org.mbari.siam.moos.deployed
Class LddMaster

java.lang.Object
  org.mbari.siam.moos.deployed.LddMaster

public class LddMaster
extends java.lang.Object

LddMaster provides an application level interface to the StrongARM LDD IO pins, which are similar to GPIO pins, except that they have no interrupt capabilities. The LddMaster accesses these ports using the character special file (/dev/lddio) interface presented by the sa1100lddio.o (lddio) Linux kernel module. It is possible to read several different driver parameters in addition to reading the IO port itself. The read mode of the lddio module sticky; when the read mode is set, subsequent reads will read the parameter specified. To read a different parameter, the read mode must be explicitly set. A number of convenience functions are provided to hide this behavior; the sticky read mode is relevant when using readLdd directly.

Field Summary

static int	LDD_ATTN_MSP430 MSP430 attention bit
static int	LDD_BITS LDD bits
static java.lang.String	LDD_CLEAR_BITS Clear bits command
static java.lang.String	LDD_DEVICE_NAME Name of device file
static int	LDD_DIRECTION_INPUT Mnemonic for input
static int	LDD_DIRECTION_OUTPUT Mnemonic for output
static int	LDD_GREEN_LED Green LED bit
static int	LDD_READMODE_DIRECTION Mnemonic read mode direction
static int	LDD_READMODE_LEVELS Mnemonic read mode levels
static int	LDD_READMODE_READMODE Mnemonic read mode readmode
static int	LDD_READMODE_STENCIL Mnemonic read mode stencil
static int	LDD_RED_LED Red LED bit
static int	LDD_RF1_POWER Radio 1 power bit
static int	LDD_RF2_POWER Radio 2 power bit
static int	LDD_RS485_DRV RS485 Tx bit
static int	LDD_RS485_RCV RS485 Rx bit
static java.lang.String	LDD_SET_BITS Set bits command
static java.lang.String	LDD_SET_INPUT Set direction to input command
static java.lang.String	LDD_SET_OUTPUT Set direction to output command
static java.lang.String	LDD_SET_READMODE_DIRECTION Read direction command
static java.lang.String	LDD_SET_READMODE_LEVELS Read levels command
static java.lang.String	LDD_SET_READMODE_READMODE Read readmode command
static java.lang.String	LDD_SET_READMODE_STENCIL Read stencil command
static int	LDD_STENCIL Mask of lower 3 bits (LEDs) and upper 4 bits (used by Sidearm for other nefarious purposes)
static int	LDD_UNUSED Unused bits
static java.lang.String	LDD_WRITE_DIRECTION Set direction register
static java.lang.String	LDD_WRITE_LEVELS Write mask command
static int	LDD_YELLOW_LED Yellow LED bit

Constructor Summary

LddMaster()

Method Summary

int	applyStencil(int mask) Apply stencil to bits (protects bits that should not be touched)
void	clearBits(int mask) Clear bits set in mask to the lddio pins
int	getDirection() Get LDD direction bits
static LddMaster	getInstance() Get an LddMaster instance
int	getLevels() Get LDD direction bits
int	getReadMode() Get current read mode
static void	main(java.lang.String[] args)
int	readLdd() Read Ldd in current readMode
int	readStenciledLdd() Read bits and apply specified mask
void	setBits(int mask) Write bits set in mask to the lddio pins
void	setDirection(int mask, int direction) Set direction for bits in mask
void	setReadMode(int readMode) Set to read either the LDD port or the current stencil
int	test() Eine Kleine test code
void	writeDirection(int mask) Write entire PPDR register
void	writeLdd(java.lang.String data) Write Ldd
void	writeLevels(int mask) Write mask to the PPSR register

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

LDD_DEVICE_NAME

public static final java.lang.String LDD_DEVICE_NAME

Name of device file

See Also:

Constant Field Values

LDD_SET_BITS

public static final java.lang.String LDD_SET_BITS

Set bits command

See Also:

Constant Field Values

LDD_CLEAR_BITS

public static final java.lang.String LDD_CLEAR_BITS

Clear bits command

See Also:

Constant Field Values

LDD_WRITE_LEVELS

public static final java.lang.String LDD_WRITE_LEVELS

Write mask command

See Also:

Constant Field Values

LDD_SET_INPUT

public static final java.lang.String LDD_SET_INPUT

Set direction to input command

See Also:

Constant Field Values

LDD_SET_OUTPUT

public static final java.lang.String LDD_SET_OUTPUT

Set direction to output command

See Also:

Constant Field Values

LDD_WRITE_DIRECTION

public static final java.lang.String LDD_WRITE_DIRECTION

Set direction register

See Also:

Constant Field Values

LDD_SET_READMODE_LEVELS

public static final java.lang.String LDD_SET_READMODE_LEVELS

Read levels command

See Also:

Constant Field Values

LDD_SET_READMODE_STENCIL

public static final java.lang.String LDD_SET_READMODE_STENCIL

Read stencil command

See Also:

Constant Field Values

LDD_SET_READMODE_DIRECTION

public static final java.lang.String LDD_SET_READMODE_DIRECTION

Read direction command

See Also:

Constant Field Values

LDD_SET_READMODE_READMODE

public static final java.lang.String LDD_SET_READMODE_READMODE

Read readmode command

See Also:

Constant Field Values

LDD_BITS

public static final int LDD_BITS

LDD bits

See Also:

Constant Field Values

LDD_RED_LED

public static final int LDD_RED_LED

Red LED bit

See Also:

Constant Field Values

LDD_YELLOW_LED

public static final int LDD_YELLOW_LED

Yellow LED bit

See Also:

Constant Field Values

LDD_GREEN_LED

public static final int LDD_GREEN_LED

Green LED bit

See Also:

Constant Field Values

LDD_RS485_RCV

public static final int LDD_RS485_RCV

RS485 Rx bit

See Also:

Constant Field Values

LDD_RS485_DRV

public static final int LDD_RS485_DRV

RS485 Tx bit

See Also:

Constant Field Values

LDD_RF1_POWER

public static final int LDD_RF1_POWER

Radio 1 power bit

See Also:

Constant Field Values

LDD_RF2_POWER

public static final int LDD_RF2_POWER

Radio 2 power bit

See Also:

Constant Field Values

LDD_ATTN_MSP430

public static final int LDD_ATTN_MSP430

MSP430 attention bit

See Also:

Constant Field Values

LDD_UNUSED

public static final int LDD_UNUSED

Unused bits

See Also:

Constant Field Values

LDD_DIRECTION_INPUT

public static final int LDD_DIRECTION_INPUT

Mnemonic for input

See Also:

Constant Field Values

LDD_DIRECTION_OUTPUT

public static final int LDD_DIRECTION_OUTPUT

Mnemonic for output

See Also:

Constant Field Values

LDD_READMODE_LEVELS

public static final int LDD_READMODE_LEVELS

Mnemonic read mode levels

See Also:

Constant Field Values

LDD_READMODE_STENCIL

public static final int LDD_READMODE_STENCIL

Mnemonic read mode stencil

See Also:

Constant Field Values

LDD_READMODE_DIRECTION

public static final int LDD_READMODE_DIRECTION

Mnemonic read mode direction

See Also:

Constant Field Values

LDD_READMODE_READMODE

public static final int LDD_READMODE_READMODE

Mnemonic read mode readmode

See Also:

Constant Field Values

LDD_STENCIL

public static final int LDD_STENCIL

Mask of lower 3 bits (LEDs) and upper 4 bits (used by Sidearm for other nefarious purposes)

See Also:

Constant Field Values

Constructor Detail

LddMaster

public LddMaster()

Method Detail

getInstance

public static LddMaster getInstance()

Get an LddMaster instance

writeLdd

public void writeLdd(java.lang.String data)

Write Ldd

readLdd

public int readLdd()

Read Ldd in current readMode

readStenciledLdd

public int readStenciledLdd()

Read bits and apply specified mask

applyStencil

public int applyStencil(int mask)

Apply stencil to bits (protects bits that should not be touched)

setDirection

public void setDirection(int mask,
                         int direction)

Set direction for bits in mask

getDirection

public int getDirection()

Get LDD direction bits

getLevels

public int getLevels()

Get LDD direction bits

setReadMode

public void setReadMode(int readMode)

Set to read either the LDD port or the current stencil

getReadMode

public int getReadMode()

Get current read mode

writeLevels

public void writeLevels(int mask)

Write mask to the PPSR register

writeDirection

public void writeDirection(int mask)

Write entire PPDR register

setBits

public void setBits(int mask)

Write bits set in mask to the lddio pins

clearBits

public void clearBits(int mask)

Clear bits set in mask to the lddio pins

test

public int test()

Eine Kleine test code

main

public static void main(java.lang.String[] args)