/****************************************************************************/ /* Copyright 1992 to 1993, MBARI */ /****************************************************************************/ /* Summary : IBC Regen Controller Board Interface Module for VxWork */ /* Filename : regen.c */ /* Author : Andrew Pearce */ /* Project : New ROV */ /* Version : Version 1.0 */ /* Created : 06/09/93 */ /* Modified : 06/09/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: regen.c,v 1.1 93/07/01 14:34:32 pean Exp $ * $Log: regen.c,v $ * Revision 1.1 93/07/01 14:34:32 14:34:32 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 "ibc_card.h" /* IBC Card Types */ #include "ibc_cmd.h" /* IBC Card Serial Commands */ #include "filter.h" /* General Filter Routines */ #include "timer.h" /* Timer library definitions */ #include "regen.h" /* IBC Regen Controller Card Definitions*/ #include "regenBoard.h" /* Function Prototypes for regen.c */ /****************************************************************************/ /* Function : IBC_regenSetTempThresh */ /* Purpose : Sets IBC Regen Controller Temperature Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Temperature Alarm Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenSetTempThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 tempWarn, Int16 tempAlarm ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 4, IBC_CPU_APP | REGEN_SET_TEMP_THRESH, (Word) boardAddr, tempWarn, tempAlarm ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_regenSetTempThresh() */ /****************************************************************************/ /* Function : IBC_regenGetTempThresh */ /* Purpose : Read IBC Regen Controller Temperature Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Temperature Alarm Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenGetTempThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 *tempWarn, Int16 *tempAlarm ) { 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 | REGEN_GET_TEMP_THRESH, (Word) 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, tempWarn, tempAlarm ); return (OK); /* Return OK */ } /* IBC_regenGetTempThresh() */ /****************************************************************************/ /* Function : IBC_regenSetVoltageThresh */ /* Purpose : Sets IBC Regen Controller Voltage Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Voltage Alarm Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenSetVoltageThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 voltMinWarn, Int16 voltMinAlarm, Int16 voltMaxWarn, Int16 voltMaxAlarm ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 6, IBC_CPU_APP | REGEN_SET_VOLT_THRESH, (Word) boardAddr, voltMinWarn, voltMinAlarm, voltMaxWarn, voltMaxAlarm ) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_regenSetVoltageThresh() */ /****************************************************************************/ /* Function : IBC_regenGetVoltageThresh */ /* Purpose : Read IBC Regen Controller Voltage Warning and Alarm */ /* Thresholds */ /* Inputs : Sio32 channel, Board Address, Voltage Alarm Thresholds */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenGetVoltageThresh( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 *voltMinWarn, Int16 *voltMinAlarm, Int16 *voltMaxWarn, Int16 *voltMaxAlarm ) { 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 | REGEN_GET_VOLT_THRESH, (Word) 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, voltMinWarn, voltMinAlarm, voltMaxWarn, voltMaxAlarm ); return (OK); /* Return OK */ } /* IBC_regenGetVoltageThresh() */ /****************************************************************************/ /* Function : IBC_regenResetMinMax */ /* Purpose : Sets IBC Regen Controller Reset Voltage Min/Max Values */ /* Inputs : Sio32 channel, Board Address */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenResetMinMax( sio32Chan *IBC_SerialChan, Word boardAddr ) { Word status; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &status, sizeof(status), 2, IBC_CPU_APP | REGEN_RESET_MIN_MAX, (Word) boardAddr) == ERROR ) return(ERROR); /* Check command result */ return (wordFromBuf(&status, 0) == CMD_OK ? OK : ERROR); } /* IBC_regenResetMinMax() */ /****************************************************************************/ /* Function : IBC_regenGetMeasurements */ /* Purpose : Read IBC Regen Controller Voltage, duty cycles, temperature*/ /* Inputs : Sio32 channel, Board Address, measured parameters */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenGetMeasurements( sio32Chan *IBC_SerialChan, Word boardAddr, Int16 *dutyCycle1, Int16 *dutyCycle2, Int16 *busVoltage, Int16 *minBusVoltage, Int16 *maxBusVoltage, Int16 *temperature ) { Int16 cmdStatus; /* Command Status */ Word reply[7]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 7, 2, IBC_CPU_APP | REGEN_GET_STATUS, (Word) 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, 7, &cmdStatus, dutyCycle1, dutyCycle2, busVoltage, minBusVoltage, maxBusVoltage, temperature ); return (OK); /* Return OK */ } /* IBC_regenGetMeasurements() */ /****************************************************************************/ /* Function : IBC_regenGetAlarmStatus */ /* Purpose : Read IBC Regen Controller Board Alarms */ /* Inputs : Sio32 channel, Board Address, Various Alarms */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenGetAlarmStatus( sio32Chan *IBC_SerialChan, Word boardAddr, ibcAlarm *heatsinkTempAlarm, ibcAlarm *minBusVoltAlarm, ibcAlarm *maxBusVoltAlarm, MBool *openHeaterAlarm, MBool *dutyCycleAlarm ) { Int16 cmdStatus; /* Command Status */ Word reply[6]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * 6, 2, IBC_CPU_APP | REGEN_GET_ALARM_STATUS, (Word) 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 */ *heatsinkTempAlarm = (ibcAlarm) wordFromBuf(&reply, sizeof(Word)); *minBusVoltAlarm = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 2); *maxBusVoltAlarm = (ibcAlarm) wordFromBuf(&reply, sizeof(Word) * 3); *openHeaterAlarm = (MBool) wordFromBuf(&reply, sizeof(Word) * 4); *dutyCycleAlarm = (MBool) wordFromBuf(&reply, sizeof(Word) * 5); return (OK); /* Return OK */ } /* IBC_regenGetAlarmStatus() */ /****************************************************************************/ /* Function : IBC_regenDigitalScope */ /* Purpose : Read IBC Regen Controller Digital Scope Data */ /* Inputs : Sio32 channel, Board Address, analog chan, arrary of values*/ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ STATUS IBC_regenDigitalScope( sio32Chan *IBC_SerialChan, Word boardAddr, Word analogChan, Byte values[REGEN_SAMPLES] ) { Int16 cmdStatus; /* Command Status */ Word reply[REGEN_SAMPLES + 1]; /* Command Result from microcontroller */ /* Send command to microcontroller */ if ( sendMicroCommand( IBC_SerialChan, &reply, sizeof(Word) * REGEN_SAMPLES + 1, 3, IBC_CPU_APP | REGEN_DIGITAL_SCOPE, (Word) boardAddr, analogChan ) == 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 copy readings */ bcopy(reply + 1, values, REGEN_SAMPLES); return (OK); /* Return OK */ } /* IBC_regenDigitalScope() */