Add logging for AL state and status

controller/ec/block_trinamic_tmc8460eval.c

+/*
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2019
+
+	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/>.
+
+ */
+
+#include <stdlib.h>
+#include <string.h>
+
+#include <controller/controller_block.h>
+
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
+
+struct controller_block_private {
+	
+	unsigned char *rx_buffer;
+	
+	struct esc_device *dev;
+};
+
+
+static void callback_rx(struct controller_block *block, void *data)
+{
+	block->private->rx_buffer = data;
+}
+
+
+struct trinamic_type {
+	char *name;
+	uint32_t productcode;
+};
+
+
+static struct trinamic_type devlist[] = {
+	{ "TMC8460EVAL", ESC_ESI_PRODUCTCODE_TRINAMIC_TMC8460_EVAL },
+};
+
+static struct controller_block * block_trinamic_tmc8460eval_create(char *name, int argc, va_list ap)
+{
+	struct controller_block *block;
+	int i;
+	int dev = -1;
+	char *type;
+	char *busname;
+	int devno;
+	struct esc_device *esc;
+	uint32_t vendor, product;
+
+	busname = va_arg(ap, char *);
+	devno = va_arg(ap, int);
+	type = va_arg(ap, char *);
+	
+	for (i = 0; i < sizeof(devlist)/sizeof(struct trinamic_type); i++) {
+		if (!strcmp(type, devlist[i].name)) {
+			dev = i;
+			break;
+		}
+	}
+	if (dev < 0) {
+		log_send(LOG_T_ERROR, "Unsupported device: '%s'", type);
+		goto err_ethercat;
+	}
+
+	esc = esc_device_create(busname, devno, name);
+
+	vendor = esc_esi_vendorid_get(esc);
+	product = esc_esi_productcode_get(esc);
+
+	if (vendor != ESC_ESI_VENDORID_TRINAMIC ||
+	    product != devlist[dev].productcode) {
+		log_send(LOG_T_ERROR, "%s: Device not found\n", name);
+		goto err_ethercat;
+	}
+		
+	block = controller_block_alloc("trinamic_tmc8460eval", name, 
+	    sizeof(struct controller_block_private));
+
+	block->private->dev = esc;
+	esc->block = block;
+	esc->block_rx = block;
+	esc_esi_device_fill(esc);
+	esc->callback_rx = callback_rx;
+	esc_device_initialize_operational(esc);
+	
+	if (controller_block_add(block))
+		goto err_add;
+		
+	return block;
+
+err_add:
+	controller_block_free(block);
+err_ethercat:
+	return NULL;
+}
+
+BLOCK_CREATE(trinamic_tmc8460eval) = {
+	.create = block_trinamic_tmc8460eval_create,
+	.args = { "char*,int,char*", NULL },
+};

controller/ec/build.mk

@@ -26,7 +26,8 @@ EC_BLOCKS = \
        beckhoff_el5001 \
        beckhoff_el5101 \
        beckhoff_el7031 \
-       stoeber
+       stoeber \
+       trinamic_tmc8460eval \
 
 EC_SRCS += $(addsuffix .c,$(addprefix $(DIR)/block_,$(EC_BLOCKS)))
 

controller/ec/ec_enum.c

@@ -146,6 +146,14 @@ void describe_esc(struct ec *ec, struct ec_dgram_addr *ec_addr)
 		if (r == 1) {
 			printf("\tSync/Latch PDI config: 0x%02x\n", val8);
 		}
+
+		ec_addr->addr.position.off = ESC_ADDR_MAP_ESC_CONFIGURATION;
+		r = ec_datagram_read(ec, ec_addr, &val8, 1);
+	
+		if (r == 1) {
+			printf("\tESC config: 0x%02x\n", val8);
+		}
+		
 	}
 
 	if (option_portcheck || option_verbose) {
@@ -164,10 +172,13 @@ void describe_esc(struct ec *ec, struct ec_dgram_addr *ec_addr)
 		link_port3 = dl_status & ESC_DL_STATUS_LINK_PORT3;
 
 		if (option_verbose) printf("\tDL Status: 0x%04x\n", dl_status);
-		printf("\tport0: %s\n", link_port0 ? "Link detected" : "No link");
-		printf("\tport1: %s\n", link_port1 ? "Link detected" : "No link");
-		printf("\tport2: %s\n", link_port2 ? "Link detected" : "No link");
-		printf("\tport3: %s\n", link_port3 ? "Link detected" : "No link");
+		if (option_verbose) printf("\t\tEEPROM: %s\n", dl_status & ESC_DL_STATUS_EEPROM_LOADED ? "Loaded" : "Not loaded");
+		if (option_verbose) printf("\t\tWatchdog: %s\n", dl_status & ESC_DL_STATUS_WATCHDOG_RELOADED ? "Reloaded" : "Expired");
+		if (option_verbose) printf("\t\tEnhanced link detection: %s\n", dl_status & ESC_DL_STATUS_ENHANCED_LINK_DETECT ? "Activated" : "Deactivated");
+		printf("\t\tport0: %s\n", link_port0 ? "Link detected" : "No link");
+		printf("\t\tport1: %s\n", link_port1 ? "Link detected" : "No link");
+		printf("\t\tport2: %s\n", link_port2 ? "Link detected" : "No link");
+		printf("\t\tport3: %s\n", link_port3 ? "Link detected" : "No link");
 	
 		if (option_portcheck) {
 			uint32_t t0;
@@ -228,6 +239,13 @@ void describe_esc(struct ec *ec, struct ec_dgram_addr *ec_addr)
 		}
 	}
 
