/****************************************************************************/ /* Copyright 1992 to 1993, MBARI */ /****************************************************************************/ /* Summary : IBC Low Power Switch Interface Module for VxWorks */ /* Filename : lps.c */ /* Author : Andrew Pearce */ /* Project : New ROV */ /* Version : Version 1.0 */ /* Created : 04/08/93 */ /* Modified : 03/30/95 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: lps.c,v 1.1 93/07/01 14:34:31 pean Exp $ * $Log: lps.c,v $ * Revision 1.1 93/07/01 14:34:31 14:34:31 pean (Andrew Pearce) * Initial revision * * */ /****************************************************************************/ #include /* vxWorks system declarations */ #include /* vxWorks semaphore functions */ #include /* vxWorks watch dog timer support decls*/ #include /* vxWorks Message Queue Library */ #include /* mbari style guide type declarations */ #include /* Miscellaneous constants */ #include "sio32.h" /* SIO32 hardware and driver information*/ #include /* Sio32 server communication services */ #include /* Sio32 client communication services */ #include /* Microcontoller command functions */ #include "applic.h" /* Microcontroller applications */ #include "microcmd.h" /* Microcontroller commands */ #include "timer.h" /* Microcontroler Timer Definitions */ #include "ibc_card.h" /* IBC Card Types */ #include "filter.h" /* General Filter Routines */ #include "ibc_cmd.h" /* IBC Card Serial Commands */ #include "low_pwr.h" /* LPS Board Definitions */ #include "lps.h" /* Function Prototypes for lps.c */ /****************************************************************************/ /* Function : IBC_LPS_VicorControl */ /* Purpose : Enable/Disable IBC Low Power Switch Vicor Output */ /* Inputs : Sio32 channel, IBC Board Address, Desired Vicor state */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_VicorControl( sio32Chan *IBC_SerialChan, Word boardAddr, MBool desiredState ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 3, IBC_CPU_APP | LPS_VICOR_CONTROL, boardAddr, desiredState ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_VicorControl() */ /****************************************************************************/ /* Function : IBC_LPS_SwitchControl */ /* Purpose : Sets state of IBC Low Power Switch Channel */ /* Inputs : Sio32 channel, IBC Board Address, Channel, Desired state */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_SwitchControl( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 channel, MBool desiredState ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 4, IBC_CPU_APP | LPS_SWITCH_CTRL, boardAddr, channel, desiredState ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_SwitchControl() */ /****************************************************************************/ /* Function : IBC_LPS_SwitchStatus */ /* Purpose : Reads state of IBC Low Power Switches */ /* Inputs : Sio32 channel, IBC Board Address, Switch Status */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_SwitchStatus( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 *switchState ) { Int16 cmdStatus; /* Command Status */ Word reply[2]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 2, 2, IBC_CPU_APP | LPS_SWITCH_STATUS, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update temeratures */ wordsFromBuf(reply, 2, &cmdStatus, switchState); return (OK); /* Return OK */ } /* IBC_LPS_SwitchStatus() */ /****************************************************************************/ /* Function : IBC_LPS_SetTempThresh */ /* Purpose : Sets IBC Low Power Switch Temperature Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Vicor & Switch 3 Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_SetTempThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 vicorTempWarn, Int16 vicorTempAlarm, Int16 switchTempWarn, Int16 switchTempAlarm ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 6, IBC_CPU_APP | LPS_SET_TEMP_THRESH, boardAddr, vicorTempWarn, vicorTempAlarm, switchTempWarn, switchTempAlarm ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_SetTempThresh() */ /****************************************************************************/ /* Function : IBC_LPS_GetTempThresh */ /* Purpose : Read IBC Low Power Switch Temperature Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Vicor & Switch 3 Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetTempThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 *vicorTempWarn, Int16 *vicorTempAlarm, Int16 *switchTempWarn, Int16 *switchTempAlarm ) { Int16 cmdStatus; /* Command Status */ Word reply[5]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 5, 2, IBC_CPU_APP | LPS_GET_TEMP_THRESH, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update thresholds */ wordsFromBuf(reply, 5, &cmdStatus, vicorTempWarn, vicorTempAlarm, switchTempWarn, switchTempAlarm); return (OK); /* Return OK */ } /* IBC_LPS_GetTempThresh() */ /****************************************************************************/ /* Function : IBC_LPS_GetTemperatures */ /* Purpose : Read IBC Low Power Switch Temperatures */ /* Inputs : Sio32 channel, Board Address, Vicor & Switch Temperatures */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetTemperatures( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 *vicorTemp, Int16 *switchTemp ) { Int16 cmdStatus; /* Command Status */ Word reply[3]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 3, 2, IBC_CPU_APP | LPS_GET_TEMPERATURES, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update temeratures */ wordsFromBuf(reply, 3, &cmdStatus, vicorTemp, switchTemp); return (OK); /* Return OK */ } /* IBC_LPS_GetTemperatures() */ /****************************************************************************/ /* Function : IBC_LPS_SetVoltageThresh */ /* Purpose : Sets IBC Low Power Switch Voltage Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Voltage Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_SetVoltageThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 voltageWarn, Nat16 voltageAlarm) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 4, IBC_CPU_APP | LPS_SET_VOLTAGE_THRESH, boardAddr, voltageWarn /= LPS_VOLTAGE_ALARM_SCALAR, voltageAlarm /= LPS_VOLTAGE_ALARM_SCALAR) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_SetVoltageThresh() */ /****************************************************************************/ /* Function : IBC_LPS_GetVoltageThresh */ /* Purpose : Read IBC Low Power Switch