#ifndef CONTROL_H #define CONTROL_H (0x01f00U) /*========================================================================*/ /* Design notes for float control firmware */ /*========================================================================*/ /** The APFx firmware design makes fundamental use of the concept of "sequence points" for controlling the flow of the profile cycle. A sequence point is defined to be a point where one phase of the mission cycle transitions to the next phase. Most of the sequence points are based on time but there are several sequence points that are event-based. Given a properly functioning APFx controller, the firmware guarantees the phase transition at each sequence point regardless of the health of any other float component. The schematics below illustrate four different parts of the mission cycle: \begin{verbatim} 1. The pressure-activation phase. 2. The mission prelude. 3. A profile from the park level. 4. A deep profile. \end{verbatim} Pressure-activation phase ------------------------- The pressure-activation feature is an optional phase of the mission. It was designed to accomodate requests from ship's crew to be able to deploy the float without being required to start it with a magnet. One event-based sequence points is implemented that activates the mission prelude if the pressure exceeds the activation threshold. \begin{verbatim} |--------------------------- A -----------------------------------| -+----------------+-------------+----------------------------------+- Time P| . . . r| . . Sequence Points . e| . . ----------------------- . s| B . B = Pressure-activation . s| u| r| e| \end{verbatim} Mission prelude --------------- The mission prelude is the time period between mission activation and the first descent. The sequence point 'L' is time-based and is the transition between the mission prelude and the first descent. The period of the mission prelude is user-defined. \begin{verbatim} |--------------------------- L -----------------------------------| -+-----------------------------------------------------------------+- Time P| . r| Sequence Points . e| --------------- . s| L = Prelude . s| u| r| e| \end{verbatim} Profile from park depth ----------------------- The profile cycle for a shallow profile consists of four phases. \begin{verbatim} |--------------------------------------------------- C ----------------| |------------------------------ P ---------------| | |----------------- K -------------| | | |--- F -----| | S | T | -+-----------+---------------------+-----------+-------------------+----+- Time P|. | | . . r| . | | . Sequence Points . e| . | | . --------------- . s| . | | . F = Descent . s| . | | . K = Park u| . . . . . . . . . . . . S = SurfaceDetect r| P = Profile e| T = Telemetry | C = Cycle \end{verbatim} Deep profile ------------ Test for deep profile: (PnpCycleLength<254 && ((!(PrfId%PnpCycleLength)) || PrfId==1) ? Yes : No; The profile cycle for a deep profile consists of five phases. \begin{verbatim} |------------------------------------------------------ C -------------| |--------------------------------- P ------------| | |----------------- D --------| | | |------- K -------------| | | | |--- F -----| | | S | T | -+-----------+-----------+----+----------------+-------------------+------- Time P|. | | | . . r| . | | | . Sequence Points . e| . | | | . --------------- . s| . | | | . F = Descent . s| . | | | . K = Park u| . . . . . . . | . Q = DeepProfile r| | . D = GoDeep e| . |. S = SurfaceDetect | . P = Profile | . T = Telemetry | Q C = Cycle \end{verbatim} The following schematic shows 3 important piston extensions. \begin{verbatim} +---Full Extension (227 counts) Full Retraction (9 counts)---+ | Ballast piston position (19 counts)--+ | | | | V V V ---------------------------------------------------------------------------------------+ | -------------+---+-------------------------------------------+---+-----------+---+-----+ +-------| |-------------------------------------------| |-----------| |-----------+ /| | | | | | | | ---+ | | | | | | | | | | | | | | | | | | | +-| |-------------------------------------------| |-----------| |-+ | | | ( |. .