/****************************************************************************/ /* Copyright 1991 to 1993, MBARI */ /****************************************************************************/ /* Summary : VME CAN Data Concentrator - Main C Source file */ /* Filename : vme_ibc.h */ /* Author : Andrew Pearce */ /* Project : New ROV IBC CPU Board Rev 1.0 */ /* Version : 1.0 */ /* Created : 10/01/91 */ /* Modified : 04/07/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/h/vme_ibc.h,v 1.1.1.1 1997/05/02 17:15:42 pean Exp $ * $Log: vme_ibc.h,v $ * Revision 1.1.1.1 1997/05/02 17:15:42 pean * Initial release of the microcontroller software after Tiburon * Moolpool Dive to test IView, Lapboxes, modified Power can * GF/5V using bus capacitance mode. * * Revision 1.5 96/02/16 10:48:47 10:48:47 pean (Andrew Pearce) * Revised GF/5V Selftest, scan update features * Fixed timer_cancel library function * Revised Quad Serial Board Overrun Error reporting * * Revision 1.5 95/11/10 08:44:39 08:44:39 pean (Andrew Pearce) * Added support for VME Video Switcher using upgraded PIO Board Library * * Revision 1.4 95/09/13 17:28:57 17:28:57 pean (Andrew Pearce) * Minor changes to LPS Board for voltage measurement * Tested KVH Compass modifications * * Revision 1.3 93/10/11 08:57:11 08:57:11 pean (Andrew Pearce) * Added Accelerometer support and fixed PIC problem * * Revision 1.2 93/07/14 12:10:28 12:10:28 pean (Andrew Pearce) * Removed serial board open left in by accident. * Updated ground fault, LPS and HPS board libraries * * Revision 1.1 93/07/02 09:43:24 09:43:24 pean (Andrew Pearce) * Initial revision * * */ /****************************************************************************/ /* VME IBC A/D Channel Assignments */ #define YAW_RATE_SENSOR_CHAN 0 /* Gyro Yaw rate sensor channel */ #define ROLL_SENSOR_CHAN 1 /* Roll Sensor channel */ #define PITCH_SENSOR_CHAN 2 /* Pitch Sensor channel */ #define VME_SPARE_ATOD_CHAN 3 /* Spare A/D channel */ /* VME IBC Quad Serial Channels */ #define KVH_COMPASS_CHAN 0 /* Kvh compass channel */ #define VIDEO_TELEM_CHAN 1 /* Video telemetery status */ #define WATER_ALARM_CHAN_0 1 /* Water Alarm 0 Analog Channel */ #define WATER_ALARM_CHAN_1 2 /* Water Alarm 1 Analog Channel */ #define WATER_ALARM0_BIT 0x01 /* Water Alarm 0 Status Bit */ #define WATER_ALARM1_BIT 0x02 /* Water Alarm 1 Status Bit */ #define VME_IBC_MAX_PITCH 65536 #define VME_IBC_MAX_ROLL 65536 #define VME_IBC_MAX_YAW 65536 /* 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 NUM_VME_VIDEO_RELAYS 12 /* Number of Video Control Relays */ /* Parallel IO Board Port Assignment*/ /* PORT A (Output) Assignments */ #define VIDEO_RELAY_E1 0x01 /* Video Switch Relay E1 Control */ #define VIDEO_RELAY_E2 0x02 /* Video Switch Relay E2 Control */ #define VIDEO_RELAY_F1 0x04 /* Video Switch Relay F1 Control */ #define VIDEO_RELAY_F2 0x08 /* Video Switch