/****************************************************************************/ /* Copyright 1994 to 1996 MBARI */ /****************************************************************************/ /* Summary : Pan & Tilt Daughter Board Rev 2.0 Hardware Definitions */ /* Filename : ptBoard.h */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV Data Concentrator */ /* Version : 2.0 */ /* Created : 04/08/94 */ /* Modified : 03/18/96 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/h/ptboard.h,v 1.3 1997/09/09 17:30:36 pean Exp $ * $Log: ptboard.h,v $ * Revision 1.3 1997/09/09 17:30:36 pean * *** empty log message *** * * Revision 1.2 1997/05/07 15:58:41 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.2 95/11/10 14:42:25 14:42:25 pean (Andrew Pearce) * Added Software Position Limit Switches. Fixed Temeprature Sensor Range * * Revision 1.1 95/03/24 10:04:45 10:04:45 pean (Andrew Pearce) * Initial revision * */ /****************************************************************************/ #define SCC_CHAN_PER_UART 8 /* * serial channels per UART */ #define PT_COUNT 4 /* Number of Pan/Tilt units */ #define PT_TIMEOUT 10 /* 0.1 second timeout for cmds */ #define PT_CTRL_STATUS_REG_ADDR 0xA000 /* Pan/Tilt Controller Status Reg*/ #define PT_UART_ADDRESS (Byte*) 0xA200 /* Base address of Pan/Tilt UART */ #define PT_ADC_SELECT_ALL 0xA400 /* Select A/D convertors 0,1,2,3 */ #define PT_ADC_SELECT_0 0xA600 /* Select A/D convertor 0 */ #define PT_ADC_SELECT_1 0xA800 /* Select A/D convertor 1 */ #define PT_ADC_SELECT_2 0xAA00 /* Select A/D convertor 2 */ #define PT_ADC_SELECT_3 0xAC00 /* Select A/D convertor 3 */ #define PT_ADC_DESELECT_ALL 0xAE00 /* Deselect A/D convertors */ #define PT_UART_CLOCK_FREQ 3686400L /* UART clock frequency */ #define PT_UART_BUF_SIZE 128 /* Transmit & Receive Buffer Sizes */ #define PT_UART_CHAN_OFFSET 0x08 /* Each channel occupies 8 bytes */ #define LINE_FEED 0x0a /* Line feed character */ #define CARRIAGE_RET 0x0d /* Carriage Return character */ /* Return register absolute address */ /* given channel number and reg ID */ #define UART_REG(chan, reg) \ ((Byte *) (uartBaseAddress + (chan * PT_UART_CHAN_OFFSET + reg) )) /* * DAC Output Channel Assignments **/ #define PAN0_CW_LIMIT_CHAN 0 /* Pan 0 Clockwise Limit Chan */ #define PAN0_CCW_LIMIT_CHAN 1 /* Pan 0 Counter Clockwise Limit Chan*/ #define TILT0_DOWN_LIMIT_CHAN 2 /* Tilt 0 Down Limit Chan */ #define TILT0_UP_LIMIT_CHAN 3 /* Tilt 0 Up Limit Chan */ #define PAN1_CW_LIMIT_CHAN 4 /* Pan 1 Clockwise Limit Chan */ #define PAN1_CCW_LIMIT_CHAN 5 /* Pan 1 Counter Clockwise Limit Chan*/ #define TILT1_DOWN_LIMIT_CHAN 6 /* Tilt 1 Down Limit Chan */ #define TILT1_UP_LIMIT_CHAN 7 /* Tilt 1 Up Limit Chan */ #define PT_LED_CONTROL_CHAN 0 /* LED is connected to UART channel 0*/ #define PT_SERIAL_CHAN(chan) chan /* Serial channels map 1 to 1 */ #define PT_DAC_CW_CHAN(chan) (2 * chan) /* CW Limit D to A Channel */ #define