/** \file * * Contains the LPC3Reg class declaration. * * Copyright (c) 2007,2008,2009 MBARI * MBARI Proprietary Information. All Rights Reserved * */ #ifndef LPC3REG_H_ #define LPC3REG_H_ #include "utils/Mutex.h" /** * Provides pointers for poking and peeking at LPC3XXX registers * * \ingroup io * */ class LPC3Reg { public: // Constructor LPC3Reg( unsigned long baseAddress, int bytesMapped ); // Destructor virtual ~LPC3Reg(); // Clock Control - 0x40004000 base static volatile int& AdcClkCtrl1_; static volatile int& AdcClkCtrl_; static volatile int& TimClkCtrl_; static volatile int& U3ClkPhys_; static volatile int& U4ClkPhys_; static volatile int& U6ClkPhys_; static volatile int& UartClkCtrl_; // Main Interrupt Controller - 0x40008000 base // Sub Interrupt Controller 1 - 0x4000C000 base static volatile int& Sic1Er_; static volatile int& Sic1Rsr_; static volatile int& Sic1Sr_; static volatile int& Sic1Apr_; static volatile int& Sic1Atr_; static volatile int& Sic1Itr_; // Sub Interrupt Controller 2 - 0x40010000 base // High Speed Uart 1 - 40014000 base static volatile int& Hsu1Ctrl_; static volatile int& Hsu1RX_; // High Speed Uart 2 - 40018000 base static volatile int& Hsu2Level_; static volatile int& Hsu2RX_; // High Speed Uart 7 - 0x4001C000 base static volatile int& Hsu7RX_; // GPIO Registers static volatile int& P3InpStatePhys_; static volatile int& PioOutpSetPhys_; static volatile int& PioOutpClrPhys_; static volatile int& PioMuxSetPhys_; static volatile int& PioMuxClrPhys_; static volatile int& PioMuxStatePhys_; static volatile int& P0InpStatePhys_; static volatile int& P0OutpSetPhys_; static volatile int& P0OutpClrPhys_; static volatile int& P0OutpStatePhys_; static volatile int& P0DirSetPhys_; static volatile int& P0MuxSetPhys_; static volatile int& P0MuxClrPhys_; static volatile int& P3MuxSetPhys_; static volatile int& P3MuxClrPhys_; static volatile int& P3MuxStatePhys_; // ADC Control - 0x40048000 base static volatile int& AdcSelect_; static volatile int& AdcCtrl_; static volatile int& AdcValue_; // UART Control - 0x40054000 base static volatile int& UartCtrlPhys_; static volatile int& UartClkModePhys_; static volatile int& UartLoopPhys_; // Regular Uart 3 - 0x40080000 base static volatile int& U3LsrPhys_; static volatile int& U3DllPhys_; // Regular Uart 4 - 0x40088000 base static volatile int& U4DllPhys_; static volatile int& U4LsrPhys_; // Regular Uart 5 - 0x40090000 base static volatile int& U5LsrPhys_; // Regular Uart 6 - 0x40098000 base static volatile int& U6LsrPhys_; static volatile int& U6DllPhys_; static volatile int& U6IERPhys_; // Watchdog Timer - 0x4003C000 base static volatile int& WDTimCtrl_; static volatile int& WDTimCounter_; static volatile int& WDTimMCtrl_; static volatile int& WDTimMatch0_; static volatile int& WDTimEMR_; static volatile int& WDTimPulse_; static volatile int& WDTimRes_; /// Returns true if the drop weight is present, false if not static bool IsDropweightOK( void ); /// Returns true if the burn wire is burning, false if not static bool IsBurnwireActive() { return BurnwireActive_; } private: // Note that the copy constructor below is private and not given a body. // Any attempt to call it will return a compiler error. LPC3Reg( const LPC3Reg& old ); // disallow copy constructor int devFD_; int* map_; unsigned long targetAddress_; int bytesMapped_; static bool BurnwireActive_; // Clock Control - 0x40004000 base static LPC3Reg SysCtrlPhys_; // Main Interrupt Controller - 0x40008000 base // Sub Interrupt Controller 1 - 0x4000C000 base static LPC3Reg Sic1_; // Sub Interrupt Controller 2 - 0x40010000 base // High Speed Uart 1 - 40014000 base static LPC3Reg Hsu1RxPhys_; // High Speed Uart 2 - 0x40018000 base static LPC3Reg Hsu2RxPhys_; // High Speed Uart 7 - 0x4001C000 