/****************************************************************************** * general prototype and setup parameters for Spray2008 CF2 v1.0 controller * created Oct2008 * updated:Jan2010 0902 * 0902 code now keeps track of a profile number, versus * the dive # = dive-set# = #surfacings. * For multiple cycles/dive-set, the profile# increments for ea cycle * updated aug11 * v0903.4 aug11 code handles Benthos acoustic modem * search for 'Benthos' for changes * v0903.5 nov11 updates pump fnx watch_pump and moved benthos bottom_turn call * v0903.6 dec11, longer hyd surface wait, hole to allow opmode to be set remotely * current-crossing turns off manual heading * bad GPS packet sets hdop = 124; shore value =12.4 * fixed opmode bug on power-reset * v0903.12 SEP14 mount NTK fwd or aft * v0903.13 sep14 fix bug in store_dat2flash, size of profile data * v0903.14 oct14 re-work of SBE63 DO code for better error-catching *================================================================== * v0904.01 dec14 adding variable 50m pump, plus writing SPI error packets * dec14 more service_wdog for gps, sbd, and watch_pump * v0904.02 jan15 add bottom_turn err catch for bad V values * v0904.03 jun15 add auto-degas, including shore cmd '51' * v0904.04 aug15 nortek mods, forced current-bucking if SBD rcvry mode, + zooglider * v0904.05 jan16 non-volatile ram for surface, profile counters * also allows negative tau values for heading control * v0904.06 may16 more checks of flash card, + tries to re-mount. * v0904.07 aug16 turn off the drift mode if the SBD breaks. * also updated ACM code with more service_wdog() calls. * v0904.08 oct16 make sure that the Nortek LED is disabled. * *****************************************************************************/ #ifndef FALSE #define FALSE (0) #define TRUE (!FALSE) #endif #define USE_ADG 0 // jun15 set to 0/1 to include auto-degas code #define DEBUG 0 // set flag if want to compile a version for bench-debug work //***************************************************************************** //**** SOFTWARE VERSION DECLARATION ******************************************* #define MAJ_VER 904 // YYMM of creation #define MIN_VER 8 // revision number #define SHORE_VER 1 // Shore command revision number (updated via sensor suite) #define PASSWORD 4321 // standard password value: could be in eeprom instead. //***************************************************************************** // MAJ_VER =major revision (implements new way of processing, etc). // MIN_VER =minor revision (no change to shore commands nor shore processing) // SHORE_VER= revision to the shore commands // the shore-processing code should be up-to-date to SHORE_VER. //=============================================================== // 2014: using SHORE_VER to point to different sensor suites. // 1 = normal // 2 = Benthos ACM (add shore cmds specific to ACM) // 3 = Nortek AD2CP //=============================================================== // v0902.1 apr10 minor_ver 1 = fixed bug in dat_fnx.c sample_all vac output // v0902.2 May10 fixes bug in top_turn regarding adp_post_process order (minor). // v0902.3 Aug10 fixes bug so optical data<0 are NOT averaged into sat data. // v0902.4 Oct10 fixes exception bug on wdmin from 0xf000 to 0x8000 // // v0903.1 feb11 increase air vent time, more heading control options. // add option for different sample times for descent/ascent. // add pump-time parameter for the drift mode. // drift occurs after set pump time, then normal bottom turn. // // v0903.2 mar11 adding PolyPlus cell monitoring, DOX sensor option // v0903.3 jun11 added CellEnd for ADP setup // v0903.4 aug11 added Benthos code from BDJ 15mar11 code // v0903.5 nov11 hydraulic debug menu // v0903.6 dec11 mods to remote setting of opmode, hydraulic timing, gps error msg // set SHORE_VER = 1 as flag that had more shore commands than v.0 // v0903.7 jan12 leapseconds flag ignored in UBX time-valid code. // feb12 will abort if NO SBD and in shallow water. // feb12 added Polyplus changes to turn OFF loads in the bottom turn. // v0903.8 may12 fix to eng. time series emax so no buffer over-run // v0903.9 jan13 ability to re-open TPU UART ports if bad communication // jan13 fixed pointer offset error in data_pack: should now pack // correctly in drift mode. // v0903.10 oct13 modified GPS LIFO packing to handle +/-0 deg values correctly // also displays correctly when checking GPS via monitor // // jul13 - adding macros for GPIO A/D on/off // jul13 added DOX63 capability, search for DO6 // // v0903.11 apr14 slight mod for Nortek to store params to flash as well. // // v0903.13 sep14 fix bug for size of profile data in store_dat2flash. // v0903.14 oct14 add more DO error catches, longer time-delays // revamp the SENSE_CFG to more easily select sensor suite // v0904.01 dec14 adding variable 50m pump, plus writing SPI error packets // dec14 more service_wdog for gps, sbd, and watch_pump // v0904.02 jan15 add bottom_turn err catch for bad V values // v0904.03 jun15 add auto-degas, including shore cmd '51' // v0904.04 aug15 Nortek minor bug fixes // v0904.04 aug15 ensured current-bucking if SBD_recovery is needed. // v0904.04 sep15 = ZOOG mods for zooCam control for ea dive // v0904.05 jan16 = non-volatile ram for surface, profile counter // also allows negative tau values for heading control // v0904.06 may16 more checks of flash card, + tries to re-mount. // v0904.07 aug16 turn off drift if bad SBD, plus ACM mods. // v0904.08 oct16 Nortek: enable LED for bench test, then disable when turned off. //***************************************************************************** //***************************************************************************** //*** SENSOR CONFIGURATION: MODIFY FOR CUSTOM INSTRUMENTS ********************* //***************************************************************************** // oct14, following copied from 08xx code // ALL Sprays assumed to have CTD + optical slot. // extra sensors are defined bit values #define BIT_ADP 0x01 // bit0 set = 0x01 = Sontek ADP installed. #define BIT_DOX 0x02 // bit1 set = 0x02 = DOx SBE43 installed. #define BIT_ISUS 0x04 // bit2 set = 0x04 = ISUS installed. #define BIT_PPLS 0x08 // bit3 set = 0x08 = polyplus test (should be 09xx electronics only) //-----next nibble ------------------------------------ #define BIT_ACM 0x10 // bit4 set = 0x10 = Benthos (should be 09xx electronics only) //--09xx did NOT use 30deg ADP mount option, so differs from 08xx starting here. //#define BIT_30D 0x20 // bit5 set = 0x20 = 30deg ADP mount angle #define BIT_DO6 0x20 // bit5 set = 0x20 = DOX SBE63 installed //oct12 bdj #define BIT_NTK 0x40 // bit6 set = 0x40 = Nortek adp installed //JAN13 bdj #define MOUNT_ANGLE 17 //standard Sontek ADP mount angle #define BIT_ZOOG 0x80 // bit7 set = 0x80 = ZooGlider //--- next nibble #define BIT_NPS 0x100 //bit8 set = 0x100 = NPS DAT installed #define BIT_PH 0x200 //bit9 set = 0x200 = YUI pH installed //--- no BOB code for 09xx //********************************************************************* //--- set SENSE_CFG to the installed sensor suite --------------------- //#define SENSE_CFG 0 // CTD + optical only (BASE sensor suite ) //#define SENSE_CFG BIT_ADP // Sontek ADP //#define SENSE_CFG BIT_ACM // Benthos modem //#define SENSE_CFG BIT_NPS // NPS DAT modem //#define SENSE_CFG BIT_PH // pH sensor #define SENSE_CFG ( BIT_PH + BIT_DO6 ) // pH sensor + SBE63 //#define SENSE_CFG BIT_NTK // Nortek AD2CP //#define SENSE_CFG ( BIT_ADP + BIT_DO6 ) // Sontek + SBE63 //#define SENSE_CFG ( BIT_ADP + BIT_DOX ) // Sontek + DOX //#define SENSE_CFG ( BIT_NTK + BIT_DO6 ) // Nortek + SBE63 //#define SENSE_CFG BIT_ZOOG // Zooglider: ZooCam + ZooNar //********************************************************************* //---set default values ------------------------ #define ADP 0 // default is no Sontek ADP #define NTK 0 // default is no Nortek ad2cp #define DOX 0 // default is no SBE43 DO #define DO6 0 // default is no SBE63 DO #define ISUS 0 // default is no ISUS #define PPLUS 0 // default is no polyplus #define BENTHOS 0 // default = NO Benthos modem #define ZOOG 0 // default = NO ZooGlider stuff #define NPS 0 // default = NO NPS DAT #define PH 0 // default = NO pH sensor //--- modify defaults as per the above SENSE_CFG //--- this sets up the pre-compiler flags as needed //-- set up for Sontek ADP ---------------------- #if ( ( SENSE_CFG & BIT_ADP ) > 0 ) #undef ADP #define ADP 1 // has a Sontek ADP #endif //-- set up for Nortek ad2cp -------------------- #if ( ( SENSE_CFG & BIT_NTK ) > 0 ) #undef NTK #define NTK 1 // has an NTK AD2CP #undef MOUNT_ANGLE #define MOUNT_ANGLE 17.4 // pitch=+17.4 puts 3-beam system vertically-down #undef SHORE_VER #define SHORE_VER 3 // Shore cmd rev. # #endif //-- set up for SBE43 DO sensor ----------------- #if ( ( SENSE_CFG & BIT_DOX ) > 0 ) #undef DOX #define DOX 1 // has a DOX #endif //-- set up for SBE63 DO sensor ----------------- #if ( ( SENSE_CFG & BIT_DO6 ) > 0 ) #undef DO6 #define DO6 1 // has a DO6 #endif //--set up for ISUS --------------------------- #if ( ( SENSE_CFG & BIT_ISUS ) > 0 ) #undef ISUS #define ISUS 1 // has an ISUS #endif //--set up for PolyPlus ------------------------- #if ( ( SENSE_CFG & BIT_PPLS ) > 0 ) #undef PPLUS #define PPLUS 1 // has Polyplus battery cells #endif // set up for Benthos ACM ----------------------- #if ( ( SENSE_CFG & BIT_ACM ) > 0 ) #undef BENTHOS #define BENTHOS 1 // has Benthos ACM #undef SHORE_VER #define SHORE_VER 2 // Shore cmd rev. # #endif // set up for ZooGlider ----------------------- #if ( ( SENSE_CFG & BIT_ZOOG ) > 0 ) #undef ZOOG #define ZOOG 1 // has ZooGlider #undef SHORE_VER #define SHORE_VER 4 // Shore cmd rev. # #endif // set up forNPS DAT ----------------------- #if ( ( SENSE_CFG & BIT_NPS ) > 0 ) #undef NPS #define NPS 1 // has NPS DAT modem #undef SHORE_VER #define SHORE_VER 2 // Shore cmd rev. # #endif //-- set up for PH ----------------- #if ( ( SENSE_CFG & BIT_PH ) > 0 ) #undef PH #define PH 1 // has a PH #endif #define ANT_XFR_SW 1 // set =1 if Spray has the antenna transfer switch //=== jan13 added exception flag settings for exc_stat ======================== #define EXC_PUMP_RCVRY 0x0001 // needed a pump recovery #define EXC_BURN_ON 0x0002 // burn wire turned on #define EXC_BELOW_SURF 0x0004 // not at the surface #define EXC_TOO_DEEP 0x0008 // got too deep in glide //------------- #define EXC_BOT_DETECT 0x0010 // altimeter detected the bottom #define EXC_BACK_OFF 0x0020 // backed off of the surface #define EXC_EXTRA_PUMP 0x0040 // extra pumps needed to get to surface #define EXC_HI_SURF_TM 0x0080 // required too long to leave the surface //------------- #define EXC_BAD_FLASH 0x0100 // problem closing the flash #define EXC_BAD_AMP 0x0200 // high amps at 50m pump #define EXC_BAD_PRESS 0x0400 // bad SBE pressure @surf:triggers UART reset #define EXC_SBD_RCVRY 0x0800 // SBD bad for too long or needed UART reset //------------- #define EXC_HIGH_CURRENT 0x1000 // cannot overcome the ocean current #define EXC_SPURIOUS_RST 0x2000 // Spurious RESET of the glider #define EXC_ADP 0x4000 // System has an ADP #define EXC_NOT_SINKING 0x8000 // no longer sinking in descend; also Divide-by-zero //============================================================================= //===SBE offsets and gains ==================================================== //===they are defined so they are included in the parameter list #define PR_OFF -10 // dBar offset #define PR_GAIN 40 // Gain*1000: dBar =cnts*gn/1000 + PR_OFF // if the above two are modified, also modify the next 3 #define F_PR_GN (0.04) // PR_GAIN/1000: multiplier actually used in the code #define INV_PGN (25) // 1/F_PR_GN, divisor used in intPval #define PR_MIN 250 // nominal pr cnts @ surface #define T_OFF -5 // T offset degC #define T_GAIN 1 // Gain*1000: degC =cnts*gn/1000 + T_OFF #define S_OFF -1 // S offset, PSU #define S_GAIN 1 // Gain*1000: degC =cnts*gn/1000 + S_OFF // if the above gains are modified, also modify the next two #define F_TS_GN (0.001) // multiplier actually used in the code = gain/1000 #define INV_TSGN 1000 // divisor =1/F_TS_GN //***************************************************************************** //=== Altimeter, optical gain to mVolts=========================== // circuit = 2.5Vrev, with 1/2V divider: // 5V in = full scale: cnts 2 mV = cnt*5000/4096 #define C2mV (1.2207) // opt, alt cnts to mV #define IC2mV 12207 // multiplier to mV*1e4 #define AC2Z (0.0244) // Tritech: 5V = 100m, //***************************************************************************** //=== Doppler coefficients ======================================= //=== Apr14 shift values dependent upon Nortek or Sontek #if NTK==1 #define ALPHA 38 // dB loss per meter*100,1 MHz #define K1_ABS 2 // First bin to use for ABS measurement #define K2_ABS 3 // Last bin to use for ABS measurement #define BD 1 // blanking distance, [m*10]; Nortek default = 0.1m #else // it is the Sontek #define ALPHA 22 // dB loss per meter*100, 750 kHz, 25 degree angle #define K1_ABS 2 // First bin to use for ABS measurement #define K2_ABS 3 // Last bin to use for ABS measurement #define BD 40 // blanking distance, [m*10] #endif //*** 0902.5 feb11 ee_ro_use heading control bits ***************************** //*** ee_ro_use default = 1; other bits used to turn OFF 0720 changes #define RO_USE 0x01 // bit0 set = do heading control (believe roll angle) #define RO_SET_0 0x02 // bit1 set = do NOT update r0dn, r0up #define RO_ESUM 0x04 // bit2 set = do NOT reset esum @ bottom turn #define RO_BOTTOM 0x08 // bit3 set = do active steering control in bottom turn #define RO_WEIGHT 0xf0 // upper nibble is alternative r0up, r0dn weighting //***************************************************************************** //SENSOR TYPES, used to select offset, gain for converting to eng. units enum sensor_type { W_14V, // 14V battery from watchdog/gpio a/d W_07V, // 07V battery from watchdog/gpio a/d W_VAC, // vacuum from watchdog/gpio W_ALT, // altimeter W_OPT, // optical P_AMP, // pitch amps P_VOLT, // pitch volts R_AMP, // roll amps R_VOLT, // roll volts H_VOLT, // hyd volts H_AMP // hyd amps }; //========================================================================== //***************************************************************************** // *** the following groups should be left alone // clock speeds, for awake mode and sleep mode #define LOW_CLOCK_SPEED 640L //Lower power from a slower clock #define HIGH_CLOCK_SPEED 3680L //This is the clock speed when we are awake...lowering it will save power. #define MAX_HIBERNATE 13 // max time to go to low power = 13 s, set by PIT51 // oct08, used to define unix time, for gps week conversion #define TI_UX0 315964800L // unix time, for 1/6/1980, 00:00 UTC = GPS Week 0 #define S_PER_WK 604800L // #s per week #define S_PER_DAY 86400L // #s per day // ux_ti = TI_UX0 + gps_week*S_PER_WK + gps_sec; #define ATTACK_ANGLE 3 // assume attack angle is 3 degrees #define SBD 1 // Jun06, SBD ONLY is supported! #define SBE 1 // Jun06, SBE ONLY is supported! #define ETAU_M 2 // May07, multiplier for roll PI integrater portion // prior to may07, this was hardwired to 2...can now try less weight on I #define ANG_ROLL 0 // used by avg_tcm2 to return avg of roll, pitch, head #define ANG_PITCH 1 // : pitch #define ANG_HEAD 2 // : heading //***************************************************************************** //***************************************************************************** // PIN ASSIGNMENTS // TPU SERIAL Channels ======================================================== #define N_TU_PORTS 4 // # of TPU UART ports #define FROM_SAT 2 // pin23 = TPU2 is used as cmos input from rs232 sat-comms #define TO_SAT 4 // pin25 = TPU4 = cmos output to sat-comms #define BAUD_SAT 19200 // satellite baud rate #define TU_SAT 0 // TPU UART pointer into *tu_port array #define FROM_MUX1 6 // pin27 = TPU6 = cmos input from MUX1 chip #define TO_MUX1 8 // pin29 = TPU8 = cmos output to MUX1 chip #define BAUD_MUX1 9600 // default mux1 baud rate #define TU_MUX1 1 // TPU UART pointer into *tu_port array // mux1 is used by adp, gps, aux1, aux2 #define TU_ADP 1 // ADP uses TUport 1 #define TU_GPS 1 // GPS uses TUport 1 // aux1, aux2 are straight cmos into mux1 chip #define TU_AUX1 1 // aux1 uses TUport 1 #define TU_AUX2 1 // aux2 uses TUport 1 // mar11, use aux1 for polyplus comms = port J11 = top row next to GPS aux battery #define TU_PPLUS TU_AUX1 // using aux1 #define BAUD_PPLUS 1200 // uses much slower baud #define FROM_MUX2 5 // pin26 = TPU5 = cmos input from MUX1 chip #define TO_MUX2 7 // pin28 = TPU7 = cmos output to MUX1 chip #define BAUD_MUX2 9600 // default mux2 baud rate #define TU_MUX2 2 // TPU UART pointer into *tu_port array // mux2 is used by compass, isus, aux3, aux4 #define TU_COMP 2 // compass uses TUport 2 #define TU_ISUS 2 // ISUS uses TUport 2 #define TU_AUX3 2 // aux3 uses TUport 2 #define TU_AUX4 2 // aux4 uses TUport 2 #define FROM_SBE 1 // pin22 = TPU1 = cmos input from SBE sensor #define TO_SBE 3 // pin24 = TPU3 = cmos output to SBE sensor #define BAUD_SBE 9600 // SBE baud rate #define TU_SBE 3 // TPU UART pointer into *tu_port array // TPU pins that are presently not used ======================================= #define TPU9 30 // pin30 = TPU9, not used #define TPU10 31 // pin31 = TPU10, not used #define TPU11 32 // pin32 = TPU11, not used #define TPU12 33 // pin33 = TPU12, not used #define TPU13 34 // pin34 = TPU13, not used //TPU pins associated with other functions ==================================== #define V7_BKUP 35 // pin35 = TPU14, controls aux regulator for V7 backup #define RES_WDOG 37 // pin37 = TPU15, available to reset GPIO/watchdog msp430? #define ATTN_2_CF2 39 // pin39 = IRQ5 = input from wdog_msp430 //other available IRQ inputs are IRQ2 and IRQ7 //***************************************************************************** // Antenna Switch settings ==================================================== #define ANT_GPS_2_STBD 1 // connect GPS to stbd antenna, SBD to port #define ANT_GPS_2_PORT 2 // connect GPS to port antenna, SBD to stbd #define STBD_WING 0 // will roll the starboard wing up #define PORT_WING 1 // roll_wing(PORT_WING) will roll port wing up #define ZERO_WING 2 // will go to zero roll (no wing up) #define ALT_WING 2 // see RF_Wing_Setup; alternates wing to use #define MAX_WING_ERR 3 // max wing error accum value before switching #define GPS_UNIT 0 // defines what unit to configure the switch for #define SBD_UNIT 1 // for either GPS or the SBD // Low-Power interrupt settings =============================================== #define PIT_ONLY 0 // wake up on Periodic Interrupt Timer Only #define PIT_IRQ2 1 // wake up on PIT or IRQ2 #define PIT_IRQ2_RXD 2 // wake up on PIT or IRQ2 or RXD #define AWAKE_PIT 1 // awoken by the PIT #define AWAKE_IRQ2 2 // awoken by the IRQ2 = WDOG #define AWAKE_RXD 3 // awoken by the RXD #define STAY_LOWPWR -99 // put sleep_check into an infinite loop // Interrupt Flags, set in ISR_ATTN dependent upon action #define IRQ2_F 2 // awoken from IRQ2 = CF2_ATTN line from msp430 #define IRQ3_F 3 // awoken from IRQ3 #define IRQ4_F 4 // awoken by char detected on rs232 Rcv #define IRQ5_F 5 // awoken from IRQ5 #define IRQ7_F 7 // awoken from IRQ7 #define SPUR_F 8 // awoken by spurious interrupt #define DIV0_F 9 // divide-by-zero interrupt //===SBD message-type definitions ============================================= //=== (one-byte tag for message type ) //=== these are defined in function calls mostly, //=== but are compiled here as an index //---gps ---------------------------------- #define SBD_GPS0 0x00 // GPS at start/reset of Spray #define SBD_GPS1 0x01 // GPS at start of dive #define SBD_GPS2 0x02 // GPS at end of dive #define SBD_GPS3 0x03 // GPS in the abort mode #define SBD_SURF 0x08 // surface drift #define SBD_MARK 0x0f // Dive-marker //---profile definitions ----------------- #define SBD_PRO_P 0x10 // Pressure profile #define SBD_PRO_T 0x20 // Temperature profile #define SBD_PRO_S 0x30 // Salinity profile #define SBD_PRO_O 0x40 // Optical profile #define SBD_DOX 0x48 // DO profile //---0x5 = adp profile definitions -------------- #define SBD_ADP_P 0x50 // ADP pressure #define SBD_ADP_U 0x51 // ADP U #define SBD_ADP_V 0x52 // ADP V #define SBD_ADP_I 0x54 // ADP last-bin intensity #define SBD_ADP_p 0x55 // ADP pitch #define SBD_ADP_r 0x56 // ADP roll #define SBD_ADP_h 0x57 // ADP heading #define SBD_ADP_B 0x58 // ADP backscatter #define SBD_ADP_H 0x5f // ADP parameter info //---0x6 = adp shallow definitions -------------- #define SBD_ADPS_P 0x60 // ADP pressure #define SBD_ADPS_1 0x61 // ADP beam 1 vel #define SBD_ADPS_2 0x62 // ADP beam 2 vel #define SBD_ADPS_3 0x63 // ADP beam 3 vel #define SBD_ADPS_1i 0x64 // ADP beam 1 vel #define SBD_ADPS_2i 0x65 // ADP beam 2 vel #define SBD_ADPS_3i 0x66 // ADP beam 3 vel #define SBD_ADPS_h 0x67 // ADP heading #define SBD_ADPS_p 0x68 // ADP pitch #define SBD_ADPS_r 0x69 // ADP roll #define SBD_ADPS_H 0x6f // ADP parameter info //---0x7 = isus --------------------------------- #define SBD_ISUS_P 0x70 // ISUS pressure counts #define SBD_ISUS_RES 0x71 // ISUS residuals #define SBD_ISUS_NO3 0x72 // ISUS nitrate #define SBD_ISUS_SP 0x73 // ISUS spectral counts #define SBD_ISUS_ENG 0x7f // ISUS engineering data //---0xA = Acoustic Modem ----------------------- #define SBD_AcDATA 0xa0 // ACM data #define SBD_AcRAW 0xa1 // ACM raw data #define SBD_AcCMD 0xac // ACM command reply/status #define SBD_AcDIAG 0xad // ACM diagnostics //---0xB = polyplus data ------------------------- /**** sep16, making polyplus obsolete, and using for zooGlider *** #define SBD_PP_CHAR 0x0b // character to identify as polyplus //-- #define SBD_PP_PARAM 0xb0 // polyplus daq settings #define SBD_PP_LOAD 0xb1 // polyplus load values #define SBD_PP_VOLT 0xb2 // polyplus voltages cell_0 // 0xb3 // cell_1 **************************************************/ //--- ZOOGLIDER ----- sep16 updated -------------- //--- for 0xb-, this byte is followed by another ID, which //--- allows data-type (P, intensity, ABS, etc), plus bin#, if needed. #define SBD_ZZ_CHAR 0x0b // MSN zooglider value #define SBD_ZO_PARAM 0xb0 // zonar settings #define SBD_ZO_DAT1 0xb1 // zonar data beam 1 #define SBD_ZO_DAT2 0xb2 // zonar data beam 2 // 0xb3 reserved #define SBD_ZC_PARAM 0xb4 // aug15 zooCam settings //--- define the 2nd id byte MSN values: defines parameter type #define ZO_PR 0x10 // pressure #define ZO_AMP 0x20 // return amplitude // 0xb5-7 available for zooCam data // 0xb8-f available for other sensors that want to use another byte for further ID. //------------------------------------------------ //---0xC = eng time series ---------------------- #define SBD_ET_Tm 0xc0 // eng-time-series time #define SBD_ET_Pr 0xc1 // eng-time-series pressure #define SBD_ET_Hd 0xc2 // eng-time-series heading #define SBD_ET_Pi 0xc3 // eng-time-series pitch #define SBD_ET_Ro 0xc4 // eng-time-series roll #define SBD_ET_Pc 0xc5 // eng-time-series pitch counts #define SBD_ET_Rc 0xc6 // eng-time-series roll counts //---others ------------------------------- #define SBD_RTE 0xd1 // route info #define SBD_WPT 0xd2 // waypoint info #define SBD_PARAM 0xd3 // dump of parameters #define SBD_DRIFT 0xd4 // drift mode packet #define SBD_PWR 0xd5 // motor power packet #define SBD_ECHO 0xde // echo of shore command //--0xE #define SBD_ENG 0xe7 // engineering packet //--0xF #define SBD_ADG_HDR 0xf0 // auto-degas packet header, jun15 #define SBD_ADG_DAT 0xf1 // various 1-D data arrays #define SBD_ADG_2D 0xf2 // various 2-D data arrays #define SBD_TEST 0xff // test pattern //===Flash Card Data-Type Tag Definitions ===================================== #define SB '{' // start-byte, = 0x7B = starts a data packet #define EB '}' // end-byte, = 0x7D = ends a data packet // SB, EB chosen so close to max positive byte value=0x7F, // so they are least-likely used, therefore most unique // flash card packet ID follows the SB, where ea nibble is used // MSN = packet type // LSN = version #. #define CF_DIVE 0x0f // dive marker #define CF_GPS0 0x00 // GPS record: 0=start-mission #define CF_GPS1 0x01 // GPS record: 1=start-dive #define CF_GPS2 0x02 // GPS record: 2=end-dive #define CF_GPS3 0x03 // GPS record: 3=end-mission #define CF_ABORT 0x06 // abort status record #define CF_SURF 0x08 // UBLOX GPS data, used for surface drift #define CF_PDAT 0x11 // 8s profile data , version 1 (no eng. inc.) #define CF_EDAT 0x21 // 8s eng. data, version 1 (to match PDAT) #define CF_PPDAT 0x2a // mar11, 8s polyplus data, version 1 (get time from PDAT) #define CF_SBE 0x30 // SBE 1Hz data: NOT IMPLEMENTED #define CF_ADP 0x50 // ADP profile data #define CF_ALT 0x51 // ADP altimeter data #define CF_ADPS 0x52 // ADP shallow data #define CF_ADP_H 0x5f // ADP parameter info #if PH==1 //sep18-------------------------------------------------------- #define CF_PH 0x80 // pH sensor data #endif //---------------------------------------------------------------- #define CF_ACM 0xb0 // Benthos ACM messages #define CF_ZOOG 0xb4 // Zooglider struct param aug15 #define CF_ZONAR 0xb5 // Zonar post structure #define CF_ACA 0xba // Ascii annotation string (max 251 char) #define CF_CONT 0xcc // continuation of the last record #define CF_DRIFT 0xd4 // drift structure #define CF_ENG 0xe0 // the eng. packet already contains it's version # #define CF_MOTOR 0xe8 // the last motor (pitch or roll) operation stats #define CF_HYD 0xf0 // the hydraulic structure #define CF_PWR 0xf4 // avg pwr for pitch, roll & hyd #define CF_SBD 0xf8 // SBD info #define CF_SPI 0xfd // dec14: SPI comms error. #define CF_TEST 0xfe // Test packet #define CF_END 0xff // end-file marker // ping-pong buffer definitions #define PP_BMAX 1024 // ping-pong buffer size = 2*write buffer // flash is written when either bottom or top half is full //============================================================================= void flash_dive_mark ( short ncyc ); // write dive, ncyc to the file void flash_eng ( void ); // xfr the engineering data void flash_end ( void ); // write end-of-file marker void flash_gps ( short n ); // xfr the gps data void flash_hyd ( void ); // xfr the hydraulic data void flash_drift ( void ); void flash_surf ( void ); void flash_pwr ( void ); // xfr the avg pwr data void flash_sbd ( void ); // xfr sbd info void flash_motor ( void ); // xfr the motor stats void flash_zoog ( void ); // aug15 void flash_spi_error ( short k, short rstat ); // xfr the spi error stats short flash_store ( short n,uchar c[], short pid); //* store packet short flash_open_file ( char c ); // opens a new file with 1st letter=c void flash_open ( char c ); short flash_close ( void ); short flash_update_FAT( void ); short file_test ( void ); short check_flash_file( void ); short write_ppbuf ( short n, uchar *b ); short write_pp ( short n ); short flush_pp ( short n ); short flash_store ( short n, uchar d[], short pid ); void flash_test ( void ); //***************************************************************************** // spray-specific functions, found in setup.c //***************************************************************************** void init_pins ( void ); void backup_v7 ( void ); short go_lowpower ( short irq_enable ); short hibernate ( long *time, short dt, short irq_en ); void hibernate_task ( void ); short sleep_check ( short tmax, short PIT_set, short do_wdog); short check_tmo ( char *c , short tmo ); void Reset_CF2 ( void ); void init_accum_err ( void ); void init_serr ( void ); void init_all ( void ); void display_dbg ( void ); // dec14, see what changes after reset void init_sensors ( void ); void toggle_verbose ( void ); short setup_tpu_uart_all ( void ); //jan13 short setup_one_tpu_uart ( short i ); //jan13 // compass heading limit prototypes short ilimit360 (short i); // limit so 0<=x <= 360 float limit360 (float x); // limit so 0<=x <= 360 short ilimit180 (short i); // limit so -180 <= i <= +180 float limit180 (float x); // limit so -180 <= x <= +180 float flt_abs (float x); // return the abs value of x // simplified trig fnx's, to save space and time ****************************** float atan_find ( float yt, float xt ); float asin_find ( float yt ); float sin_find ( float xt ); float cos_find ( float xt ); float tan_find ( float xt ); // fnx's to mimic TT8 calls *************************************************** void SerInFlush ( void ); void DelayMilliSecs ( long ms ); void tput ( TUPort *tup, char *c ); // send str to TPU uart void tputs ( TUPort *tup, char *c ); // & terminate w/CR-LF short tgets ( TUPort *tup, char *c, short n, short s, short eol, short *found ); short tgetsTmax ( TUPort *tup, char *str, short n, short tmo, short eol, short *found); #define NO_EOL -2 // send eol=NO_EOL in tgets to mimic old tget //***************************************************************************** // general-use functions, found in setup.c short fget_line ( FILE *fp_in, char *s, short n); short YesNo ( void ); short hex2dec ( char c ); short get_num ( short *x ); char ch_l2u ( char ch ); void comma2blank ( char *s ); short bswap ( short v ); void swap2ch ( uchar *a, uchar *b); void swap4ch ( uchar *a, uchar *b); short b2_store ( short i, unsigned char ch[], short w); // store short short b4_store ( short i, unsigned char ch[], long n); // store long short get_substr ( char *str, char *out, short imax ); short read_shorts ( char *str, short imax, short *x ); short read_hexes ( char *str, short imax, short *x ); //***************************************************************************** //***************************************************************************** //***************************************************************************** //***************************************************************************** //***Mission configuration parameters are all stored as integers. // They are sub-divided into subsets as indicated by the first letter // SA_xxx are SET parameters, that are set from modules or eeprom variables, // and CANNOT be modified from the configuration file or remote commands. // IA_xxx are INTEGER parameters that CAN be modified by by // the configuration file plus shore commands. // This enum serves as the address pointer into the array //***************************************************************************** enum Param_Addr { // these variables are linked to a 6-char name in a lookup table // SET ARRAY variables (see above)--------------------------------- // software/instrument config, dependent upon compiled version SA_major_ver, // software version (for major revisions) SA_minor_ver, // modification version (minor revisions) SA_shore_ver, // shore command version SA_sensor_cfg, // sensor configuration (CTD,ADP,ISUS,ACM, etc.) SA_gpio_ver, // msp430 GPIO module software version SA_pitch_ver, // msp430 PITCH module software version SA_roll_ver, // msp430 ROLL module software version SA_hyd_ver, // msp430 HYDRAULICS module software version SA_pr_off, // sbe pressure offset SA_pr_gain, // sbe pressure gain SA_temp_off, // sbe temp offset SA_temp_gain, // sbe temp gain SA_sal_off, // sbe salinity offset SA_sal_gain, // sbe salinity gain // 0903 feb11, added up/down dt settings SA_dt_dn, // time btwn samples on descent SA_dt_up, // time btwn samples on ascent SA_END, // end of the Set parameters // parameters that reside in eeprom EA_serno, // Spray serial number EA_op_mode, // operation mode of instrument EA_surf_num, // surfacing# 0902 EA_opt_gain, // optical sensor gain EA_prof_num, // profile number 0902 EA_END, // end of eeprom parameters // settings for pitch control ------------------------------------- IA_pitch_0, // pitch pot a/d value for ZERO pitch IA_pitch_xmt, // pitch pot value for zero pitch with bladders full IA_pitch_10d, // pitch counts to move 10 degrees IA_pi_wdn, // Minimum vertical velocity before pitching further down IA_pi_stat, // Pitch sensor status:0=bad angle, 1=OK, 2=bad counts IA_pi_dn, // pitch counts to use on way down. IA_pi_up, // initial pitch counts to use on way up IA_pi_pmp, // guess on change in pitch counts per 10 sec of pumping //msp430 values MA_pitch_min, // minimum pitch pot a/d value MA_pitch_max, // maximum pitch pot a/d value MA_pi_c2i, // pitch a/d counts to milli-amps MA_pi_c2v, // pitch a/d counts to centi-volts MA_pi_max_amps, // pitch motor max amps to allow MA_pitch_dcdt, // change of pitch pot counts over 1 s interval MA_pi_sn, // pitch module serial # MA_pi_ver, // pitch module firmware version // settings for roll control -------------------------------------- IA_roll_0, // roll pot a/d value for ZERO roll IA_roll_port, // roll counts for port wing up IA_roll_stbd, // roll counts for stbd wing up IA_roll_30, // roll pot value for >30 degree roll at surface IA_roll_10d, // roll counts to move 10 degrees IA_ro_use, // TRUE if use the roll angle sensor for feedback. IA_ro_up, // roll angle to go straight on ascent IA_ro_dn, // roll angle to go straight on descent IA_ro_rtau, // roll divider for weighting the heading error. IA_ro_etau, // roll divider for weighting the integrated error //msp430 eeprom values MA_roll_min, // minimum roll pot a/d value MA_roll_max, // maximum roll pot a/d value MA_ro_c2i, // roll a/d counts to milli-amps MA_ro_c2v, // roll a/d counts to centi-volts MA_ro_max_amps, // roll motor max amps to allow MA_roll_dcdt, // change of roll pot counts over 1 s interval MA_ro_sn, // roll module serial # MA_ro_ver, // roll module firmware version // hydraulics settings ----------------------------------------- IA_min_pump, // minimum pump time before start using the oil sensor IA_max_pump, // max time to run the pump IA_buoy_pump, // time[s] to run after neutrally buoyant @ bottom turn IA_delta_pump, // time[s] to run when w_ascent5 dBar as signal to start // sbd timing IA_sbd_max_tm, // max s to try to transmit all SBD packets IA_sbd_pack_tm, // max time to wait to send 1 packet // exception control -------------------------------------------- IA_no_gps, // action to take when no gps fix IA_abort_max_sat,// hrs before deciding to abort IA_abort_max_gps,// hrs to decide gps is broken IA_pmp_rcvry, // severity vector if there are pump problems IA_sbd_rcvry, // recovery action if no SBD comms IA_max_reset, // Max #spurious resets before going to the abort code IA_argos_mult, // value*5=minutes to turn on Argos for ea surfacing IA_abort_pump, // flag=1 means to pump again when in the abort mode // sensor settings ---------------------------------------------- IA_use_opt, // use optical sensor, or ignore IA_use_alt, // use altimeter IA_alt_z_1st, // first depth to start using the altimeter IA_alt_z, // distance from bottom to turn around IA_eng_ndec, // For eng. time series, decimate 8 s sampling by this much IA_eng_mask, // bit mask determines which eng. data to return. IA_wing0_GPS, // wing to use for GPS IA_wing0_SBD, // wing to use for SBD // Doppler settings ---------------------------------------------- IA_adp_zmax, // max depth to start collecting adp data IA_adp_ncell, // # of cells to process per ensemble IA_adp_cellsize, // cell size, in m IA_adp_pulse, // pulse length, m IA_adp_minsnr, // minimum snr to allow when averaging data IA_adp_nsh, // # ensembles to avg in shallow mode SA_adp_k1, // First bin to use for acoustic-backscatter avg SA_adp_k2, // Last bin to use for ABS avg SA_adp_bd, // blanking distance ( [m]*10 ) SA_adp_alpha, // attenuation coeff at 750 kHz //NTK settings --------------------------------------------------- IA_ntk_zmax, // max depth