/****************************************************************************/ /* Copyright 1995 to 1996 MBARI */ /****************************************************************************/ /* Summary : Emergency Recovery Data Concetrator - Main C Source file */ /* Filename : erec.c */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV Emergency Recovery System */ /* Version : 1.0 */ /* Created : 06/09/95 */ /* Modified : 04/05/96 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: ers.h,v 1.5 96/08/15 11:51:25 pean Exp $ * $Log: ers.h,v $ * Revision 1.5 96/08/15 11:51:25 11:51:25 pean (Andrew Pearce) * Fixed problem with writes to EEPROM corrupting op-code fetches * * Revision 1.4 96/08/07 15:30:06 15:30:06 pean (Andrew Pearce) * Fixed problem with GF scanning stopping when RESTART_SCAN command sent * * Revision 1.3 96/07/10 13:35:11 13:35:11 pean (Andrew Pearce) * Included fix for Quad Serial Board RS485 Mode transmitter enable problem * * Revision 1.2 96/06/11 13:43:38 13:43:38 pean (Andrew Pearce) * Fixed VB Level Sensor Scaling * * Revision 1.1 96/06/10 13:26:15 13:26:15 pean (Andrew Pearce) * Initial revision * */ /****************************************************************************/ #define EEPROM_ENTRIES 10 /* 10 is the max due to 64 byte page size*/ #define EEPROM_MAGIC 0x598d /* Magic Number indicates Valid EEPROM */ #define EEPROM_BASE_ADDR 0x6000 /* EEPROM Base Address */ #define EEPROM_SIZE 0x8000 /* EEPROM Size in bytes */ #define EEPROM_MAX_WRITES 10000 /* Maximum number of writes per cell */ #define EEPROM_WRITE_TIME 2 /* Write must complete within 20 msecs */ /* Maps EEPROM absolote address space to */ /* CPU address space */ #define EEPROM_REG_ADDR(addr) ( (addr < 0x8000) ? \ (((char *) EEPROM_BASE_ADDR) + 0x2000 + addr) : \ (((char *) EEPROM_BASE_ADDR) + addr) ) /* ERS DCON A/D Channel Assignment */ #define HUMIDITY_SENSOR_CHAN 0 /* Humidity Sensor channel */ #define HOUSING_WATER_ALARM_CHAN 1 /* Housing Water Alarm channel */ #define JBOX_WATER_ALARM_CHAN 2 /* J-Box Water Alarm channel */ #define HOUSING_WA_EXCITE 3 /* Housing Water Alarm Excitation */ #define JBOX_WA_EXCITE 4 /* J-Box Water Alarm Excitation */ #define VEHICLE_IN_WATER_CHAN 5 /* Vehicle in-water sensor channel */ #define TOOLSLED_LATCHED_CHAN 6 /* Toolsled latched Signal channel */ #define TOOLSLED_CONNECTED_CHAN 7 /* Toolsled connected Signal channel*/ /* IOPORT 1 Bit Assignments */ #define BATTERY_LOAD_ENABLE 0x04 /* Battery Load Resistor Enable */ #define VME_CONSOLE_PORT_CONTROL 0x08 /* VME Console Port Switch Control */ /* 12V LPS Board Channel Assignment */ #define PRESSURE_SENSOR_PWR_CHAN 0 /* Falmouth Pressure Sensor power */ #define VB_LEVEL_SENSOR_PWR_CHAN 1 /* VB system level sensor power */ #define COMP_LEVEL_SENSOR_PWR_CHAN 2 /* Compensation Level Sensor Power */ #define TOOLSLED_SENSOR_PWR_CHAN 3 /* Toolsled Latch Sensor Power */ /* 24V LPS0 Board Channel Assignment*/ #define VB_SELECT_SOLENOID_CHAN 0 /* Selects VB Operating Mode */ #define HYDRAULIC_SOLENOID_CHAN 1 /* Selects Hydraulic Operating Mode */ #define ARM_HYD_SELECT_CHAN 2 /* Enable Arm Hydraulic Power */ #define TOOLSLED_HYD_SELECT_CHAN 3 /* Enable Toolsled Hydraulic Power */ /* 24V LPS1 