Relay F2 Control */ #define VME_PSU_MODULE_1 0x00 /* Select Mask for VME PSU 1 */ #define VME_PSU_MODULE_2 0x40 /* Select Mask for VME PSU 2 */ #define VME_PSU_MODULE_3 0x80 /* Select Mask for VME PSU 3 */ #define VME_PSU_MODULE_4 0xc0 /* Select Mask for VME PSU 4 */ #define VME_PSU_BIT_MASK 0xc0 /* Masks off VME PSU Select Bits */ /* PORT B (Input) Assignments */ /* Power Supply Status Bit Fields */ #define PSU_5V_A1_OK 0x01 /* +5 Volt PSU A1 (0=Fail, 1=OK) */ #define PSU_5V_B1_OK 0x02 /* +5 Volt PSU B1 (0=Fail, 1=OK) */ #define PSU_5V_A2_OK 0x04 /* +5 Volt PSU A2 (0=Fail, 1=OK) */ #define PSU_5V_B2_OK 0x08 /* +5 Volt PSU B2 (0=Fail, 1=OK) */ #define PSU_12V_A1_OK 0x10 /* +12 Volt PSU A1 (0=Fail, 1=OK) */ #define PSU_12V_B1_OK 0x20 /* +12 Volt PSU B1 (0=Fail, 1=OK) */ #define PSU_12V_A2_OK 0x40 /* +12 Volt PSU A2 (0=Fail, 1=OK) */ #define PSU_12V_B2_OK 0x80 /* +12 Volt PSU B2 (0=Fail, 1=OK) */ /* PORT C (Output) Assignments */ #define VIDEO_RELAY_A1 0x0100 /* Video Switch Relay A1 Control */ #define VIDEO_RELAY_A2 0x0200 /* Video Switch Relay A2 Control */ #define VIDEO_RELAY_B1 0x0400 /* Video Switch Relay B1 Control */ #define VIDEO_RELAY_B2 0x0800 /* Video Switch Relay B2 Control */ #define VIDEO_RELAY_C1 0x1000 /* Video Switch Relay C1 Control */ #define VIDEO_RELAY_C2 0x2000 /* Video Switch Relay C2 Control */ #define VIDEO_RELAY_D1 0x4000 /* Video Switch Relay D1 Control */ #define VIDEO_RELAY_D2 0x8000 /* Video Switch Relay D2 Control */ typedef enum { KVH_CAL_START, KVH_CAL_RUNNING, KVH_CAL_END } kvhCalState; #define KVH_STRING_LEN 64 /* *** VME IBC Serial Commands **** */ #define GET_VME_WATER_ALARM 0x01 /* Get Water Alarm Status Word */ #define GET_VME_WATER_ALARM_THRESH 0x02 /* Get Water Alarm Threshold Value */ #define SET_VME_WATER_ALARM_THRESH 0x03 /* Set Water Alarm Threshold Value */ #define GET_VME_SENSOR_DATA 0x04 /* Get sensor data */ #define GET_VME_CAN_PSU_STATUS 0x05 /* Get VME Can PSU Status Word */ #define SET_VIDEO_SWITCH 0x06 /* Set VME Can Video Switch */ #define GET_VIDEO_SWITCH 0x07 /* Get VME Can Video Switch */ #define CALIBRATE_KVH_COMPASS 0x08 /* Calibrate KVH Compass */ #define SEND_KVH_COMPASS_STRING 0x09 /* Send KVH Compass a string */ #define WATER_ALARM0_ON_SRQ APPLIC_SRQ_BASE | 0xC0 #define WATER_ALARM0_OFF_SRQ APPLIC_SRQ_BASE | 0xC1 #define WATER_ALARM1_ON_SRQ APPLIC_SRQ_BASE | 0xC2 #define WATER_ALARM1_OFF_SRQ APPLIC_SRQ_BASE | 0xC3 #define VME_CAN_PSU_ERROR_SRQ APPLIC_SRQ_BASE | 0xC4 #define VIDEO_TELEM_XXX0_SRQ APPLIC_SRQ_BASE | 0xC5 #define VIDEO_TELEM_XXX1_SRQ APPLIC_SRQ_BASE | 0xC6 #define VIDEO_TELEM_XXX2_SRQ APPLIC_SRQ_BASE | 0xC7 #define VIDEO_TELEM_XXX3_SRQ APPLIC_SRQ_BASE | 0xC9 #define VIDEO_TELEM_XXX4_SRQ APPLIC_SRQ_BASE | 0xCA #define VIDEO_TELEM_XXX5_SRQ APPLIC_SRQ_BASE | 0xCB #define KVH_COMPASS_CAL_SRQ APPLIC_SRQ_BASE | 0xD0 #define KVH_COMPASS_CAL_DATA_SRQ APPLIC_SRQ_BASE | 0xD1