/****************************************************************************/ /* Copyright 1991, 1992, 1993 MBARI */ /****************************************************************************/ /* Summary : IBC Navigation Interface Board Functions */ /* Filename : nav_if.c */ /* Author : Andrew Pearce */ /* Project : New ROV IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 09/17/92 */ /* Modified : 03/05/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/boards/nav_if/nav_if.c,v 1.2 1997/05/07 15:31:20 pean Exp $ * $Log: nav_if.c,v $ * Revision 1.2 1997/05/07 15:31:20 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.1.1.1 1997/05/02 18:51:30 pean * Initial check in of IBC microcontroller software * * Revision 1.2 93/07/02 09:36:54 09:36:54 pean (Andrew Pearce) * Minor bug fixes and enhancements for Prototype Vehicle Tests * * Revision 1.1 93/03/05 15:57:36 15:57:36 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 "nav_if.h" /* Navigation Interface Board Defs */ /****************************************************************************/ /* Function : NavBoardSearch */ /* Purpose : Scans IBC backplane looking for Navigation Interface Boards*/ /* Inputs : IBC Board Entry Table and maximum table size */ /* Outputs : Returns number of boards found */ /****************************************************************************/ Int16 NavBoardSearch(IBC_BoardEntry *IBC_Boards[], Int16 maxCards ) { Byte *addr; /* Nav If Board base address */ Int16 board; /* Counts number of boards found */ IBC_BoardEntry *boardEntry; /* Points to NavIf board data struct*/ board = 0; /* Set board count to zero */ if (maxCards > 0) /* Check for space in IBC Card Table*/ { /* Search for Nav Interface Boards */ if ( (boardEntry = (IBC_BoardEntry *) /* NULL boardEntry if board missing */ NavBoardInit( (Byte *) NAV_INTERFACE_ADDR )) != NULL ) { /* Add Nav If board to IBC Table */ IBC_Boards[board++] = boardEntry; if (board == maxCards) return(board); } /* if */ } /* if */ return(board); /* Return number of HPS boards found*/ } /* NavBoardSearch() */ /****************************************************************************/ /* Function : NavBoardInit */ /* Purpose : Navigation Interface Board Initialization routine */ /* Inputs : Base address of navigation interface board */ /* Outputs : Returns pointer to IBC board data structure */ /****************************************************************************/ NavBoardEntry* NavBoardInit( Byte *boardBaseAddr ) { NavBoardEntry *NavBoard; /* Pointer to board entry */ /* Read Status Register to check if */ /* Board exists */ /* Returns OK if board asserts xack */ if ( ibcBusReadByte( boardBaseAddr + NAV_STATUS_REG ) == ERROR ) return(( NavBoardEntry *) NULL); /* Board doesn't exist return NULL */ /* Allocate space for board entry */ NavBoard = (NavBoardEntry *) malloc( sizeof (NavBoardEntry) ); if (NavBoard == (NavBoardEntry *) NULL ) return( (NavBoardEntry *) NULL); /* Insufficient memory return ERROR */ /* Fill out board entry structure */ NavBoard->IBC_Board.baseAddress = boardBaseAddr; NavBoard->IBC_Board.boardType = NAV_INTERFACE; NavBoard->IBC_Board.intrLevel = IBC_INT_LVL_OFF; NavBoard->PSU_status = 0; return (NavBoard); /* Return pointer to Nav If struct */ } /* NavBoardInit() */ /****************************************************************************/ /* Function : NavBoardReadStatus */ /* Purpose : Return Navigation Interface Board Status Byte */ /* Inputs : Nav Interface Board data structure */ /* Outputs : Returns Board Status Byte or ERROR if IBC bus timeout */ /****************************************************************************/ MLocal Int16 NavBoardReadStatus( NavBoardEntry *NavBoard ) { if ( NavBoard == NULL) /* Check for valid Nav If structure */ return (ERROR); /* Read and return Nav If Status Reg */ return(ibcBusReadByte (NavBoard->IBC_Board.baseAddress + NAV_STATUS_REG)); } /* NavBoardReadStatus() */ /****************************************************************************/ /* Function : NavBoardReadSyncro */ /* Purpose : Reads Navigation Interface Syncro convertor measurement */ /* Inputs : Nav Interface Board data structure */ /* Outputs : Returns Syncro measurement or ERROR if IBC bus timeout */ /****************************************************************************/ Int16 NavBoardReadSyncro( NavBoardEntry *NavBoard ) { Nat32 ibcSyncro; /* Return value from IBC bus read word */ Nat16 rawSyncro; /* Raw 16 bit convertor reading */ Nat16 syncro; /* De-scrambled syncro reading */ if ( NavBoard == NULL) /* Check for valid Nav If data struct */ return (ERROR); /* Read status register to syncronize */ /* hardware state machine & check status*/ if ( !(ibcBusReadByte( NavBoard->IBC_Board.baseAddress + NAV_STATUS_REG) & NAV_SYNCRO_OK ) ) return(ERROR); /* Syncro status bit indicates bad data */ /* Read 16 bit syncro reg from ibc bus */ ibcSyncro = ibcBusReadWord( (Word *) (NavBoard->IBC_Board.baseAddress + NAV_SYNCRO_REG) ); /* Check for IBC bus timeout */ if ((ibcSyncro & 0x0000ffff) == ERROR) return (ERROR); /* Bus timeout so return ERROR */ /* Extract result fo IBC bus read */ rawSyncro = (Word) (ibcSyncro >> 16); /* Arrange scrambled bits from hardware */ syncro = (rawSyncro & 0x3f3f) | ((rawSyncro & 0xc000) >> 8); return (syncro); /* Return syncro reading in bits */ } /* NavBoardReadSyncro() */ /****************************************************************************/ /* Function : NavBoardReadStatusCmd */ /* Purpose : Process command to read Nav Interface board status register*/ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void NavBoardReadStatusCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount ) { Nat16 card; /* Card index into Card Table */ Int16 status; /* Nav Interface Board status */ /* Find table index for Nav If Board */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, NAV_INTERFACE_ADDR, NAV_INTERFACE) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, CMD_ERROR); return; } /* if */ /* Read Nav Interface Board Status Reg */ if ((status = NavBoardReadStatus( (NavBoardEntry *) IBC_CardTable[card])) == ERROR) replyToCommand(1, CMD_ERROR); /* Report ERROR to serial port */ else replyToCommand(2, CMD_OK, status); /* Report status to serial port */ } /* NavBoardReadStatusCmd() */ /****************************************************************************/ /* Function : NavBoardReadSyncroCmd */ /* Purpose : Process command to read Nav If board syncro convertor */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void NavBoardReadSyncroCmd(IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount) { Nat16 card; /* Card index into Card Table */ Int16 syncro; /* Nav Interface syncro reading */ /* Find card table index for Nav If Board */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, NAV_INTERFACE_ADDR, NAV_INTERFACE) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, CMD_ERROR); return; } /* if */ /* Read Nav Interface Board Syncro Convertor*/ if ((syncro = NavBoardReadSyncro( (NavBoardEntry *) IBC_CardTable[card])) == ERROR) replyToCommand(1, CMD_ERROR); /* Report ERROR to serial port */ else replyToCommand(2, CMD_OK, syncro); /* Report syncro to serial port */ } /* NavBoardReadSyncro() */ /****************************************************************************/ /* Function : NavBoardFunctions */ /* Purpose : Navigation Interface Board real-time loop functions */ /* Inputs : Navigation Interface Board data structure */ /* Outputs : None */ /****************************************************************************/ Void NavBoardFunctions( NavBoardEntry *NavBoard ) { Int16 PSU_status; /* Nav IF Power Supply Status */ /* Read new Power Supply Status */ if ( (PSU_status = NavBoardReadStatus( NavBoard )) != ERROR) { /* Mask off Syncro status bit */ PSU_status = PSU_status & ~(NAV_SYNCRO_OK); /* compare it to the old status */ if (NavBoard->PSU_status != (Byte) PSU_status) writeServiceRequest(2, NAV_IF_PSU_STATUS, PSU_status); /* Save status value for next test */ NavBoard->PSU_status = (Byte) PSU_status; } /* if */ } /* NavBoardFunctions() */