add printing of dictentry objects values

commandline/cmdlnopts.c

@@ -75,6 +75,7 @@ static myoption cmdlnopts[] = {
     {"parse",   NEED_ARG,   NULL,   'p',    arg_string, APTR(&G.parsefile), _("file with SDO data to send to device")},
     {"check",   NEED_ARG,   NULL,   'k',    arg_string, APTR(&G.checkfile), _("check SDO data file")},
     {"disable", NO_ARGS,    NULL,   'D',    arg_int,    APTR(&G.disable),   _("disable motor")},
+    {"readvals",NO_ARGS,    NULL,   'R',    arg_int,    APTR(&G.showpars),  _("read values of used parameters")},
    end_option
 };
 

commandline/cmdlnopts.h

@@ -48,6 +48,7 @@ typedef struct{
     int clearerr;           // try to clear errors
     int zeropos;            // set position to zero
     int disable;            // disable motor
+    int showpars;           // show values of some parameters
 } glob_pars;
 
 

commandline/dicentries.h

@@ -1,69 +0,0 @@
-/*
- * This file is part of the stepper project.
- * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-// this file can be included more than once!
-
-// heartbeat time
-DICENTRY(HEARTBTTIME,   0x1017, 0, 2, 0)
-// node ID
-DICENTRY(NODEID,        0x2002, 0, 1, 0)
-// baudrate
-DICENTRY(BAUDRATE,      0x2003, 0, 1, 0)
-// system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings
-DICENTRY(SYSCONTROL,    0x2007, 0, 1, 0)
-// error state
-DICENTRY(ERRSTATE,      0x6000, 0, 1, 0)
-// controller status
-DICENTRY(DEVSTATUS,     0x6001, 0, 1, 0)
-// rotation direction
-DICENTRY(ROTDIR,        0x6002, 0, 1, 0)
-// maximal speed
-DICENTRY(MAXSPEED,      0x6003, 0, 4, 1)
-// relative displacement
-DICENTRY(RELSTEPS,      0x6004, 0, 4, 0)
-// operation mode
-DICENTRY(OPMODE,        0x6005, 0, 1, 0)
-// start speed
-DICENTRY(STARTSPEED,    0x6006, 0, 2, 0)
-// stop speed
-DICENTRY(STOPSPEED,     0x6007, 0, 2, 0)
-// acceleration coefficient
-DICENTRY(ACCELCOEF,     0x6008, 0, 1, 0)
-// deceleration coefficient
-DICENTRY(DECELCOEF,     0x6009, 0, 1, 0)
-// microstepping
-DICENTRY(MICROSTEPS,    0x600A, 0, 2, 0)
-// max current
-DICENTRY(MAXCURNT,      0x600B, 0, 2, 0)
-// current position
-DICENTRY(POSITION,      0x600C, 0, 4, 0)
-// motor enable
-DICENTRY(ENABLE,        0x600E, 0, 1, 0)
-// EXT emergency stop enable
-DICENTRY(EXTENABLE,     0x600F, 1, 1, 0)
-// EXT emergency stop trigger mode
-DICENTRY(EXTTRIGMODE,   0x600F, 2, 1, 0)
-// EXT emergency sensor type
-DICENTRY(EXTSENSTYPE,   0x600F, 3, 1, 0)
-// GPIO value
-DICENTRY(GPIOVAL,       0x6012, 0, 2, 0)
-// absolute displacement
-DICENTRY(ABSSTEPS,      0x601C, 0, 4, 1)
-// stop motor
-DICENTRY(STOP,          0x6020, 0, 1, 0)
-