| |. .| |. .| ) | | | +-| |-------------------------------------------| |-----------| |-+ | | | +---+ +---+ +---+ | ---+ | . . . . | \| | | | | | +-------+---+-----------------------------------------------+---------------+-----------+ . | | | | . -->| 44mm |<- |<------------------- 318mm ----------------------------------->|<- 56mm -->| (Total scope) |<----- 70mm -------------->| \end{verbatim} */ /*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * $Id: control.c,v 1.51 2011/02/07 15:54:14 swift Exp $ *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/ /* Copyright University of Washington. Written by Dana Swift. * * This software was developed at the University of Washington using funds * generously provided by the US Office of Naval Research, the National * Science Foundation, and NOAA. * * This library is free software; you can redistribute it and/or modify it * under the terms of the GNU Lesser General Public License as published by * the Free Software Foundation; either version 2.1 of the License, or (at * your option) any later version. * * This library is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser * General Public License for more details. * * You should have received a copy of the GNU Lesser General Public License * along with this library; if not, write to the Free Software Foundation, * Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /** RCS log of revisions to the C source code. * * \begin{verbatim} * $Log: control.c,v $ * Revision 1.51 2011/02/07 15:54:14 swift * Added missing newline at the end of the file. * * Revision 1.50 2010/12/26 15:27:33 swift * Minor formatting changes. * * Revision 1.49 2010/12/04 12:40:36 swift * Minor formatting change in SelfTest() output of the ICCID. * * Revision 1.48 2010/12/02 13:55:38 swift * Iridium has finally implemented an AT command in the LBT9522 that reads the * ICCID from the sim card. The kludge that used the SIM card's phonebook to * store and allow retrieval of the ICCID/MSISDN has been replaced by the native * AT command that retrieves the ICCID. * * Revision 1.47 2010/11/08 23:57:42 swift * Updated expected LBT firmware revision. * * Revision 1.46 2010/04/20 18:58:07 swift * Fixed a minor bug in determination of minimum descent period. * * Revision 1.45 2010/03/14 15:25:55 swift * Changed the bitmask for Sbe41cpActive to remove a potential conflict. * * Revision 1.44 2010/02/10 18:55:45 swift * Moved inRange() and inCRange() to labrary functions. * * Revision 1.43 2010/02/05 19:34:05 swift * Reduced the minimum descent period and park period from 1 hour to 5 minutes * for the profile-after-prelude feature. * * Revision 1.42 2009/12/24 21:52:13 swift * Modified the LBT model and firmware revision for the 9522B. * * Revision 1.41 2009/10/16 16:39:42 swift * Define diagnostic bit-masks for Sbe41cp. * * Revision 1.40 2009/07/23 13:32:39 swift * Added 6 cycles of 4-sec on, 4-sec off 20mA squawk for successful mission launch. * * Revision 1.39 2009/07/16 14:25:21 swift * Re-implement pressure activation to be nonmodal. Implement ability to escape * from the SelfTest(). * * Revision 1.38 2008/07/14 16:53:30 swift * Increase length of status words from 16-bits to 32-bits. Update * Sbe41cp firmware revision for new SBE controller. * * Revision 1.37 2007/10/05 22:31:41 swift * Change telemetry retry period