/*****************************************************************************/ /* Copyright 1991 to 1996 MBARI */ /*****************************************************************************/ /* Summary : RS485 Serial Protocol Client for Microcontroller Communications*/ /* Filename : sio32Client.c */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV VME to Microcontroller Communications Interface */ /* Version : 2.1 */ /* Created : 10/22/91 */ /* Modified : 03/08/96 */ /* Archived : */ /*****************************************************************************/ /* Modification History: */ /* $Header: sio32Client.c,v 1.2 96/03/08 17:16:26 pean Exp $ * $Log: sio32Client.c,v $ * Revision 1.2 96/03/08 17:16:26 17:16:26 pean (Andrew Pearce) * Added keep alive mode control. Cleaned up commends, fixed CHAN_CLOSE etc * * Revision 1.1 92/06/29 13:45:38 13:45:38 pean (Andrew Pearce 408-647-3746) * Initial revision * */ /*****************************************************************************/ #include "vxWorks.h" /* vxWorks system declarations */ #include "iosLib.h" /* vxWorks IO system declarations */ #include "memLib.h" /* vxWorks Memory allocation declarations*/ #include "semLib.h" /* vxWorks semaphore functions */ #include "msgQLib.h" /* vxWorks Message Queue Library */ #include "msgQSmLib.h" /* vxWorks Sharded Memory Message Queues */ #include "smNameLib.h" /* vxWorks Shared Memory Name Database */ #include "mbariTypes.h" /* mbari style guide type declarations */ #include "sio32Drv.h" /* SIO32 hardware and driver information */ #include "sio32Server.h" /* Server side definitions */ #include "sio32Client.h" /* Application specific definitions */ /*****************************************************************************/ /* Function : sio32ServerRequest */ /* Purpose : sends request to sio32 Server specified */ /* Inputs : sio32 server Identifier, request, reply buffer and length */ /* Outputs : Returns length of reply from server */ /*****************************************************************************/ MLocal STATUS sio32ServerRequest(sio32ServerId serverId, sio32Request sio32Req, char* reply, Nat16 maxBytes) { char msgQName[MAX_CHAN_NAME];/* Message O Name for name database */ MSG_Q_ID sio32RequestQId; /* Message Q for requests to server */ int objType; /* Message Q Object Type */ /* Validate server ID */ if ((serverId != GMS_BOARD) && (serverId != TELEM_BOARD)) return (ERROR); if (reply == NULL) /* Does the client expect a reply ? */ sio32Req.replyQId = NULL; /* No so ignore reply message Q */ else /* Client expects a reply so */ { /* Build Status Message Q Name for reply */ sprintf(msgQName, "/%s/%s", (serverId == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME), SIO32_STATUS_Q); /* Look up status message Q using name */ if (smNameFind (msgQName, (void **) &sio32Req.replyQId, &objType, WAIT_FOREVER) == ERROR) return (ERROR); } /* else */ sprintf(msgQName, "/%s/%s", /* Create request message Q name */ (serverId == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME), SIO32_REQUEST_Q); /* Wait for server to initialize */ if (smNameFind (msgQName, (void **) &sio32RequestQId, &objType, WAIT_FOREVER) == ERROR) return (ERROR); /* Send request to SIO32 server */ if (msgQSend (sio32RequestQId, (char *) &sio32Req, sizeof(sio32Req), WAIT_FOREVER, MSG_PRI_NORMAL) == ERROR) return (ERROR); /* No reply expected so exit */ if ((reply == NULL) || (sio32Req.replyQId == NULL)) return (OK); /* Read back the status of the request */ return (msgQReceive(sio32Req.replyQId, reply, maxBytes, WAIT_FOREVER)); } /* sio32ServerRequest() */ /*****************************************************************************/ /* Function : sendWordPacket */ /* Purpose : creates a packet containing the command & sends it to micro */ /* Inputs : sio32 channel struct, command word */ /* Outputs : None */ /*****************************************************************************/ Void sendWordPacket(sio32Chan *sio32Channel, Word value) { Char buffer[sizeof(Word)]; /* buffer to hold the data */ wordToBuf(buffer, value); /* copy the value into the buffer */ /* and send to the serial port */ writeServerPacket(sio32Channel, buffer, sizeof(Word)); } /* sendWordPacket */ /*****************************************************************************/ /* Function : sendCmdArgPacket */ /* Purpose : creates a packet containing the command and argument given */ /* and sends it to the micro. */ /* Inputs : sio32 channel struct, command word and argument word */ /* Outputs : None */ /*****************************************************************************/ Void sendCmdArgPacket(sio32Chan *sio32Channel, Word command, Word argument) { Char buffer[sizeof(Word) * 2];/* buffer to hold the data */ wordToBuf(buffer, command); /* copy the command into the buffer */ /* copy the argument into the buffer */ wordToBuf(buffer+sizeof(Word), argument); /* and send to the serial port */ writeServerPacket(sio32Channel, buffer, sizeof(Word) * 2); } /* sendCmdArgPacket */ /*****************************************************************************/ /* Function : writeServerPacket */ /* Purpose : called from application to send a packet to the micro */ /* Inputs : sio32 channel struct, packet and length */ /* Outputs : returns result of sending packet to the server */ /*****************************************************************************/ STATUS writeServerPacket(sio32Chan *sio32Channel, Byte *packet, Word length) { STATUS status; /* If Destination is Quad Serial Board */ /* Reformat Packet so Datacon will send */ /* Packet out Quad Serial Port */ if ( sio32Channel->channel & QUAD_SERIAL_BOARD ) status = microForwardPacket(sio32Channel, packet, length); else /* Normal Data Packet Destination */ /* Send data to server */ if ( (status = sendPacketToServer(sio32Channel, packet, length)) ) logMsg("writeServerPacket ERROR\n"); return(status); } /* writeServerPacket() */ /*****************************************************************************/ /* Function : sendPacketToServer */ /* Purpose : used by client to send a packet to the server/micro */ /* Inputs : sio32 channel struct, packet and length */ /* Outputs : returns result of sending packet to the server */ /*****************************************************************************/ STATUS sendPacketToServer(sio32Chan *sio32Channel, Byte *packet, Word length) { /* Send data to server */ return (msgQSend (sio32Channel->txDataQId, (char *) packet, length, WAIT_FOREVER, MSG_PRI_NORMAL)); } /* sendPacketToServer() */ /*****************************************************************************/ /* Function : readServerPacket */ /* Purpose : used by the client to read a data packet from server/micro */ /* Inputs : sio32 channel struct, packet ptr, max length and timeout */ /* Outputs : returns length of packet read */ /*****************************************************************************/ STATUS readServerPacket(sio32Chan *sio32Channel, Byte *packet, Int16 maxBytes, Int32 timeout) { return (msgQReceive(sio32Channel->rxDataQId, (char *) packet, maxBytes, timeout)); } /* readServerPacket() */ /*****************************************************************************/ /* Function : readSRQPacket */ /* Purpose : used by the client to read a SRQ (alarm) from server/micro */ /* Inputs : sio32 channel struct, packet ptr, max length and timeout */ /* Outputs : returns length of packet read */ /*****************************************************************************/ STATUS readSRQPacket(sio32Chan *sio32Channel, Byte *packet, Int16 maxBytes, Int32 timeout) { return (msgQReceive(sio32Channel->rxSrqQId, (char *) packet, maxBytes, WAIT_FOREVER)); } /* readSRQPacket() */ /*****************************************************************************/ /* Function : clearSio32Statistics */ /* Purpose : Clears statistics for specified sio32 serial channel */ /* Inputs : sio32 serial channel number */ /* Outputs : None */ /*****************************************************************************/ STATUS clearSio32Statistics(Nat16 serialChan) { sio32Request sio32Req; /* Request structure to send to server */ sio32Req.cmd = SIO32_CLR_STATS; /* Set request to Clear Statistics */ /* Select serial channel */ sio32Req.channel = SIO32_CHANNEL(serialChan); /* Send request to SIO32 server */ if (sio32ServerRequest(SIO32_SERVER(serialChan), sio32Req, NULL, 0) == ERROR) { logMsg("Error