/****************************************************************************/ /* Copyright 1992 to 1995, MBARI */ /****************************************************************************/ /* Summary : IBC Quad Serial Port Interface Module for VxWorks */ /* Filename : quadSerCmd.c */ /* Author : Douglas Au */ /* Project : New ROV */ /* Version : Version 1.0 */ /* Created : 08/21/95 */ /* Modified : 08/21/95 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: * $Log: * * 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 "ibc_card.h" /* IBC Card Types */ #include "ibc_cmd.h" /* IBC Card Serial Commands */ #include "quadSerCmd.h" /* Function Prototypes for quadSerCmd.c */ /****************************************************************************/ /* Function : Quad_Serial_Read */ /* Purpose : Reads from Quad Serial Port */ /* Inputs : Sio32 channel, IBC Board Address, channel, buffer */ /* Outputs : Returns number of bytes read or ERROR */ /****************************************************************************/ STATUS Quad_Serial_Read( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan, Byte *readBuffer, Int16 nBytes ) { Int16 len; Byte reply[MAX_PACKET_LEN]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ((len = sendMicroCommand( IBC_SerialChan, &reply, MAX_PACKET_LEN, 4, IBC_CPU_APP | QUAD_SER_READ, boardAddr, chan, nBytes )) == 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 readBuffer */ bcopy(reply + sizeof(Word), readBuffer, len - sizeof(Word)); return (len - sizeof(Word)); /* Return bytes read */ } /* Quad_Serial_Read() */ /****************************************************************************/ /* Function : Quad_Serial_Write */ /* Purpose : Writes to Quad Serial Port */ /* Inputs : Sio32 channel, IBC Board Address */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS Quad_Serial_Write( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan, Byte *writeBuffer, Int16 nBytes ) { Word reply; Byte Packet[MAX_PACKET_LEN]; /* Command Result from microcontroller */ nBytes = min(nBytes, MAX_PACKET_LEN - sizeof(Word) * 4); wordsToBuf(Packet, 4, IBC_CPU_APP | QUAD_SER_WRITE, boardAddr, chan, nBytes); bcopy( writeBuffer, Packet + sizeof(Word) * 4, nBytes); return (microWriteBufReply( IBC_SerialChan, nBytes + sizeof(Word) * 4, Packet)); } /* Quad_Serial_Write() */ /****************************************************************************/ /* Function : Quad_Serial_SetTermChar */ /* Purpose : Sets Term Char of Quad Serial Port */ /* Inputs : Sio32 channel, IBC Board Address, channel,termchar */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS Quad_Serial_SetTermChar( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan, char termChar ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(Word), 4, IBC_CPU_APP | QUAD_SER_SET_TERM_CHAR, boardAddr, chan, termChar ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* Quad_Serial_SetTermChar() */ /******************************************************************************/ /* Function : Quad_Serial_SetLineParm */ /* Purpose : Sets Line Parms of Quad Serial Port */ /* Inputs : Sio32 channel, IBC Board Address, channel, baudrate, stopbits*/ /* databits, parity */ /* Outputs : Returns OK or ERROR */ /******************************************************************************/ STATUS Quad_Serial_SetLineParm( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan, Nat16 baud, Nat16 data, Nat16 stop, Nat16 par, MBool handshake, Int16 proto ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(Word), 9, IBC_CPU_APP | QUAD_SER_SET_LINE_PARM, boardAddr, chan, baud, data, stop, par, handshake, proto) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* Quad_Serial_SetLineParm() */ /****************************************************************************/ /* Function : Quad_Serial_GetLineParm */ /* Purpose : Gets Line Parameter for Serial Port */ /* Inputs : Sio32 channel, IBC Board Address, channel, buffer */ /* Outputs : Returns Line Parms or ERROR */ /****************************************************************************/ STATUS Quad_Serial_GetLineParm( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan, Nat16 *baud, Nat16 *data, Nat16 *stop, Nat16 *par, MBool *handshake, Int16 *proto ) { Int16 cmdStatus; /* Command Status */ Word reply[7]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 7, 3, IBC_CPU_APP | QUAD_SER_GET_LINE_PARM, boardAddr, chan) == 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, 7, &cmdStatus, baud, data, stop, par, handshake, proto); return (OK); } /* Quad_Serial_GetLineParms() */ /****************************************************************************/ /* Function : Quad_Serial_SendBreak */ /* Purpose : Sends Break Command to Serial Port */ /* Inputs : Sio32 channel, IBC Board Address, channel */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS Quad_Serial_SendBreak( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan, Nat16 mode) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(Word), 