/****************************************************************************/ /* Copyright 1997 to 1998 MBARI */ /****************************************************************************/ /* Summary : Second CPU Software Initialization Task for VxWorks */ /* Filename : startup.c */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV */ /* Version : Version 1.0 */ /* Created : 01/15/97 */ /* Modified : 03/03/98 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: $ * $Log: $ * */ /****************************************************************************/ #include /* vxWorks system declarations */ #include /* vxWorks string library functions */ #include /* vxWorks task library functions */ #include /* vxWorks system reboot library funcs */ #include /* vxWorks I/O library, for file I/O */ #include #include #include "mbariTypes.h" /* mbari style guide type declarations */ #include "rovPriority.h" /* MBARI Rov Application Priorities */ extern "C" { #include "datamgr.h" /* Data Manager Declarations */ #include "usrTime.h" /* MBARI time and date functions */ #include "tiburon.h" /* Tiburon Definitions */ #include "idleCpu.h" /* Idle CPU Monitor Task */ #include "hourLog.h" /* Hour log task Declarations */ #include "powerMgr.h" /* Power Manager Declarations */ #include "sio32Server.h" /* SIO32 serial I/O Declarations */ #include "ersDcon.h" /* Emergency Recover System Declarations*/ #include "vmeIbc.h" /* VME Can IBC Declarations */ #include "sonarDcon.h" /* Sonar Dcon Declarations */ #include "sensorDcon.h" /* Sensor Dcon Declarations */ #include "sio32Diag.h" /* SIO32 Diagnostic Task */ #include "telemDiag.h" /* Telemetery Board Micro Task */ #include "thrusterIF.h" /* Thruster Interface Task */ #include "powerIbc.h" /* Power Can DCon Task */ #include "lightingDcon.h" /* Lighting DCon Task */ #include "rovControl.h" /* ROV Controller Definitions */ #include "panTilt.h" /* Pan/Tilt Interface Task */ #include "cameraDcon.h" /* Camera Dcon Interface Task */ #include "camera.h" /* Panasonic Camera Interface Task */ #include "acMicro.h" /* AC Microcontroller Interface Task */ #include "vbSystem.h" /* Variable Buoyancy System Definitions */ #include "toolsledDcon.h" /* Toolsled Dcon Interface Task */ #include "advDistanceLog.h" /* ADV Distance Logger Task */ #include "state.h" /* Kalman State Switch Task Definitions */ #include "../sio32Chan.h" /* SIO32 Serial Channel Allocations */ extern void sysVmeBusReset( void ); } #include "mwsledDcon.h" /* MidWater Toolsled Dcon Interface */ extern int telnetTaskPriority; MLocal int tibLogFd; /****************************************************************************/ /* Function : myLogMsg */ /* Purpose : Interface to vxWorks lgoMsg deals ignores extra int args */ /* Inputs : name, priority, stack size, task options, messages for */ /* successful and unsuccessful task creation. func ptr & args */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ LOCAL STATUS myLogMsg(char *msg) { return (logMsg(msg, 0, 0, 0, 0, 0, 0)); }; /****************************************************************************/ /* Function : spawnTask */ /* Purpose : Executes a vxWorks task. Convenience function for taskSpawn*/ /* Inputs : name, priority, stack size, task options, messages for */ /* successful and unsuccessful task creation. func ptr & args */ /* Outputs : Returns OK or ERROR */ /****************************************************************************/ LOCAL STATUS spawnTask( char *taskName, int priority, int stacksize, int options, char *okMsg, char *errorMsg, FUNCPTR entryPoint, int arg1, int arg2) { /* Initialize Task */ if ( taskSpawn( taskName, priority, options, stacksize, entryPoint, arg1, arg2, 0, 0, 0, 0, 0, 0, 0, 0 ) != ERROR) { myLogMsg(okMsg); return (OK); } /* if */ myLogMsg(errorMsg); return(ERROR); } /* spawnTask() */ /****************************************************************************/ /* Function : rovShutdown */ /* Purpose : Called by rebootHook when vehicle rebooted */ /* Inputs : None */ /* Outputs : None */ /****************************************************************************/ Void rovShutdown( Void ) { close( tibLogFd ); sysVmeBusReset(); } /* rovShutdown() */ /****************************************************************************/ /* Function : rovInit */ /* Purpose : Initializes application software for Tiburon main VME CPU */ /* Inputs : None - Add calls to start application software here */ /* Outputs : None */ /****************************************************************************/ Void rovInit( Void ) { /* Set priority of initialization task */ taskPrioritySet(taskIdSelf(), ROV_INIT_TASK_PRIORITY); rebootHookAdd ( (FUNCPTR)rovShutdown ); usrTimeInit(); /* Initialize MBARI time library */ telnetTaskPriority = 200; if (netDevCreate ("batray:", "batray.mbari.org", 0) != OK) myLogMsg("ROV Init: error creating ftp file system device\n"); tibLogFd = open("/usr/tiburon/logs/tiburon.log", O_WRONLY | O_CREAT, 0444); logFdAdd( tibLogFd ); dm_init( (DM_Define*) NULL ); /* Initialize Data Manager */ spawnTask("heartbeat", HEARTBEAT_TASK_PRIORITY, HEARTBEAT_TASK_STACKSIZE, 0, "Heartbeat Task Initialized\n", "Heartbeat Task Initialization Failed\n", (FUNCPTR) heartbeatTask, TIBURON_CPU2, NULL); spawnTask("idleCpu", IDLE_CPU_TASK_PRIORITY, IDLE_CPU_TASK_STACKSIZE, 0, "Idle CPU Task Initialized\n", "Idle CPU Task Initialization Failed\n", (FUNCPTR) idleCpuTask, (int) TIBURON_DM_PREFIX TIBURON_IDLE_CPU2_PERCENT_DM, (int) TIBURON_DM_PREFIX TIBURON_IDLE_CPU2_ALARM_DM); spawnTask("telemDiag", TELEM_DIAG_SRQ_PRIORITY, TELEM_DIAG_STACKSIZE, VX_FP_TASK, "ROV Init: Telem Diagnostic Task Initialized\n", "ROV Init: Telem Diagnostic Task Initialization Failed\n", (FUNCPTR) telemDiagTask, ROV_TELEM_BOARD, TIBURON_TELEM_MICRO_CHAN); spawnTask("sio32Diag", SIO32_DIAG_SRQ_PRIORITY, SIO32_DIAG_STACKSIZE, 0, "ROV Init: SIO32 Diagnostic Task Initialized\n", "ROV Init: SIO32 Diagnostic Task Initialization Failed\n", (FUNCPTR) sio32DiagTask, SIO32_MICROCONTROLLER_CHAN, NULL); spawnTask("rovState", KALMAN_STATE_TASK_PRIORITY, KALMAN_STATE_STACKSIZE, VX_FP_TASK, "ROV Init: Kalman State Switch Task Initialized\n", "ROV Init: Kalman State Switch Task Failed\n", (FUNCPTR) stateSwitch, NULL, NULL ); spawnTask("acMicro", AC_MICRO_SRQ_PRIORITY, AC_MICRO_STACKSIZE, 0, "ROV Init: AC Micro Interface Task Initialized\n", "ROV Init: AC Micro Interface Task Initialization Failed\n", (FUNCPTR) acMicroTask, AC_MICRO_SERIAL_CHAN, NULL); spawnTask("busCap", BUS_CAP_TASK_PRIORITY, BUS_CAP_TASK_STACKSIZE, 0, "ROV Init: Bus Capacitance Task Initialized\n", "ROV Init: Bus Capacitance Task