/****************************************************************************/ /* Copyright 1994 MBARI */ /****************************************************************************/ /* Summary : Lighting Data Concetrator - Main C Source file */ /* Filename : lighting.c */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 11/09/94 */ /* Modified : 11/11/94 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/lighting/lighting.c,v 1.2 1997/05/07 15:43:41 pean Exp $ * $Log: lighting.c,v $ * Revision 1.2 1997/05/07 15:43:41 pean * Cleaned up Include files and makefile for new directory structure. * * Revision 1.1.1.1 1997/05/02 18:51:42 pean * Initial check in of IBC microcontroller software * * Revision 1.3 96/11/07 14:16:34 14:16:34 audo (Douglas Au) * Changed Dual Vicor Board config from One to Two Mini Mods for Lasers * * Revision 1.2 96/02/20 14:59:55 14:59:55 pean (Andrew Pearce) * Fixed clearing of Quad Serial Board UART overrun error reporting * Fixed timer_cancel problem, stacksize too big problem * Revised GF/5V Selftest, scan update features * * Revision 1.1 95/09/22 16:02:03 16:02:03 pean (Andrew Pearce) * Initial revision * */ /****************************************************************************/ #pragma model(196) #pragma nosignedchar #include "C:/C96/INCLUDE/string.h" /* string function library */ #include "const.h" /* Misc. constants - TRUE/FALSE etc */ #include "types.h" /* MBARI style guide declarations */ #include "microasm.h" /* Assembly language functions */ #include "applic.h" /* Microcontroller applications */ #include "malloc.h" /* Malloc support routines */ #include "microdef.h" /* Microcontroller definitions */ #include "microlib.h" /* Microcontroller Library decls. */ #include "applay.h" /* Application layer funcitions */ #include "serial.h" /* Serial layer functions */ #include "proto.h" /* Serial Protocol layer functions */ #include "microcmd.h" /* microcontroller commands */ #include "timer.h" /* Timer library definitions */ #include "ring.h" /* Ring buffer support routines */ #include "syslib.h" /* Board Support 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 "filter.h" /* IBC General IIR Filter Routines */ #include "cpu196.h" /* IBC 80C196 CPU Board functions */ #include "pic.h" /* Intel 82C59 Interrupt Controller */ #include "gf_board.h" /* Ground Fault Board Definitions */ #include "high_pwr.h" /* High Power Switch Board Defs */ #include "vicor.h" /* Dual Vicor Board Definitions */ #include "iso_io.h" /* Isolated IO Board Definitions */ #include "quad_serial.h" /* Quad Serial Board Definitions */ #include "scc2698.h" /* Signetics SCC2698 UART Definition*/ #include "lighting.h" /* Application specific definitions */ /****************************************************************************/ const Char micro_id[] = "87C196KC Lighting Data Concentrator"; const Char softwareRev[] = "$Revision: 1.2 $"; const Char serialNumber[] = "LIGHTING 01"; const Char *microSerialNo; MLocal Boolean microEnabled; /* Enables serial command processing*/ MLocal Boolean canWaterAlarm; /* Housing Water Alarm Status */ MLocal Boolean jboxWaterAlarm; /* J-Box Water Alarm Status */ MLocal Nat16 waterAlarmThresh; /* Water alarm threshold */ /* Array of IBC boards in backplane */ IBC_BoardEntry *(IBC_CardTable[IBC_MAX_CARDS]); Int16 IBC_CardCount; /* IBC cards found in backplane */ /* Forward declarations */ /****************************************************************************/ /* Function : getWaterAlarmThreshCmd */ /* Purpose : Send water alarm threshold to serial port */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ MLocal Void getWaterAlarmThreshCmd( Void ) { /* send water alarm threshold to serial port*/ replyToCommand(2, CMD_OK, (Word) waterAlarmThresh ); } /* getWaterAlarmThreshCmd() */ /****************************************************************************/ /* Function : setWaterAlarmThreshCmd */ /* Purpose : Process command to set water alarm threshold */ /* Inputs : Serial command buffer */ /* Outputs : None */ /****************************************************************************/ MLocal Void setWaterAlarmThreshCmd(Byte *commandBuf) { Word command; /* Command from serial port */ /* Read threshold from command buf */ wordsFromBuf( commandBuf, 2, &command, (Word *) &waterAlarmThresh ); replyToCommand(1, CMD_OK); /* Send command OK to serial port */ } /* setWaterAlarmThreshCmd() */ /****************************************************************************/ /* Function : getWaterAlarmCmd */ /* Purpose : Process command to read water alarm status */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ MLocal Void getWaterAlarmCmd( Void ) { Word waterAlarmStatus = 0; if (canWaterAlarm) waterAlarmStatus |= HOUSING_WATER_ALARM_BIT; if (jboxWaterAlarm) waterAlarmStatus |= JBOX_WATER_ALARM_BIT; replyToCommand(2, CMD_OK, (Word) waterAlarmStatus ); } /* getWaterAlarmCmd() */ /****************************************************************************/ /* Function : processApplicCommands */ /* Purpose : Decode application specific serial port commands */ /* Inputs : Command buffer and command buffer length */ /* Outputs : Return TRUE if command recognized and processed, else FALSE*/ /****************************************************************************/ MLocal Int16 processApplicCommands( Char *commandBuf, Int16 commandLen ) { /* try to recognize the command and call */ /* the appropriate handler */ switch (wordFromBuf(commandBuf, 0)) { case LIGHTING_IBC_APP | GET_WATER_ALARM: getWaterAlarmCmd(); /* Send water alarm status */ break; case LIGHTING_IBC_APP | GET_WATER_ALARM_THRESH: getWaterAlarmThreshCmd(); break; case LIGHTING_IBC_APP | SET_WATER_ALARM_THRESH: setWaterAlarmThreshCmd(commandBuf); break; default: return (FALSE); /* Command not recognized return FALSE */ } /* switch */ return (TRUE); /* Command recognized & processed */ } /* processApplicCommands() */ /****************************************************************************/ /* Function : executeCommand */ /* Purpose : Check commands received from serial port and call handler */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void executeCommand( Void ) { Byte* commandBuf; /* Pointer to the command packet data. */ Int16 commandLen; /* Length of the command packet data */ /* read a command from serial port */ while (readRecvdPacket(&commandBuf, &commandLen) == OK) { if ( wordFromBuf(commandBuf, 0) == (MICRO_APP | CMD_ENABLE) ) { microEnabled = TRUE; replyToCommand(1, CMD_OK ); } /* if */ else if (microEnabled) { /* try to recognize the command and call*/ /* the appropriate handler */ if ( processApplicCommands( commandBuf, commandLen ) == FALSE ) if ( processIBCCommands ( IBC_CardTable, IBC_CardCount, commandBuf, commandLen ) == FALSE ) processMicroCommands ( commandBuf, commandLen ); } /* if */ freeRecvdPacket(commandBuf);/* Free up the memory allocated for the */ /* packet by readSerialPacket() */ } /* while */ } /* executeCommand() */ /****************************************************************************/ /* Function : processSRQPacket */ /* Purpose : proceses Service Request Packets */ /* Inputs : received packet buffer */ /* Outputs : None */ /****************************************************************************/ Void processSRQPacket(Byte *command_buf) { } /* processSRQPacket() */ /****************************************************************************/ /* Function : initializeAlarms */ /* Purpose : Initializes various alarm status and thresholds */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ MLocal Void initializeAlarms( Void ) { waterAlarmThresh = WATER_ALARM_THRESHOLD; canWaterAlarm = FALSE; /* Clear water alarm status flags */ jboxWaterAlarm = FALSE; } /* initializeAlarms() */ /****************************************************************************/ /* Function : checkWaterAlarms */ /* Purpose : Monitor water alarm lines and check against alarm threshold*/ /* Inputs : None */ /* Outputs : None, but sends SRQ packet to serial port */ /****************************************************************************/ MLocal Void checkWaterAlarms( Void ) { if (IBC_ThresholdCheck( readAnalogChannel(HOUSING_WATER_ALARM_CHAN) + 0x200, waterAlarmThresh, WATER_ALARM_HYSTERESIS, &canWaterAlarm ) == TRUE) writeServiceRequest( 1, canWaterAlarm ? CAN_WATER_ALARM_ON_SRQ : CAN_WATER_ALARM_OFF_SRQ); if (IBC_ThresholdCheck( readAnalogChannel(JBOX_WATER_ALARM_CHAN) + 0x200, waterAlarmThresh, WATER_ALARM_HYSTERESIS, &jboxWaterAlarm ) == TRUE) writeServiceRequest( 1, jboxWaterAlarm ? JBOX_WATER_ALARM_ON_SRQ : JBOX_WATER_ALARM_OFF_SRQ ); } /* checkWaterAlarms() */ /****************************************************************************/ /* Function : mainLoop */ /* Purpose : C main program called from assembler startup routine */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void mainLoop( Void ) { initIoport1(); /* Initialize Input/Output Port 1 */ initIoport2(); /* Initialize Input/Output Port 2 */ initMalloc(); /* Initialize Memory allocator */ initBoardStatus(); /* Initialize board status word */ microEnabled = FALSE; /* Disabled processing of serial commands */ microSerialNo = serialNumber; /* Initialize installed IBC Cards */ IBC_CardCount = IBC_initializeCards( &IBC_CardTable, IBC_MAX_CARDS ); /* Add entry for one Dual Vicor Card */ IBC_CardCount += dualVicorBoardAdd( &IBC_CardTable, IBC_MAX_CARDS, IBC_CardCount, DUAL_VICOR_0_ADDR, DUAL_VICOR_TWO_MINI_MODS ); initializeAlarms(); /* Initialize application specific alarms */ initSerialProtocol(NULL); /* Initialize serial protocol */ /* Send Micro Reset SRQ */ writeServiceRequest(1, MICRO_RESET_SRQ); FOREVER { /* Repeat forever */ executeCommand(); /* Process any commands from the VME CPU */ checkWaterAlarms(); /* Check water alarms */ /* Execute any IBC card specific functions */ IBC_CardFunctions( &IBC_CardTable, IBC_CardCount ); } /* forever */ } /* mainLoop() */