Voltage Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Voltage Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetVoltageThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 *voltageWarn, Nat16 *voltageAlarm) { Int16 cmdStatus; /* Command Status */ Word reply[3]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 3, 2, IBC_CPU_APP | LPS_GET_VOLTAGE_THRESH, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update thresholds */ wordsFromBuf(reply, 3, &cmdStatus, voltageWarn, voltageAlarm); *voltageWarn *= LPS_VOLTAGE_ALARM_SCALAR; *voltageAlarm *= LPS_VOLTAGE_ALARM_SCALAR; return (OK); /* Return OK */ } /* IBC_LPS_GetVoltageThresh() */ /****************************************************************************/ /* Function : IBC_LPS_GetVoltage */ /* Purpose : Read IBC Low Power Switch Voltage */ /* Inputs : Sio32 channel, Board Address, Voltage */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetVoltage( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 *lpsVoltage ) { Int16 cmdStatus; /* Command Status */ Word reply[2]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 2, 2, IBC_CPU_APP | LPS_GET_VOLTAGE, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update currents */ wordsFromBuf(reply, 2, &cmdStatus, lpsVoltage); return (OK); /* Return OK */ } /* IBC_LPS_GetVoltage() */ /****************************************************************************/ /* Function : IBC_LPS_GetCurrents */ /* Purpose : Read IBC Low Power Switch Currents */ /* Inputs : Sio32 channel, Board Address, Switch Currents */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetCurrents( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 lpsCurrent[] ) { Int16 cmdStatus; /* Command Status */ Word reply[5]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 5, 2, IBC_CPU_APP | LPS_GET_CURRENTS, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update currents */ wordsFromBuf(reply, 5, &cmdStatus, &lpsCurrent[0], &lpsCurrent[1], &lpsCurrent[2], &lpsCurrent[3]); return (OK); /* Return OK */ } /* IBC_LPS_GetCurrents() */ /****************************************************************************/ /* Function : IBC_LPS_GetCurrentThresh */ /* Purpose : Read IBC Low Power Switch Current Alarm Thresholds */ /* Inputs : Sio32 channel, Board Address, Current Alarm Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetCurrentThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 warn[], Int16 alarm[] ) { Int16 cmdStatus; /* Command Status */ Word reply[9]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 9, 2, IBC_CPU_APP | LPS_GET_CURRENT_THRESH, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update currents */ wordsFromBuf(reply, 9, &cmdStatus, &warn[0], &alarm[0], &warn[1], &alarm[1], &warn[2], &alarm[2], &warn[3], &alarm[3] ); return (OK); /* Return OK */ } /* IBC_LPS_GetCurrentThresh() */ /****************************************************************************/ /* Function : IBC_LPS_SetCurrentThresh */ /* Purpose : Sets IBC Low Power Switch Current Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Warning & Alarm Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_SetCurrentThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 warn[], Int16 alarm[] ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 10, IBC_CPU_APP | LPS_SET_CURRENT_THRESH, boardAddr, warn[0], alarm[0], warn[1], alarm[1], warn[2], alarm[2], warn[3], alarm[3] ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_SetCurrentThresh() */ STATUS IBC_LPS_SetChanCurrentThreshold( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 chan, Int16 warn, Int16 alarm ) { Word status; /* Command Result from microcontroller */ Int16 warnThresh[LPS_MAX_CHANS], alarmThresh[LPS_MAX_CHANS]; if (chan >= LPS_MAX_CHANS) return (ERROR); if (IBC_LPS_GetCurrentThresh( IBC_SerialChan, boardAddr, warnThresh, alarmThresh) == ERROR) return (ERROR); warnThresh[chan] = warn; alarmThresh[chan] = alarm; return (IBC_LPS_SetCurrentThresh( IBC_SerialChan, boardAddr, warnThresh, alarmThresh)); } /* IBC_LPS_SetChanCurrentThresh() */ /****************************************************************************/ /* Function : IBC_LPS_GetAlarmStatus */ /* Purpose : Read IBC Low Power Switch Board Alarms */ /* Inputs : Sio32 channel, Board Address, Various Alarms */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GetAlarmStatus( sio32Chan *IBC_SerialChan, Word boardAddr, ibcAlarm currentAlarms[], ibcAlarm *vicorTempAlarm, ibcAlarm *switchTempAlarm, ibcAlarm *vicorVoltageAlarm ) { Int16 cmdStatus; /* Command Status */ Word reply[8]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 8, 2, IBC_CPU_APP | LPS_GET_ALARM_STATUS, boardAddr ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ if (wordFromBuf(&reply, 0) != CMD_OK) return(ERROR); /* Command failed so return ERROR */ /* Command OK so update alarms */ currentAlarms[0] = (ibcAlarm) wordFromBuf(&reply, sizeof(Word)); currentAlarms[1] = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 2); currentAlarms[2] = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 3); currentAlarms[3] = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 4); *vicorTempAlarm = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 5); *switchTempAlarm = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 6); *vicorVoltageAlarm = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 7); return (OK); /* Return OK */ } /* IBC_LPS_GetAlarmStatus() */ /****************************************************************************/ /* Function : IBC_LPS_GangOutputs */ /* Purpose : Enable/disable gang output mode for LPS switch chan pairs */ /* Inputs : Sio32 channel, IBC Board Address, Channel, gang state */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_GangOutputs( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 channel, MBool gangState ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 4, IBC_CPU_APP | LPS_SET_GANG_OUTPUT, boardAddr, channel, gangState ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_GangOutputs() */ /****************************************************************************/ /* Function : IBC_LPS_SetSwitchDelay */ /* Purpose : Set LPS switch on delay for voltage checking */ /* Inputs : Sio32 channel, IBC Board Address, Delay time 10 msec units */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_LPS_SetSwitchDelay( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 delayTime) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 3, IBC_CPU_APP | LPS_SET_SWITCH_DELAY, boardAddr, delayTime) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_LPS_SetSwitchDelay() */