Board Channel Assignment*/ #define VB_FILL_SOLENOID_CHAN 0 /* Enable VB Fill Operating Mode */ #define DEPLOY_LATCH_RELEASE_CHAN 1 /* Fire Vehicle Deployment Release */ #define TOOLSLED_LATCH_RELEASE_CHAN 2 /* Fire Toolsled Release */ #define ACOUSTIC_MODEM_POWER_CHAN 3 /* Acoustic Modem Power */ /* A to D Board Channel Assignments */ #define HYDRAULIC_PRESSURE_CHAN 0 /* Hydraulic Pressure Sensor */ #define VB_LEVEL_SENSOR_CHAN 1 /* VB Level Sensor */ #define COMPENSATION_LEVEL_CHAN 2 /* Compensation Level Sensor */ #define EREC_BATTERY_CHAN 3 /* EREC DCon Batter Current Sensor */ /* Quad Serial Board Chan Assignment*/ #define DATA_SWITCH_SERIAL_CHAN 0 /* Data Switch (VME console) Channel*/ #define ACOUSTIC_MODEM_SERIAL_CHAN 1 /* Acoustic Modem Channel */ #define PRESSURE_SENSOR_SERIAL_CHAN 2 /* Falmouth Pressure Sensor Channel */ #define SPARE_SERIAL_CHANNEL 3 #define HOUSING_WATER_ALARM_BIT 0x01 /* Housing Water Alarm Status Bit */ #define JBOX_WATER_ALARM_BIT 0x02 /* J-Box Water Alarm Status Bit */ #define NUM_IN_WATER_READS 3 /* Number reads for switch debounce */ #define NUM_TOOLSLED_READS 3 /* Number reads for switch debounce */ #define TOOLSLED_LATCHED_BIT 0x01 /* Toolsled latched status bit */ #define TOOLSLED_CONNECTED_BIT 0x02 /* Toolsled connected status bit */ #define DEPLOYMENT_LATCH_ARM_CODE (('D' << 8) | 'L') #define DEPLOYMENT_LATCH_MAX_TIME 18 * SYSCLOCK_RATE #define DEPLOYMENT_LATCH_MANUAL 0 #define TOOLSLED_LATCH_ARM_CODE (('T' << 8) | 'L') #define TOOLSLED_LATCH_MAX_TIME 60 * SYSCLOCK_RATE #define TOOLSLED_LATCH_MANUAL 0 #define TOOLSLED_DROP_CMD_TIMEOUT 2 * 60 * SYSCLOCK_RATE #define TOOLSLED_DROP_CMD_COUNT 3 /* Water Alarm Threshold is 0.5V */ #define WATER_ALARM_THRESHOLD 103 /* 103 = 2^10 * 0.5/5.0 */ #define WATER_ALARM_HYSTERESIS 10 /* 10 counts = 0.049 volts */ #define COMP_LEVEL_WARN_THRESHOLD 75 /* Default Comp Level Thresholds */ #define COMP_LEVEL_ALARM_THRESHOLD 60 #define COMP_LEVEL_HYSTERESIS 5 /* Compensation Level Hysteresis */ #define COMP_LEVEL_SENSOR_MAX 110 /* Maximum compensation level % */ #define COMP_LEVEL_FILT_MAX 150 /* Max comp level filter value */ #define COMP_LEVEL_PERCENT(bits) \ (Int16) ((((Nat32) bits) * 1000L * 5) / (65536L * 16)) #define HYD_PRES_WARN_THRESHOLD 2300 /* Default Hydraulic Pressure */ #define HYD_PRES_ALARM_THRESHOLD 1500 #define HYD_PRES_HYSTERESIS 100 /* Hydraulic Pressure Hysteresis */ #define HYD_PRES_MAX 4000 /* Maximum hydraulic pressure */ /* Convert bits to PSI */ #define HYD_PRES_PSI(bits) (Int16) ((((Nat32) bits) * 3000) / 65536) /* Convert bits to microamps */ #define BATTERY_MICROAMPS(bits) ((((Nat32) bits) * 763) / 10) #define BATTERY_MILLIAMPS(bits) ((((Nat32) (bits / 1000)) * 763) / 10) #define MICROAMPS_TO_MILLIAMPS(microamps) ((Int16) (microamps / 1000)) #define MA_SEC_TO_DECI_AH(masec) ((Int16) ((masec * 10) / (60L * 60L * 1000L))) /* Convert current to millivolts */ #define BATTERY_MILLIVOLTS(current) ((Int16) ((current * 330) / 100)) /* 0.400 mm per LSB */ #define VB_LEVEL_DECI_MM(bits) ((Int16) (bits << 2)) #define BATTERY_VOLTS_MAX 60 #define BATTERY_VOLT_WARN_THRESH 45 #define BATTERY_VOLT_ALARM_THRESH 35 #define BATTERY_HYSTERESIS 3 #define BATTERY_REPORT_TIME 60 /* Update EEPROM