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Enhancements to report function

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This commit is contained in:
MarkRivers
2011-07-14 15:07:04 +00:00
parent e4ec209d71
commit 53c93173f1
1 changed files with 42 additions and 16 deletions
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motorApp/HytecSrc/HytecMotorDriver.cpp
+42 -16
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@@ -50,11 +50,12 @@
/* Fixed detecting encoder logic wrong bug */
/* 2.4 Bugs fix Jim Chen 24/06/2011 */
/* Fixed wrong ioc shell command function name */
/* 2.5 Changes for 64bit Linux Jim Chen 07/07/2011 */
/* 2.5 Changes for 64bit Linux Jim Chen, Mark Rivers 07/07/2011 */
/* Changed the cast modifier for "this" pointer in ipmIntConnect */
/* function by (long) rather than (int) to suit 64bit Linux */
/* build. */
/* */
/* function by (long) rather than (int) to suit 64bit Linux */
/* build. Also corrected the PROM reading. Added more info in */
/* report when value > 0. */
/* */
/********************************************************************************/
#include <stddef.h>
@@ -271,12 +272,12 @@ int HytecMotorController::checkprom(char *pr,int expmodel)
#define PR_FLAGS 0x14
#define PR_BYTES 0x16
#define PR_SERN 0x1a
#define HYTECID 0x00800300
#define HYTECID 0x8003
char* hytecstr=" (HyTec Electronics Ltd., Reading, UK)";
char lstr[7];
int manid;
epicsUInt16 modelnum;
epicsUInt16 modelnum, word;
int ishytec,ismodel,strok, ver;
/* Begin */
@@ -284,16 +285,23 @@ int HytecMotorController::checkprom(char *pr,int expmodel)
/* Debug - Display the passed Address */
printf("PROM CONTENTS AT: %p\n",pr);
/* Read the first 6 Characters from the passed Address */
strncpy(lstr, (char*)pr, 6);
/* Convert it to a String by Null terminating it */
lstr[6]=0;
word = *((epicsUInt16*)(pr+0));
lstr[0] = (char) (word >> 8);
lstr[1] = (char) (word & 0xFF);
word = *((epicsUInt16*)(pr+2));
lstr[2] = (char) (word >> 8);
lstr[3] = (char) (word & 0xFF);
word = *((epicsUInt16*)(pr+4));
lstr[4] = (char) (word >> 8);
lstr[5] = 0x20;
lstr[6] = 0;
/* Compare to Expected String (i.e. "VITA4 ") */
strok = (strcmp(lstr, IP_DETECT_STR) == 0);
printf("PROM header: '%6s'\n",lstr);
/* Set manid to PROM Address of the Hytec ID */
manid = *((int*)(pr+PR_ID));
manid = (*((epicsUInt16*)(pr+PR_ID)) << 8) + (*((epicsUInt16*)(pr+PR_ID+2)) >> 8);
/* Set ishytec to TRUE if Hytec ID is as expected */
ishytec = (manid ==HYTECID);
/* Set modelnum to PROM Address of the IP Model */
@@ -302,7 +310,7 @@ int HytecMotorController::checkprom(char *pr,int expmodel)
ismodel = (modelnum==expmodel);
/* Display Assorted Information from Reading the PROM */
printf("PROM manufacturer ID: 0x%08X",manid);
printf("PROM manufacturer ID: 0x%04X",manid);
if (ishytec) printf(hytecstr);
printf("\nPROM model #: 0x%04hx, rev. 0x%04hx, serial # %hu\n",
@@ -353,16 +361,34 @@ void HytecMotorController::report(FILE *fp, int level)
{
int axis;
HytecMotorAxis *pAxis;
double p, encoderp;
int dir, hasencoder, done, hlimit, home, fault, llimit;
fprintf(fp, "Hytec motor driver %s, numAxes=%d\n", this->portName, this->numAxes);
fprintf(fp, "Hytec motor driver %s, numAxes=%d, carrierNo=%d, ipslot=%d\n",
this->portName, this->numAxes, this->ip_carrier, this->ipslot);
if (level > 0) {
for (axis=0; axis<this->numAxes; axis++) {
pAxis = getAxis(axis);
fprintf(fp, " axis %d\n"
" encoder ratio = %f\n",
pAxis->axisNo_, pAxis->encoderRatio);
getDoubleParam(pAxis->axisNo_, motorPosition_, &p);
getDoubleParam(pAxis->axisNo_, motorEncoderPosition_, &encoderp);
getIntegerParam(pAxis->axisNo_, motorStatusDirection_, &dir);
getIntegerParam(pAxis->axisNo_, motorStatusHasEncoder_, &hasencoder);
getIntegerParam(pAxis->axisNo_, motorStatusDone_, &done);
getIntegerParam(pAxis->axisNo_, motorStatusHighLimit_, &hlimit);
getIntegerParam(pAxis->axisNo_, motorStatusHome_, &home);
getIntegerParam(pAxis->axisNo_, motorStatusProblem_, &fault);
getIntegerParam(pAxis->axisNo_, motorStatusLowLimit_, &llimit);
fprintf(fp, " axis %d: encoder ratio = %f\n", pAxis->axisNo_, pAxis->encoderRatio);
fprintf(fp, " abs position = %f\n", p);
fprintf(fp, " encoder position = %f\n", encoderp);
fprintf(fp, " direction = %d\n", dir);
fprintf(fp, " encoder detected = %s\n", hasencoder == 0 ? "No" : "Yes");
fprintf(fp, " Done bit set = %s\n", done == 0 ? "No" : "Yes");
fprintf(fp, " High limit hit = %s\n", hlimit == 0 ? "No" : "Yes");
fprintf(fp, " Low limit hit = %s\n", llimit == 0 ? "No" : "Yes");
fprintf(fp, " Home limit hit = %s\n", home == 0 ? "No" : "Yes");
fprintf(fp, " Faulty = %s\n", fault == 0 ? "No" : "Yes");
}
}