base static LPC3Reg Hsu7RxPhys_; // GPIO Registers - 0x40028000 base static LPC3Reg PioPhys_; // ADC Control - 0x40048000 base static LPC3Reg Adc_; // UART Control - 0x40054000 base static LPC3Reg UartGenCtrlPhys_; // Regular Uart 3 - 0x40080000 base static LPC3Reg Uart3Phys_; // Regular Uart 4 - 0x40088000 base static LPC3Reg Uart4Phys_; // Regular Uart 5 - 0x40090000 base static LPC3Reg Uart5Phys_; // Regular Uart 6 - 0x40098000 base static LPC3Reg Uart6Phys_; // Watchdog Timer - 0x4003C000 base static LPC3Reg WDTPhys_; private: friend class CBIT; friend class SBIT; friend class IBIT; friend class Supervisor; friend class CommandExec; friend class LoadControl; friend class VerticalControl; friend class DropWeight; friend class BPC1; friend class Onboard; // Activates backup radio power static void ActivateBackupRadioPwr( void ); // Activate the burnwire to drop the weight static void ActivateBurnwire( void ); // Activates power to monitor state of the dropweight static void ActivateDropweightSense( void ); // Activates power for the GF monitoring circuit static void ActivateGFPwr( void ); // Monitors the batteries static void CheckBatt( void ); // Deactivate the burnwire to NOT drop the weight static void DeactivateBurnwire( void ); // Deactivate the power for dropweight state monitoring static void DeactivateDropweightSense( void ); // Deactivate the radio(s) so they are not powered in emergency mode static void DeactivateEmergMode( void ); // Deactivates power for the GF monitoring circuit static void DeactivateGFPwr( void ); // Deactivates backup radio power static void DeactivateBackupRadioPwr( void ); // Get ready to heartbeat static void InitializeHBC( void ); // Handles initialization of multipurpose pins static bool InitializeMuxPins( void ); // Strobe the heartbeat counter static void StrobeHBC( void ); // Kick the dog static void StrobeWDT( void ); // Asserts reset signal static void SWReset( void ); // Shut down the watchdog timer static void UninitializeWDT( void ); // Returns true if CF card is missing (NOT detected) static bool CFMissing( void ); // Fire up the watchdog timer static bool InitializeWDT( void ); // Turns the battery pack controller mux on or off static void PowerOffBatteryMux( void ); static void PowerOnBatteryMux( void ); // Removes power from the load control backplane static bool PowerOffLoads( void ); // Applies power to the load control backplane static bool PowerOnLoads( void ); // Returns true if LOAD_CONT_STATE is asserted (note signal is active low) static bool QueryBackplanePower( void ); // Returns true if battery power is being distributed to the backplane static bool QueryBackplaneOvercurrent( void ); // Returns true if battery power is on, false if not. static bool QueryBattPower( void ); // Returns true if shore power is on, false if not. static bool QueryShorepower( void ); // Returns true if water is detected in the pressure hull static bool WaterDetected( void ); // Keeps track of flipping the state of the heartbeat signal static bool HeartbeatHi_; // Ground fault channel definitions // 2 bit encoding with an enable for chan A/B // Addr 0: GPO_02, Bit 2 (0x4) // Addr 1: GPO_01, Bit 1 (0x2) // Enable A: GPO_00, Bit 0 (0x1) // Enable B: GPO_18, Bit 18 (0x40000) typedef enum { CHAN_A0 = 0x1, // VBAT CHAN_A1 = 0x5, // +24V_LC CHAN_A2 = 0x3, // +12.0V_LC CHAN_A3 = 0x7, // +5V LC CHAN_B0 = 0x40000, // +3.3V_LC CHAN_B1 = 0x40004, // CPU-A_3.15V CHAN_B2 = 0x40002, // CPU-B_3.15V CHAN_B3 = 0x40006, // GND } GFChan; // Ground fault circuit handling static void ActivateGF( GFChan channel ); // void LPC3Reg::DeactivateGF( GFChan channel ) static void DeactivateGF( void ); // Mutex for thread-safing an instance of LPC3Reg. static Mutex Mutex_; }; #endif /*LPC3REG_H_*/