to be a simple pause between cycles. * * Revision 1.36 2007/05/09 19:11:29 swift * Minor modifications to the code that handles the TimeOfDay feature. * * Revision 1.35 2007/05/08 18:10:16 swift * Added TimeOfDay feature to implement ability to schedule profiles to start * at a specified time of day. Added attribution just below the copyright in * the main comment section. * * Revision 1.34 2007/05/07 21:04:08 swift * Rearranged the order in SelfTest() of GPS operations and LBT operations in * order to work around a 60-sec latency in SIM operations. * * Revision 1.33 2007/03/26 21:39:37 swift * Implemented retrieval of ICCID/MSISDN numbers from SIM card in SelfTest(). * * Revision 1.32 2007/01/15 19:19:01 swift * Changed handling of air-valve solenoid signals to reduce bladder inflation * time. * * Revision 1.31 2006/12/27 16:02:53 swift * Changed expected firmware revision during SelfTest() of the Sbe41cp. * * Revision 1.30 2006/12/06 17:05:49 swift * Changed expected LBT firmware revision from ISO6001 to ISO6004. * * Revision 1.29 2006/11/25 00:10:05 swift * Added LogEntry() for undefined or uncaught state. * * Revision 1.28 2006/10/23 16:49:46 swift * Added missing include directive for flashio.h file. * * Revision 1.27 2006/10/13 18:54:06 swift * Added code in SelfTest() to reformat the flash file system. * * Revision 1.26 2006/10/11 20:59:24 swift * Integrated the new flashio file system and implemented the module-wise * debugging facility. * * Revision 1.25 2006/08/17 21:17:59 swift * Modifications to allow better logging control. * * Revision 1.24 2006/05/19 19:27:36 swift * Modifications to account for upgraded LBT9522A firmware. * * Revision 1.23 2006/05/15 18:55:34 swift * Changed SelfTest() to reflect new version of SBE41CP firmware 1.1c. * * Revision 1.22 2006/04/21 13:45:42 swift * Changed copyright attribute. * * Revision 1.21 2006/02/22 21:55:53 swift * Added biographical checks of the LBT to the self test. * * Revision 1.20 2006/01/13 20:40:18 swift * Modified expected version of SBE41CP firmware from 1.0c to 1.1a. * * Revision 1.19 2006/01/06 23:24:10 swift * Added GPS configuration to the SelfTest() function. * * Revision 1.18 2005/10/12 20:11:46 swift * Modifications to account for changes to SBE41CP API. * * Revision 1.17 2005/10/11 20:44:44 swift * Implemented pressure-activation of iridium floats. * * Revision 1.16 2005/09/02 22:20:26 swift * Added status bit-mask and logentries for shallow-water trap. * * Revision 1.15 2005/08/06 21:42:19 swift * Modifications to properly handle recover mode during the mission prelude as * well as during the mission. * * Revision 1.14 2005/07/05 22:00:14 swift * Added modem configuration to the self-test. * * Revision 1.13 2005/05/01 22:04:02 swift * Implement a feature to execute a deep profile immediately after the mission * prelude. * * Revision 1.12 2005/05/01 14:29:58 swift * Added two steps to the prelaunch self-test: Sbe41cp configuration and * Sbe41cp firmware validation. * * Revision 1.11 2005/02/22 21:03:06 swift * Minor changes to alarm times to account for HeartBeat. * * Revision 1.10 2005/01/06 00:54:04 swift * Modifications to prelude and telemetry phases. * * Revision 1.9 2004/12/29 23:11:27 swift * Modified LogEntry() to use strings stored in the CODE segment. This saves * lots of space in the DATA segment and significantly speeds code start-up. * * Revision 1.8 2004/04/26 15:54:46 swift * Documentation correction for criteria used to determine a deep profile. * * Revision 1.7 2004/04/15 23:19:13 swift * Added mag-switch reset to LaunchMission(). * * Revision 1.6 2004/04/14 20:43:02 swift * Modified the default mission parameters. * * Revision 1.5 2003/11/20 18:59:47 swift * Added GNU Lesser General Public License to source