every 60 seconds */ #define BATT_THRESHOLD_CURRENT 50000 /* Battery threshold current 50mA */ #define BATTERY_CAPACITY (27 * 10) /* Capacity in Amp-hours * 10 */ #define BATTERY_LIFE_WARN_THRESH ((BATTERY_CAPACITY * 34) / 100) #define BATTERY_LIFE_ALARM_THRESH ((BATTERY_CAPACITY * 90) / 100) #define BATTERY_LIFE_HYSTERESIS 2 /* 0.2 Amp-hours */ #define BATTERY_CURRENT_UPDATE 0x01 #define BATTERY_VOLTAGE_UPDATE 0x02 #define BATTERY_LIFE_UPDATE 0x04 #define VB_LEVEL_MAX 65535 #define VB_LEVEL_COUNT_OFFSET 131 #define ROVNAV_CMD_LEN 4 #define ROVNAV_REPLY_LEN 4 /* ** Sensor IBC Serial Commands ** */ #define GET_WATER_ALARM 0x01 /* Get Water Alarm Status Word */ #define GET_WATER_ALARM_THRESH 0x02 /* Get Water Alarm Threshold Value */ #define SET_WATER_ALARM_THRESH 0x03 /* Set Water Alarm Threshold Value */ #define GET_VEHICLE_IN_WATER 0x04 /* Get Vehicle In-Water Status */ #define GET_ERS_STATE 0x05 /* Get ERS System State */ #define GET_TELEMETRY 0x06 /* Get Telemetry Values */ #define ARM_DEPLOYMENT_LATCH 0x07 #define RELEASE_DEPLOYMENT_LATCH 0x08 #define ARM_TOOLSLED_LATCH 0x09 #define RELEASE_TOOLSLED_LATCH 0x0a #define GET_COMP_LEVEL 0x0b /* Get Compensator Level Command */ #define GET_COMP_LEVEL_ALARM 0x0c /* Get Compensator Level Alarm Cmd */ #define GET_COMP_ALARM_LEVELS 0x0d /* Get Compensator Alarm Levels Cmd */ #define SET_COMP_ALARM_LEVELS 0x0e /* Set Compensator Alarm Levels Cmd */ #define GET_COMP_LEVEL_SCALING 0x0f /* Get Compensator Level Scaling Cmd*/ #define SET_COMP_LEVEL_SCALING 0x10 /* Set Compensator Level Scaling Cmd*/ #define GET_HYD_PRESS_ALARM 0x11 /* Get Hydraulic Pressure Alarm Cmd */ #define SET_HYD_PRESS_ALARM_LVLS 0x12 /* Set Hyd Pressure Alarm Levels Cmd*/ #define GET_HYD_PRESS_ALARM_LVLS 0x13 /* Get Hyd Pressure Alarm Levels Cmd*/ #define READ_BATTERY_VOLTAGE 0x14 /* Measure Battery Voltage Cmd */ #define GET_BATTERY_ALARMS 0x15 /* Get Battery Alarms Cmd */ #define SET_BAT_VOLT_ALARM_LEVELS 0x16 /* Set Battery Voltage Alarm Levels */ #define GET_BAT_VOLT_ALARM_LEVELS 0x17 /* Get Battery Voltage Alarm Levels */ #define SET_BAT_LIFE_ALARM_LEVELS 0x18 /* Set Battery Life Alarm Levels */ #define GET_BAT_LIFE_ALARM_LEVELS 0x19 /* Get Battery Life Alarm Levels */ #define CAN_WATER_ALARM_ON_SRQ APPLIC_SRQ_BASE | 0xC0 #define CAN_WATER_ALARM_OFF_SRQ APPLIC_SRQ_BASE | 0xC1 #define JBOX_WATER_ALARM_ON_SRQ APPLIC_SRQ_BASE | 0xC2 #define JBOX_WATER_ALARM_OFF_SRQ APPLIC_SRQ_BASE | 0xC3 #define ERS_MODE_SRQ APPLIC_SRQ_BASE | 0xC4 #define VEHICLE_IN_WATER_SRQ APPLIC_SRQ_BASE | 0xC5 #define HYDRAULIC_PRES_ALARM_SRQ APPLIC_SRQ_BASE | 0xC6 #define COMP_LEVEL_ALARM_SRQ APPLIC_SRQ_BASE | 0xC7 #define BATTERY_VOLTAGE_ALARM_SRQ APPLIC_SRQ_BASE | 0xC8 #define BATTERY_LIFE_SRQ APPLIC_SRQ_BASE | 0xC9 #define TOOLSLED_LATCH_STATE_SRQ APPLIC_SRQ_BASE | 0xCA #define TOOLSLED_LATCH_RUN_SRQ APPLIC_SRQ_BASE | 0xCB #define DEPLOYMENT_LATCH_RUN_SRQ APPLIC_SRQ_BASE | 0xCC #define ROVNAV_MSG_SRQ APPLIC_SRQ_BASE | 0xCD typedef enum { OPERATING_MODE, EMERGENCY_MODE, ERS_POWER_OFF } ersOperatingMode; typedef enum { STOP_DATA_REPORT, FAST_DATA_REPORT, SLOW_DATA_REPORT, SINGLE_DATA_REPORT } ersDataReportMode; typedef enum { CONSOLE_TO_IBC, CONSOLE_TO_TELEM } consoleRouteSelect;