Add stub to read all the parameters in powerstep01

2 files changed, 296 insertions, 10 deletions

diff --git a/Software/Stubs Collection/stubs/Motor_GMotor_Get_Param_Powerstep01_rev2.cs b/Software/Stubs Collection/stubs/Motor_GMotor_Get_Param_Powerstep01_rev2.cs
new file mode 100644
index 000000000..505444080
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Motor_GMotor_Get_Param_Powerstep01_rev2.cs
@@ -0,0 +1,292 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//unmark Auto logging !
+
+//General Configuration
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_POWERSTEP01_GATECFG1    = 0x18;
+const Int32 x_POWERSTEP01_GATECFG2    = 0x19;
+const Int32 x_POWERSTEP01_CONFIG      = 0x1A;
+const Int32 x_POWERSTEP01_STATUS      = 0x1B;
+//VOLTAGE / CURRENT
+const Int32 x_KTVAL_HOLD  = 0x09;
+const Int32 x_KTVAL_RUN   = 0x0A;
+const Int32 x_KTVAL_ACC   = 0x0B;
+const Int32 x_KTVAL_DEC   = 0x0C;
+const Int32 x_ST_SLP_T_FAST     = 0x0E;
+const Int32 x_FN_SLP_ACC_TON_MIN = 0x0F;
+const Int32 x_FN_SLP_DEC_TOFF_MIN = 0x10;
+
+const Int32 x_INT_SPD    = 0x0D;//voltage
+const Int32 x_K_THERM    = 0x11;//VOLTAGE
+const Int32 x_STALL_TH   = 0x14;//VOLTAGE
+
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+Int32 Start_index  = 0; // start from motor
+
+const Int32 Max_Motor_ID  = 25;
+
+string[] Motor_ID = new string[30];
+
+
+Motor_ID[0] ="DH_CLEANHEAD ";
+Motor_ID[1] ="DH_CLEANMECH ";
+Motor_ID[2] ="DH_LID       ";
+Motor_ID[3] ="DRYER_DRIVING";
+Motor_ID[4] ="DRYER_LID    ";
+Motor_ID[5] ="DRYER_LOADARM";
+Motor_ID[6] ="DISPENCER_1  ";
+Motor_ID[7] ="DISPENCER_2  ";
+Motor_ID[8] ="DISPENCER_3  ";
+Motor_ID[9] ="DISPENCER_4  ";
+Motor_ID[10]="DISPENCER_5  ";
+Motor_ID[11]="DISPENCER_6  ";
+Motor_ID[12]="DISPENCER_7  ";
+Motor_ID[13]="DISPENCER_8  ";
+Motor_ID[14]="SCREW        ";
+Motor_ID[15]="WINDER       ";
+Motor_ID[16]="LDANCER1     ";
+Motor_ID[17]="LDANCER2     ";
+Motor_ID[18]="LDRIVING     ";
+Motor_ID[19]="LLODING      ";
+Motor_ID[20]="LPIVOT       ";
+Motor_ID[21]="RDANCER      ";
+Motor_ID[22]="RDRIVING     ";
+Motor_ID[23]="RLOADARM     ";
+Motor_ID[24]="RLODING      ";
+Motor_ID[25]="SPARE1_1     ";
+Motor_ID[26]="SPARE1_2     ";
+Motor_ID[27]="SPARE2_1     ";
+Motor_ID[28]="SPARE2_2     ";
+Motor_ID[29]="SPARE3       ";
+
+
+ 
+
+public void OnExecute(StubManager stubManager)
+{
+	Int32 i  = 0; 
+	
+	Int32 motname  = 0;
+//stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000380 , 0x06b9);	//7ff  mati
+//stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000390 , 0x003f);	
+//stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000550 , 0x0003);	//ff	mati
+//stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000b80 , 0x001f);	
+
+	for (i = Start_index; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+			stubManager.Write("MoTor\t\t\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKTVAL_HOLD\tKTVAL_RUN\tTKVAL_ACC\tTKVAL_DEC\tOCD_TH\t\tSTALL_TH\tFS_SPD\n");
+			stubManager.Write("------\t\t\t--------\t--------\t----------\t---\t\t---\t\t----------\t---------\t---------\t---------\t------\t\t--------\t------\n");
+		}
+		//stubManager.Write(i);
+		
+		stubManager.Write(Motor_ID[i]);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);		
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KTVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KTVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KTVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KTVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");	
+		
+		stubManager.Write("\n\n");
+		
+	}
+	
+
+	
+	for (i = Start_index; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+	
+			stubManager.Write("MoTor\t\t\tINT_SPD\tST_SLP\t\tSLP_ACC_TON_MIN\tSLP_DEC_TOFF_MIN\n");
+			stubManager.Write("-----\t\t\t-------\t------\t\t---------------\t----------------\n");
+		}
+		
+		stubManager.Write(Motor_ID[i]);
+
+//		stubManager.Write(i);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP_T_FAST)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC_TON_MIN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC_TOFF_MIN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		stubManager.Write("\n\n");
+	
+	}
+	
+	
+	for (i = Start_index; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+	
+			stubManager.Write("MoTor\t\t\tPS01_CONFIG\t\tPS01_STATUS\t\tPS01_GATECFG1\t\tPS01_GATECFG2\n");
+			stubManager.Write("-----\t\t\t------------\t\t-----------\t\t-------------\t\t------------\n");
+		}
+		
+		stubManager.Write(Motor_ID[i]);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG1)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG2)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+		
+	}
+	
+	for (i = Start_index; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+		
+			stubManager.Write("MoTor\t\t\tABS_POS\tEL_POS\t\tMARK\t\tSPEED\t\tALARM_EN\tK_THERM\tADC_OUT\tDriver_Type\n");
+			stubManager.Write("-----\t\t\t-------\t------\t\t----\t\t-----\t\t--------\t--------\t------\t\t---------\n");
+		}
+		
+		stubManager.Write(Motor_ID[i]);
+
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ABS_POS)<<24, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_EL_POS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MARK)<<24, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_SPEED)<<24, 0, 0);
+		stubManager.WriteHex((response.RecivedData * 1000.0 / 67108.0),4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ALARM_EN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_K_THERM)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		if(	response.RecivedData > 0x15 && response.RecivedData < 0x1c )	
+			stubManager.Write("\t\tDual_Driver");
+		else if (	response.RecivedData > 0x0b && response.RecivedData < 0x12 )	
+			stubManager.Write("\t\tVolage_Driver");
+		else if (	response.RecivedData > 8 && response.RecivedData < 0x0a)	
+			stubManager.Write("\t\tCurrent_Driver");
+		else
+			stubManager.Write("\t\tNo_Driver");
+		
+		stubManager.Write("\n\n");
+	
+	}	
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/newWHS/Blower.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/newWHS/Blower.cs
index f9807f6f3..d5c98e2cd 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/newWHS/Blower.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/newWHS/Blower.cs
@@ -12,16 +12,10 @@ using Tango.Stubs;
 
 public void OnExecute(StubManager stubManager)
 {
-// Request ----
-// Int32 : Amount
-// Int32 : Delay
 
-// Response ----
-// Double : Progress
-
-
-//Blower speed 
-var response1 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x3E8, /* speed =*/0xc00); //Blower speed
-//Thread.Sleep(5000); //Sleep for 10 milli.
+	//Blower speed 
+	var response1 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x3E8, /*disable control loop*/0x0000 + /* speed =*/0xFFF); //Blower speed
+	// to enable control loop send 0x1000
+	// speed max voltage value is 0xFFF
 
 }
\ No newline at end of file