From ef4e6b6d7b514c9aee278baab42193bc5f573e87 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 21 Jun 2023 20:12:02 +0200
Subject: [PATCH] [Stepper] Improved logging info of the status
---
src/shared/actuators/stepper/Stepper.cpp | 9 +--------
src/shared/actuators/stepper/StepperData.h | 10 ++++------
src/shared/logger/LogTypes.h | 2 ++
3 files changed, 7 insertions(+), 14 deletions(-)
diff --git a/src/shared/actuators/stepper/Stepper.cpp b/src/shared/actuators/stepper/Stepper.cpp
index 482d51b56..a39622273 100644
--- a/src/shared/actuators/stepper/Stepper.cpp
+++ b/src/shared/actuators/stepper/Stepper.cpp
@@ -167,18 +167,11 @@ bool Stepper::isEnabled() { return enabled; }
StepperData Stepper::getState(float moveDeg)
{
return {TimestampTimer::getTimestamp(),
-
-#ifndef COMPILE_FOR_HOST
- stepPin.getPort(),
+ static_cast<unsigned int>(stepPin.getPort()),
stepPin.getNumber(),
-#else
- 0,
- 0,
-#endif
enabled,
getCurrentDegPosition(),
speed,
- static_cast<uint8_t>(currentDirection),
moveDeg};
}
diff --git a/src/shared/actuators/stepper/StepperData.h b/src/shared/actuators/stepper/StepperData.h
index 5ad99d5da..57ffa3930 100644
--- a/src/shared/actuators/stepper/StepperData.h
+++ b/src/shared/actuators/stepper/StepperData.h
@@ -31,11 +31,10 @@ struct StepperData
{
uint64_t timestamp;
unsigned int pulsePinPort;
- unsigned char pulsePinNumber;
+ unsigned int pulsePinNumber;
bool enabled;
float positionDeg;
float speed;
- uint8_t direction;
float moveDeg;
static std::string header()
@@ -47,10 +46,9 @@ struct StepperData
void print(std::ostream& os) const
{
- os << timestamp << "," << static_cast<int>(pulsePinPort) << ","
- << static_cast<int>(pulsePinNumber) << ","
- << static_cast<int>(enabled) << "," << positionDeg << "," << speed
- << "," << direction << "," << moveDeg << "\n";
+ os << timestamp << "," << pulsePinPort << "," << pulsePinNumber << ","
+ << enabled << "," << positionDeg << "," << speed << "," << moveDeg
+ << "\n";
}
};
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index be18505e7..4d36569c9 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -23,6 +23,7 @@
#pragma once
#include <actuators/Servo/ServoData.h>
+#include <actuators/stepper/StepperData.h>
#include <algorithms/ADA/ADAData.h>
#include <algorithms/NAS/NASState.h>
#include <diagnostic/CpuMeter/CpuMeter.h>
@@ -80,6 +81,7 @@ namespace LogTypes
void registerTypes(Deserializer& ds)
{
+ ds.registerType<StepperData>();
ds.registerType<ServoData>();
ds.registerType<ADAState>();
ds.registerType<NASState>();
--
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