1 /* $NetBSD: printscmd.c,v 1.1 2021/12/07 17:39:55 brad Exp $ */
2
3 /*
4 * Copyright (c) 2021 Brad Spencer <brad@anduin.eldar.org>
5 *
6 * Permission to use, copy, modify, and distribute this software for any
7 * purpose with or without fee is hereby granted, provided that the above
8 * copyright notice and this permission notice appear in all copies.
9 *
10 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
11 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
12 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
13 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
14 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
15 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
16 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
17 */
18
19 #ifdef __RCSID
20 __RCSID("$NetBSD: printscmd.c,v 1.1 2021/12/07 17:39:55 brad Exp $");
21 #endif
22
23 /* Functions to print stuff returned from get calls mostly */
24
25 #include <inttypes.h>
26 #include <stdbool.h>
27 #include <stdio.h>
28 #include <stdlib.h>
29 #include <unistd.h>
30 #include <err.h>
31 #include <fcntl.h>
32 #include <string.h>
33 #include <limits.h>
34 #include <termios.h>
35
36 #include <dev/ic/scmdreg.h>
37
38 #define EXTERN extern
39 #include "scmdctl.h"
40 #include "responses.h"
41 #include "common.h"
42
43 #undef EXTERN
44 #define EXTERN
45 #include "printscmd.h"
46
47 void
print_identify(struct scmd_identify_response * r)48 print_identify(struct scmd_identify_response *r)
49 {
50 printf("ID (ID):\t\t\t%d (0x%02X)\n",r->id,r->id);
51 printf("Firmware version (FID):\t\t%d\n",r->fwversion);
52 printf("Config bits (CONFIG_BITS):\t%d (0x%02X)\n",r->config_bits,r->config_bits);
53 if (r->slv_i2c_address >= SCMD_REMOTE_ADDR_LOW &&
54 r->slv_i2c_address <= SCMD_REMOTE_ADDR_HIGH)
55 printf("Slave address (SLAVE_ADDR):\t0x%02X\n",r->slv_i2c_address);
56 else
57 printf("Slave address (SLAVE_ADDR):\tMaster (0x%02X)\n",r->slv_i2c_address);
58 }
59
60
61 void
print_diag(struct scmd_diag_response * r)62 print_diag(struct scmd_diag_response *r)
63 {
64 const char *outputs[] = {
65 "Read errors USER port (U_I2C_RD_ERR):\t\t",
66 "Write errors USER port (U_I2C_WR_ERR):\t\t",
67 "Too much data (U_BUF_DUMPED):\t\t\t",
68 "Read errors SLAVE port (E_I2C_RD_ERR):\t\t",
69 "Write errors SLAVE port (E_I2C_WR_ERR):\t\t",
70 "Main loop (LOOP_TIME):\t\t\t\t",
71 "Number of slave polls (SLV_POOL_CNT):\t\t",
72 "Highest slave address (SLV_TOP_ADDR):\t\t",
73 "Master count SLAVE port errors (MST_E_ERR):\t",
74 "Status master board (MST_E_STATUS):\t\t",
75 "Failsafe faults (FSAFE_FAULTS):\t\t\t",
76 "Out of range register attempts (REG_OOR_CNT):\t",
77 "Write lock attempts (REG_RO_WRITE_CNT):\t\t",
78 "General test word (GEN_TEST_WORD):\t\t"
79 };
80
81 for(int n = 0; n < 14;n++) {
82 printf("%s%d (0x%02X)\n",outputs[n],r->diags[n],r->diags[n]);
83 }
84 }
85
86 const char *edu_outputs[] = {
87 "Disabled",
88 "Enabled",
89 "Unknown"
90 };
91
92 void
print_motor(struct scmd_motor_response * r)93 print_motor(struct scmd_motor_response *r)
94 {
95 int x;
96
97 if (r->driver <= 0x01)
98 x = r->driver;
99 else
100 x = 2;
101 printf("Driver enable/disable: %s (0x%02X)\n",edu_outputs[x],r->driver);
102 for(int n = 0; n < 34;n++) {
103 if (r->motorlevels[n] != SCMD_NO_MOTOR) {
104 printf("Module %d motor %c: %d (0x%02X) %s %s %s\n",
105 n / 2,
106 (n & 0x01 ? 'B' : 'A'),
107 decode_motor_level(r->motorlevels[n]),
108 r->motorlevels[n],
109 (r->motorlevels[n] < 128 ? "(reverse)" : "(forward)"),
110 (r->invert[n] == true ? "(inverted)" : "(not inverted)"),
111 (r->bridge[n / 2] == true ? "(bridged)" : "(not bridged)")
112 );
113 }
114 }
115 }
116