PT_DAC_CCW_CHAN(chan) (2 * chan + 1) /* CCW Limit D to A Channel */ #define PT_ADC_CHAN(chan) (4 + chan) /* A/D channels map 4 to 1 */ #define PT_ADC_ALL 0xff /* Read all A/D Channels at once */ #define PT_ADC_SELECT_TIME 6 /* Approx 24 usec ADC select pulse */ #define PT_ADC_TIMEOUT 12500 /* 20 msec timeout for ADC reads */ /* ****** Micro A/D Channels ****** */ #define STEPPER_CTRL_TEMP_CHAN ADC_CHAN_1 /* Stepper Controller Temp */ #define TEMPERATURE_SENSOR_CHAN ADC_CHAN_4 /* Temperature sensor */ #define HUMIDITY_SENSOR_CHAN ADC_CHAN_5 /* Humidity sensor */ /* ***** Micro Port 1 Assigments */ #define PT_ATOD_CAL_ENABLE 0x01 /* A to D Calibrate Line P1.0 */ #define PT_DAC_SELECT 0x08 /* DAC Chip Select Output P1.3 */ #define PT_DAC_SCLOCK 0x40 /* DAC Data Clock Output P1.6 */ #define PT_DAC_SDATA 0x80 /* DAC Data Input P1.7 */ #define PT_DAC_MAX_CHAN 8 /* DAC Channel count */ #define PT_DAC_BITS 8 /* 8 Bit DAC */ #define PT_DAC_UNBUFFERED 0 #define PT_DAC_HALF_BUFFERED 1 #define PT_DAC_FULL_BUFFERED 2 typedef struct { struct /* Status Flag bits */ { unsigned chanOpen : 1; /* TRUE if channel is currently open */ unsigned txBusy : 1; /* Transmitter busy for TxStartUp */ unsigned txStarted : 1; /* Transmitter has started running */ } flags; Byte rxTerm; /* Receive termination character */ Byte termRecvd; /* Termination Character Count */ Byte lastTxByte; Ring readBuf; /* Ring buffer for serial read */ Ring writeBuf; /* Ring buffer for serial write */ Byte readBuffer[PT_UART_BUF_SIZE]; /* Read buffer */ Byte writeBuffer[PT_UART_BUF_SIZE];/* Write buffer */ } sccUartChan; #ifdef __STDC__ Void initDaughterBoard( Void ); /* Initialize Daughter Board hardware*/ Void toggleDaughterBoardLed( Void ); /* Toggle Daughter Board LED */ Int16 readTemperature( Int16 channel );/* Read Temperature Sensor */ Int16 readHumiditySensor( Void ); /* Read housing relative humidity */ Byte panTiltStatusReg( Void ); /* Read Moving/Fault Bit Status Reg */ Nat16 readPanTiltAtoD( Nat16 chan ); /* Read Single Pan/Tilt A/D */ Int16 readAllPanTiltAtoD( Nat16 rawAtoD[] ); /* Read All Pan/Tilt A/Ds */ Void calibratePanTiltAtoD( Void ); /* Calibrate Daughter Board A/D */ Void ptUartOpenSerialChan(Nat16 chan); Void ptUartCloseSerialChan(Nat16 chan); Int16 ptUartSerialChanRead( Nat16 chan, Byte *buffer, Int16 nBytes); Int16 ptUartSerialChanWrite(Nat16 chan, Byte *buffer, Int16 nBytes); Int16 ptUartTermRecvd(Nat16 chan); /* Return number of term chars recvd*/ Int16 ptUartBytesRecvd(Nat16 chan); /* Return number of bytes received */ Int16 ptUartWaitForData(Nat16 chan); /* Wait for characters to arrive */ Int16 ptUartWaitForTerm(Nat16 chan); /* Wait for a term delimited string */ Int16 setPanTiltDtoABufMode( Int16 bufMode ); Int16 writePanTiltDtoA( Int16 chan, Byte value ); /* Flush (Discard) Rx & Tx bytes */ Void ptUartSerialChanRxTxFlush(Nat16 chan); Void ptUartIsr( Void ); /* pt UART Interrupt Service Routine*/ #endif