to do NTK IA_ntk_nc, // # of cells IA_ntk_cs, // cell size IA_ntk_tmDZ, // sub-sampling in depth(dz) for SAT msg IA_ntk_tmCD, // cell averaging for packing into SAT msg IA_ntk_sr, // =seconds per wakeup and burst sample. IA_ntk_fwd, // TRUE if the Nortek beam 1 is FORWARD (marked w/arrow) // IF beam 1 is forward, then serial connector is facing aft. // (=original 2013 orientation: beam 1 facing aft, ee_ntk_fwd=0 ) // MSP430 Watchdog settings -------------------------------------- MA_wdt_action, // action to take when tmo is reached MA_wdt_attn, // #of seconds before setting the CF2_ATTN line low MA_wdt_cf2_rst, // #of s before resetting the CF2 MA_wdt_430_rst, // #of s before resetting itself MA_wdt_mult, // multiplier for all of the time above // i.e. in the lab, could be set to large # // MSP430 Watchdog Analog settings ------------------------------- MA_wdt_c2v_14, // 14V a/d counts to centi-volts MA_wdt_c2v_07, // 07V a/d counts to centi-volts MA_wdt_c2vac, // vacuum a/d counts to in-Hg MA_wdt_Voff, // vacuum a/d counts offset MA_wdt_c2mv, // generic cnts to mV // oct14: MSP430 Watchdog/GPIO s/n, firmware version MA_wdt_sn, // gpio module serial # MA_wdt_ver, // gpio module firmware version #if BENTHOS==1 || NPS==1 IA_acm_tm, //mins for acoustic comms replaces drift_ns IA_acm_try, // number of retries of Ac Modem packet IA_acm_binc, // 0=no blk auto-inc,1=auto-inc, 2=skip 1 blk IA_acm_rmdly, //secs delay betw waits for REM to be idle (60ish) IA_acm_mxtry, //max tries to start an transfer in XferBlk or XferSbBlk IA_acm_mode, // 0=no ac comms, 1=@bottom, 2=@surface IA_acm_dpth, // depth at which to start comms at surface (only) IA_acm_lxmt, // xmit power level of Local modem IA_acm_ptch, // pitch pack position during acoustic comms #endif // jun15 auto-degas variables. IA_adg_ncycle, // # of outer cycles to do for auto-degassing IA_adg_incr, // # of inner cycles IA_adg_modulo, // modulo of ncycle; used to decide when to send back data. IA_END // end of IA_Addr }; //***************************************************************************** #define MAX_PARAM (IA_END+1) // max # of parameters allowed #define LKNAMSIZ 7 //characters in name in lookup table // define the parameter-set status #define SET_NO 0 // no mods allowed externally (from config or shore). #define SET_EE 1 // set by eeprom value #define SET_ME 2 // MSP430 eeprom...must be set via different fnx #define SET_OK 3 // OK to modify from shore or config file #define SET_NV 4 // OK to modify the non-volatile value // for future implementation?? //#define SET_DEFAULT 4 // has been set to the default setting. //#define SET_CFG 5 // has been set by the config file //#define SET_SHORE 6 // has been reset via a shore command. #define NO_VEE_VAL -99L // returned value if EE name could not be found struct lookup { char name[LKNAMSIZ]; // ascii string name linked to the address list short addr; // address, from above char group; // group id linked to the name: SET by an external file short set_type; // status of the variable. short x0; // default value, in case the file is corrupted. short imin; // min allowed value short imax; // max allowed value char c1; // main command char c2; // sub-command char i1; // argument index in command char label[22]; //label, for display purposes }; //*** shore command error definitions #define CMD_OK 0 // command correctly parsed #define CMD_NO 1 // command was not found - unknown #define CMD_NARG 2 // command has incorrect #arguments #define CMD_BOUND 3 // at least one value is out of range #define CMD_WRITE 4 // error trying to assign new values #define CMD_NO_FNX 5 // no function defined to parse this command #define CMD_ROUTE 6 // error with the route #define CMD_ADDR 7 // no addr for CMD 2 struct shore_cmd //============================================================ { // shore command info structure char cmd; // main command character char sub; // sub-command character char fnx; // =0 if the command is parsed by using the Param_table // =1 if also requires additional logic checking // =2 if requires a specific fnx and NO FURTHER parsing char group; // group character short imin; // minimum # of inputs short imax; // maximum # of inputs char label[22]; //label, for display purposes }; struct group_param //========================================================== { // parameters for each group id = type of parameter char group; // group ID char char label[30]; // label }; // prototypes for handling lookup tables ====================================== short set_default_param( void ); // oct14, return file error value void set_eeprom_param ( short j, short k, short n ); void set_op_mode ( short n ); void set_surf_num ( short n ); void set_prof_num ( short n ); short incr_surf_num ( void ); short incr_prof_num ( void ); short find_name ( char name[], struct lookup *t ); short find_addr ( short addr, struct lookup *t ); short find_name_addr( char name[], struct lookup *t ); void display_info ( short addr, struct lookup *t ); void fill_name ( char *in, char *out ); short check_nshore ( void ); void modify_group ( struct lookup *t ); void display_all ( FILE *fp, struct lookup *t ); void display_group ( FILE *fp, short g, struct lookup *t ); short change_param ( short j, short x, short f, struct lookup *t, short d ); short change_name_param( char name[], short x, struct lookup *t ); void lifo_store_param ( void ); void change_miss_id ( short j, struct lookup *t ); // prototypes for handling files --------------------------- short write_config ( short n ); void write_header ( FILE *fp ); short read_config ( short n , short f ); short read_cfg ( FILE *fp, short f ); FILE* open_sco ( void ); // prototypes for handling shore commands ------------------ void display_shore_cmd ( void ); void display_cmd ( char c0, char sub ); short test_shore_cmd ( void ); short parse_cmd ( char str[] ); short check_passwd ( short x ); short cmd_2 ( short sub, short narg, short x[] ); short cmd_6 ( char *ch ); // parse cmd '6' for Benthos ac modem short cmd_7 ( short sub, short narg, short x[] ); short parse_waypt ( short sub, char str[] ); // mar11, add parsing of polyplus shore commands #if PPLUS==1 short cmd_O_ ( short narg, short x[] ); short cmd_O1 ( short narg, short x[] ); #endif #if ZOOG==1 short cmd_F2 ( short narg, short x[] ); short cmd_F3 ( short narg, short x[] ); #endif void test_param ( void ); //============================================================================ //***************************************************************************** //***************************************************************************** // structures // structures are used as the primary method to pass data and information // between all functions. // After all of the function and module-specific structures, there is one // overlying structure, 'all', which contains pointers to the rest of // the specific structures. //***************************************************************************** //=== structure with info for the latest SPI communication ================ #define N_SPI_MAX 280 // max number of bytes in a message // data length is constrained to 255 bytes, so 280 is overkill struct spi_param { short pcs; // peripheral-chip-select to use short nbyte ; // number of total bytes in the message <255 short nhex ; // number of total hex characters in the message = nbyte*2 short crc; // received CRC value short ip; // pointer to the next byte to send/receive short pstat; // parsing status short qstat; // receive module message-queue status (used in slave code only) short motor_ph; // phase of exercise of motor,used for display purposes uchar mdat[ N_SPI_MAX]; // data packet to send uchar mhex[2*N_SPI_MAX]; // hexadecimal format of data packet (ready to send) uchar shex[2*N_SPI_MAX]; // hexadecimal format, received while mhex is sent uchar sdat[ N_SPI_MAX]; // shex converted to binary }; //====================================================================== struct tpu_uart // defines TPU serial port parameters ===================== { short rxch; // receive channel, = TPU 1 - 15 short txch; // transmit channel, = TPU 1 - 15 long baud; // baud rate for both rcv and xmt TUPort *tup; // port handle for TU calls : TU = TPU UART }; //====================================================================== #define MAX_HCAL 90 // max #points in the compass correction lookup table struct compass_param //==================================================== { // defines the compass values float head; // compass heading float pitch; // compass pitch angle float roll; // compass roll angle short err; // error code with getting compass value short dh; // heading increment into the correction table short num; // #points in the calibration table short hcal[MAX_HCAL][3]; // calibration correction table }; //====================================================================== //=== time