/****************************************************************************/ /* Copyright 1992 to 1997 MBARI */ /****************************************************************************/ /* Summary : Main ROV Software Initialization Task for VxWorks */ /* Filename : startup.c */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV */ /* Version : Version 1.0 */ /* Created : 10/05/92 */ /* Modified : 01/15/97 */ /* 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 "types.h" /* mbari style guide type declarations */ #include "usrTime.h" /* MBARI time and date functions */ #include "rovPriority.h" /* MBARI Rov Application Priorities */ #include "datamgr.h" /* Data Manager Declarations */ #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 "state.h" /* Kalman State Switch Task Definitions */ #include "../sio32Chan.h" /* SIO32 Serial Channel Allocations */ extern void sysVmeBusReset( void ); extern int telnetTaskPriority; /****************************************************************************/ /* 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) { logMsg(okMsg); return(OK); } /* if */ logMsg(errorMsg); return(ERROR); } /* spawnTask() */ /****************************************************************************/ /* 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); usrTimeInit(); /* Initialize MBARI time library */ telnetTaskPriority = 200; if (netDevCreate ("batray:", "batray.mbari.org", 0) != OK) logMsg("ROV Init: error creating ftp file system device\n"); dm_init( (DM_Define*) NULL ); /* Initialize Data Manager */ taskDelay(3 * sysClkRateGet()); spawnTask("heartbeat", HEARTBEAT_TASK_PRIORITY, HEARTBEAT_TASK_STACKSIZE,0, "Heartbeat Task Initialized\n", "Heartbeat Task Initialization Failed\n", (FUNCPTR) heartbeatTask, TIBURON_CPU1, NULL); spawnTask("consoleStatus", CONSOLE_STATUS_PRIORITY, TIBURON_STATUS_STACKSIZE, 0, "Console Status Monitor Task Initialized\n", "Console Status Monitor Task Initialization Failed\n", (FUNCPTR) consoleStatusTask, 0, 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_CPU_PERCENT_DM, (int) TIBURON_DM_PREFIX TIBURON_IDLE_CPU_ALARM_DM); spawnTask("hourLog", HOUR_LOG_PRIORITY, HOUR_LOG_STACKSIZE, VX_FP_TASK, "Hour Log Task Initialized\n", "Hour Log Task Initialization Failed\n", (FUNCPTR) hourLogTask, NULL, NULL); spawnTask("powerMgr", POWER_PRIORITY, POWER_STACKSIZE, VX_FP_TASK, "ROV Init: Power Manager Initialized\n", "ROV Init: Power Manager Initialization Failed\n", (FUNCPTR) powerTask, NULL, NULL); spawnTask("sio32Deamon", SIO32_DEAMON_PRIORITY, SIO32_DEAMON_STACK, 0, "Telem board SIO32 Deamon Task Initialized\n", "Telem board SIO32 Deamon Task Initialization Failed\n", (FUNCPTR) sio32DeamonTask, (int) TELEM_BOARD_NAME, NULL); spawnTask("vmeIbc", VME_IBC_SRQ_PRIORITY, VME_IBC_STACKSIZE, VX_FP_TASK, "ROV Init: VME IBC Interface Task Initialized\n", "ROV Init: VME IBC Interface Task Initialization Failed\n", (FUNCPTR) VME_IBC_Task, VME_IBC_SERIAL_CHAN, NULL); spawnTask("StbdHoriz", THRUST_SRQ_PRIORITY, THRUST_SRQ_STACKSIZE, 0, "ROV Init: Stbd Horizontal Thruster Interface Task Initialized\n", "ROV Init: Stbd Horizontal Thruster Interface Task Failed\n", (FUNCPTR) thrusterTask, STBD_HORIZ, STBD_HORIZ_THRUST_SERIAL_CHAN); spawnTask("PortHoriz", THRUST_SRQ_PRIORITY, THRUST_SRQ_STACKSIZE, 0, "ROV Init: Port Horizontal Thruster Interface Task Initialized\n", "ROV Init: Port Horizontal Thruster Interface Task Failed\n", (FUNCPTR) thrusterTask, PORT_HORIZ, PORT_HORIZ_THRUST_SERIAL_CHAN); spawnTask("PortVert", THRUST_SRQ_PRIORITY, THRUST_SRQ_STACKSIZE, 0, "ROV Init: Port Vertical Thruster Interface Task Initialized\n", "ROV Init: Port Vertical Thruster Interface Task Failed\n", (FUNCPTR) thrusterTask, PORT_VERT, PORT_VERT_THRUST_SERIAL_CHAN); spawnTask("StbdVert", THRUST_SRQ_PRIORITY, THRUST_SRQ_STACKSIZE, 0, "ROV Init: Stbd Vertical Thruster Interface Task Initialized\n", "ROV Init: Stbd Vertical Thruster Interface Task Failed\n", (FUNCPTR) thrusterTask, STBD_VERT, STBD_VERT_THRUST_SERIAL_CHAN); spawnTask("FwdLat", THRUST_SRQ_PRIORITY, THRUST_SRQ_STACKSIZE, 0, "ROV Init: Forward Lateral Thruster Interface Task Initialized\n", "ROV Init: Forward Lateral Thruster Interface Task Failed\n", (FUNCPTR) thrusterTask, FWD_LATERAL, FWD_LAT_THRUST_SERIAL_CHAN); spawnTask("AftLat", THRUST_SRQ_PRIORITY, THRUST_SRQ_STACKSIZE, 0, "ROV Init: Aft Lateral Thruster Interface Task Initialized\n", "ROV Init: Aft Lateral Thruster Interface Task Failed\n", (FUNCPTR) thrusterTask, AFT_LATERAL, AFT_LAT_THRUST_SERIAL_CHAN); spawnTask("ROVCtrl", ROV_CTRL_PRIORITY, ROV_CTRL_STACKSIZE, VX_FP_TASK, "ROV Init: ROV Control System Task Initialized\n", "ROV Init: ROV Control System Task Failed\n", (FUNCPTR) controlTask, NULL, NULL ); spawnTask("sensorIbc", SENSOR_IBC_SRQ_PRIORITY, SENSOR_IBC_STACKSIZE, 0, "ROV Init: Sensor DCcon Interface Task Initialized\n", "ROV Init: Sensor DCon Interface Task Failed\n", (FUNCPTR) sensorDconTask, SENSOR_IBC_SERIAL_CHAN, NULL); logMsg("ROV VME Init: Software Initialization Complete\n"); taskDelay(sysClkRateGet() * 5); } /* rovInit() */