file. * * Revision 1.4 2003/11/12 22:40:58 swift * Added some diagnostic output. * * Revision 1.3 2003/09/13 14:42:58 swift * Added DescentTerminate() and GoDeepTerminate() to more cleanly implement the * mission sequencing model. * * Revision 1.2 2003/09/11 23:14:56 swift * Documentation added. * * Revision 1.1 2003/08/26 20:17:47 swift * Initial revision * \end{verbatim} *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/ #define ControlChangeLog "$RCSfile: control.c,v $ $Revision: 1.51 $ $Date: 2011/02/07 15:54:14 $" #include #include #include /*------------------------------------------------------------------------*/ /* structure to contain engineering data for a single profile */ /*------------------------------------------------------------------------*/ struct EngineeringData { #define ParkDescentPMax 9 unsigned char ActiveBallastAdjustments; unsigned char AirBladderPressure; unsigned char AirPumpAmps; unsigned char AirPumpVolts; time_t BuoyancyPumpOnTime; unsigned char BuoyancyPumpAmps; unsigned char BuoyancyPumpVolts; unsigned char ConnectionAttempts; unsigned char Connections; time_t GpsFixTime; unsigned char ParkDescentP[ParkDescentPMax]; unsigned char ParkDescentPCnt; char ParkPOutOfBand; struct Obs ParkObs; unsigned int ObsIndex; unsigned char QuiescentAmps; unsigned char QuiescentVolts; time_t RtcSkew; unsigned char Sbe41cpAmps; unsigned long Sbe41cpStatus; unsigned char Sbe41cpVolts; unsigned long status; unsigned char SurfacePistonPosition; float SurfacePressure; unsigned char Vacuum; }; /* definition of the 'status' bits in the engineering data above */ #define DeepPrf 0x00000001UL #define ShallowWaterTrap 0x00000002UL #define Obs25Min 0x00000004UL #define PistonFullExt 0x00000008UL #define AscentTimeOut 0x00000010UL #define DownLoadCfg 0x00000020UL #define BadSeqPnt 0x00000040UL #define Sbe41cpPFail 0x00000200UL #define Sbe41cpPtFail 0x00000400UL #define Sbe41cpPtsFail 0x00000800UL #define Sbe41cpPUnreliable 0x00001000UL #define AirSysLimit 0x00002000UL #define WatchDogAlarm 0x00004000UL #define PrfIdOverflow 0x00008000UL /* definition of the Sbe41cpStatus bits in the engineering data above */ #define Sbe41cpPPedanticExceptn 0x00000001UL #define Sbe41cpPPedanticFail 0x00000002UL #define Sbe41cpPRegexFail 0x00000004UL #define Sbe41cpPNullArg 0x00000008UL #define Sbe41cpPRegExceptn 0x00000010UL #define Sbe41cpPNoResponse 0x00000020UL #define Sbe41cpPUncaughtExceptn 0x00000040UL #define Sbe41cpPDivPts 0x00000080UL #define Sbe41cpPtPedanticExceptn 0x00000100UL #define Sbe41cpPtPedanticFail 0x00000200UL #define Sbe41cpPtRegexFail 0x00000400UL #define Sbe41cpPtNullArg 0x00000800UL #define Sbe41cpPtRegExceptn 0x00001000UL #define Sbe41cpPtNoResponse 0x00002000UL #define Sbe41cpPtUncaughtExceptn 0x00004000UL #define Sbe41cpPtsPedanticExceptn 0x00008000UL #define Sbe41cpPtsPedanticFail 0x00010000UL #define Sbe41cpPtsRegexFail 0x00020000UL #define Sbe41cpPtsNullArg 0x00040000UL #define Sbe41cpPtsRegExceptn 0x00080000UL #define Sbe41cpPtsNoResponse 0x00100000UL #define Sbe41cpPtsUncaughtExceptn 0x00200000UL #define Sbe41cpCpActive 0x10000000UL /* define the various states that a float can be in */ enum State {UNDEFINED=-3, PACTIVATE, RECOVERY, INACTIVE, PRELUDE, DESCENT, PARK, GODEEP, PROFILE, TELEMETRY, EOS}; /* function prototypes */ int DeepProfile(void); void InitVitals(void); void MissionControlAgent(void); int MissionLaunch(void); int MissionKill(void); int MissionValidate(void); void PowerOff(time_t AlarmSec); int SelfTest(void); void SequencePointsDisplay(void); int SequencePointsValidate(void); time_t ToD(time_t Tref,time_t TimeDown, time_t DayMin); /* store engineering data in persistent far ram */ extern persistent far struct EngineeringData vitals; #endif /* CONTROL_H */