/****************************************************************************/ /* Copyright 1991 to 1993, MBARI */ /****************************************************************************/ /* Summary : IBC CPU Microcontroller Board - Hardware Support Functions */ /* Filename : cpu196.c */ /* Author : Andrew Pearce */ /* Project : New ROV IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 05/05/92 */ /* Modified : 11/05/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/boards/cpu196/cpu196.c,v 1.2 1997/05/07 15:26:38 pean Exp $ * $Log: cpu196.c,v $ * Revision 1.2 1997/05/07 15:26:38 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.1.1.1 1997/05/02 18:51:27 pean * Initial check in of IBC microcontroller software * * Revision 1.1 93/07/02 09:22:22 09:22:22 pean (Andrew Pearce) * Initial revision * * Revision 1.1 92/09/17 12:10:58 12:10:58 pean (Andrew Pearce) * Initial revision * * Revision 1.3 92/07/23 15:37:02 15:37:02 pean (Andrew Pearce 408-647-3746) * Fixed problem with ibcBusReadWord return status * * Revision 1.2 92/05/19 14:29:58 14:29:58 pean (Andrew Pearce 408-647-3746) * Added support for analog humidity sensor and 82C59 PIC * * * Revision 1.1 92/05/14 08:22:30 08:22:30 pean (Andrew Pearce 408-647-3746) * Initial revision * */ /****************************************************************************/ #pragma model(196) #pragma nosignedchar #include "C:/C96/INCLUDE/80C196.h" /* 80C196 Register mapping */ #include "C:/C96/INCLUDE/stddef.h" /* C Standard Definitions */ #include "const.h" /* Misc. constants - TRUE/FALSE etc */ #include "types.h" /* MBARI style guide declarations */ #include "microdef.h" /* Microcontroller Definitions */ #include "microlib.h" /* Microcontroller Library decls. */ #include "ibc_card.h" /* IBC Board Types and Addresses */ #include "ibc_cmd.h" /* Core IBC application definitions */ #include "ibc.h" /* IBC Function Library Definitions */ #include "ibc_asm.h" /* IBC Assembly Language Functions */ #include "cpu196.h" /* IBC CPU Board Functions */ #include "pic.h" /* Intel 82C59 Interrupt Controller */ #include "applay.h" /* Application layer funcitions */ #include "microCmd.h" /* Microcontroller commands */ /* Intel Interrupt Controller Addr */ volatile Byte picBaseAddr; volatile Byte picNextAddr; volatile Byte picIntAckAddr; #pragma locate(picBaseAddr = PIC_BASE_ADDR) #pragma locate(picNextAddr = PIC_NEXT_ADDR) #pragma locate(picIntAckAddr = PIC_INT_ACK_ADDR) alarmParam humidityAlarm; /* Humidity alarm */ MLocal IBC_BoardEntry cpu196Board; /* CPU 196 Board Data Structure */ /* Forward declarations for MLocals */ MLocal Void ibcCpuInitializeAlarms( Void ); /****************************************************************************/ /* Function : ibcBusReset */ /* Purpose : Assert IBC Bus Reset (INIT) signal for 20 milliseconds */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void ibcBusReset( Void ) { writeIoport1(IBC_RESET_BIT, OR_PORT); /* Set INIT to a 1 */ taskDelay(2); /* Wait 20 milliseconds */ writeIoport1(~IBC_RESET_BIT, AND_PORT); /* Set INIT to a 0 */ } /* ibcBusReset() */ /****************************************************************************/ /* Function : cpu196_BoardInit */ /* Purpose : IBC CPU196 Board Initialization routine */ /* Inputs : Pointer to IBC Board Table, table size */ /* Outputs : None */ /****************************************************************************/ Int16 cpu196_BoardInit( IBC_BoardEntry *IBC_CardTable[], Int16 maxCards ) { if (maxCards <= 0) /* No room in IBC Card Table */ return(0); /* So return zero */ /* Fill out board entry structure */ cpu196Board.baseAddress = 0; cpu196Board.boardType = CPU196; cpu196Board.intrLevel = IBC_INT_LVL_OFF; ibcBusInitialize(); /* Initialize IBC Bus Timeout Functions */ ibcBusReset(); /* Bring IBC Bus out of power up reset state*/ ibcCpuInitializeAlarms(); /* Initialize IBC CPU alarms */ /* Add CPU196 data structure to IBC Table */ IBC_CardTable[0] = &cpu196Board; initializePIC(); /* Initialize CPU board Interrupt Controller*/ return(1); /* Return number of boards "found" */ } /* cpu196_BoardInit() */ Void cpu196_enableIbcIntr( Void ) { PIC_enable; /* Enable Interrupt from PIC to processor */ } /* cpu196_initIbcIntr() */ Void IBC_BoardFindIntrLevel( IBC_BoardEntry *IBC_Board, Void (*boardIntrOn) (), Void (*boardIntrOff) () ) { Byte intLevel; Byte intStatus; Byte oldIntStatus; oldIntStatus = PIC_intStatus(); /* Read existing interrupt status */ boardIntrOn( IBC_Board ); /* Cause board to generate interrupt*/ /* Calc interrupt status difference */ intStatus = PIC_intStatus() ^ oldIntStatus; boardIntrOff( IBC_Board ); /* Clear board interrupt */ intLevel = -1; /* Convert bit vector to a level */ while (intStatus != 0) { intLevel++; intStatus = intStatus >> 1; } /* while */ IBC_Board->intrLevel = intLevel; /* Update Interrupt level entry */ } /* IBC_BoardFindIntrLevel() */ /****************************************************************************/ /* Function : ibcCpuInitializeAlarms */ /* Purpose : Initialize IBC CPU Alarm monitoring */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ MLocal Void ibcCpuInitializeAlarms( Void ) { humidityAlarm.value = 0; humidityAlarm.warnThresh = HUMIDITY_WARN_THRESH; humidityAlarm.alarmThresh = HUMIDITY_ALARM_THRESH; humidityAlarm.alarmStatus = MICRO_ALARM_OK; } /* ibcCpuInitializeAlarms() */ /****************************************************************************/ /* Function : ibcCpuCheckHumidityAlarm */ /* Purpose : Monitor humidity sensor and check threshold */ /* Inputs : None */ /* Outputs : None, but sends SRQ packet to serial port */ /****************************************************************************/ MLocal Void ibcCpuCheckHumidityAlarm( Void ) { /* Read Humidity Sensor */ humidityAlarm.value = readHumidity(); /* Check if humidity has exceeded warn */ /* or alarm thresholds and send alarm */ /* SRQ's if necessary */ if (alarmThresholdCheck(humidityAlarm.value, humidityAlarm.warnThresh, humidityAlarm.alarmThresh, HUMIDITY_HYSTERESIS, &humidityAlarm.alarmStatus ) == TRUE) writeServiceRequest(2, HUMIDITY_ALARM_SRQ, humidityAlarm.alarmStatus); } /* ibcCpuCheckHumidityAlarm() */ /****************************************************************************/ /* Function : cpu196_BoardFunctions */ /* Purpose : CPU196 board real-time loop functions */ /* Inputs : CPU196 Board data structure */ /* Outputs : None */ /****************************************************************************/ Void cpu196_BoardFunctions( IBC_BoardEntry *CPU196_Board ) { ibcCpuCheckHumidityAlarm(); } /* cpu196_BoardFunctions() */