clearing statistics for board %s channel %d\n", (SIO32_SERVER(serialChan) == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME), SIO32_CHANNEL(serialChan)); return(ERROR); } /* if */ return(OK); /* Statistics cleared so return OK */ } /* clearSio32Statistics() */ STATUS getSio32Statistics(Nat16 serialChan, pktStat *statistics) { sio32Request sio32Req; /* Request structure to send to server */ sio32Req.cmd = SIO32_GET_STATS; /* Set request to Get Statistics */ /* Select serial channel */ sio32Req.channel = SIO32_CHANNEL(serialChan); /* Send request to SIO32 server */ if (sio32ServerRequest(SIO32_SERVER(serialChan), sio32Req, (char *) statistics, sizeof(pktStat)) == ERROR) { logMsg("Error reading statistics for board %s channel %d\n", (SIO32_SERVER(serialChan) == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME), SIO32_CHANNEL(serialChan)); return(ERROR); } /* if */ return(OK); /* Statistics received so return OK */ } /* getSio32Statistics() */ /*****************************************************************************/ /* Function : getSio32PSStatus */ /* Purpose : Returns Power Supply Status signals from the SIO32 hardware */ /* These signals, PS1_GOOD and PS2_GOOD indicate that the 2 */ /* power supplies on the SIO32 breakout board are operating. */ /* Returns word with bit 0 = PS1_GOOD and bit 1 = PS2_GOOD */ /* Inputs : server name */ /* Outputs : Returns status word or ERROR and logs error message */ /*****************************************************************************/ Int32 getSio32PSStatus( sio32ServerId serverId ) { sio32Request sio32Req; /* Request structure to send to server */ Int32 sio32PSStatus; /* SIO32 Power supply status from server */ sio32Req.cmd = SIO32_PS_STATUS; /* Set request to Get PSU Status */ sio32Req.channel = 0; /* Set serial channel to 0 (not used) */ /* Send request to server on SIO32 board */ /* and Read back the Power Supply Status */ if (sio32ServerRequest(serverId, sio32Req, (char *) &sio32PSStatus, sizeof(sio32PSStatus)) == ERROR) { logMsg("Error checking PSU Status for board %s\n", (serverId == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME)); return(ERROR); } /* if */ return(sio32PSStatus); /* Return PS_GOOD_STATUS to caller */ } /* getSio32PSStatus() */ /****************************************************************************/ /* Function : sio32DevChanCreate */ /* Purpose : Initialize RS232 Data channels to SIO32 Board */ /* Inputs : Chan No, thruster device name, Data channel structure */ /* Outputs : Returns OK or ERROR and logs error message */ /****************************************************************************/ STATUS sio32DevChanCreate(Nat16 serialChan, char *sio32DevName, sioProto proto, Nat32 baud, Nat32 data, Nat32 stop, char *parity, sio32Chan *sio32DataChan) { sio32Request sio32Req; /* Request structure to send to server */ sio32InitReq *initReq; /* Holds args for channel initialization*/ Int32 initStatus; /* Return status from server request */ char msgQName[MAX_CHAN_NAME]; /* Message O Name for name database */ char serverName[MAX_CHAN_NAME];/* Server name */ int objType; /* Message Q Object Type */ /* Validate server ID */ if ((SIO32_SERVER(serialChan) != GMS_BOARD) && (SIO32_SERVER(serialChan) != TELEM_BOARD)) { logMsg("sio32ChanInit: Bad server id in serial channel number\n"); return (ERROR); } /* if */ sio32Req.cmd = SIO32_INIT_CHAN; /* Set request to Init SIO32 Channel */ sio32Req.channel = SIO32_CHANNEL(serialChan); initReq = (sio32InitReq *) sio32Req.args; strcpy(initReq->name, sio32DevName); strcpy(initReq->parity, parity); initReq->baudRate = baud; initReq->dataBits = data; initReq->stopBits = stop; initReq->protocol = proto; initReq->keepAlive.ticks = 0; /* Use default Keep Alive packet params */ initReq->keepAlive.count = 0; strcpy( serverName, (SIO32_SERVER(serialChan) == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME) ); /* Send request to SIO32 server */ if (sio32ServerRequest(SIO32_SERVER(serialChan), sio32Req, (char *) &initStatus, sizeof(initStatus)) == ERROR) { logMsg("Error initializing serial channel board %s channel %d\n", serverName, sio32Req.channel); return(ERROR); } /* if */ /* Create Transmit Data Message Q Name */ sprintf(msgQName, "/%s/sio32Tx%02d", serverName, SIO32_CHANNEL(serialChan)); if (smNameFind (msgQName, (void **) &sio32DataChan->txDataQId, &objType, WAIT_FOREVER) == ERROR) return (ERROR); /* Create Receive Data Message Q Name */ sprintf(msgQName, "/%s/sio32Rx%02d", serverName, SIO32_CHANNEL(serialChan)); if (smNameFind (msgQName, (void **) &sio32DataChan->rxDataQId, &objType, WAIT_FOREVER) == ERROR) return (ERROR); /* Create SRQ Message Q Name */ sprintf(msgQName, "/%s/sio32SRQ%02d", serverName, SIO32_CHANNEL(serialChan)); if (smNameFind (msgQName, (void **) &sio32DataChan->rxSrqQId, &objType, WAIT_FOREVER) == ERROR) return (ERROR); sio32DataChan->channel = serialChan; /* Create mutex sem for serial Read/Write*/ sio32DataChan->mutexSem = semMCreate (SEM_Q_FIFO | SEM_DELETE_SAFE); /* Set command/reply timeout = 500 msec */ sio32DataChan->timeout = sysClkRateGet() / 2; return(OK); } /* sio32DevChanCreate() */ /*****************************************************************************/ /* Function : sio32ChanInit - same as sio32X_AndyChanInit */ /* Purpose : Initialize Data and SRQ serial channels to microcontroller */ /* Inputs : Chan No, thruster device name, Data & SRQ chan structures */ /* Outputs : Returns OK or ERROR and logs error message */ /*****************************************************************************/ STATUS sio32ChanInit(Nat16 serialChan, char *sio32DevName, sio32Chan *sio32DataChan) { return (sio32DevChanCreate(serialChan, sio32DevName, RS485_MODE, SIO32_BAUD_RATE, 8, 1, "NONE", sio32DataChan)); } /* sio32ChanInit() */ /*****************************************************************************/ /* Function : sio32X_AndyChanInit */ /* Purpose : Initialize Data and SRQ serial channels to microcontroller */ /* Inputs : Chan No, thruster device name, Data & SRQ chan structures */ /* Outputs : Returns OK or ERROR and logs error message */ /*****************************************************************************/ STATUS sio32X_AndyChanInit(Nat16 serialChan, char *sio32DevName, sio32Chan *sio32DataChan) { return (sio32DevChanCreate(serialChan, sio32DevName, RS485_MODE, SIO32_BAUD_RATE, 8, 1, "NONE", sio32DataChan)); } /* sio32X_AndyChanInit() */ /****************************************************************************/ /* Function : sio32RS485ChanInit */ /* Purpose : Initialize RS485 Data channels to SIO32 Board */ /* Inputs : Chan No, thruster device name, Data channel structure */ /* Outputs : Returns OK or ERROR and logs error message */ /****************************************************************************/ STATUS sio32RS485ChanInit(Nat16 serialChan, char *sio32DevName, Nat32 baudRate, Nat32 dataBits, Nat32 stopBits, char *parity, sio32Chan *sio32DataChan) { return (sio32DevChanCreate(serialChan, sio32DevName, RS485_NO_PROTO, baudRate, dataBits, stopBits, parity, sio32DataChan)); } /* sio32RS232ChanInit() */ /****************************************************************************/ /* Function : sio32RS232ChanInit */ /* Purpose : Initialize RS232 Data channels to SIO32 Board */ /* Inputs : Chan No, thruster device name, Data channel structure */ /* Outputs : Returns OK or ERROR and logs error message */ /****************************************************************************/ STATUS sio32RS232ChanInit(Nat16 serialChan, char *sio32DevName, Nat32 baudRate, Nat32 dataBits, Nat32 stopBits, char *parity, sio32Chan *sio32DataChan) { return (sio32DevChanCreate(serialChan, sio32DevName, RS232_MODE, baudRate, dataBits, stopBits, parity, sio32DataChan)); } /* sio32RS232ChanInit() */ /*****************************************************************************/ /* Function : sio32ChanDestroy */ /* Purpose : Close serial channel & clean up serial channel resources */ /* Inputs : Serial channel number and sio32 channel data structure */ /* Outputs : None */ /*****************************************************************************/ STATUS sio32ChanDestroy( Nat16 serialChan, sio32Chan *sio32DataChan ) { sio32Request sio32Req; /* Request structure to send to server */ sio32Req.cmd = SIO32_CLOSE_CHAN;/* Set request to Close SIO32 Channel */ /* Select serial channel */ sio32Req.channel = SIO32_CHANNEL(serialChan); /* Send request to SIO32 