Failed\n", (FUNCPTR) busCapTask, 0, NULL ); spawnTask("ersDcon", ERS_DCON_SRQ_PRIORITY, ERS_DCON_STACKSIZE, 0, "ROV Init: ERS DCon Interface Task Initialized\n", "ROV Init: ERS DCon Interface Task Initialization Failed\n", (FUNCPTR) ersDconTask, EMERGENCY_REC_SERIAL_CHAN, NULL); spawnTask("pwrIbcA", PWR_IBC_SRQ_PRIORITY, PWR_IBC_STACKSIZE, 0, "ROV Init: Power DCon A Task Initialized\n", "ROV Init: Power DCon A Task Failed\n", (FUNCPTR) PWR_IBC_A_Task, POWER_CAN_IBC_A_SERIAL_CHAN, NULL ); spawnTask("pwrIbcB", PWR_IBC_SRQ_PRIORITY, PWR_IBC_STACKSIZE, 0, "ROV Init: Power DCon B Task Initialized\n", "ROV Init: Power DCon B Task Failed\n", (FUNCPTR) PWR_IBC_B_Task, POWER_CAN_IBC_B_SERIAL_CHAN, NULL ); spawnTask("lightIbc", LIGHTING_DCON_SRQ_PRIORITY, LIGHTING_DCON_STACKSIZE, 0, "ROV Init: Lighting DCon Interface Task Initialized\n", "ROV Init: Lighting DCon Interface Task Failed\n", (FUNCPTR) lightingDconTask, LIGHTING_IBC_SERIAL_CHAN, NULL); spawnTask("cameraDcon", CAMERA_IBC_SRQ_PRIORITY, CAMERA_IBC_STACKSIZE, 0, "ROV Init: Camera DCon Task Initialized\n", "ROV Init: Camera DCon Task Failed\n", (FUNCPTR) cameraDconTask, CAMERA_IBC_SERIAL_CHAN, NULL); spawnTask("portCamera", CAMERA_SRQ_PRIORITY, CAMERA_TASK_STACKSIZE, 0, "ROV Init: Port Camera Task Initialized\n", "ROV Init: Port Camera Task Failed\n", (FUNCPTR) portCameraTask, PORT_CAMERA_SERIAL_CHAN, NULL); spawnTask("stbdCamera", CAMERA_SRQ_PRIORITY, CAMERA_TASK_STACKSIZE, 0, "ROV Init: Stbd Camera Task Initialized\n", "ROV Init: Stbd Camera Task Failed\n", (FUNCPTR) stbdCameraTask, STBD_CAMERA_SERIAL_CHAN, NULL); spawnTask("sonarDcon", SONAR_IBC_SRQ_PRIORITY, SONAR_IBC_STACKSIZE, VX_FP_TASK, "ROV Init: Sonar DCon Interface Task Initialized\n", "ROV Init: Sonar DCon Interface Task Failed\n", (FUNCPTR) sonarDconTask, SONAR_IBC_SERIAL_CHAN, NULL); spawnTask("advLog", ADV_DISTANCE_LOG_PRIORITY, ADV_DISTANCE_LOG_STACKSIZE, VX_FP_TASK, "ROV Init: ADV Distance Log Task Initialized\n", "ROV Init: ADV Distance Log Task Failed\n", (FUNCPTR) advDistanceLogTask, 0, NULL); spawnTask("portPT", PAN_TILT_SRQ_PRIORITY, PAN_TILT_STACKSIZE, VX_FP_TASK, "ROV Init: Port Pan/Tilt Task Initialized\n", "ROV Init: Port Pan/Tilt Task Failed\n", (FUNCPTR) panTiltTask, PAN_TILT_CAN0, PORT_PAN_TILT_CHAN); spawnTask("stbdPT", PAN_TILT_SRQ_PRIORITY, PAN_TILT_STACKSIZE, VX_FP_TASK, "ROV Init: Stbd Pan/Tilt Task Initialized\n", "ROV Init: Stbd Pan/Tilt Task Failed\n", (FUNCPTR) panTiltTask, PAN_TILT_CAN1, STBD_PAN_TILT_CHAN); spawnTask("vbMotor", VB_MOTOR_SRQ_PRIORITY, VB_MOTOR_SRQ_STACKSIZE, 0, "ROV Init: VB Motor Task Initialized\n", "ROV Init: VB Motor Task Failed\n", (FUNCPTR) vbMotorTask, VB_MOTOR_SERIAL_CHAN, 0); #ifdef BUILD_MIDWATER_SLED spawnTask("mwsledDcon", TOOLSLED_DCON_SRQ_PRIORITY, TOOLSLED_IBC_STACKSIZE, 0, "ROV Init: MidWater Toolsled DCon Task Initialized\n", "ROV Init: MidWater Toolsled DCon Task Initialization Failed\n", (FUNCPTR) midWaterApp, TOOLSLED_RS485_0_CHAN, NULL); #endif #ifdef BUILD_GENERIC_SLED spawnTask("toolsledDcon", TOOLSLED_DCON_SRQ_PRIORITY, TOOLSLED_IBC_STACKSIZE, 0, "ROV Init: Generic Toolsled DCon Task Initialized\n", "ROV Init: Generic Toolsled DCon Task Initialization Failed\n", (FUNCPTR) toolsledDconTask, TOOLSLED_RS485_0_CHAN, NULL); #endif myLogMsg("ROV VME Init: Software Initialization Complete\n"); } /* rovInit() */