/****************************************************************************/ /* Copyright 1994 MBARI */ /****************************************************************************/ /* Summary : IBC Isolated Input/Output Board Functions */ /* Filename : iso_ioc */ /* Author : Andrew Pearce */ /* Project : New ROV IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 11/08/94 */ /* Modified : 11/08/94 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/boards/iso_io/iso_io.c,v 1.2 1997/05/07 15:30:17 pean Exp $ * $Log: iso_io.c,v $ * Revision 1.2 1997/05/07 15:30:17 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.1.1.1 1997/05/02 18:51:29 pean * Initial check in of IBC microcontroller software * * Revision 1.1 95/02/17 12:29:33 12:29:33 pean (Andrew Pearce) * Initial revision * */ /****************************************************************************/ #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 "malloc.h" /* Malloc support routines */ #include "microdef.h" /* Microcontroller definitions */ #include "microCmd.h" /* microcontroller commands */ #include "applay.h" /* Application layer funcitions */ #include "ibc_card.h" /* IBC Board Types and Addresses */ #include "ibc_cmd.h" /* Core IBC application definitions */ #include "ibc_asm.h" /* IBC Assembly Language Functions */ #include "iso_io.h" /* Isolated Board Definituions */ /****************************************************************************/ /* Function : iso_IO_BoardSearch */ /* Purpose : Scans IBC backplane looking for Isolated IO Boards */ /* Inputs : Pointer to IBC Board Entry Table and maximum table size */ /* Outputs : Returns number of boards found */ /****************************************************************************/ Int16 iso_IO_BoardSearch( IBC_BoardEntry *IBC_Boards[], Int16 maxCards ) { Byte *addr; /* Parallel IO Board base address */ Int16 board; /* Counts number of PIO board found */ IBC_BoardEntry *boardEntry; /* Pointer to PIO board data struct */ board = 0; /* Set board count to zero */ if (maxCards > 0) /* Check for space in IBC Card Table*/ { /* Search for Parallel IO Boards */ for (addr = (Byte *) ISO_IO_0_ADDR; addr <= (Byte *) ISO_IO_2_ADDR; addr+= (ISO_IO_1_ADDR - ISO_IO_0_ADDR) ) { /* NULL boardEntry if board missing */ if ((boardEntry = (IBC_BoardEntry *) iso_IO_BoardInit(addr)) !=NULL) { /* Add ISO data struct to IBC Table */ IBC_Boards[board++] = boardEntry; if (board == maxCards) /* Check if IBC Card Table is full */ return(board); /* Return number of ISO boards found*/ } /* if */ } /* for */ } /* if */ return(board); /* Return number of ISO boards found*/ } /* iso_IO_BoardSearch() */ /****************************************************************************/ /* Function : iso_IO_BoardInit */ /* Purpose : Isolated IO Board Initialization routine */ /* Inputs : Base address of Isolated IO board */ /* Outputs : Returns pointer to IBC board data structure */ /****************************************************************************/ iso_IO_BoardEntry* iso_IO_BoardInit( Byte *boardBaseAddr ) { iso_IO_BoardEntry *iso_IO_Board; /* Pointer to board entry */ /* Check if board exists by reading */ /* IO input register */ /* Returns OK if board asserts xack */ if ( ibcBusReadByte( boardBaseAddr + ISO_IO_INPUT_REG) == ERROR ) return(( iso_IO_BoardEntry *) NULL); /* Board doesn't exist return NULL */ /* Allocate space for board entry */ iso_IO_Board = (iso_IO_BoardEntry *) malloc( sizeof (iso_IO_BoardEntry) ); if (iso_IO_Board == (iso_IO_BoardEntry *) NULL ) return( (iso_IO_BoardEntry *) NULL); /* Insufficient memory return ERROR */ /* Configure Output Port */ ibcBusWriteByte(ISO_IO_OUTPUT_REG((Nat16) boardBaseAddr), 0); /* Configure Analog Output Ports */ ibcBusWriteByte( ISO_IO_DAC_REG(boardBaseAddr, 0), 0 ); ibcBusWriteByte( ISO_IO_DAC_REG(boardBaseAddr, 1), 0 ); ibcBusWriteByte( ISO_IO_DAC_REG(boardBaseAddr, 2), 0 ); ibcBusWriteByte( ISO_IO_DAC_REG(boardBaseAddr, 3), 0 ); /* Fill out board entry structure */ iso_IO_Board->IBC_Board.baseAddress = boardBaseAddr; iso_IO_Board->IBC_Board.boardType = ISOLATED_IO; iso_IO_Board->IBC_Board.intrLevel = IBC_INT_LVL_OFF; iso_IO_Board->outputPortCopy = 0; /* Output port is all 0's */ /* Switch On ISO Board LED */ ibcBusReadByte( boardBaseAddr + ISO_IO_LED_ON); return (iso_IO_Board); /* Return pointer to ISO data struct*/ } /* iso_IO_BoardInit() */ /****************************************************************************/ /* Function : iso_IO_ReadPort */ /* Purpose : Read byte from Isolated IO Board Input Port */ /* Inputs : Pointer to ISO IO board data structure */ /* Outputs : Returns result of ibcBusReadByte */ /****************************************************************************/ Int16 iso_IO_ReadPort( iso_IO_BoardEntry *iso_IO_Board ) { return ( IBCBusReadByte( iso_IO_Board->IBC_Board.baseAddress + ISO_IO_INPUT_REG )); } /* iso_IO_ReadPort */ /****************************************************************************/ /* Function : iso_IO_WritePort */ /* Purpose : Write byte to Isolated IO Board Output Port */ /* Inputs : Pointer to ISO IO data struct, value to write */ /* Outputs : Returns result of ibcBusWriteByte */ /****************************************************************************/ Int16 iso_IO_WritePort( iso_IO_BoardEntry *iso_IO_Board, Byte value ) { iso_IO_Board->outputPortCopy = value; return (ibcBusWriteByte(ISO_IO_OUTPUT_REG((Nat16) iso_IO_Board->IBC_Board.baseAddress), value)); } /* iso_IO_WritePort */ /****************************************************************************/ /* Function : iso_IO_SetPortBit */ /* Purpose : Change Isolated IO Board Output Port bit state */ /* Inputs : Pointer to ISO IO data struct, bit number, desired state */ /* Outputs : Returns result of ibcBusWriteByte */ /****************************************************************************/ Int16 iso_IO_SetPortBit( iso_IO_BoardEntry *iso_IO_Board, Word portBit, MBool state ) { if (state) iso_IO_Board->outputPortCopy |= (1 << portBit); else iso_IO_Board->outputPortCopy &= ~(1 << portBit); return (ibcBusWriteByte( ISO_IO_OUTPUT_REG((Nat16) iso_IO_Board->IBC_Board.baseAddress), iso_IO_Board->outputPortCopy) ); } /* iso_IO_SetPortBit */ /****************************************************************************/ /* Function : iso_IO_WriteDacPort */ /* Purpose : Write byte to Isolated IO Board DAC Output Port */ /* Inputs : Pointer to ISO IO data struct, DAC Number, value to write */ /* Outputs : Returns result of ibcBusWriteByte */ /****************************************************************************/ Int16 iso_IO_WriteDacPort( iso_IO_BoardEntry *iso_IO_Board, Byte dac, Byte value ) { return ( IBCBusWriteByte( ISO_IO_DAC_REG(iso_IO_Board->IBC_Board.baseAddress, dac), value )); } /* iso_IO_WriteDacPort */ /****************************************************************************/ /* Function : iso_IO_ReadPortCmd */ /* Purpose : Process command to read Isolated IO board input port */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void iso_IO_ReadPortCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Nat16 card; /* Card index into Card Table */ Word command; /* Serial command - discarded */ Byte *boardAddr; /* ISO Board base address from command buf */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 2, &command, &boardAddr); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, ISOLATED_IO) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ replyToCommand( 2, CMD_OK, iso_IO_ReadPort( (iso_IO_BoardEntry *) IBC_CardTable[card]) ); } /* iso_IO_ReadPortCmd() */ /****************************************************************************/ /* Function : iso_IO_WritePortCmd */ /* Purpose : Process command to write Isolate IO board output port */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void iso_IO_WritePortCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Nat16 card; /* Card index into Card Table */ Word command; /* Serial command - discarded */ Word value; /* ISO Board port value to write */ Byte *boardAddr; /* ISO Board base address from command buf */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 3, &command, &boardAddr, &value); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, ISOLATED_IO) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ if ( iso_IO_WritePort( (iso_IO_BoardEntry *) IBC_CardTable[card], (Byte) value ) != ERROR) replyToCommand(1, CMD_OK); else replyToCommand(1, CMD_ERROR); } /* iso_IO_WritePortCmd() */ /****************************************************************************/ /* Function : iso_IO_SetPortBBitCmd */ /* Purpose : Process command to set Isolate IO board output port bit */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void iso_IO_SetPortBitCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Nat16 card; /* Card index into Card Table */ Word command; /* Serial command - discarded */ Byte *boardAddr; /* ISO Board base address from command buf */ Word portBit; /* ISO Board port bit number */ Word state; /* ISO Board port bit desired state */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 4, &command, &boardAddr, &portBit, &state); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, ISOLATED_IO) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ if (iso_IO_SetPortBit( (iso_IO_BoardEntry *) IBC_CardTable[card], portBit, state ) != ERROR) replyToCommand(1, CMD_OK); else replyToCommand(1, CMD_ERROR); } /* iso_IO_SetPortBitCmd() */ /****************************************************************************/ /* Function : iso_IO_WriteDacCmd */ /* Purpose : Process command to write Isolate IO board DAC output port */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void iso_IO_WriteDacCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Nat16 card; /* Card index into Card Table */ Word command; /* Serial command - discarded */ Word dac; /* ISO Board DAC port number */ Word value; /* ISO Board port value to write */ Byte *boardAddr; /* ISO Board base address from command buf */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 4, &command, &boardAddr, &dac, &value); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, ISOLATED_IO) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ if ( iso_IO_WriteDacPort( (iso_IO_BoardEntry *) IBC_CardTable[card], (Byte) dac, (Byte) value ) != ERROR) replyToCommand(1, CMD_OK); else replyToCommand(1, CMD_ERROR); } /* iso_IO_WriteDacCmd() */