moved to isubuf while ( n < ACM->by_read ) { //still have bytes to queue up isubuf[0] = 0xa1; //byte 0 = ID that this is RAW modem data // bytes 1,2 = message length (fill later) istor=3; //start storage pointer isubuf[istor++]= ACM->remID ; //modem ID isubuf[istor++]= ACM->this_blk; //current block index isubuf[istor++] = (uchar)(n >> 8); // = MSB of index of 1st byte in this segment isubuf[istor++] = (uchar)(n & 0xff); // LSB //move acm buffer into global buffer isubuf starting in byte 7 for(j=0;jby_read)break;//hit the end of the buffer }; isubuf[istor++] =';'; //append ';' to tag the end of message //now istor= # of bytes in this message isubuf[1] = (uchar)(istor >> 8); // = MSB of number of bytes isubuf[2] = (uchar)(istor & 0xff); // LSB printf("\ndebug lifo_acraw\n");debug_string( isubuf, istor); //debug display append_lifo(istor,isubuf); //queue message with istor bytes to LIFO } return; } //end lifo_acraw void lifo_acdiag(void) //** queue up acm diag message { //move first part of ACM struct into LIFO. It tracks current status uchar dat[255]; //temp area to receive ACM (24Feb08 ACM has 72 bytes) uchar dbg[80]; uchar *ptr,*e_ptr; //ptrs used to transfer structure struct acm_param *ACM; short i; ACM = all.acm; dat[0] = 0xad; //Assign ID = 0xad = acoustic diagnostic i = 3; // dat[1], dat[2] = #bytes in the modem info message; set at end of fnx ptr=ACM; //transfer from the beginning of ACM struct to, e_ptr=&ACM->end_diag; //but not including, end_diag while( ptr < e_ptr ) { dat[i++]=*ptr++; } dat[i++] = ';'; // end-of-message char //Now i=# of bytes in this message : includes 0,1,2 bytes + ';' b2_store(1,dat,i); //put length MSB in dat[1] and LSB in dat[2] append_lifo(i,dat); // append to present lifo //write the acdiag message to CF1 flash sprintf(dbg,"ACDIAG %6ld %4d\n",RTCGetTime(0,0),i); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //header line with source, time, # bytes buf_to_cf1V( i, dat); //copy the LIFO contents with tags return; } //end lifo_acdiag void lifo_acenergy(short REMid,short xmits) //** queue up acm energy usage { uchar dat[255]; //temp area uchar dbg[80]; struct acm_param *ACM; short i; ACM = all.acm; dat[0] = 0xae; //Assign ID = 0xad = acoustic diagnostic i=3; dat[i++]=REMid; dat[i++]=xmits; dat[i++] = ';'; // end-of-message char //Now i=# of bytes in this message : includes 0,1,2 bytes + ';' b2_store(1,dat,i); //put length MSB in dat[1] and LSB in dat[2] append_lifo(i,dat); // append to present lifo //write the acdiag message to CF1 flash sprintf(dbg,"ACENERGY %6ld %4d\n",RTCGetTime(0,0),i); printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); //header line with source, time, # bytes buf_to_cf1V( i, dat); //copy the LIFO contents with tags return; } void lifo_accmd(char cmd[],short ncmd,char rep[],short nrep) //** queue up acm command&reply message { //Each message has the format: // IDjjkkmm; // where ID = one-byte sensor ID code = 0xac. // jj = Number of bytes in the message (inclusive from ID to trailing ''; // kk = Number of bytes in the command string (max 40) // = The command string // mm = error code if negative else = length of reply string // If negative, there is no reply string in the message // If positive,mm is reduced to keep jj <= 1944 // = The reply (or error) string from the modem uchar dbg[80]; short istor,nc2stor,nr2stor; isubuf[0] = 0xac; //Assign ID = 0xac = acoustic command and reply message // bytes 1,2 = message length (fill later) istor = 3; // isubuf[1], isubuf[2] = #bytes in the modem info message; set at end of fnx nc2stor= ncmd<40 ? ncmd:40; //send at most 40 chars of command string isubuf[istor++] = (uchar)(nc2stor >> 8); // = MSB of length of command string isubuf[istor++] = (uchar)(nc2stor & 0xff); // LSB strncpy(&isubuf[istor],cmd,nc2stor); //copy the command string (drops \0 at end) istor += nc2stor; //bump storage pointer //make sure things fit in total 1944 bytes from ID to ';' at the end nr2stor=1944 - 8 - nc2stor; //8 bytes in ID,jj,kk,mm,';' nr2stor=max left for reply if(nrep>0) { //there is a reply string--don't send back more than fits nr2stor = nrep> 8); // = MSB of length of reply string isubuf[istor++] = (uchar)(nr2stor & 0xff); // LSB strncpy(&isubuf[istor],rep,nr2stor); //copy the reply string (drops \0 at end) istor += nr2stor; //bump storage pointer } else { //no reply string due to an error so only return the status isubuf[istor++] = (uchar)(nrep >> 8); // = MSB