init.c

GPS导航定位程序

	       "settings.\n");
	QuitGpsBuilder();
    }
    else
    {
	printf("\n\nInterrupt test passed.");
	printf("\n%lu interrupts were counted - there should have been" 
	       " 200.",interrupt_count);
    }

    printf("\n\nAddress and Data Bus Interface Check.\n");

    /* Load the carrier DCOs with zero for all DCOs. */

    outpw(TR(ALL_CARRIER_DCO_INCR_HIGH),0x0000);
    outpw(TR(ALL_CARRIER_DCO_INCR_LOW),0x0000);

    outpw(TR(TEST_CONTROL),0x0008); /* Put the correlator in TM Test mode. */ 

    WaitForFullTIC();

    /* Load the carrier cycle counters (low) alternatively with testdata and 
       not testdata. */

    testdata = 0xAAAA;
    for(channel=0;channel<MAXCHANNELS;channel++)
    {
	outpw(TR(CH01_CARRIER_CYCLE_COUNTER + 0x0008*channel),testdata);
	testdata = ~testdata;
    }

    WaitForFullTIC();

    /* Now read CHx_CARRIER_CYCLE_COUNTER_LOW and check equivalence to
       testdata or not testdata as appropriate. */

    for(channel=0;channel<MAXCHANNELS;channel++)
    {
	cycle_count[channel] =
	     inpw(TR(CH01_CARRIER_CYCLE_COUNTER + 0x0008*channel));
    }

    testdata = 0xAAAA;
    for(channel=0;channel<MAXCHANNELS;channel++)
    {
	if( cycle_count[channel] != testdata)
	{
	    printf("\nAddress/Data bus error for channel %2.2d. ",
								 channel+1);
	    printf("Addr:%2.2X Read: %4.4X Should be: %4.4X",
	    CH01_CARRIER_CYCLE_COUNTER + 0x0008*channel,
	    cycle_count[channel],testdata);
	    printf("\nCheck the values contained in GPSBLDR2.CFG with the "
		   "board settings.\n");
	    outpw(GPIMASK,MASK_INTERRUPT);             /* Mask interrupts. */
	    QuitGpsBuilder();
	}
	else
	{
	    printf("\nAddress/Data bus test passed for channel %2.2d.",
							     channel+1);
	    printf(" Read: %4.4X Should be: %4.4X",cycle_count[channel],
								   testdata);
	}
	testdata = ~testdata;
    }

    WaitForFullTIC();

    /* Load the carrier cycle counters (low) alternatively with testdata and 
       not testdata. */

    testdata = 0x5555;
    for(channel=0;channel<MAXCHANNELS;channel++)
    {
	outpw(TR(CH01_CARRIER_CYCLE_COUNTER + 0x0008*channel),testdata);
	testdata = ~testdata;
    }

    WaitForFullTIC();

    /* Now read CHx_CARRIER_CYCLE_COUNTER_LOW and check
       equivalence to testdata or not testdata as appropriate. */

    for(channel=0;channel<MAXCHANNELS;channel++)
    {
	cycle_count[channel] =
	     inpw(TR(CH01_CARRIER_CYCLE_COUNTER + 0x0008*channel));
    }

    testdata = 0x5555;
    for(channel=0;channel<MAXCHANNELS;channel++)
    {
	if( cycle_count[channel] != testdata)
	{
	    printf("\nAddress/Data bus error for channel %2.2d. ",
								 channel+1);
	    printf("Addr:%2.2X Read: %4.4X Should be: %4.4X",
	    CH01_CARRIER_CYCLE_COUNTER + 0x0008*channel,
	    cycle_count[channel],testdata);
	    printf("\nCheck the values contained in GPSBLDR2.CFG with the "
		   "board settings.\n");
	    outpw(GPIMASK,MASK_INTERRUPT);             /* Mask interrupts. */
	    QuitGpsBuilder();
	}
	else
	{
	    printf("\nAddress/Data bus test passed for channel %2.2d.",
							     channel+1);
	    printf(" Read: %4.4X Should be: %4.4X",cycle_count[channel],
								   testdata);
	}
	testdata = ~testdata;
    }
}

/***************************************************************************
*
* Function: void WaitForFullTIC(void)  
*
* Waits for a full TIC to occur.
*
* Input: None.
*
* Output: None.
*
* Return Value: None.
****************************************************************************/
void WaitForFullTIC(void)  
{
    long dropout;                    /* Stops lock-up if no TICs detected. */

    unsigned long oldGPIntCtr;                 /* The old interrupt count. */

    /* Wait for the TIC */

    dropout = 0;
    inpw(TR(ACCUM_STATUS_B));
    GPIntCtr = oldGPIntCtr = 0;
    for(;;)
    {
	while(GPIntCtr==oldGPIntCtr)        /* Wait for a 505us interrupt. */
	    continue;
	oldGPIntCtr = GPIntCtr;

	if((inpw(TR(ACCUM_STATUS_B))&0x2000) == 0x2000 )
	    break;
	else
	{
	    dropout++;
	    if(dropout>300000L)
	    {
		printf("\n\nAddress/Data bus error. No TICs were detected.");
		printf("\nCheck the values contained in GPSBLDR2.CFG with the "
		       "board settings.\n");
		QuitGpsBuilder();
	    }    
	}
    }
}