4, IBC_CPU_APP | QUAD_SER_SEND_BREAK, boardAddr, chan, mode ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* Quad_Serial_SendBreak() */ /****************************************************************************/ /* Function : Quad_Serial_Open */ /* Purpose : Opens serial channel */ /* Inputs : Sio32 channel, IBC Board Address, channel */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS Quad_Serial_Open( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan ) { Word status; /* Command Status */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(Word), 3, IBC_CPU_APP | QUAD_SER_OPEN_CHAN, boardAddr, chan ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* Quad_Serial_Open() */ /****************************************************************************/ /* Function : Quad_Serial_Close */ /* Purpose : Closes serial channel */ /* Inputs : Sio32 channel, IBC Board Address, channel */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS Quad_Serial_Close( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan ) { Word status; /* Command Status */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(Word), 3, IBC_CPU_APP | QUAD_SER_CLOSE_CHAN, boardAddr, chan ) == ERROR ) return(ERROR); /* Check if command result is CMD OK */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* Quad_Serial_Close() */ /****************************************************************************/ /* Function : Quad_Serial_Flush */ /* Purpose : Flushes serial channel */ /* Inputs : Sio32 channel, IBC Board Address, chan */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS Quad_Serial_Flush( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan ) { Int16 cmdStatus; /* Command Status */ Word reply[2]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 2, 3, IBC_CPU_APP | QUAD_SER_FLUSH, boardAddr, chan ) == 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 */ wordsFromBuf(reply, 1, &cmdStatus); return (OK); /* Return OK */ } /* Quad_Serial_Flush() */ /****************************************************************************/ /* Function : Quad_Serial_RxBytes */ /* Purpose : Returns Number of Bytes in Receive queue */ /* Inputs : Sio32 channel, IBC Board Address, termchar */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ Int16 Quad_Serial_RxBytes( sio32Chan *IBC_SerialChan, Word boardAddr ) { Int16 cmdStatus; /* Command Status */ Word reply[2]; /* Command Result from microcontroller */ Int16 bytes; /* Number of Bytes */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 2, 2, IBC_CPU_APP | QUAD_SER_RX_BYTES, 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 */ wordsFromBuf(reply, 2, &cmdStatus, &bytes); return (bytes); /* Return OK */ } /* Quad_Serial_RxBytes() */ /****************************************************************************/ /* Function : Quad_Serial_TxBytes */ /* Purpose : Returns Number of Bytes in Transmit queue */ /* Inputs : Sio32 channel, IBC Board Address, termchar */ /* Outputs : Returns Int16 */ /****************************************************************************/ Int16 Quad_Serial_TxBytes( sio32Chan *IBC_SerialChan, Word boardAddr ) { Int16 cmdStatus; /* Command Status */ Word reply[2]; /* Command Result from microcontroller */ Int16 bytes; /* Number of Bytes */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 2, 2, IBC_CPU_APP | QUAD_SER_TX_BYTES, 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 */ wordsFromBuf(reply, 2, &cmdStatus, &bytes); return (bytes); /* Return OK */ } /* Quad_Serial_TxBytes() */ /****************************************************************************/ /* Function : Quad_Serial_TermChars */ /* Purpose : Returns Number of Term Characters Received */ /* Inputs : Sio32 channel, IBC Board Address, termchar */ /* Outputs : Returns Int16 */ /****************************************************************************/ Int16 Quad_Serial_TermChars( sio32Chan *IBC_SerialChan, Word boardAddr, Word chan ) { Int16 cmdStatus; /* Command Status */ Word reply[2]; /* Command Result from microcontroller */ Int16 termChars; /* Number of Term Chars */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 2, 3, IBC_CPU_APP | QUAD_SER_TERM_CHARS, boardAddr, chan ) == 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 */ wordsFromBuf(reply, 2, &cmdStatus, &termChars); return (termChars); /* Return OK */ } /* Quad_Serial_TermChars() */ /****************************************************************************/ /* Function : IBC_QUAD_SER_GetPsuStatus */ /* Purpose : Read IBC Quad Serial Board Alarms */ /* Inputs : Sio32 channel, Board Address, Various Alarms */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_QUAD_SERIAL_GetPsuStatus( sio32Chan *IBC_SerialChan, Word boardAddr, Nat16 *psuStatus ) { 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 | QUAD_SER_GET_PSU_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 */ *psuStatus = wordFromBuf(&reply, sizeof(Word)); return (OK); /* Return OK */ } /* IBC_QUAD_SERIAL_GetPsuStatus() */