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Improved the diagnostic of quadrature encoder #972

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Jul 20, 2024
Merged

Improved the diagnostic of quadrature encoder #972

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16 changes: 15 additions & 1 deletion src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -646,7 +646,7 @@ void MotionControlParser::parseInfo()
} break;


case eoerror_value_MC_motor_qencoder_dirty:
//case eoerror_value_MC_motor_qencoder_dirty:
case eoerror_value_MC_motor_qencoder_phase: //TBD: check encoder raw value
{
uint16_t joint_num = m_dnginfo.param16;
Expand All @@ -659,6 +659,20 @@ void MotionControlParser::parseInfo()
m_dnginfo.baseInfo.finalMessage.append(str);
} break;

case eoerror_value_MC_motor_qencoder_dirty:
{
uint16_t joint_num = m_dnginfo.param16;
uint16_t dirty_error = m_dnginfo.param64 & 0xffff;
uint16_t index_error = (m_dnginfo.param64 & 0xffff0000)>>16;
uint16_t phase_error = (m_dnginfo.param64 & 0xffff00000000)>>32;
m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);

snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), index=%d, dirty=%d, phase=%d)",
m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, index_error, dirty_error, phase_error
);
m_dnginfo.baseInfo.finalMessage.append(str);
} break;

case eoerror_value_MC_generic_error: //TBD Check print
{
eOmc_motorFaultState_t motor_status;
Expand Down