SDK_Information_General.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Information_General.mh"
 
long sdkInfoPrintSoftware()
{
 
    print("**********************************");
    print("------ Software information ------");
    print("**********************************\n");
 
    print("Hardware ID:\t", SYS_INFO(SYS_HARDWARE_ID));
    print("Firmware:\t\t", SYS_INFO(SYS_FW_CPU));
    print("FPGA:\t\t", SYS_INFO(SYS_FPGA_SW_VERSION));
    print("Amplifier:\t\t", SYS_INFO(SYS_FW_AMPLIFIER_VERSION));
    print("Coprocessor:\t", SYS_INFO(SYS_FW_COPROCESSOR_VERSION));
    print("Bootloader:\t", SYS_INFO(SYS_BOOTLOADER_SW_VERSION));
    print("");
 
    return(1);
}
 
long sdkInfoPrintHardware()
{
 
    print("**********************************");
    print("-------- H/W information --------");
    print("**********************************\n");
 
    print("Amplifier:\t\t\t", SYS_INFO(SYS_ZB_AMP_NO));
    print("Encoder:\t\t\t", SYS_INFO(SYS_MAX_ENCODER ));
    print("Incremental counters:\t", SYS_INFO(SYS_MAX_CNTINC));
    print("Absolute counters:\t\t", SYS_INFO(SYS_MAX_CNTABS));
    print("Universal counters:\t", SYS_INFO(SYS_MAX_CNTUNI));
    print("Comparators:\t\t", SYS_INFO(SYS_MAX_COMPARATORS));
    print("Latches:\t\t\t", SYS_INFO(SYS_MAX_LATCH));
    print("Signal generators:\t\t", SYS_INFO(SYS_MAX_SIGGEN));
    print("CAN Module:\t\t", SYS_INFO(SYS_MAX_CANBUS));
    print("");
 
    return(1);
}
 
 
long sdkInfoPrintAxesPos()
{
    long axiscnt, axis;
 
    axiscnt = SYS_INFO(SYS_MAX_AXES);   // Number of axes on controller
 
    print("Axis Positions:");
    print("    Axis",chr(9),"Actual",chr(9),"Command", chr(9),"Marker");
 
    for (axis = 0; axis < axiscnt; axis++)
    {
        print("    ",axis,chr(9),Apos(axis),chr(9),Cpos(axis), chr(9),Ipos(axis));
    }
    print("");
    return(1);
}
 
 
long sdkInfoPrintPosPID()
{
    long axisCnt, axis;
 
    axisCnt = SYS_INFO(SYS_MAX_AXES);   // Number of axes on controller
 
    print("PID control parameters:");
    print("    Axis",chr(9),"Prop",chr(9),"Int",chr(9),"Diff",chr(9),"Timer",chr(9),"I-Limit");
 
    for (axis = 0; axis < axisCnt; axis++)
    {
        printf("    %ld\t%ld\t%ld\t%ld\t%ld\t%ld\n",
               axis,
               AXE_PARAM(axis, KPROP),  // Proportional factor
               AXE_PARAM(axis, KINT),   // Integral factor
               AXE_PARAM(axis, KDER),   // Derivative factor
               AXE_PARAM(axis, TIMER),  // Derivative time
               AXE_PARAM(axis, KILIM)); // Integration limit
    }
    print("");
    return(1);
}