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====== The QuimDC Command Line Interface ======

The QuimDC Command Line Interface (C.L.I.) aims to behave like the linux bash.


===== Features =====

  * You can type "help" to display all the available commands
  * You can use "tab" to auto complete a command
  * You can use "tab" twice to display all the possible commands for the auto complete
  * You can move to the right and to the left using the Right and Left arrow keys
  * You can retrieve the last past commands using the Up and Down arrow keys <del>even after a reboot or a flash of the card</del>
  * All debug commands begin by "dbg_", to print a list of debug commands type "dbg_" and use "tab"

----

===== Official API =====

This section describes all the command type available through CLI.

==== Help Command ====

Display the list of all available commands except debug commands with their syntax.
<code>
> help
    - motor_reset_position <int>
    - help
    - srst
    - rword <int>
    - set_echo <int>
    - loop_mesurement [<motor>] [<int>]
    - ref_pwm [<motor>] [<int>] [<int>]
    - ref_speed [<motor>] [<int>] [<int>]
    - ref_position [<motor>] [<int>] [<int>]                                                       
    - ref_current [<motor>] [<int>] [<int>]                                                        
    - encoder_motor [<motor>]                                                                      
    - current_motor [<motor>]                                                                      
    - speed_motor [<motor>]                                                                        
    - pwm_motor [<motor>]                                                                          
    - motor_watchdog_value [<int>]                                                                 
    - speed_pid_p [<motor>] [<int>]                                                                
    - speed_pid_i [<motor>] [<int>]                                                                
    - speed_pid_d [<motor>] [<int>]                                                                
    - speed_pid_do [<motor>] [<int>]                                                               
    - speed_pid_fixed_point_divider [<motor>] [<uint>]                                             
    - speed_pid_uIAntiWU_Limit [<motor>] [<uint>]                                                  
    - current_pid_p [<motor>] [<int>]                                                              
    - current_pid_i [<motor>] [<int>]                                                              
    - current_pid_d [<motor>] [<int>]                                                              
    - current_pid_do [<motor>] [<int>]                                                             
    - current_pid_fixed_point_divider [<motor>] [<uint>]                                           
    - current_pid_uIAntiWU_Limit [<motor>] [<uint>]                                                
    - position_pid_p [<motor>] [<int>]                                                             
    - position_pid_i [<motor>] [<int>]                                                             
    - position_pid_d [<motor>] [<int>]                                                             
    - position_pid_do [<motor>] [<int>]                                                            
    - position_pid_fixed_point_divider [<motor>] [<uint>]                                          
    - position_pid_uIAntiWU_Limit [<motor>] [<uint>]                                               
    - pwm_duty_max [<motor>] [<uint>]                                                              
    - bemf_compensation [<motor>] [<uint>]                                                         
    - minimal_speed [<motor>] [<uint>]                                                             
    - offset_current_start [<motor>] [<uint>]                                                      
    - loop_function [<motor>] [<int>]                                                              
    - ticks_per_turn_motor [<motor>] [<int>]                                                       
    - resistance_motor [<motor>] [<float>]                                                         
    - kv_motor [<motor>] [<float>]                                                                 
    - nominal_power_voltage [<motor>] [<float>]                                                    
    - polarity [<motor>] [<int>]                                                                   
    - position_speed_period [<motor>] [<int>]                                                      
    - print_board_states                                                                           
    - enter_operational_mode                                                                       
    - leave_operational_mode                                                                       
    - publish_freq [<motor>] [<int>]                                                               
    - emergency_stop [<motor>] [<int>]                                                             
    - homing [<motor>] [<int>]                                                                     
    - print_gpio_list                                                                              
    - print_gpio [<motor>] [<str>]                                                                 
    - freeWheelGpio [<motor>] [<str>]                                                              
    - homingGpio [<motor>] [<str>]                                                                 
    - negLimitSwitchGpio [<motor>] [<str>]                                                         
    - posLimitSwitchGpio [<motor>] [<str>]                                                         
    - is_homing_done [<motor>]                                                                     
    - invertNegLimitSwitchGpio [<motor>] [<uint>]                                                  
    - invertPosLimitSwitchGpio [<motor>] [<uint>]                                                  
    - invertHomingGpio [<motor>] [<uint>]                                                          
    - max_position_error [<motor>] [<uint>]                                                        
    - pwm_offset [<motor>] [<uint>]                                                                
    - acceleration_period [<motor>] [<uint>]                                                       
    - deceleration_limit [<motor>] [<uint>]                                                        
    - acceleration_limit [<motor>] [<uint>]                                                        
    - max_current [<motor>] [<uint>]                                                               
    - max_speed [<motor>] [<uint>]                                                                 
    - save_parameters_to_flash                                                                     
    - load_parameters_from_flash                                                                   
    - erase_flash                                                                                  
    - spi_xfer_dbg <int> <int> <int>                                                               
    - spi_xfer8_dbg <int> <int>                                                                    
    - spi_xfer16_dbg <int> <int>                                                                   
    - board_brake [<motor>] [<int>]                                                                
    - board_getAllExtEncPin <int>                                                                  
    - board_printSupplyVoltage                                                                     
    - board_sleep <int>                                                                            
    - board_reset <int>                                                                            
    - board_printDriverFault                                                                       
    - board_resetDriver                                                                            
    - board_setRightMotorPwm <int>                                                                 
    - board_motorControl <int>                                                                     
    - board_activateDrivers <int>                                                                  
    - board_getCurrent <int>                                                                       
    - board_seeCurrent                                                                             
    - board_getMotorEnc <int>                                                                      
    - config_DriverParam                                                                           
    - com_spi <int> <int> <int>
</code>


