/******************************************************************************/ /* Copyright 1992 MBARI */ /******************************************************************************/ /* Summary : Power Manager Module Definitions for Tiburon */ /* Filename : power.h */ /* Author : Janice Tarrant */ /* Project : Tiburon */ /* Version : Version 2.0 */ /* Created : 10/04/95 */ /* Modified : 03/14/96 */ /* Archived : */ /******************************************************************************/ /* Modification History : */ /* $Header$ * $Log$ * */ /******************************************************************************/ #ifndef POWER_MGR_H #define POWER_MGR_H #define VERIFY_POWER_DM FALSE /* verify data manager items flag */ #define NUM_STATIC_POWER 10 /* number of static power requests */ #define NUM_SWITCH_POWER 200 /* number of switchable power requests*/ #define GROUP_MAX 32 /* number of items in a dm group */ /* number of power data manager groups*/ #define NUM_POWER_GROUPS (Nat16) (NUM_SWITCH_POWER / GROUP_MAX) #define NUM_THRUSTERS 6 /* number of thrusters */ #define DM_ITEM_NAME_LEN 60 /* data manager item name max len */ #define FILE_LINE_LEN 200 /* max file line length */ /* data manager power items file name */ #define POWER_DM_FILENAME "/usr/tiburon/vw/h/powerDM.h" /* verified power items file name */ #define VERIFY_POWER_DM_FILENAME "/usr/tiburon/vw/powerMgr/verifyDM" /* power request keyword */ #define POWER_REQ_KEYWORD "PWR_REQ" /* power ok keyword */ #define POWER_OK_KEYWORD "PWR_OK" /* vme 240 V bus static load keyword */ #define VME_240V_BUS_KEYWORD VME_240V_BUS_PWR_REQ_DM /* vme 48 V bus static load keyword */ #define VME_48V_BUS_KEYWORD VME_48V_BUS_PWR_REQ_DM /* power can static load keyword */ #define POWER_CAN_KEYWORD POWER_CAN_PWR_REQ_DM /* control system thrust load keyword */ #define THRUSTERS_KEYWORD THRUSTERS_PWR_REQ_DM /* data manager items for debugging */ /* purposes only */ /* number of sem takes */ #define NUM_SEMTAKE_DM "TIBURON.POWER.NUM_SEMTAKE" /* number of thruster power requests */ #define NUM_THRUST_REQ_DM "TIBURON.POWER.NUM_THRUST_REQ" /* number of switched power requests */ #define NUM_SWITCH_REQ_DM "TIBURON.POWER.NUM_SWITCH_REQ" /* number of requests serviced */ #define NUM_REQ_DM "TIBURON.POWER.NUM_REQ" #define BUS_240A_EFF 1.0 /* bus 240A efficiency */ #define BUS_240B_EFF 1.0 /* bus 240B efficiency */ #define BUS_48A_EFF 0.8 /* bus 48A efficiency */ #define BUS_48B_EFF 0.8 /* bus 48B efficiency */ /* power data manager item names */ typedef struct { /* thrusters power request name */ char thrustersPwrReq[DM_ITEM_NAME_LEN]; /* thrusters power ok name */ char thrustersPwrOk[DM_ITEM_NAME_LEN]; /* static items power request name */ char staticPwrReq[NUM_STATIC_POWER][DM_ITEM_NAME_LEN]; /* static items power ok name */ char staticPwrOk[NUM_STATIC_POWER][DM_ITEM_NAME_LEN]; /* switched items power request name */ char switchPwrReq[NUM_SWITCH_POWER][DM_ITEM_NAME_LEN]; /* switched items power ok name */ char switchPwrOk[NUM_SWITCH_POWER][DM_ITEM_NAME_LEN]; } powerDMNames; /* power data manager item handles */ typedef struct { Int16 numStatic; /* number of static power items */ Int16 numSwitch; /* number of switched power items */ DM_Item