Adding prints to debug controlword

nasa-jpl · Sep 10, 2024 · 1819dd2 · 1819dd2
1 parent 158c175
commit 1819dd2
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Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/src/jsd.c b/src/jsd.c
@@ -259,7 +259,7 @@ void jsd_write(jsd_t* self) {
 
   // Write EtherCat frame to slaves, with logic for smart prints
   int transmitted = ecx_send_overlap_processdata(&self->ecx_context);
-
+  WARNING("\nSENDING THE OVERLAP PROCESSDATA!!!\n");
   static int last_transmitted = 1;
   if (transmitted <= 0 && last_transmitted != transmitted) {
     WARNING("ecx_send_overlap_processdata is not transmitting");

diff --git a/src/jsd_epd_nominal.c b/src/jsd_epd_nominal.c
@@ -49,6 +49,17 @@ void jsd_epd_nominal_process(jsd_t* self, uint16_t slave_id) {
 
   jsd_epd_nominal_process_state_machine(self, slave_id);
 
+  unsigned int controlword_uint = (unsigned int)self->slave_states[slave_id].epd_nominal.rxpdo.controlword;
+  WARNING("Bits of rxpdo controlword:\n");
+  for(int bit=0;bit<(sizeof(unsigned int) * 8); bit++)
+  {
+    WARNING("%i ", controlword_uint & 0x01);
+    controlword_uint = controlword_uint >> 1;
+  }
+  WARNING("\n");
+
+  WARNING("Controlword is now ")
+
   // Copy RxPDO data into SOEM's IOmap
   assert(sizeof(jsd_epd_nominal_rxpdo_data_t) ==
          self->ecx_context.slavelist[slave_id].Obytes);