/****************************************************************************/ /* Copyright 1992, 1993 MBARI */ /****************************************************************************/ /* Summary : IBC Parallel Input/Output Board Functions */ /* Filename : pio.c */ /* Author : Andrew Pearce */ /* Project : New ROV IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 10/09/92 */ /* Modified : 04/01/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/boards/pio/pio.c,v 1.2 1997/05/07 15:32:49 pean Exp $ * $Log: pio.c,v $ * Revision 1.2 1997/05/07 15:32:49 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.1.1.1 1997/05/02 18:51:32 pean * Initial check in of IBC microcontroller software * * Revision 1.1 93/07/02 09:37:42 09:37:42 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 "microlib.h" /* Microcontroller Library decls. */ #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 "pio.h" /* Parallel IO Board Definituions */ /****************************************************************************/ /* Function : PIO_BoardSearch */ /* Purpose : Scans IBC backplane looking for Parallel IO Boards */ /* Inputs : Pointer to IBC Board Entry Table and maximum table size */ /* Outputs : Returns number of boards found */ /****************************************************************************/ Int16 PIO_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 *) PARALLEL_IO_0_ADDR; addr <= (Byte *) PARALLEL_IO_1_ADDR; addr+= (PARALLEL_IO_1_ADDR - PARALLEL_IO_0_ADDR) ) { /* NULL boardEntry if board missing */ if ((boardEntry = (IBC_BoardEntry *) PIO_BoardInit(addr)) !=NULL) { /* Add PIO data struct to IBC Table */ IBC_Boards[board++] = boardEntry; if (board == maxCards) /* Check if IBC Card Table is full */ return(board); /* Return number of PIO boards found*/ } /* if */ } /* for */ } /* if */ return(board); /* Return number of PIO boards found*/ } /* PIO_BoardSearch() */ /****************************************************************************/ /* Function : PIO_BoardInit */ /* Purpose : Parallel IO Board Initialization routine */ /* Inputs : Base address of Parallel IO board */ /* Outputs : Returns pointer to IBC board data structure */ /****************************************************************************/ PIO_BoardEntry* PIO_BoardInit( Byte *boardBaseAddr ) { PIO_BoardEntry *PIO_Board; /* Pointer to board entry */ /* Check if board exists by reading*/ /* IO port A register */ /* Returns OK if board asserts xack*/ if ( ibcBusReadByte( boardBaseAddr + PIO_PORTA_REG) == ERROR ) return(( PIO_BoardEntry *) NULL); /* Board doesn't exist return NULL */ /* Configure Port A Output, Port B */ /* Input and Port C Output */ if ( ibcBusWriteByte( boardBaseAddr + PIO_CMD_REG, PIO_MODE_REG_SELECT | PIO_PORTC_LOWER_OUT | PIO_PORTC_UPPER_OUT | PIO_PORTB_IN | PIO_PORTB_BASIC_IO | PIO_PORTA_OUT | PIO_PORTA_BASIC_IO ) != OK) /* IBC Bus timeout so return NULL */ return( ( PIO_BoardEntry *) NULL); /* Allocate space for board entry */ PIO_Board = (PIO_BoardEntry *) malloc( sizeof (PIO_BoardEntry) ); if (PIO_Board == (PIO_BoardEntry *) NULL ) return( (PIO_BoardEntry *) NULL); /* Insufficient memory return ERROR */ /* Fill out board entry structure */ PIO_Board->IBC_Board.baseAddress = boardBaseAddr; PIO_Board->IBC_Board.boardType = PARALLEL_IO; PIO_Board->IBC_Board.intrLevel = IBC_INT_LVL_OFF; PIO_Board->ioportCopy[0] = 0; /* Clear copies of IO Port values */ PIO_Board->ioportCopy[1] = 0; PIO_Board->ioportCopy[2] = 0; return (PIO_Board); /* Return pointer to PIO data struct*/ } /* PIO_BoardInit() */ /****************************************************************************/ /* Function : PIO_BoardInterruptOn */ /* Purpose : Generate Interrupt from Parallel IO Board */ /* Inputs : Pointer to PIO board data structure */ /* Outputs : None */ /****************************************************************************/ Void PIO_BoardInterruptOn( PIO_BoardEntry *PIO_Board ) { /* Set Control Port bit 0 = TRUE */ PIO_writePortBit( PIO_Board, PIO_PORTC_REG, 0, TRUE ); } /* PIO_BoardInterruptOn() */ /****************************************************************************/ /* Function : PIO_BoardInterruptOff */ /* Purpose : Clear Interrupt from Parallel IO Board */ /* Inputs : Pointer to PIO board data structure */ /* Outputs : None */ /****************************************************************************/ Void PIO_BoardInterruptOff( PIO_BoardEntry *PIO_Board ) { /* Set Control Port bit 0 = FALSE */ PIO_writePortBit( PIO_Board, PIO_PORTC_REG, 0, FALSE ); } /* PIO_BoardInterruptOff() */ /****************************************************************************/ /* Function : PIO_BoardIsr */ /* Purpose : Parallel IO Board Interrupt Service Routine */ /* Inputs : Pointer to PIO board data structure */ /* Outputs : None */ /****************************************************************************/ Void PIO_BoardIsr( PIO_BoardEntry *PIO_Board ) { /* Null routine at this point */ } /* PIO_BoardIsr() */ /****************************************************************************/ /* Function : PIO_readPort */ /* Purpose : Read byte from Parallel IO Board Port A, B or C */ /* Inputs : Pointer to PIO board data structure, Port Address */ /* Outputs : Returns result of ibcBusReadByte */ /****************************************************************************/ Int16 PIO_readPort( PIO_BoardEntry *PIO_Board, Byte portAddr ) { return (IBCBusReadByte( PIO_Board->IBC_Board.baseAddress + portAddr )); } /* PIO_readPort */ /****************************************************************************/ /* Function : PIO_readPortCopy */ /* Purpose : Read internal port copy from Parallel IO Board Port A, B, C*/ /* Inputs : Pointer to PIO board data structure, Port Address */ /* Outputs : Returns result of ibcBusReadByte */ /****************************************************************************/ Int16 PIO_readPortCopy( PIO_BoardEntry *PIO_Board, Byte port ) { if (port >= PIO_NUM_PORTS) return (ERROR); return (PIO_Board->ioportCopy[port]); } /* PIO_readPortCopy */ /****************************************************************************/ /* Function : PIO_writePort */ /* Purpose : Write byte to Parallel IO Board Port A B or C */ /* Inputs : Pointer to PIO data struct, Port Address, value to write */ /* Outputs : Returns result of ibcBusWriteByte */ /****************************************************************************/ Int16 PIO_writePort( PIO_BoardEntry *PIO_Board, Byte port, Byte value, Word action ) { if (port >= PIO_NUM_PORTS) return (ERROR); if (action == OR_PORT) PIO_Board->ioportCopy[port] |= value; /* OR value with port copy */ else if (action == AND_PORT) PIO_Board->ioportCopy[port] &= value; /* AND value with port copy */ else if (action == SET_PORT) PIO_Board->ioportCopy[port] = value; /* SET port copy to value */ return (IBCBusWriteByte( PIO_Board->IBC_Board.baseAddress + port, PIO_Board->ioportCopy[port] )); } /* PIO_writePort */ /****************************************************************************/ /* Function : PIO_writePortBit */ /* Purpose : Set or Clear Parallel IO Board Port bit */ /* Inputs : Base address of PIO board, bit to select, desired state */ /* Outputs : None */ /****************************************************************************/ Int16 PIO_writePortBit( PIO_BoardEntry *PIO_Board, Byte port, Byte bit, Boolean state ) { if (state) /* If desired state is ON then */ PIO_writePort(PIO_Board, port, (1 << (bit & 0x07)), OR_PORT); else PIO_writePort(PIO_Board, port, ~(1 << (bit & 0x07)), AND_PORT); } /* PIO_writePortBit */ /****************************************************************************/ /* Function : PIO_ReadPortCmd */ /* Purpose : Process command to read PIO board input port */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void PIO_ReadPortCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Nat16 card; /* Card index into Card Table */ Word command; /* Serial command - discarded */ Word port; /* PIO Board port to read */ Byte *boardAddr; /* PIO Board base address from command buf */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 3, &command, &boardAddr, &port); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, PARALLEL_IO) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ replyToCommand(2, CMD_OK, PIO_readPort( (PIO_BoardEntry *) IBC_CardTable[card], port) ); } /* PIO_ReadPortCmd() */ /****************************************************************************/ /* Function : PIO_WritePortCmd */ /* Purpose : Process command to write PIO board output port */ /* Inputs : IBC Card Table, Number of cards & serial command buffer */ /* Outputs : None */ /****************************************************************************/ Void PIO_WritePortCmd( IBC_BoardEntry* IBC_CardTable[], Int16 IBC_CardCount, Byte *commandBuf ) { Nat16 card; /* Card index into Card Table */ Word command; /* Serial command - discarded */ Word port; /* PIO Board port to write */ Word value; /* PIO Board port value to write */ Byte *boardAddr; /* PIO Board base address from command buf */ /* Extract command and arguments from buffer*/ wordsFromBuf(commandBuf, 4, &command, &boardAddr, &port, &value); /* Find card table index for this address */ if ( (card = ibcBoardTableIndex(IBC_CardTable, IBC_CardCount, boardAddr, PARALLEL_IO) ) == ERROR) { /* Card not present so return error */ replyToCommand(1, EARGUMENT); return; } /* if */ if ( PIO_writePort( (PIO_BoardEntry *) IBC_CardTable[card], (Byte) port, (Byte) value, SET_PORT ) != ERROR) replyToCommand(1, CMD_OK); else replyToCommand(1, CMD_ERROR); } /* PIO_WritePortCmd() */