/****************************************************************************/ /* Copyright 1991, 1992, 1993 MBARI */ /****************************************************************************/ /* Summary : IBC Monitor '196 microntroller - Main C Source file */ /* Filename : monitor.c */ /* Author : Andrew Pearce */ /* Project : ROV 1.5 IBC Based Data Concentrator */ /* Version : 1.0 */ /* Created : 01/13/93 */ /* Modified : 01/14/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/ibc/monitor/monitor.c,v 1.1.1.1 1997/05/02 18:51:25 pean Exp $ * $Log: monitor.c,v $ * Revision 1.1.1.1 1997/05/02 18:51:25 pean * Initial check in of IBC microcontroller software * */ /****************************************************************************/ #pragma model(196) #pragma nosignedchar #include "C:/C96/include/80C196.h" /* 80196 Register mapping */ #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 "timer.h" /* Timer library definitions */ #include "microlib.h" /* Microcontroller Library decls. */ #include "applay.h" /* Application layer funcitions */ #include "microCmd.h" /* microcontroller commands */ #include "syslib.h" /* Board Support library decls. */ #include "../ibc/ibc_card.h" /* IBC Board Types and Addresses */ #include "../ibc/ibc_cmd.h" /* Core IBC application definitions */ #include "../cpu196/cpu196.h" /* IBC 80C196 CPU Board functions */ #include "../cpu196/pic.h" /* Intel 82C59 Interrupt Controller */ #include "../cpu196/eeprom.h" /* Atmel 28C256 EEPROM Definitions */ #include "../filter/filter.h" /* IBC General IIR Filter Routines */ #include "../gf_5v/gf_board.h" /* Ground Fault Board Definitions */ #include "../low_pwr/low_pwr.h" /* Low Power Switch Board Defs */ #include "../high_pwr/high_pwr.h" /* High Power Switch Board Defs */ #include "../vicor/vicor.h" /* Dual Vicor Board Definitions */ #include "../nav_if/nav_if.h" /* Navigation Interface Board Defs */ #include "../atod/atod.h" /* IBC A to D Board Definitions */ #include "../pio/pio.h" /* Parallel IO Board Definitions */ #include "monitor.h" /* Application specific definitions */ /****************************************************************************/ const Char micro_id[] = "87C196KC IBC Monitor"; const Char softwareRev[] = "$Revision: 1.1.1.1 $"; const Char microSerialNo[] = "Monitor"; MLocal Boolean microEnabled; /* Enables serial command processing*/ /* Array of IBC boards in backplane */ MLocal IBC_BoardEntry *(IBC_CardTable[IBC_MAX_CARDS]); MLocal Int16 IBC_CardCount; /* IBC cards found in backplane */ /****************************************************************************/ /* Function : microReadPICStatusCmd */ /* Purpose : Send 82C59 PIC status register to serial port */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void microReadPICStatusCmd( Void ) { /* send PIC status to serial port */ replyToCommand(2, CMD_OK, PIC_intStatus()); } /* microReadPICStatusCmd() */ /****************************************************************************/ /* Function : microEEPROMTestCmd */ /* Purpose : Performs Read Write Test of EEPROM */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void microEEPROMTestCmd( Void ) { Int16 addr, page; Boolean bad = FALSE; Byte buffer[EEPROM_PAGE_SIZE]; Byte preserve[EEPROM_PAGE_SIZE]; Byte pattern1[EEPROM_PAGE_SIZE]; Byte pattern2[EEPROM_PAGE_SIZE]; memset(pattern1, 0x55, EEPROM_PAGE_SIZE); memset(pattern2, 0xaa, EEPROM_PAGE_SIZE); for (page = 0; bad == FALSE, page < EEPROM_SIZE/EEPROM_PAGE_SIZE; page++) { EEPROM_Read(preserve, EEPROM_PAGE_SIZE, page * EEPROM_PAGE_SIZE); EEPROM_Write(pattern1, EEPROM_PAGE_SIZE, page * EEPROM_PAGE_SIZE); EEPROM_Read(buffer, EEPROM_PAGE_SIZE, page * EEPROM_PAGE_SIZE); for (addr = 0; bad == FALSE, addr < EEPROM_PAGE_SIZE; addr++) if (buffer[addr] != pattern1[0]) bad = TRUE; if (bad == FALSE) { EEPROM_Write(pattern2, EEPROM_PAGE_SIZE, page * EEPROM_PAGE_SIZE); EEPROM_Read(buffer, EEPROM_PAGE_SIZE, page * EEPROM_PAGE_SIZE); for (addr = 0; bad == FALSE, addr < EEPROM_PAGE_SIZE; addr++) if (buffer[addr] != pattern2[0]) bad = TRUE; } /* if */ EEPROM_Write(preserve, EEPROM_PAGE_SIZE, page * EEPROM_PAGE_SIZE); } /* for */ if (bad) replyToCommand(2, ECOMMAND, page * EEPROM_PAGE_SIZE + addr); else replyToCommand(2, CMD_OK, 0); } /* microEEPROMTestCmd() */ /****************************************************************************/ /* Function : microGetHumidity */ /* Purpose : Send humidity sensor value to serial port */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void microGetHumidityCmd( Void ) { /* send humidity to serial port */ replyToCommand(2, CMD_OK, readHumidity()); } /* microGetHumidityCmd() */ /****************************************************************************/ /* Function : processCommand */ /* Purpose : Decode serial port command and dispatch handler */ /* Inputs : Command buffer and command buffer length */ /* Outputs : None */ /****************************************************************************/ Void processCommand( Char * commandBuf, Int16 commandLen ) { /* try to recognize the command and call */ /* the appropriate handler */ switch (wordFromBuf(commandBuf, 0)) { default: /* Command received but not valid so */ /* Send pack an Invalid Command message */ replyToCommand(1, ECOMMAND); break; } /* switch */ } /* processCommand() */ /****************************************************************************/ /* Function : executeCommand */ /* Purpose : Check commands received from serial port and call handler */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void executeCommand( Void ) { Char *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 (microEnabled) { /* try to recognize the command and call*/ /* the appropriate handler */ processCommand( commandBuf, commandLen ); } /* if */ else if ( wordFromBuf(commandBuf, 0) == (MICRO_APP | CMD_ENABLE) ) { microEnabled = TRUE; replyToCommand(1, CMD_OK); } /* else */ 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 : IBC_initializeCards */ /* Purpose : Performs IBC bus related hardware & software initialization*/ /* Inputs : Pointer to IBC Card Table, size of Card Table */ /* Outputs : Returns number of IBC cards */ /****************************************************************************/ MLocal Int16 IBC_initializeCards( IBC_BoardEntry *IBC_CardTable[], Int16 maxCards ) { Int16 cardCount; /* Number of IBC boards in chassis */ ibcBusInitialize(); /* Initialize IBC Bus Timeout Functions */ ibcBusReset(); /* Bring IBC Bus out of power up reset state*/ /* Search for installed IBC Cards */ cardCount = IBC_CardSearch( IBC_CardTable, maxCards ); initializePIC(); /* Initialize CPU board Interrupt Controller*/ PIC_enable(); /* Enable Interrupt from PIC to processor */ /* Wait for the AtoD boards to power up */ taskDelay(IBC_POWERUP_DELAY); IBC_InitInterrupts( IBC_CardTable, cardCount ); return(cardCount); } /* initializeCards() */ /****************************************************************************/ /* 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 */ /* Initialize installed IBC Cards */ IBC_CardCount = IBC_initializeCards(&IBC_CardTable, IBC_MAX_CARDS); /* Add entry for one Dual Vicor Card */ IBC_CardCount += dualVicorBoardInit( &IBC_CardTable[IBC_CardCount], IBC_MAX_CARDS - IBC_CardCount, (Byte *) DUAL_VICOR_0_ADDR, DUAL_VICOR_TWO_MINI_MODS ); /* 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 ); microEnabled = FALSE; /* Disabled processing of serial commands */ /* Initialize serial protocol */ initSerialProtocol(NULL); /* Send Micro Reset SRQ */ writeServiceRequest(1, MICRO_RESET_SRQ); FOREVER { /* Repeat forever */ executeCommand(); /* Process any commands from the VME */ } /* forever */ } /* mainLoop() */