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      1 /*	$NetBSD: printscmd.c,v 1.1 2021/12/07 17:39:55 brad Exp $	*/
      2 
      3 /*
      4  * Copyright (c) 2021 Brad Spencer <brad (at) 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
     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
     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
     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