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nasa-jpl · Sep 11, 2024 · 957009c · 957009c
1 parent 731068c
commit 957009c
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Showing 2 changed files with 11 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");
+  // 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
@@ -821,6 +821,16 @@ void jsd_epd_nominal_update_state_from_PDO_data(jsd_t*   self,
   state->pub.in_motion   = state->txpdo.status_register_1 >> 23 & 0x01;
   state->pub.hall_state  = state->txpdo.status_register_2 >> 0 & 0x07;
 
+  WARNING("\n We got STO Engaged! Here's the SW:\n");
+  unsigned int statusword_uint = (unsigned int)self->slave_states[slave_id].epd_nominal.txpdo.statusword;
+  WARNING("Bits of txpdo statusword:\n");
+  for(long unsigned int bit=0;bit<(sizeof(unsigned int) * 8); bit++)
+  {
+    WARNING("%i ", statusword_uint & 0x01);
+    statusword_uint = statusword_uint >> 1;
+  }
+  WARNING("\n");
+
   // TODO(dloret): EGD code prints change in sto_engaged here.
 
   // Digital inputs