/****************************************************************************/ /* Copyright 1992 to 1995 MBARI */ /****************************************************************************/ /* Summary : Virtual Serial Port Task for VxWorks */ /* Filename : vspTaskTop.c */ /* Author : Douglas Au */ /* Project : New ROV */ /* Version : Version 1.0 */ /* Created : 12/07/94 */ /* Modified : 01/31/95 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: vspTaskTop.c,v 1.1 94/06/14 14:15:48 audo Exp $ * $Log: vspTaskTop.c,v $ * Revision 1.1 94/06/14 14:15:48 14:15:48 audo (Douglas Au) * Initial revision * */ /****************************************************************************/ #include /* vxWorks system declarations */ #include /* vxWorks semaphore functions */ #include /* vxWorks task library functions */ #include /* vxWorks linked list library */ #include /* vxWorks watch dog timer functions */ #include /* vxWorks time and date functions */ #include /* vxWorks Message Queue Library */ #include /* vxWorks I/O Libraries */ #include #include /* vxWorks tty Functions */ #include /* MBARI style guide type declarations */ #include /* Miscellaneous constants */ #include /* MBARI Rov Application Priorities */ #include /* MBARI time and date functions */ #include /* Data Manager declarations */ #include /* Data Manager error declarations */ #include #include /* Microcontroller serial Protocol */ #include /* MV162 board tty drivers */ #include "h/vspDmTop.h" /* VSP Data Manager Interface Functions */ #define VSP_OUT_STACKSIZE 4000 /* VSP Output Task size & TCB */ #define VSP_IN_STACKSIZE 1500 /* VSP Input Task size & TCB */ #define CHAN_PER_BOARD 8 /* Number of Channels per board */ /****************************************************************************/ Void vspInTask(Reg ibcVspDmItems *dmItems, Int16 ttyFd); MLocal Int32 openVspSerialPort(Int16 board, Int16 port) { Int32 fd; char devName[32]; struct termControl term_control; sprintf(devName, "/serial%d/chan%d", board, port); if ( (fd = open(devName, O_RDONLY, 0)) == ERROR) return (ERROR); ioctl(fd, FIOGETOPTIONS, (int) &term_control); term_control.tc_oflag = ONLCR; term_control.tc_iflag = IGNCR | IGNBRK | IGNPAR; term_control.tc_iflag = 0; ioctl(fd, FIOSETOPTIONS, (int) &term_control); return (fd); } /* openVspSerialPort() */ /****************************************************************************/ /* Function : vspTaskTopTask */ /* Purpose : Task spawns Vsp Input Task, reads setup parameters from */ /* a file, sets up DM Items and tty parameters, then waits */ /* for dm items to change or input from tty port */ /* Inputs : None */ /* */ /* Outputs : Normally runs forever, but returns ERROR on fatal error */ /****************************************************************************/ STATUS vspTask(Int16 config) { Int32 vspInputTask; /* Vsp Input Task Ident */ Int32 vspOutputTask; /* Vsp Output Task Ident */ Int16 ttyFd; /* tty port file Descriptor */ DM_Group vspGroup; /* VSP Data Manager Group */ SEM_ID dmUpdateSem; /* Data Manager Item Change wakeup sem */ vspUpdateBits vspBits; /* VSP Parameter Update Bits */ ibcVspDmItems vspDmItems; /* VSP Data Manager Items */ struct termControl term_control; /* Line Parameter Variables */ Nat16 baud, data, stop, par, proto, boardNum, chan; Int16 sioBoardNum, sioPort; MBool handshake; /* Port Name and Dcon strings */ char vspTtyName[20], dconPrefix[20]; /* Setup Vsp TaskPriority */ taskPrioritySet(taskIdSelf(), VSP_OUT_PRIORITY); /* Read Port Parameters from File */ if (fscanf(config,"%hd%hd%s%hd%hd%hd%hd%hd%hd%hd%hd", &sioBoardNum, &sioPort, dconPrefix, &boardNum, &chan, &baud, &data, &stop, &par, &handshake, &proto) != 11) { printf("Vsp Task: Error Reading Config File\n"); fclose(config); return(ERROR); } #if 0 /* Open Serial port */ if ( (ttyFd = open(vspTtyName, O_RDWR, 0)) == ERROR) { printf("Vsp Task: Error Openning tty %s\n", vspTtyName); return(ERROR); } printf("Vsp Task: tty port %s is open\n", vspTtyName); /* Set parameters for Serial Port */ term_control.tc_oflag = setTermControl(baud, data, stop, par); term_control.tc_iflag = setTermControl(baud, data, stop, par); ioctl( ttyFd, OFLUSH | IFLUSH, 0); if( ioctl( ttyFd, SIOSETS, (int) &term_control)!= OK) printf ("VSP: Unable to set line options\n"); #endif while ((ttyFd = openVspSerialPort(sioBoardNum, sioPort)) == ERROR) taskDelay(sysClkRateGet() / 2); /* Clear Sensor DCon Data Manager handles */ bzero(&vspDmItems, sizeof(vspDmItems)); /* Create Virtual Serial Port Data Manager Items */ if (createIbcVspTopDmItems(&vspDmItems, (char *) dconPrefix, "VspTopTask", boardNum * CHAN_PER_BOARD + chan ) == ERROR) { logMsg("Vsp Task: Error Creating VSP DM Items\n"); return(ERROR); } /* Create semaphores */ if ( ((dmUpdateSem = semBCreate(SEM_Q_FIFO, SEM_EMPTY)) == NULL)) { logMsg("VSP Top Task: Error initializing Input Task Resources\n"); return(ERROR); } /* if */ /* Create Virtual Serial Port Data Manager Group */ vspGroup = initIbcVspTopConsumer( &vspDmItems, &vspBits, dmUpdateSem ); if (( vspInputTask = /* Initialize VSP Input Task */ taskSpawn( "vspIn", VSP_IN_PRIORITY, 0, VSP_IN_STACKSIZE, (FUNCPTR) vspInTask, (int) &vspDmItems, ttyFd, 0, 0, 0, 0, 0, 0, 0, 0 ) ) == ERROR) { logMsg("VSP Task Top: Error spawning vsp input task\n"); return(ERROR); } /* if */ /* Initialize DM item values and default */ updateIbcVspTopDmItems (&vspDmItems, baud, data, stop, par, handshake, proto); FOREVER /* Repeat until micro controller reset */ { /* Wait for any data items to change */ semTake(dmUpdateSem, WAIT_FOREVER); taskSafe(); /* Prevent task from being deleted during */ /* serial IO and Data Manager updates */ /* Check for Virtual Serial Port Parameter Update*/ ibcVspTopUpdateCheck( ttyFd, &vspDmItems, &vspBits, vspGroup ); taskUnsafe(); /* Task may now be safely deleted */ } /* FOREVER */ /* dm_stop_provider, dm_stop_consumer, dm_delete_group*/ /* etc are NOT required when the task exits as the */ /* Data Manager does this automatically when the task */ /* is deleted via the taskDeleteHookAdd() and */ /* dm_task_exit functions. */ taskDelete(vspInputTask); /* Delete Sensor Dcon Input Task */ return(OK); /* That's all folks */ } /* vspTask() */ /*****************************************************************************/ /* Function : vspInTask */ /* Purpose : Vsp Input Task. */ /* */ /* Inputs : Array of Data Manager Item handles & serial chan structure */ /* Outputs : Normally runs forever, but exits if error occurs */ /*****************************************************************************/ Void vspInTask(Reg ibcVspDmItems* dmItems, Int16 ttyFd) { /* Provider Task for non-static data items*/ initIbcVspTopProvider (dmItems, DM_STATIC); FOREVER { updateIbcVspTopDm(ttyFd, dmItems ); } /* FOREVER */ /* dm_stop_provider, dm_stop_consumer, dm_delete_group*/ /* etc are not required when the task exits as the */ /* data manager does this automatically when the task */ /* is deleted via the taskDeleteHookAdd() and */ /* dm_task_exit functions. */ /* that's all folks ! */ } /* vspInTask() */