commandline/dicentries.in

@@ -0,0 +1,95 @@
+/*
+ * This file is part of the stepper project.
+ * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option, "") any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// this file can be included more than once!
+
+// variable name / index / subindex / datasize / issigned / name
+
+// heartbeat time
+DICENTRY(HEARTBTTIME,   0x1017, 0, 2, 0, "heartbeat time")
+// node ID
+DICENTRY(NODEID,        0x2002, 0, 1, 0, "node ID")
+// baudrate
+DICENTRY(BAUDRATE,      0x2003, 0, 1, 0, "baudrate")
+// system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings
+DICENTRY(SYSCONTROL,    0x2007, 0, 1, 0, "system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings")
+// error status
+DICENTRY(ERRSTATE,      0x6000, 0, 1, 0, "error status")
+// controller status
+DICENTRY(DEVSTATUS,     0x6001, 0, 1, 0, "controller status")
+// rotation direction
+DICENTRY(ROTDIR,        0x6002, 0, 1, 0, "rotation direction")
+// maximal speed
+DICENTRY(MAXSPEED,      0x6003, 0, 4, 1, "maximal speed")
+// relative displacement
+DICENTRY(RELSTEPS,      0x6004, 0, 4, 0, "relative displacement")
+// operation mode
+DICENTRY(OPMODE,        0x6005, 0, 1, 0, "operation mode")
+// start speed
+DICENTRY(STARTSPEED,    0x6006, 0, 2, 0, "start speed")
+// stop speed
+DICENTRY(STOPSPEED,     0x6007, 0, 2, 0, "stop speed")
+// acceleration coefficient
+DICENTRY(ACCELCOEF,     0x6008, 0, 1, 0, "acceleration coefficient")
+// deceleration coefficient
+DICENTRY(DECELCOEF,     0x6009, 0, 1, 0, "deceleration coefficient")
+// microstepping
+DICENTRY(MICROSTEPS,    0x600A, 0, 2, 0, "microstepping")
+// max current
+DICENTRY(MAXCURNT,      0x600B, 0, 2, 0, "maximum phase current")
+// current position
+DICENTRY(POSITION,      0x600C, 0, 4, 0, "current position")
+// current reduction
+DICENTRY(CURRREDUCT,    0x600D, 0, 1, 0, "current reduction")
+// motor enable
+DICENTRY(ENABLE,        0x600E, 0, 1, 0, "motor enable")
+// EXT emergency stop enable
+DICENTRY(EXTENABLE,     0x600F, 1, 1, 0, "EXT emergency stop enable")
+// EXT emergency stop trigger mode
+DICENTRY(EXTTRIGMODE,   0x600F, 2, 1, 0, "EXT emergency stop trigger mode")
+// EXT emergency sensor type
+DICENTRY(EXTSENSTYPE,   0x600F, 3, 1, 0, "EXT emergency sensor type")
+// GPIO direction
+DICENTRY(GPIODIR,       0x6011, 1, 2, 0, "GPIO direction")
+// GPIO configuration
+DICENTRY(GPIOCONF,      0x6011, 2, 4, 0, "GPIO configuration")
+// GPIO value
+DICENTRY(GPIOVAL,       0x6012, 0, 2, 0, "GPIO value")
+// stall parameters
+DICENTRY(STALLPARS,     0x6017, 0, 2, 0, "stall parameters (open loop)")
+// stall set
+DICENTRY(STALLSET,      0x601B, 0, 1, 0, "stall set (open loop)")
+// absolute displacement
+DICENTRY(ABSSTEPS,      0x601C, 0, 4, 1, "absolute displacement")
+// stop motor
+DICENTRY(STOP,          0x6020, 0, 1, 0, "stop motor")
+// encoder resolution
+DICENTRY(ENCRESOL,      0x6021, 0, 2, 0, "encoder resolution (closed loop)")
+// stall length parameter
+DICENTRY(STALLLEN,      0x6028, 0, 2, 0, "stall length parameter (closed loop)")
+// torque ring enable
+DICENTRY(TORQRING,      0x6029, 0, 1, 0, "torque ring enable (closed loop)")
+// autosave position
+DICENTRY(POSAUTOSAVE,   0x602A, 0, 1, 0, "autosave position (closed loop)")
+// real time speed
+DICENTRY(REALTIMESPD,   0x6030, 0, 2, 1, "real time speed (closed loop)")
+// calibration zero
+DICENTRY(CALIBZERO,     0x6034, 0, 4, 1, "calibration zero")
+// encoder position
+DICENTRY(ENCPOS,        0x6035, 0, 4, 1, "encoder position")
+

commandline/main.c

@@ -33,6 +33,7 @@ static glob_pars *GP = NULL;  // for GP->pidfile need in `signals`
 static uint8_t ID = 0;
 static uint16_t microstepping = 0;
 
+// default signal handler
 void signals(int sig){
     putlog("Exit with status %d", sig);
     DBG("Exit with status %d", sig);
@@ -47,6 +48,7 @@ void iffound_default(pid_t pid){
     ERRX("Another copy of this process found, pid=%d. Exit.", pid);
 }
 
+// error state check
 static inline void chkerr(int64_t es){
     if(!es) return;
     red("ERRSTATE=%d\n", es);
@@ -61,6 +63,7 @@ static inline void chkerr(int64_t es){
     }
 }
 
+// device status check
 static inline void chkstat(int64_t es){
     if(es) red("DEVSTATUS=%d\n", (int)es);
     else green("DEVSTATUS=0\n");
@@ -77,6 +80,7 @@ static inline void chkstat(int64_t es){
     }
 }
 
+// setup microstepping
 static inline void setusteps(int64_t es){
     if(GP->microsteps > -1 && GP->microsteps != (int) es){
         DBG("Try to change microsteps");
@@ -87,6 +91,7 @@ static inline void setusteps(int64_t es){
     green("MICROSTEPPING=%u\n", microstepping);
 }
 
+// setup maximal speed
 static inline void setmaxspd(int64_t es){
     DBG("abs=%d, rel=%d", GP->absmove, GP->relmove);
     if(es == 0 && (GP->absmove != INT_MIN || GP->relmove != INT_MIN) && (GP->maxspeed == INT_MIN || GP->maxspeed == 0))
@@ -103,6 +108,7 @@ static inline void setmaxspd(int64_t es){
     else red("MAXSPEED=0\n");
 }
 
+// get ESW values
 static inline void gpioval(int64_t es){
     uint16_t v = (uint16_t) es;
     if(INT64_MIN == (es = SDO_read(&EXTENABLE, ID))){
@@ -115,6 +121,23 @@ static inline void gpioval(int64_t es){
     }
 }
 