server */ if (sio32ServerRequest(SIO32_SERVER(serialChan), sio32Req, NULL, 0) == ERROR) return(ERROR); /* Release miscelaneous resources */ semDelete(sio32DataChan->mutexSem); return(OK); /* Statistics received so return OK */ } /* sio32ChanDestroy() */ /*****************************************************************************/ /* Function : sio32ChanRxFlush */ /* Purpose : Flush receive packets from specified sio32 channel */ /* Inputs : Sio32 channel */ /* Outputs : Returns OK or ERROR */ /*****************************************************************************/ Void sio32ChanRxFlush( sio32Chan *sio32Channel ) { Int32 bytes; char reply[sizeof(sio32Packet)]; while (msgQNumMsgs(sio32Channel->rxDataQId)) { bytes = msgQReceive(sio32Channel->rxDataQId, reply, sizeof(sio32Packet), NO_WAIT); } /* while */ } /* sio32ChanRxFlush() */ /*****************************************************************************/ /* Function : sio32ChanSetRxTimeout */ /* Purpose : Sets serial I/O channel timeout value in ticks */ /* Inputs : Sio32 channel number, timeout */ /* Outputs : None */ /*****************************************************************************/ Void sio32ChanSetRxTimeout( sio32Chan *sio32DataChan, Int32 timeout ) { sio32DataChan->timeout = timeout; } /* sio32ChanSetRxTimeout() */ /*****************************************************************************/ /* Function : sio32ChanSetKeepAliveMode */ /* Purpose : Sets serial I/O channel keep alive mode params ticks & count*/ /* Inputs : Sio32 channel number, ticks and count */ /* Outputs : Returns OK or ERROR */ /*****************************************************************************/ /* Set ticks to WAIT_FOREVER to disable keep alive packets */ /* Set ticks to 0 for default behavior: keep alive packets every 333 msec */ /* Set ticks to a value > 0 for a differnt keep alive packet rate */ /* Set count to 0 for default behavior: continuous keep alive packets */ /* Set count to a value > 0 to set consecutive keep alive packet count */ /*****************************************************************************/ STATUS sio32ChanSetKeepAliveMode( Nat16 serialChan, Int32 keepAliveTicks, Nat32 keepAliveCount ) { sio32Request sio32Req; /* Request structure to send to server */ sio32KeepAliveMode *kaMode; /* Holds args for channel initialization */ Int32 cmdStatus; /* Return status from server request */ /* Validate server ID */ if ((SIO32_SERVER(serialChan) != GMS_BOARD) && (SIO32_SERVER(serialChan) != TELEM_BOARD)) { logMsg("sio32ChanInit: Bad server id in serial channel number\n"); return (ERROR); } /* if */ sio32Req.cmd = SIO32_SET_KA_MODE; /* Set request to Set Keep Alive Mode */ sio32Req.channel = SIO32_CHANNEL(serialChan); kaMode = (sio32KeepAliveMode *) sio32Req.args; kaMode->ticks = keepAliveTicks; kaMode->count = keepAliveCount; /* Send request to SIO32 server */ if (sio32ServerRequest(SIO32_SERVER(serialChan), sio32Req, (char *) &cmdStatus, sizeof(cmdStatus)) == ERROR) { logMsg("Error setting keep alive mode for board %s channel %d\n", (SIO32_SERVER(serialChan) == GMS_BOARD ? SIO32_BOARD_NAME : TELEM_BOARD_NAME), SIO32_CHANNEL(serialChan)); return(ERROR); } /* if */ return(OK); } /* sio32ChanSetKeepAliveMode() */ /*****************************************************************************/ /* Function : sio32FwdChanInit */ /* Purpose : Initialize Data and SRQ serial channels to microcontroller */ /* Inputs : Chan No, device name, Data & SRQ chan structures */ /* Outputs : Returns OK or ERROR and logs error message */ /*****************************************************************************/ STATUS sio32FwdChanInit(Nat16 serialChan, char *sio32DevName, sio32Chan *sio32DataChan, Nat16 attachedChan, sio32Chan *attachedDataChan) { if ( sio32DataChan == ((sio32Chan *)NULL)) { sio32ChanInit(serialChan, sio32DevName, sio32DataChan); } /* if */ attachedDataChan->channel = attachedChan; attachedDataChan->timeout = sio32DataChan->timeout; attachedDataChan->mutexSem = sio32DataChan->mutexSem; attachedDataChan->rxDataQId = sio32DataChan->rxDataQId; attachedDataChan->txDataQId = sio32DataChan->txDataQId; attachedDataChan->rxSrqQId = sio32DataChan ->rxSrqQId; return(OK); } /* sio32FwdChanInit() */