maxPwrAvail; /* max power available */ DM_Item hotelPwrAlloc; /* hotel load power allocated */ DM_Item lightsPwrAlloc; /* lights load power allocated */ DM_Item toolsPwrAlloc; /* tools load power allocated */ DM_Item thrustersPwrReq; /* thrusters power request */ DM_Item thrustersPwrAlloc; /* thrusters power allocated */ DM_Item thrustersPwrOk; /* thrusters power OK */ DM_Item thrustersPwrRed; /* thrusters power reduced */ /* static power request and ok */ DM_Item staticPwrReq[NUM_STATIC_POWER]; DM_Item staticPwrOk[NUM_STATIC_POWER]; /* switchable power request and ok */ DM_Item switchPwrReq[NUM_SWITCH_POWER]; DM_Item switchPwrOk[NUM_SWITCH_POWER]; DM_Item thrusterPortHorizMtrEnb; /* port horizontal motor enabled */ DM_Item thrusterPortHorizPwrConf; /* port horiz motor power confirmed */ DM_Item thrusterStbdHorizMtrEnb; /* starboard horiz motor enabled */ DM_Item thrusterStbdHorizPwrConf; /* stbd horiz motor power confirmed */ DM_Item thrusterFwdLatMtrEnb; /* forward lateral motor enabled */ DM_Item thrusterFwdLatPwrConf; /* forward lat motor power confirmed */ DM_Item thrusterAftLatMtrEnb; /* aft lateral motor enabled */ DM_Item thrusterAftLatPwrConf; /* aft lateral motor power confirmed */ DM_Item thrusterPortVertMtrEnb; /* port vertical motor enabled */ DM_Item thrusterPortVertPwrConf; /* port vertical motor power confirmed*/ DM_Item thrusterStbdVertMtrEnb; /* starboard vert motor enabled */ DM_Item thrusterStbdVertPwrConf; /* stbd vert motor power confirmed */ /* data manager items for debugging */ /* purposes only */ DM_Item numSemTake; /* number of sem takes */ DM_Item numThrustReq; /* number of thruster power requests */ DM_Item numSwitchReq; /* number of switched power requests */ DM_Item numReq; /* number of requests serviced */ } powerDMItems; /* power request groups */ typedef struct { Int16 numSwitch; /* number of switched power groups */ DM_Group generic; /* generic power changes group */ DM_Group thrusters; /* thrusters power request group */ DM_Group staticLoad; /* static power request group */ /* switched power request groups */ DM_Group switchLoad[NUM_POWER_GROUPS]; DWord genericBit; /* generic changes bit */ DWord thrustersBit; /* thrusters request bit */ DWord staticBit[NUM_STATIC_POWER];/* static power request bits */ DWord switchBit[NUM_SWITCH_POWER];/* switched power request bits */ } powerDMGroups; /* data manager initialization values */ typedef struct { char *name; /* data manager array name */ DM_Item *item; /* data manager item handle pointer */ } dmInit; /* switch load divisions cumulative power */ typedef struct { DM_Item dmiHotelPwr, dmiLightsPwr; /* hotel, lights and tools power */ DM_Item dmiToolsPwr; /* allocated data manager items */ Nat16 hotelPwrAlloc, lightsPwrAlloc;/* hotel, lights and tools power */ Nat16 toolsPwrAlloc; /* allocated */ } switchDivisions; /* thrusters power variables */ typedef struct { Nat16 pwrAlloc; /* power allocated */ DM_Item dmiPwrReq, dmiPwrAlloc; /* power request, allocated, Ok and */ DM_Item dmiPwrOk, dmiPwrRed; /* reduced, and motor enable data */ DM_Item dmiMtrEnb[NUM_THRUSTERS]; /* manager items */ SEM_ID pwrConfSem[NUM_THRUSTERS]; /* power confirmed semaphores */ DM_Group group; /* group Id */ } thrustersVars; #endif