/****************************************************************************/ /* Copyright 1996 MBARI */ /****************************************************************************/ /* Summary : IBC Hydrophone PSU Board Functions */ /* Filename : hydroPSU.c */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 06/09/96 */ /* Modified : 06/09/96 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/boards/hydropsu/hydropsu.c,v 1.2 1997/05/07 15:29:39 pean Exp $ * $Log: hydropsu.c,v $ * Revision 1.2 1997/05/07 15:29:39 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.1.1.1 1997/05/02 18:51:35 pean * Initial check in of IBC microcontroller software * */ /****************************************************************************/ #pragma model(196) #pragma nosignedchar #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 "microasm.h" /* Assembly language functions */ #include "microdef.h" /* Microcontroller definitions */ #include "microlib.h" /* Microcontroller Library decls. */ #include "malloc.h" /* Malloc support routines */ #include "microCmd.h" /* microcontroller commands */ #include "applay.h" /* Application layer funcitions */ #include "filter.h" /* General Filter Routines */ #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 "hydroPSU.h" /* Hydrophone PSU Switch Board Defs */ /****************************************************************************/ /* Function : hydroPSU_BoardSearch */ /* Purpose : Scans IBC backplane looking for Hydrophone PSU Boards */ /* Inputs : IBC Board Entry Table and maximum table size */ /* Outputs : Returns number of boards found */ /****************************************************************************/ Int16 hydroPSU_BoardSearch( IBC_BoardEntry *IBC_Boards[], Int16 maxCards ) { Byte *addr; /* hydro PSU Board base address */ Int16 board; /* Counts number of PSU boards found*/ IBC_BoardEntry *boardEntry; /* Pointer to hydroPSU data struct */ board = 0; /* Set board count to zero */ if (maxCards > 0) /* Check for space in IBC Card Table*/ { if ((boardEntry = (IBC_BoardEntry *) hydroPSU_BoardInit( (Byte*) HYDROPHONE_PSU_ADDR)) != NULL) { /* Add hydroPSU data struct to IBC Table */ IBC_Boards[board++] = boardEntry; if (board == maxCards) /* Check if IBC Card Table is full */ return(board); /* Return number of hydroPSU boards found*/ } /* if */ } /* if */ return(board); /* Return number of hydroPSU boards found*/ } /* hydroPSU_BoardSearch() */ /****************************************************************************/ /* Function : hydroPSU_BoardInit */ /* Purpose : Hydrophone Power Supply Board Initialization routine */ /* Inputs : Base address of Hydrophone PSU board */ /* Outputs : Returns pointer to IBC board data structure */ /****************************************************************************/ hydroPSU_BoardEntry* hydroPSU_BoardInit( Byte *boardBaseAddr ) { hydroPSU_BoardEntry *hydroPSU_Board;/* Pointer to board entry */ /* Check if board exists by reading */ /* Status Register. Returns OK if */ /* board asserts xack */ if ( ibcBusReadByte( boardBaseAddr + HYDRO_PSU_STATUS_REG) == ERROR ) return(( hydroPSU_BoardEntry *) NULL); /* Board doesn't exist return NULL */ /* Allocate space for board entry */ hydroPSU_Board = (hydroPSU_BoardEntry *) malloc( sizeof (hydroPSU_BoardEntry) ); if (hydroPSU_Board == (hydroPSU_BoardEntry *) NULL ) return( (hydroPSU_BoardEntry *) NULL); /* Insufficient memory return NULL */ /* Fill out board entry structure */ hydroPSU_Board->IBC_Board.baseAddress = boardBaseAddr; hydroPSU_Board->IBC_Board.boardType = HYDROPHONE_PSU; hydroPSU_Board->IBC_Board.intrLevel = IBC_INT_LVL_OFF; hydroPSU_Board->psuStatus = hydroPSU_BoardSwitchState(hydroPSU_Board); hydroPSU_BoardSwitch( hydroPSU_Board, OFF ); /* Switch PSU OFF, LED ON */ return (hydroPSU_Board); /* Return pointer to hydroPSU data struct*/ } /* hydroPSU_BoardInit() */ /****************************************************************************/ /* Function : hydroPSU_BoardSwitch */ /* Purpose : Control state of Hydrophone PSU Board - On or Off */ /* Inputs : hydroPSU Board data structure and desired switch state */ /* Outputs : Returns result of IBC Bus Write - OK or ERROR if timeout */ /****************************************************************************/ Int16 hydroPSU_BoardSwitch( hydroPSU_BoardEntry *hydroPSU_Board, Boolean state ) { Byte switchCmd; if ( hydroPSU_Board == NULL) /* Check for valid hydroPSU struct */ return (ERROR); if (state == ON) /* Desired switch state is On */ { /* Set software copy of switch state*/ hydroPSU_Board->switchState = ON; switchCmd = HYDRO_PSU_SWITCH_ON; } /* if */ else /* Desired switch state is Off */ { /* Set software copy of switch state*/ hydroPSU_Board->switchState = OFF; switchCmd = HYDRO_PSU_SWITCH_OFF; } /* else */ return(ibcBusWriteByte( /* Set physical switch state */ hydroPSU_Board->IBC_Board.baseAddress + HYDRO_PSU_COMMAND_REG, switchCmd | HYDRO_PSU_LED_ON)); } /* hydroPSU_BoardSwitch() */ /****************************************************************************/ /* Function : hydroPSU_BoardSwitchState */ /* Purpose : Return PSU Failed bit from Hydrophone PSU Board */ /* Inputs : hydroPSU Board data structure */ /* Outputs : Returns PSU State bits or ERROR if timeout */ /****************************************************************************/ Int16 hydroPSU_BoardSwitchState( hydroPSU_BoardEntry *hydroPSU_Board ) { Int16 psuStatus; /* Reads status bits from hydroPSU board */ if ( hydroPSU_Board == NULL) /* Check for valid hydroPSU data struct */ return (ERROR); /* Read hydroPSU Board Status Register */ if ( (psuStatus = ibcBusReadByte(hydroPSU_Board->IBC_Board.baseAddress + HYDRO_PSU_STATUS_REG) ) == ERROR) return(ERROR); else /* Mask off PSU Failed status bit */ return(psuStatus & HYDRO_PSU_FAILED); } /* hydroPSU_BoardSwitchState() */ /****************************************************************************/ /* Function : hydroPSU_SwitchControlCmd */ /* Purpose : Process command to switch Hydrohone PSU On or Off */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None, but switch state is modified */ /****************************************************************************/ Void hydroPSU_SwitchControlCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Byte *boardAddr; /* hydroPSU Board base address */ Boolean state; /* hydroPSU Board desired switch state */ Int16 card; /* Card index into Card Table */ Word command; /* Serial command word - ignored */ hydroPSU_BoardEntry *hydroPSU_Board; /* hydroPSU board data structure */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 3, &command, &boardAddr, &state); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, HYDROPHONE_PSU) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ /* Get pointer to hydroPSU data structure */ hydroPSU_Board = (hydroPSU_BoardEntry *) IBC_CardTable[card]; state = (state ? ON : OFF); /* Translate any non-zero value to ON */ /* Change physical switch state */ if (hydroPSU_BoardSwitch( hydroPSU_Board, state) != ERROR) replyToCommand(1, CMD_OK); /* Report status to serial port */ else replyToCommand(1, CMD_ERROR); /* Report ERROR to serial port */ } /* hydroPSU_SwitchControlCmd() */ /****************************************************************************/ /* Function : hydroPSU_GetPSUStateCmd */ /* Purpose : Process command to read hydro PSU On/Off Status */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void hydroPSU_GetPSUStateCmd(IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf) { Int16 card; /* Card index into Card Table */ Byte *boardAddr; /* hydro PSU Board base address */ hydroPSU_BoardEntry *hydroPSU_Board; /* hydro PSU Board Entry structure*/ /* Extract command and arguments from buffer*/ boardAddr = (Byte*) wordFromBuf(commandBuf, sizeof(Word)); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, HYDROPHONE_PSU) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ /* Extract pointer to hydroPSU structure */ hydroPSU_Board = (hydroPSU_BoardEntry *) IBC_CardTable[card]; /* Send PSU On/Off Status to serial port */ replyToCommand(2, CMD_OK, (Word) hydroPSU_Board->switchState); } /* hydroPSU_GetPSUStateCmd() */ /****************************************************************************/ /* Function : hydroPSU_GetFaultCmd */ /* Purpose : Process command to read hydro PSU Fault Bit */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void hydroPSU_GetFaultCmd(IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf) { Byte *boardAddr; /* hydro PSU Board base address */ Int16 card; /* Card index into Card Table */ Int16 psuStatus; /* Hydrophone PSU Status */ /* Extract board address from buffer */ boardAddr = (Byte*) wordFromBuf(commandBuf, sizeof(Word)); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, HYDROPHONE_PSU) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ /* Read PSU Fault Status from hydro PSU Board */ if (( psuStatus = hydroPSU_BoardSwitchState( (hydroPSU_BoardEntry *) IBC_CardTable[card] )) == ERROR) replyToCommand(1, CMD_ERROR); /* Report ERROR to serial port*/ else /* Report switch status */ replyToCommand(2, CMD_OK, psuStatus); } /* hydroPSU_GetFaultCmd() */ /****************************************************************************/ /* Function : hydroPSUFunctions */ /* Purpose : Hydrophone PSU Board real-time loop functions */ /* Inputs : hydroPSU Board data structure */ /* Outputs : None */ /****************************************************************************/ Void hydroPSUFunctions( hydroPSU_BoardEntry *hydroPSU_Board ) { Int16 psuStatus; /* Hydrophone PSU Status */ if (hydroPSU_Board->switchState == OFF) return; /* Read PSU Fault Status from hydro PSU Brd */ if (( psuStatus = hydroPSU_BoardSwitchState(hydroPSU_Board)) == ERROR) return; if ( hydroPSU_Board->psuStatus != psuStatus) { hydroPSU_Board->psuStatus = psuStatus; writeServiceRequest(2, HYDRO_PSU_FAULT_SRQ, psuStatus); } /* if */ } /* hydroPSUFunctions() */