----
==== Board States ====

The print_board_states displays useful informations according to the current loop function of each motor. Here is an example with motor 1 in position speed current closed loop and motor 2 in pwm open loop :

<code>
>D:004-000000 
D:005-000000 ####################
D:006-000000 # THE BOARD STATES #
D:007-000000 ####################
D:008-000000 Operational Mode : no
D:009-000000 Motor Watchdog value : 15
D:010-000000 Right Motor(1) : 
D:011-000000     Control : Position Speed Current double Closed Loop
D:012-000000     Polarity : 1
D:013-000000     Position and Speed Period : 1 ms
D:014-000000     Position ref : 0 tick
D:015-000000     Position PID : p=10000 i=1000 d=0 do=0 uIAntiWU=15000 FPdivider=128
D:016-000000     Speed ref : 0 tick/s
D:017-000000     Speed PID : p=5 i=1 d=0 do=0 uIAntiWU=40000 FPdivider=300
D:018-000000     Current ref : 0 mA | 0 ADC
D:019-000000     Current PID : p=0 i=5 d=0 do=0 uIAntiWU=15000 FPdivider=128
D:020-000000     Resistance : 1.000000 Ohm
D:021-000000     Kv : inf Rpm/V
D:022-000000     Ticks Per Turn : 1
D:023-000000     Nominal Power Voltage : 1.000000 V
D:024-000000 Left Motor(2) : 
D:025-000000     Control : Pwm Open Loop
</code>

----


==== Save parameters ====

You can save the parameters using save_parameters_to_flash.
<code>
>save_parameters_to_flash 

>D:001-000000 Parameters saved
</code>


----


==== Operational Mode ====

To enter operational mode use :
<code>
>enter_Operational_Mode 
</code>

To leave operational mode use :
<code>
>leave_Operational_Mode 
</code>

----

==== Data Publication ====
Some information like average speed, PWM duty cycle, voltage, and current can be published periodically to the serial port. To enable this auto-publishing mode for a specific motor, use :
<code>
>publish_freq [<motor>] [<int>]
</code>