/***************************************************************************
*
* Function: void InterfaceTestInterruptRoutine(void)  
*
* Called as an alternative to SVTRACK when running the interface check.
* ACCUM_STATUS_A needs to be read to reset each interrupt.
*
* Input: None.
*
* Output: None.
*
* Return Value: None.
****************************************************************************/
void InterfaceTestInterruptRoutine(void)
{
    inpw(TR(ACCUM_STATUS_A));

    outportb(0xA0,0x20);  /* Nonspecific EOI for PC PIC B */
    outportb(0x20,0x20);  /* Nonspecific EOI for PC PIC A */

    return;
}

/***************************************************************************
*
* Function: void ConfigureInterrupt(void)  
*
* Configures the master correlator interrupt on the PC PIC.
*
* Input: None.
*
* Output: None.
*
* Return Value: None.
****************************************************************************/
void ConfigureInterrupt(void)
{
    /* Set up the PC's interrupt system to enable GP2021 correlator
       interrupts at the highest priority. */

    disable();
    oldmskA = inp(0x21);                      /* Save old interrupt masks. */
    oldmskB = inp(0xA1);

    gpvec=0x70+(GPINT-8);
    gpmask=(1<<(GPINT-8));
    outportb(0xA1, inportb(0xA1) | gpmask);
    outportb(0x20,0xC1);      /* Make IRQ 2 the highest priority on PIC A. */

    /* Make the correlator's interrupt the highest priority on PIC B. */

    outportb(0xA0,0xC0+((GPINT-9)&7));

    /* Set a pointer to the correlator ISR in the interrupt dispatch table
       table, also saving the previous interrupt vector. */

    oldisrK = getvect(gpvec);
    setvect(gpvec,GPISR);

    /* Unmask the correlator interrupt (however, it is not yet enabled
       on the GPS Builder board). */

    gpmask=(1<<(GPINT-8));
    outportb(0xA1,inportb(0xA1)&(~gpmask));

    enable();
}

/***************************************************************************
*
* Function: void AllocateMemory(void)  
*
* Allocates memory to the observation buffer and ISR stacks.
*
* Input: None.
*
* Output: None.
*
* Return Value: None.
****************************************************************************/
void AllocateMemory(void)
{
    int stack_counter;                   /* Loop counter for stack number. */

    /* Allocate the observations buffer from the far heap. */

    obsbuff = (obsstruc far *)
    farcalloc((unsigned long)NOBS,(unsigned long)sizeof(obsstruc));

    /* Allocate ISR stacks from the far heap. */

    ISTACKS[0] = farmalloc((unsigned long)IStkSiz+32);
    ISTACKS[1] = farmalloc((unsigned long)IStkSiz+32);
    ISTACKS[2] = farmalloc((unsigned long)IStkSiz+32);

    if((obsbuff==NULL) || (ISTACKS[0]==NULL) || (ISTACKS[1]==NULL) ||
							  (ISTACKS[2]==NULL))
    {
	printf("\nERROR: Insufficient conventional memory.\r\n");
	QuitGpsBuilder();
    }

    /* Fill the ISR stacks with a signature pattern (0x55).  Find the
       next paragraph boundary beyond the memory blocks allocated for
       the stacks.  Build a table of SP:SS values for the ISR stacks. */

    for(stack_counter=0;stack_counter<3;stack_counter++)
    {
	_fmemset(ISTACKS[stack_counter],0x55,IStkSiz);
	IStkSS[stack_counter] = 
	  FP_SEG(ISTACKS[stack_counter])+FP_OFF(ISTACKS[stack_counter])/16+1;
	IStkSP[stack_counter] = IStkSiz;
    }
}

/***************************************************************************
*
* Function: void ProcessCommandFile(void)  
*
* Process any commands contained in the CMD.INI file.
*
* Input: None.
*
* Output: None.
*
* Return Value: None.
****************************************************************************/
void ProcessCommandFile(void)
{
    /* Take initialization commands from CMD.INI if it exists. */

    CmdFile[CmdFileNesting] = fopen("CMD.INI","rt");
    if(CmdFile[CmdFileNesting]!=NULL)
    {
	rewind(CmdFile[CmdFileNesting]);
	CmdFileNesting++;
    }

    /* Read and process all the initialization commands before starting the
       main program loop. */

    while(CmdFileNesting)
	Keyboard();
}