structure ====================================================== struct time_param { // keep track of UX time of various events long ti_last_sbd; // UX ti of last SBD transmit long ti_last_gps; // UX ti of last good gps long ti0; // UX ti of start-of-dive-set long ti_cyc; // UX ti of present cycle (0902) }; //====================================================================== //=== data structure for GPS ============================================== struct gps_param { // template for gps parameters short nsurf; // surfacing# stamp for flash card short valid; // 1 if valid, 0 if not short time; // #of seconds/10 to acquire fix short lat_sign; // = +/- 1 for sign of latitude, >0=north short lat_deg; // degrees of latitude (unsigned) float lat_min; // minutes of latitude short lon_sign; // =+/- 1 for sign of longitude, <0 = west short lon_deg; // degrees of longitude ( unsigned) float lon_min; // minutes of longitude short utc_hr; // hrs universal coordinated time short utc_min; // minutes short utc_sec; // seconds short gps_week; // gps week number, 1024=22Aug99 short gps_day; // day-of-week, 0..6 : 0=Sunday short nsat; // #satellites used in fix short smin; // min signal strength short savg; // avg signal strength short smax; // max signal strength short hdop; // hdop *10 float xlat; // present latitude float xlon; // present longitude float olat; // last latitude float olon; // last longitude short ovalid; // true if last lat, lon was valid short wing; // wing used for gps fix }; //====================================================================== struct ublox_param //====================================================== { // ublox gps info kept at higher precision for surface drift calcs short valid[2]; // flag of whether the fix is valid long lat[2]; // scaling = 1e-7 long lon[2]; // scaling = 1e-7 long ti[2]; // ux sec. short index; // index (0 or 1), used to set which index to use short dx; // x component surf drift, 1m per count short dy; // y component surf drift, 1m per count short dt; // time difference over drift short n_used[2]; // #sats used in the fix; nov11, for post-processing }; //====================================================================== struct pwr_param //======================================================== { // stores the avg watt & time a module ran per dive short watt[4]; // hyd, pitch, roll short ti[4]; short v7; // 7V battery level short v14; // 14V battery level }; //====================================================================== //===data structure for navigation info==================================== #define MAX_WAYPTS 40 // max #waypoints that can be defined, including HOME //===data structure for waypoint info struct s_waypt { // template for a single waypt in route float lat; // latitude, decimal degrees float lon; // longitude, decimal degrees short valid; // flag that this waypoint has been set. }; // end s_waypt //***data structure for Route info struct route_param {// template for route parameters /* npts, now, end, dir are stored in the global iparam[] short npts; // =#points in route short now; // =current waypoint to go to short end; // determines action when now=npts = end of route short dir; // direction through route (fwd/reverse) */ short valid; // = 99 if route has been set: used to catch power resets short rlist [MAX_WAYPTS]; // indices point waypt[] to define the route short blist [MAX_WAYPTS]; // list of approach bearings to ea route waypoint short detect[MAX_WAYPTS]; // arrival detection short circle[MAX_WAYPTS]; // watch-circle radius }; // end route_param struct nav_param { // template for navigation parameters float wlat; // present waypoint latitude, decimal degrees float wlon; // present waypoint lon. float owlat; // old (last) waypoint float owlon; // old (last) waypoint longitude float range; // range between old and present waypt short bear; // approach bearing, used to decide if at the waypt short sbear; // route-line bearing, used for steering pt calcs float xlat; // present latitude float xlon; // present longitude float olat; // last latitude float olon; // last longitude short ovalid; // true if last lat, lon was valid short bad_gps; // direction to head if bad gps fix:-1=circle float drx; // dead-reckoning x distance, m float dry; // dead-reckoning y distance, m short theta; // direction to travel, 0-360 : if<0, circle short true_theta; // TRUE, not magnetic, value float dr; // range to waypt, in km short home; // last known direction to head to get home struct route_param *route; // point to route parameters struct s_waypt waypt[MAX_WAYPTS]; // allow up to 20 waypoints }; //====================================================================== //========================================================================= //*** structure for flight control struct flight_param { ushort pmin; // =approx counts @ surface float tau; // = time constant for heading error dh float etau; // time constant for integrated error esum short esum; // integrated error sum short isum; // 0902.5 feb11; #points accum. in esum float ediv; // feb11; actual etau used after shore-cmd adjustment float em; // feb11; if =0, then etau is not used in PI loop float rm; // feb11; if =0, then etau is not used in PI loop }; //====================================================================== /*=== structure for mission control ======================================= struct miss_param { //short idive; // =dive # we are now on //short ndives; // =#dives to do //short dt; // #secs between sample & store //short pmp1; // #secs to pump deep, at bottom turn }; //====================================================================*/ #define N_BZ 4 // # of points to keep track of bottom depth (BZ) // struct for all exception parameters ==================================== struct except_param { short n_reset; // dec14: moved here: #of times that has had abnormal reset short reset; // reset flag, used to gracefully reset short abort; // flag, used to abort if a problem is found short pgood; // flag TRUE means pressure is good short exc_stat; // exception bit-status register short gps_abort; // TRUE if gps is bad enough to abort route short sbd_bad; // feb12: TRUE if sbd is broken enough to be bad short nose_down; // Pitch down for argos in abort mode short rfx; // Argos multiplier in abort mode short gps_cold; // dec11, gets set remotely if want to do GPS cold-reset short bz[N_BZ]; // array of last N_BZ bottom depths short serr[5]; // accum of SPI comms errors for different cs short sbe_err; // oct14 added, for more complete error reports short wdog_error;// dec14 failure of the wdog circuit }; //====================================================================== struct eng_param //======================================================== { // parameters for engineering data. // since the structure is essentially transmitted directly, // the parameters must be kept to word boundaries to aid unpacking on shore char dum1; // dummy byte to get isu_type on even boundary. char isu_type; // first char = isu identifier short nbytes; // #bytes in the eng_param structure short zmax; // max depth of dive short alt; // altimeter counts at turning depth short bat; // avg battery a/d counts in bottom turn short current; // avg current a/d counts in bottom turn short psurf; // feb04 avg surface press at the start of the dive short pitch; // pitch, degrees, of dive short head; // heading steered short drx; // dead-reckoning in the x direction short dry; // dead-reckoning in the y direction short ydeg; // way-point degrees latitude short dy; // way-point fractional latitude x 1000 short xdeg; // way-point degrees longitude short dx; // way-point fractionsal longitude x 1000 char n_badamp; // #times had too high of current, jun06 moved to old MSB of navg char navg; // #points averaged for profile (changed to char jun06) short ti_pump; // pump time, msbyte = pump deep going down, lsb=total ti. short vac; // vacuum a/d counts short iprof; // 0902 present profile number short ncyc; // 0901 present cycle #: WAS old mission id short max_amp; // time/10 (msb) + max amps (.02 res, lsb) during bottom turn char r_err; // jun06 : accumulated roll error (was old n_badamp byte) char t_SBD; // time trying to get SBD message through, [s] char ntries; // #connect tries from the LAST dive char nsent; // #packets sent from the LAST DIVE char sbdi_stat; // SBDI= out-bound transmission status: wing in upper nibble char sbd_shore_stat; // status of parsing a shore-command short exc_stat; // exception status word short surf_tm; // time to leave the surface to 2m depth short z_at_alt; // 0711, depth at altimeter reading short vent; // 0711, air vent status char end; // end character for isu packet char dum2; // end on even-boundary }; //====================================================================== struct drift_param //====================================================== { // 0711 data from drifting at the bottom short tm; // drift time short nsamp; // # of P samples to take short p0; // start pressure short pavg; // avg pressure short pe; // end pressure short pmp_tm; // amount pumped }; //====================================================================== // LIFO structure for SBD packets ======================================== #define MAX_SBD_OUT 1960 // max #bytes to output in SBD message #define MAX_SBD_IN 1890 // max #bytes in incoming SBD message #define LIFO_NBYTE 2048 // make ea LIFO 'sector' this size, >max_SBD #define NSECTORS 40 // max #LIFO-sectors to store in RAM struct lifo_param //===================================================== { // template for LIFO parameters short nbytes[NSECTORS]; // #bytes of data in packet short stat[NSECTORS]; // status of packet (0=sent with no errors,etc) short dive[NSECTORS]; // dive # of packet short ip[NSECTORS]; // individual packet id short ntry[NSECTORS]; // =#transmit tries uchar *buf; // pointer to the data buffer area }; //====================================================================== //=== data structure for SBD Iridium modem ================================ struct sbd_param { // template for sbd parameters short nsent; // = #packets sent in last surface session short ntries; // = #tries to connect short t_SBD; // = time spent trying to transmit long t_start; // = unix start time long t_end; // = unix end time // the following are the returned status from the SBDI command short SBD_mtque; // = # of MT messages (incoming) waiting in queue short SBD_mtstat; // MT = Mobile-Terminated (incoming) status //short SBD_mostat; // MO = Mobile-Originated status //long SBD_momsn; // MO sequence #, set by the ISU //long SBD_mtmsn; // MT sequence #, set by the earth server system // flags for sending other info short send_waypts; // if TRUE, send the waypoint list short send_param; // if TRUE, send the parameter list // flag to save files short save_waypt; // if TRUE, save the waypoint list to file short save_route; // if TRUE, save the route list to file short calc_route; // if TRUE, recalculate the route params }; //====================================================================== //=== hydraulic pump data structure ======================================= // needs updating for the new hyd module struct hyd_param { short status; // Pump status short ti; // time [s] that has run in the present cycle short total; // = total time pumped [s]: accumulates short amp; // last measured amps [cnts] short volt; // last measured volts [cnts] short oil; // last measured oil sensor value short max_amp; // max amps*100 = a/d count: 200 = 2 amps short ti_max; // ti of max amp short watt; // avg watts[0.01 watt/cnt] short vac; // vacuum reading short bad_amp; // flag=TRUE if we've exceed the expected amperage short nbad; // counter of #bad amps }; //====================================================================== // data structure : has scientific and engineering sensor information // 0612, there are now the following RAM buffer areas: // *dat points to Scientific ascent-profile data arrays, which includes // t, P, T, S, O, and sbe_flag = 6 sensors = 12 bytes per scan // *eptr points to engineering data, if requested by shore command // t, P, H, Pi, Ro, P_Pot, R_Pot = 7 sensors = 14 bytes per scan // DATA_SIZE = size for scientific profile data: 1 word per sensor // >BF you want to add O2, Opt2 to SCI, so set DATA_WORDS to 8 #if ISUS==1 // then it is an ADP-ISUS, and we're doing 500m profiles #define DATA_SIZE 20000 // only half as far #else // don't need to scrimp on size #define DATA_SIZE 40000 //size, bytes for data storage #endif // 40000 / 12 = 3333 scans * 8 s = 7.4 hr ascent = 4.5 cm/s from 1200 m // >BF 3333*16 bytes : set data_size to 54000 // ---------- #if DOX==1 || DO6==1 // Using DOX: set DATA_WORDS to 7 #define DATA_WORDS 7 // #profile words to write out in ea data record #else #define DATA_WORDS 6 // #profile words to write out in ea data record #endif struct dat_sensor //======================================================= { // list of all data sensors to store to RAM while profiling // this is then post-processed at the end for SBD transmission ushort secs; // # secs since start of dive ushort p; // press 16bit a/d counts ushort t; // temp 16bit a/d counts ushort c; // cond/salinity 16bit a/d counts short optic; // optical sensor #if DOX==1 || DO6==1 short d; // mar11 include dissolved oxygen #endif short nsbe; // 1=TS is valid, 0=not taken (not in profile mode) //below goes to CF card only #if DO6==1 short dT,dU; // jul 13 include SBE63 dissolved oxygen #endif }; //========================================================================== // define params for the engineering time-series data #define EDAT_SIZE 10000 // engineering buffer area, bytes // 10000 / ( ET_WORD*2) = 500 scans: this sets the decimation for a full dive: // 500m dive takes ~ 3hrs; if decimate by 4=32s, 500*32s = 4.4 hrs, OK // 1000m dive takes ~8 hrs max: decimate by 8=64s = 8.8 hrs,OK #define ENG_WORDS 11 // #words in the eng_sensor struct #define ET_WORDS 5 // for engineering time series (ET), use first 5 only struct eng_sensor //======================================================= { // list of all eng sensors to store to RAM at approp. decimation // secs and p are also stored. // at end of dive, this data is packed for eng. time-series for SBD short comp; // compass, degrees short pitch; // pitch, degrees short roll; // roll, degrees short ad_pitch; // pitch counts short ad_roll; // roll counts short ad_bat_14; // 14V battery pack Volts counts short ad_current; // Hydraulic pump current counts short ad_oil; // Hydraulic oil sensor short ad_bat_07; // 7V battery pack short ad_alt; // altimeter short eng_err; // error flag avail for recording problems }; //========================================================================== struct dat_param //======================================================== { // data structure to store to ram short i; // points to next profile output index short max; // max #pts in the profile data short *dat; // points to the profile data buffer // buffer area for engineering time series short isamp; // #samples counter; used for eng. data dec. short ie; // points to the next engineering data index short emax; // max #pts in engineering scan short *eptr; // points to engineering data buffer short nrec; // #data pts per profile record = DATA_WORDS short sbe_pro_on; // flag that SBE is profiling (take TS data!) short take_adp; // TRUE if we want to take ADP data float p_adp; // pressure to take the next ADP sample float dbar; // JAN06 dBar pressure float ftemp; // oct08, temperature, as float (used by ISUS) float fsal; // oct08, salinity, as float (used by ISUS) struct dat_sensor ds; //present sensor scan values (gets stored to flash). struct eng_sensor es; //present sensor scan values (gets stored to flash). }; //========================================================================== #define ADP_NCELL 5 // MAX # of cells(range bins) to sample, max val=5, min val=1 #define ADP_NSCANS 140 // MAX SCANS allocated, this # assumes 140 4 m bins to 560 m // ADP_NSCANS=160 TESTED OK FEB06 : used for array sizes in _adp_post_process // if too large, the call to _adp_post_process will try to allocate too much memory // and will cause the TT8 to hang up in a serious way // oct08, lowered from 150 to 140 after adding ISUS as well, to allow more overhead // apr13, allow Nortek to redefine to a larger buffer area #if NTK==1 // Nortek instead of Sontek #undef ADP_NSCANS #define ADP_NSCANS 255 // 250*4m = 1km max depth range (1020m actual) #endif //---for the Nortek, we also need to define the max #input cells #define NTK_NCELL 20 // MAX # of INPUT cells(range bins) to sample, max val=20, min val=1 //---above needs to be outside #if so compiler doesn't complain w/ntk.c //---when compiled with NTK==0 struct adp_param //============================================================ { short pmax; // max pressure to sample the ADP, dBar float pmin; // min pressure that the ADP was sampled //float dp; // sample ADP every dp dBar short nscans; // max #scans (ensembles) allocated in the buffer array short iscan; // present scan to write out unsigned char *buf; // points to the data buffer area short amin[3]; // array with min amps for ea beam (=noise floor levels) short on_adp; // JAN06 TRUE if the ADP is on short alt_db; // last detected bottom altimeter [counts] short alt_z0; // meters from the bottom }; //========================================================================== //***structure for NORTEK ADP (NTK) sensor JAN2013 *************************** struct ntk_param { //aug14 add beam mapping ability short FWD; short PORT; short AFT; short STBD; //PLAN //short micp; //Profile interval(s) -- moved to eeprom /*following plan variables hardwired short cp; //current profile disabled/enabled short burst; //burst measurement disabled/enabled short miburst; //burst interval(s) short fn; //filename of the raw data (should be prof#.BRT) short so; //serial output*/ //CLOCK short yy; short mm; short dd; short hr; short mn; short ss; // TM = telemetry //just used to turn off! short sd; //store bin data - descend short sa; //store bin data - ascend short cd; //cells divisor short pd; //packet divisor //*/ //CP //short nccp; //# of cells -- moved to eeprom float cscp; //cell size (m) 0.5-2.0 --keep for float //float plcp; //power level (is this really a float? need to ask) not implemented yet //will probably want in eeprom anyway /*BURST //not used short ncb; //# of cells short nbb; //# of beams float csb; //cell size (m) 0.2 - 4.0 float bdb; //blanking distance float plb; //power level short srb; //sampling rate (Hz) 1-8 float vpb; //velocity precision */ //18MAR //packet header unsigned char sync; unsigned char hdrSize; unsigned char ID; unsigned char family; unsigned short dataSize; unsigned short dataChecksum; unsigned short hdrChecksum; //data unsigned char version; unsigned char offsetOfData; unsigned char config; /* struct { unsigned char press : 1; // 0 unsigned char temp : 1; // 1 unsigned char compass : 1; // 2 unsigned char tilt : 1; // 3 unsigned char _empty : 1; // 4 unsigned char velIncluded : 1; // 5 unsigned char ampIncluded : 1; // 6 unsigned char corrIncluded : 1; // 7 } headconfig;//*/ unsigned long serialNumber; unsigned char year; unsigned char month; unsigned char day; unsigned char hour; unsigned char minute; unsigned char seconds; unsigned short microSeconds100; unsigned short soundSpeed; short temperature; unsigned long pressure; unsigned short heading; short pitch; short roll; unsigned short beams_cy_cells; unsigned short cellSize; unsigned short blanking; unsigned short velocityRange; unsigned short battery; short magnHxHyHz[3]; short acc13D[3]; unsigned short ambVelocity; unsigned short transmitEnergy; unsigned short DataSetDescription; char velocityScaling; char powerlevel; short magnTemperature; short rtcTemperature; unsigned short error; unsigned short status; unsigned long ensemblecnt; unsigned char ncell; // mar13 changing from pad to ncell signed short data_vel[4][NTK_NCELL]; //4 beams max, 30m * 0.5m bins = 60 bins max signed short data_amp[4][NTK_NCELL]; //4 beams max, 30m * 0.5m bins = 60 bins max signed short data_cor[4][NTK_NCELL]; //4 beams max, 30m * 0.5m bins = 60 bins max float Vscale; // = 10^velocityScaling (m/s) }; //************************************************************************** #if PH==1 #define N_PH_OUT 6 // Number of ph sensor values to send back #define PH_NSCANS 3333 //see DATA_WORDS calc. #define PH_V_OFFSET 2.6 struct ph_param //structure for ph data { short i; //sample index short max; //max #pts in the profile data ushort secs; //# secs since start of dive ulong s_no; //sample number short hum; //board humidity short phv1; short phv2; short phv3; short phv4; short phv5; short phv6; unsigned char *buf; // points to the data buffer area }; //end ph_param #endif //=== global structure for last motor run struct motor_stat // ========================================================== { // stats of the last motor operation short cs; // chip-select (either pitch or roll ) short result; // final result of the operation short pot_start; // pot at start of operation short pot_stop; // pot at the end short amp; // avg amps short volt; // avg volts short ti; // time [0.1s] that it ran short limit; // limit sw status (1=open) }; //========================================================================== //define Polyplus cell parameters #define PP_LMAX 4 // max # of valid load settings per dive //each cell will store (load,a/d_val) to RAM for SBD packing // each record = (load, a/d_val ) = 2 shorts = 4 bytes //PP_MAX_REC = #records for each cell: 1000 readings = 4000 bytes #define PP_MAX_REC 1000 // ea record has load, cell volts = 2 shorts #define PP_SHORT_PER_REC 2 // #of shorts per record //actual bytes used PER CELL = 1000*4 = 4000 : for both cells = 8000 bytes #define PP_PRE_DT 64 // time to sample cells before applying a load #define PP_POST_DT 192 // time to sample after the final load. //--define phases for polyplus sampling enum pp_phase_enum { PP_OFF, // no loads are applied, not acquring PP_PRE_LOAD, // sampling before applying the load PP_LOAD, // sampling while applying the load PP_POST_LOAD, // sampling after applying the load PP_DONE // finished with data-collection }; //==================================================== // PP_DAT_SIZE/5 = # of points that can be stored struct pp_cell // ============================================================= { // struct for one cell load settings during a dive short iload; // pointer to which load to use short nload; // iloadexc_stat for exception register short roll_stat; // roll exception register short wing_now[2]; // wing to use for gps/iridium short ncyc; // cycle # index for present dive-set# struct pp_buf *ppb; // points to the ping-pong buffer struct tpu_uart *tu_port; // points to tpu serial port info struct spi_param *sspi; // points to spi comms structure struct compass_param *comp; // compass parameters struct time_param *time; // UX time of various events struct gps_param *gps; // gps structure struct ublox_param *ubx; // ublox gps info struct sbd_param *sbd; // sbd iridium structure struct lifo_param *lifo; // LIFO structure struct flight_param *flt; // flight params struct nav_param *nav; // navigation parameters struct except_param *exc; // exception parameters struct eng_param *eng; // engineering parameters struct drift_param *drift; // drift params struct hyd_param *hyd; // hydraulics params struct dat_param *dat; // data params struct adp_param *adp; // adp params struct ntk_param *ntk; // nortek AD2CP struct motor_stat *mot; // pitch/roll stats of last operation struct pwr_param *pwr; // hyd, pitch, roll pwr #'s struct pp_daq *pp; // polyplus parameter settings #if BENTHOS==1 || NPS==1 struct acm_param *acm; // acoustic modem struct #endif #if PH==1 struct ph_param *ph; // ph struct #endif #if ZOOG==1 struct zcam_param *zcam; // zooglider zoocam struct struct zonar_param *zonar; // zooglider zonar struct struct zonar_scan *zs; // zonar 1-scan data struct #endif }; //======================================================================== //***************************************************************************** //***macros for pitch and roll, for easier calling names #define Pitch_Xmit ( send_p_r_run ( CS_PITCH, 1, iparam[ IA_pitch_xmt ] ) ) #define Pitch_Level ( send_p_r_run ( CS_PITCH, 1, iparam[ IA_pitch_0 ] ) ) #define Roll_Zero ( send_p_r_run ( CS_ROLL, 1, iparam[ IA_roll_0 ] ) ) #define Roll_Port_W_Up ( send_p_r_run(CS_ROLL, 1, iparam[ IA_roll_port ] ) ) #define Roll_Stbd_W_Up ( send_p_r_run(CS_ROLL, 1, iparam[ IA_roll_stbd ] ) ) #define Close_Valve ( power_on_off( CS_HYD, HYD_CLOSE_VALVE, 1 ) ) #define Open_Valve ( power_on_off( CS_HYD, HYD_OPEN_VALVE, 1 ) ) #define LLD_On ( power_on_off( CS_HYD, HYD_ON_LLD, AUX_ON ) ) #define LLD_Off ( power_on_off( CS_HYD, HYD_ON_LLD, AUX_OFF) ) #define Vent_On ( power_on_off( CS_HYD, HYD_ON_VENT, AUX_ON ) ) #define Vent_Off ( power_on_off( CS_HYD, HYD_ON_VENT, AUX_OFF) ) #define Opt_On ( power_on_off( CS_GPIO, AUX_ON_OPT, AUX_ON ) ) #define Opt_Off ( power_on_off( CS_GPIO, AUX_ON_OPT, AUX_OFF) ) #define Burn_On ( power_on_off( CS_GPIO, AUX_ON_BURN, AUX_ON ) ) #define Burn_Off ( power_on_off( CS_GPIO, AUX_ON_BURN, AUX_OFF) ) #define Argos_On ( power_on_off( CS_GPIO, AUX_ON_ARGOS, AUX_ON ) ) #define Argos_Off ( power_on_off( CS_GPIO, AUX_ON_ARGOS, AUX_OFF) ) #define Alt_On ( power_on_off( CS_GPIO, AUX_ON_ALT, AUX_ON ) ) #define Alt_Off ( power_on_off( CS_GPIO, AUX_ON_ALT, AUX_OFF) ) #define SBD_On ( power_on_off( CS_GPIO, AUX_ON_SBD, AUX_ON ) ) #define SBD_Off ( power_on_off( CS_GPIO, AUX_ON_SBD, AUX_OFF) ) //--jul13 addition to force on/off the GPIO a/d #define AD_On ( power_on_off( CS_GPIO, AUX_ON_AD, AUX_ON ) ) #define AD_Off ( power_on_off( CS_GPIO, AUX_ON_AD, AUX_OFF) ) //*** definitions for initial parameters ************************************** // following are set for a 8 s sampling period // 0903, added new sample up/down times #define SAMP_DT_UP 8 // sample & store every X secs on ascent #define SAMP_DT_DN 8 // sample & store every X secs on descent #define T_ACT 64 // do active control every XX s #define TSTART 32 // start averaging XX s after active control #define DHDR 0.030 // dh/dt per degree roll : from 10/23/02 test // after the glider starts to come up, it will pump for BUOY_PUMP more time // :: Jul01 : parameters to control ascent rate #define BUOY_PUMP 150 //#s to get right buoyancy after first start to rise #define DPUMP 35 //#s to pump to get back up to speed after w