of error status isubuf[istor++] = (uchar)(nrep & 0xff); // LSB } isubuf[istor++] = ';'; // end-of-message char //Now istor=# of bytes in this message : includes 0,1,2 bytes + ';' isubuf[1] = (uchar)(istor >> 8); // = MSB of number of bytes isubuf[2] = (uchar)(istor & 0xff); // LSB append_lifo(istor,isubuf); //queue message with istor bytes to LIFO //write the accmd message to CF1 flash sprintf(dbg,"ACCMD %6ld %4d\n",RTCGetTime(0,0),istor); // status & command string to CF1 printf("%s",dbg); buf_to_cf1V( strlen(dbg),dbg); buf_to_cf1V( istor,isubuf ); //copy LIFO contents return; } //end lifo_accmd void debug_string( char string[], short nchar) {//display string of nchar bytes in ASCII and Hex short i; //ASCII display printf("%d by ASC:\n",nchar); for(i=0;i=0) { //finish last partial block (could have zero bytes of data) j=0; // counter of #tries writing to cf1 flash_store( nlast, ptr,CF_ACM ); // transfer to the cf1 } } //end buf_to_cf1V void comma2space( char * bptr ) {//replace commas in bptr with spaces char *c_ptr; while( (c_ptr=strchr(bptr,',')) !=NULL ) {//found a comma *c_ptr=' ';//change it to a space } return; } //end comma2space void ChangeShort(char label[], short *ptr) { //change the short value pointed to by ptr //combines calls to save code space by avoiding repetition char ans[80]; printf("%s = %d New value (/=no change) ?",label,*ptr); ans[0]='\0'; SerInFlush(); // delete any old stuff ReadCharsFromConsole(ans,sizeof(ans));printf("\n"); comma2space(ans);//remove any commas from reply if( (strlen(ans)> 0) && (ans[0]!='/') ) sscanf(ans,"%d",ptr); return; } //end ChangeShort //***************************************************************************** void dbg_ac_test( void ) { //if ee_acm_mode=1 test acoustics at bottom of dive //if ee_acm_mode=2 test acoustics at ascend printf("Increasing profile number....."); incr_prof_num(); //for testing, just increment the dive number printf("DONE\n"); //open a CF file printf("Opening a flash file...."); flash_open ('D'); printf("DONE\n"); //assign a new lifo printf("Assigning a LIFO....."); all.klifo = assign_lifo(all.lifo, iparam [ EA_prof_num ],0); printf("DONE\n"); printf("do_acm\n"); do_acm(); //close the CF file flash_close(); //printf("Secs=%ld Ret from do_acm\n",RtcToCtm()); /* uchar *gps_ptr; // points to gps data uchar dbg[255]; short ngps; //=#points in gps struct gps_param gps; // used to give sizeof(gps) for cf1 xfr short p,mode; short stat; gps_ptr = (uchar*) all->gps; // points to gps data ngps = sizeof(gps); //#bytes in gps structure all->hyd->total=0; //clear total pump time in this debug test all->hyd->start=RtcToCtm()-10; //phony start time for pump is 10 seconds ago p = all->flt->pmin = 250; // default value all->dat->i = 0; //reset profile ram data buffer to 1st record all->dat->ie= 0; // 0612: reset eng. ram data buffer to 1st record all->dat->isamp=0; // counter of #data samples for this dive all->dat->cf1= 1; // 0901 enable cf1 writes all->hyd->total=0; //clear total pump time in this debug test all->klifo = assign_lifo(all->lifo,all->mis->idive,0);//lifo for data stat=cf1_fupdate(); //skip this update to rely on go_drift take_data(all); printf("Secs=%ld ret fm take_data Batt=%d\n", RtcToCtm(),all->dat->ad_bat); mode= UeeGetWord(ee_acm_mode); if (mode==1) { //we want to do AC comms while drifting in bottom_turn // descend(all); if( PumpIsOn() ) //Is the pump running? 4Nov2009 { //Hydraulic pump is running-- sprintf(dbg,"BOTTOM %6ld Pump ON PE=0x%04x hyd->total=%d\n", RtcToCtm(),*PORTE,all->hyd->total); buf_to_cf1V( strlen(dbg),dbg); printf("%s",dbg); Pump_Off(all->hyd); //kill pump to be quiet. this updates hyd->total sprintf(dbg,"BOTTOM %6ld Pump is OFF PE=0x%04x hyd->total=%d\n", RtcToCtm(),*PORTE,all->hyd->total); buf_to_cf1V( strlen(dbg),dbg); printf("%s",dbg); } else { sprintf(dbg,"BOTTOM %6ld Pump is OFF PE=0x%04x hyd->total=%d\n", RtcToCtm(),*PORTE,all->hyd->total); buf_to_cf1V( strlen(dbg),dbg); printf("%s",dbg); } do_acm(all); printf("Secs=%ld Ret from do_acm\n",RtcToCtm()); } else if ( mode ==2 ) { //do ac comms in ascend ascend(all); printf("Secs=%ld Ret from ascend\n",RtcToCtm()); } cf1_fupdate(); //*/ return; } #endif //***************************************************************************** //*** end file **************************************************************** //*****************************************************************************