---

stgdiag.c File Reference

#include <stdio.h>
#include <string.h>
#include <signal.h>
#include <stdlib.h>
#include <ctype.h>
#include <math.h>
#include <unistd.h>
#include "stg.h"

Include dependency graph for stgdiag.c:

Go to the source code of this file.

Defines
#define	NUM_AXES   3
Enumerations
enum	{   POS = 1, LIMIT, HOME, INDEX,   LATCH, DAC, DIO, ADC }
Functions
char	__attribute__ ((unused)) ident[]="$Id
int	main (int argc, char *argv[])

---

Define Documentation

#define NUM_AXES   3

---

Enumeration Type Documentation

anonymous enum

Enumeration values: POS  LIMIT  HOME  INDEX  LATCH  DAC  DIO  ADC  Definition at line 32 of file stgdiag.c. {POS = 1, LIMIT, HOME, INDEX, LATCH, DAC, DIO, ADC};

---

Function Documentation

char __attribute__ (  (unused)    )  [static]

Definition at line 18 of file stgdiag.c. : stgdiag.c,v 1.7 2001/10/26 14:31:01 wshackle Exp $"; /* Be root to run it */ #define NUM_AXES 3 static int done = 0; static void quit(int sig) { done = 1; }

int main (  int    argc, char *    argv[] )

Definition at line 34 of file stgdiag.c. { int which = POS; int newline=0; double pos[NUM_AXES]; double oldpos[NUM_AXES]; int lim[NUM_AXES*2]; int oldlim[NUM_AXES*2]; int home[NUM_AXES]; int oldhome[NUM_AXES]; int index; int latch; int axis; double volts; int t; char buf[80]; char *cptr; double adc[NUM_AXES]; int argsused = 0; /* enable I/O port access */ if (0 != iopl(3)) { printf("must be root to run\n"); exit(1); } if (argc > 1) { if (!strcmp(argv[1], "pos")) { which = POS; } else if (!strcmp(argv[1], "dio")) { which = DIO; } else if (!strcmp(argv[1], "dac")) { which = DAC; } else if (!strcmp(argv[1], "adc")) { which = ADC; } else if (!strcmp(argv[1], "limit")) { which = LIMIT; } else if (!strcmp(argv[1], "home")) { which = HOME; } else if (!strcmp(argv[1], "index")) { if(argc < 2) { which = 0; printf("No axis specified (using 0)\n"); } else if (1 == sscanf(argv[2], "%d", &axis)) { argsused = 1; which = INDEX; } else { printf("syntax: %s {limit | home | index <axis> | latch <axis>}\n", argv[0]); exit(1); } } else if (!strcmp(argv[1], "latch")) { if (1 == sscanf(argv[2], "%d", &axis)) { argsused = 1; which = LATCH; } else { printf("syntax: %s {limit | home | index <axis> | latch <axis>}\n", argv[0]); exit(1); } } else { printf("syntax: %s {limit | home | index <axis> | latch <axis>}\n", argv[0]); exit(1); } } if (argc > 2+argsused) { FIND_STG_BASE_ADDRESS = 0; if (1 != sscanf(argv[2], "%i", &STG_BASE_ADDRESS)) { printf("bad address: %s\n", argv[2]); exit(1); } else { printf("setting STG base address to 0x%X\n", STG_BASE_ADDRESS); } } else { STG_BASE_ADDRESS = BaseFind(); if (STG_BASE_ADDRESS == 0) { printf("can't find STG board\n"); exit(1); } else { printf("found STG at 0x%X\n", STG_BASE_ADDRESS); } } signal(SIGINT, quit); stgMotInit(NULL); stgDioInit(NULL); stgAioInit(NULL); printf("STG Model =%d\n", stgModel()); if (which == POS) { while (! done) { newline = 0; stgEncoderReadAll(NUM_AXES, pos); for (t = 0; t < NUM_AXES; t++) { if (fabs(pos[t]-oldpos[t]) > 1000.0 && !newline) { newline=1; printf("\n"); } oldpos[t] = pos[t]; } for (t = 0; t < NUM_AXES; t++) { printf("%+15.3f\t", pos[t]); } printf("\r"); fflush(stdout); usleep(10000); } } else if (which == LIMIT) { while (! done) { newline=0; for (t = 0; t < NUM_AXES; t++) { stgMaxLimitSwitchRead(1, &lim[2*t]); if (oldlim[2*t] != lim[2*t] && !newline) { printf("\n"); newline=1; } oldlim[2*t] = lim[2*t]; stgMinLimitSwitchRead(1, &lim[2*t+1]); if (oldlim[2*t+1] != lim[2*t+1] && !newline) { printf("\n"); newline=1; } oldlim[2*t+1] = lim[2*t+1]; } if (newline) { for (t = 0; t < NUM_AXES; t++) { printf("%+d\t", lim[2*t]); printf("%+d\t", lim[2*t+1]); } printf("\r"); fflush(stdout); } usleep(10000); } } else if (which == HOME) { while (! done) { newline=0; for (t = 0; t < NUM_AXES; t++) { stgHomeSwitchRead(t, &home[t]); if (oldhome[t] != home[t] && !newline) { printf("\n"); newline=1; } oldhome[t] = home[t]; } if (newline) { for (t = 0; t < NUM_AXES; t++) { printf("%d\t", home[t]); } printf("\r"); fflush(stdout); } usleep(10000); } } else if (which == INDEX) { if (axis < 0 || axis >= NUM_AXES) { printf("syntax: %s {limit | home | index <axis> | latch <axis>}\n", argv[0]); exit(1); } stgEncoderResetIndex(axis); while (! done) { stgEncoderReadLevel(axis, &index); printf("%d ", index); fflush(stdout); usleep(10000); } } else if (which == LATCH) { if (axis < 0 || axis >= NUM_AXES) { printf("syntax: %s {limit | home | index <axis> | latch <axis>}\n", argv[0]); exit(1); } stgEncoderResetIndex(axis); while (! done) { stgEncoderReadLatch(axis, &latch); printf("%d ", latch); fflush(stdout); usleep(10000); } } else if (which == DAC) { printf("Axis? "); fgets(buf,80,stdin); axis = (int) strtol(buf,0,0); while (! done) { printf("DAC(%d)",axis); if (fgets(buf,80,stdin) == NULL) { break; } if (! isdigit(buf[0]) && buf[0] != '-') { break; } cptr = buf; while ((*cptr >= '0' && *cptr <= '9') || *cptr == '-' || *cptr == '.' || *cptr == 'E') { cptr++; } *cptr = 0; volts = strtod(buf,0); printf("volts=%f\n",volts); stgDacWrite(axis, volts); } } else if (which == ADC) { while (! done) { for (t = 0; t < NUM_AXES; t++) { stgAdcStart(t); stgAdcWait(); stgAdcRead(t, &adc[t]); printf("%f\t", adc[t]); } printf("\r"); fflush(stdout); usleep(10000); } } else if (which == DIO) { int val, i; for (i =0; i<24; i++) { printf("%d",i%8); } printf("\n"); for (i = 0; i < 24; i++) { stgDioRead(i,&val); printf("%d",val); } printf("\n"); } stgAioQuit(); stgDioQuit(); stgMotQuit(); return 0; }

---