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- demux_sm_debug(data->param); // demux_statemachine.c
param[0] = demux_sm_state; param[1] = demux_sm_tics_in_current_state;
- motor_sm_debug(data->param+2); // motor_init.c
param[0] = mc_state; param[1] = mc_tics;
- mc_comm_debug(data->param+4); // motor_commands.c
params[0] = mc_comm_state.last_command; params[1] = mc_comm_state.outstanding_command; params[2] = mc_comm_state.valid_response; params[3] = mc_comm_state.last_errcode; params[4] = mc_comm_state.err_cnt; params[5] = mc_comm_state.default_cmd_cnt;
- demux_sm_states:
enum demux_states { FIRST_STATE=1, LOCAL_INIT, SYSTEM_INIT, RUN_TIME };
- mc_states:
enum MC_INIT_STATE {MC_STATE_ZERO=0, \ MC_STATE_DO_START=1, \ MC_SET_FILTER, \ MC_MEASURE_BATTERY_OFFSET, \ MC_TEST_CLAMP, \ MC_STATE_BRANCH_BOOT_TYPE, \ MC_MODE_2, \ MC_EXIT_2, \ MC_MEASURE_OFFSET, \ MC_READ_OFFSET, \ MC_SET_OFFSET, \ MC_FORCE_ZERO_POS, \ MC_WAIT_FOR_ZERO, \ MC_MODE_3, \ MC_INIT_SUCCESS=50, \ MC_INIT_ERROR, \ MC_STATE_IDLE, \ };