+// show values of all parameters from dicentries.in
+static inline void showAllPars(){
+    green("\nParameters' values:");
+    for(int i = 0; i < DEsz; ++i){
+        const SDO_dic_entry *entry = allrecords[i];
+        int64_t val = SDO_read(entry, GP->NodeID);
+        if(val == INT64_MIN){
+            WARNX("Can't read value of SDO 0x%04X/%d (%s)",
+                  entry->index, entry->subindex, entry->name);
+            continue;
+        }
+        printf("\n# %s\n0x%04X, %d, %ld", entry->name, entry->index,
+               entry->subindex, val);
+    }
+    printf("\n\n");
+}
+
 int main(int argc, char *argv[]){
     initial_setup();
     char *self = strdup(argv[0]);
@@ -154,11 +177,6 @@ int main(int argc, char *argv[]){
         signals(2);
     }
 
-    if(GP->parsefile){
-        green("Try to parse %s and send SDOs to device\n", GP->parsefile);
-        parse_data_file(GP->parsefile, GP->NodeID);
-    }
-
     //setup_con();
     // print current position and state
     int64_t i64;
@@ -167,6 +185,16 @@ int main(int argc, char *argv[]){
 #define getSDOw(SDO, fn, e)  do{if(INT64_MIN != (i64 = SDO_read(&SDO, ID))) fn(i64); else WARNX(e);}while(0)
     getSDOe(ERRSTATE, chkerr, "Can't get error status");
     getSDOe(DEVSTATUS, chkstat, "Can't get device status");
+
+    if(GP->parsefile){
+        green("Try to parse %s and send SDOs to device\n", GP->parsefile);
+        parse_data_file(GP->parsefile, GP->NodeID);
+    }
+
+    if(GP->showpars){
+        showAllPars();
+    }
+
     getSDOe(MICROSTEPS, setusteps, "Can't get microstepping");
     if(GP->zeropos){
         if(SDO_write(&POSITION, ID, 0))

commandline/pusirobot.c

@@ -22,16 +22,18 @@
 
 // we should init constants here!
 #undef DICENTRY
-#define DICENTRY(name, idx, sidx, sz, s)  const SDO_dic_entry name = {idx, sidx, sz, s};
+#define DICENTRY(name, idx, sidx, sz, s, n)  const SDO_dic_entry name = {idx, sidx, sz, s, n};
-#include "dicentries.h"
+#include "dicentries.in"
 
 // now init array with all dictionary
 #undef DICENTRY
-#define DICENTRY(name, idx, sidx, sz, s)  {idx, sidx, sz, s},
+#define nnn(nm)  nm
-static const SDO_dic_entry allrecords[] = {
+#define lnk(nm) & ## nnn(nm)
-#include "dicentries.h"
+#define DICENTRY(name, idx, sidx, sz, s, n)  &name,
+const SDO_dic_entry* allrecords[] = {
+#include "dicentries.in"
 };
-const int DEsz = sizeof(allrecords) / sizeof(SDO_dic_entry);
+const int DEsz = sizeof(allrecords) / sizeof(SDO_dic_entry*);
 
 // controller status for bits
 static const char *DevStatus[] = {
@@ -73,7 +75,7 @@ const char *errname(uint8_t error, uint8_t bit){
 SDO_dic_entry *dictentry_search(uint16_t index, uint8_t subindex){
     // the search is linear as dictionary can be unsorted!!!
     for(int i = 0; i < DEsz; ++i){
-        const SDO_dic_entry *entry = &allrecords[i];
+        const SDO_dic_entry *entry = allrecords[i];
         if(entry->index == index && entry->subindex == subindex) return (SDO_dic_entry*)entry;
     }
     return NULL;

commandline/pusirobot.h

@@ -27,13 +27,17 @@ typedef struct{
     uint8_t subindex;   // SDO subindex
     uint8_t datasize;   // data size: 1,2,3 or 4 bytes
     uint8_t issigned;   // signess: if issigned==1, then signed, else unsigned
+    const char *name;   // dictionary entry name
 } SDO_dic_entry;
 
 #ifndef DICENTRY
-#define DICENTRY(name, idx, sidx, sz, s)  extern const SDO_dic_entry name;
+#define DICENTRY(name, idx, sidx, sz, s, n)  extern const SDO_dic_entry name;
 #endif
 
-#include "dicentries.h"
+#include "dicentries.in"
+
+extern const int DEsz;
+extern const SDO_dic_entry* allrecords[];
 
 #define MAX_SPEED_MIN   -200000
 #define MAX_SPEED_MAX   200000
@@ -48,6 +52,4 @@ typedef struct{
 const char *devstatus(uint8_t status, uint8_t bit);
 const char *errname(uint8_t error, uint8_t bit);
 SDO_dic_entry *dictentry_search(uint16_t index, uint8_t subindex);
-//int get_current_position(uint8_t NID);
-
 #endif // PUSIROBOT_H__