mirror of
https://github.com/eddyem/pusirobot.git
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70 lines
2.0 KiB
C
70 lines
2.0 KiB
C
/*
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* This file is part of the stepper project.
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* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdlib.h> // for NULL
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// we should init constants here!
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#define DICENTRY(name, idx, sidx, sz, s) const SDO_dic_entry name = {idx, sidx, sz, s};
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#include "pusirobot.h"
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// controller status for bits
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static const char *DevStatus[] = {
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"External stop 1",
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"External stop 2",
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"Stall state",
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"Busy state",
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"External stop 3",
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"The FIFO of PVT Mode 3 is empty",
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"FIFO Lower bound of PVT Mode 3",
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"FIFO upper limit of PVT mode 3"
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};
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// controller error statuses
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static const char *DevError[] = {
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"TSD, over temperature shutdown",
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"AERR, coil A error",
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"BERR, coil B error",
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"AOC, A over current",
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"BOC, B over current",
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"UVLO, low voltage fault"
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};
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// return status message for given bit in status
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const char *devstatus(uint8_t status, uint8_t bit){
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if(bit > 7) return NULL;
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if(status & (1<<bit)) return DevStatus[bit];
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return NULL;
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}
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// error codes explanation
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const char *errname(uint8_t error, uint8_t bit){
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if(bit > 5) return NULL;
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if(error & (1<<bit)) return DevError[bit];
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return NULL;
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}
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/*
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// get current position for node ID `NID`, @return INT_MIN if error
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int get_current_position(uint8_t NID){
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int64_t val = SDO_read(&POSITION, NID);
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if(val == INT64_MIN) return INT_MIN;
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return (int) val;
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}
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*/
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