+	if (option_verbose) {
+		enum esc_al_state state = esc_al_state_get(dev);
+		enum esc_al_status status = esc_al_status_code_get(dev);
+		printf("\tAL state: %s\n", esc_al_state2str(state));
+		printf("\tAL status: %s\n", esc_al_status2str(status));
+	}
+
 	vendorid = esc_esi_vendorid_get(dev);
 	productcode = esc_esi_productcode_get(dev);
 	

controller/ec/esc.c

@@ -131,8 +131,13 @@ int esc_al_state_set(struct esc_device *esc, enum esc_al_state newstate,
 		    rd_state, esc_al_state2str(rd_state));
 		/* timeout... */
 		return rd_state;
-	} else
+	} else {
+		log_send(LOG_T_ERROR,
+		    "%s: Writing to AL_CONTROL register failed: %d", esc->name, ret);
+		log_send(LOG_T_DEBUG,
+		    "%s: Current state: %s", esc->name, esc_al_state2str(esc_al_state_get(esc)));
 		return -1;
+	}
 }
 
 enum esc_al_status esc_al_status_code_get(struct esc_device *esc)
@@ -197,8 +202,9 @@ int esc_init(struct esc_device *esc)
 	
 	memcpy(&addr, &esc->addr, sizeof(struct ec_dgram_addr));
 
-	if (esc_al_state_set(esc, ESC_AL_STATE_INIT, &timeout) < 0)
-		log_send(LOG_T_ERROR, "Could not go to state init");
+	if (esc_al_state_set(esc, ESC_AL_STATE_INIT, &timeout) < 0) {
+		log_send(LOG_T_ERROR, "Could not go to state init. AL status: %s", esc_al_status2str(esc_al_status_code_get(esc)));
+	}
 
 	addr.addr.position.off = ESC_ADDR_MAP_SYNCMANAGERS_SUPPORTED;
 	ret = ec_datagram_read(esc->ec, &addr, &nr_syncmgr, 1);

controller/ec/esc_device.c

@@ -258,8 +258,7 @@ int esc_device_initialize_pre_operational(struct esc_device *dev)
 	struct timespec	timeout = { 1, 0 };
 	
 	if (esc_al_state_set(dev, ESC_AL_STATE_INIT, &timeout) < 0)
-		log_send(LOG_T_ERROR, "%s: Could not go to state init",
-		    dev->name);
+		log_send(LOG_T_ERROR, "%s: Could not go to state init. AL status: %s", dev->name, esc_al_status2str(esc_al_status_code_get(dev)));
 
 	if (dev->tx_pdo) {
 		dev->sm[dev->tx_pdo_sm].ctrl =
@@ -313,8 +312,7 @@ int esc_device_initialize_pre_operational(struct esc_device *dev)
 	}
 
 	if (esc_al_state_set(dev, ESC_AL_STATE_PRE_OPERATIONAL, &timeout)< 0) {
-		log_send(LOG_T_ERROR, 
-		    "%s: Could not go to state pre operational", dev->name);
+		log_send(LOG_T_ERROR, "%s: Could not go to state pre operational. AL status: %s", dev->name, esc_al_status2str(esc_al_status_code_get(dev)));
 		r = -1;
 	}
 
@@ -343,16 +341,14 @@ int esc_device_initialize_operational(struct esc_device *dev)
 	
 	r = esc_al_state_set(dev, ESC_AL_STATE_SAFE_OPERATIONAL, &timeout);
 	if (r < 0) {
-		log_send(LOG_T_ERROR, 
-		    "%s: Could not go to state safe operational", dev->name);
+		log_send(LOG_T_ERROR, "%s: Could not go to state safe operational. AL status: %s", dev->name, esc_al_status2str(esc_al_status_code_get(dev)));
 		goto err;
 	}
 	dev->state = ESC_AL_STATE_SAFE_OPERATIONAL;
 	
 	r = esc_al_state_set(dev, ESC_AL_STATE_OPERATIONAL, &timeout);
 	if (r < 0) {
-		log_send(LOG_T_ERROR, 
-		    "%s: Could not go to state operational", dev->name);
+		log_send(LOG_T_ERROR, "%s: Could not go to state operational. AL status: %s", dev->name, esc_al_status2str(esc_al_status_code_get(dev)));
 		goto err;
 	}
 	dev->state = ESC_AL_STATE_OPERATIONAL;

controller/ec/esc_registers.h

@@ -42,6 +42,9 @@
 #define ESC_FEATURE_SEPERATE_FCS_HANDLING		0x0080
 #define ESC_FEATURE_ENHANCED_DC_SYNC_ACTIVATION		0x0100
 #define ESC_ADDR_MAP_DL_STATUS			0x0110
+#define ESC_DL_STATUS_EEPROM_LOADED			0x0001
+#define ESC_DL_STATUS_WATCHDOG_RELOADED			0x0002
+#define ESC_DL_STATUS_ENHANCED_LINK_DETECT		0x0004
 #define ESC_DL_STATUS_LINK_PORT0			0x0010
 #define ESC_DL_STATUS_LINK_PORT1			0x0020
 #define ESC_DL_STATUS_LINK_PORT2			0x0040
@@ -51,6 +54,7 @@
 #define ESC_ADDR_MAP_AL_STATUS			0x0130
 #define ESC_ADDR_MAP_AL_STATUS_ERR_IND			0x0010
 #define ESC_ADDR_MAP_AL_STATUS_CODE		0x0134
+#define ESC_ADDR_MAP_ESC_CONFIGURATION		0x0141
 
 #define ESC_ADDR_MAP_SYNC_LATCH_PDI_CONFIG	0x0151