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
47void
48print_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
61void
62print_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
86const char *edu_outputs[] = {
87	"Disabled",
88	"Enabled",
89	"Unknown"
90};
91
92void
93print_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