To disable auto-publishing mode, use :
<code>
>publish_freq [<motor>] 0
</code>

----

==== Motor Parameters ====
=== Getter and Setter ===
Some functions are used to access specific parameters for each motor. They can take up to 2 parameters :
<code>
- func_name [<motor>] [<int value>]
</code>


Let's use ref_speed as an example : 


  * With **0 parameter**, ref_speed displays the reference/target speed for both motors separated by ':'.
<code>
>ref_speed 

>D:001-000000 ans = 30000:15000
</code>

  * With **1 parameter**, ref_speed displays the reference/target speed for the selected motor. The parameter is called motor and can take the following value : '1' '2' 'r' 'l'. '1' and 'r' stand for the right motor and '2' and 'l' stand for the left one.
<code>
>ref_speed 1

>D:001-000000 ans = 30000

>ref_speed l

>D:001-000000 ans = 15000
</code>

  * With **2 parameters**, ref_speed will set the reference/target speed for the selected motor. [<int value>] or [<float value>] in the help section indicate the type value.
<code>
>ref_speed r 

>D:001-000000 ans = 30000

>ref_speed r 0

>ref_speed r 

>D:003-000000 ans = 0

>ref_speed  

>D:004-000000 ans = 0:15000
</code>

List of commands :

^Name         ^ Type value    ^ Range value     ^ Comment ^
| ref_speed | int | [0;2147483647] | reference/target speed (tick/s or pwm) |
| ref_position | int | [0;2147483647] | reference/target position (tick) |
| ref_current | int | [0;2147483647] | reference/target current (mA) |
| speed_pid_p | int | [0;2147483647] |     |
| speed_pid_i | int | [0;2147483647] |     |
| speed_pid_d | int | [0;2147483647] |     |
| speed_pid_do | int | [0;2147483647] |     |
| speed_pid_fixed_point_divider | int | [0;2147483647] |     |
| speed_pid_uIAntiWU_Limit | int | [0;2147483647] | saturation limit for pid integral terme  | 
| current_pid_p | int | [0;2147483647] |     |
| current_pid_i | int | [0;2147483647] |     |
| current_pid_d | int | [0;2147483647] |     |
| current_pid_do | int | [0;2147483647] |     |
| current_pid_fixed_point_divider | int | [0;2147483647] |     |
| current_pid_uIAntiWU_Limit | int | [0;2147483647] |     |
| position_pid_p | int | [0;2147483647] |     |
| position_pid_i | int | [0;2147483647] |     |
| position_pid_d | int | [0;2147483647] |     |
| position_pid_do | int | [0;2147483647] |     |
| position_pid_fixed_point_divider | int | [0;2147483647] |     |
| position_pid_uIAntiWU_Limit | int | [0;2147483647] |     |
| loop_function | int | 0,1,2,3 |     |
| ticks_per_turn_motor | int | [0;2147483647] |     |
| resistance_motor | float | [0.0;inf] | Ohm (type inf to set the value to INFINITY) |
| kv_motor | float | [0.0;inf] | Rpm/V (type inf to set the value to INFINITY) |
| nominal_power_voltage | float | [0.0;inf] | V (type inf to set the value to INFINITY) |
| polarity | int | -1 or 1 | only -1 and 1 are supported any other value will have unexpected results |
| position_speed_period | int | [0;2147483647] |     |




=== Getter and Setter for both motor ===

Some functions allow you to get and set one parameter for both motors at the same time. They can take up to 1 parameter :

<code>
- func_name [<int value>]
</code>


Let's use motor_watchdog_value as an example : 


  * With **0 parameter**, motor_watchdog_value displays the card watchdog value.
<code>
>motor_watchdog_value

>D:001-000000 ans = -1
</code>

  * With **1 parameter**, motor_watchdog_value sets the card watchdog value at the specific value.
<code>
>motor_watchdog_value 15

>motor_watchdog_value   

>D:003-000000 ans = 15
</code>

List of commands :

^Name         ^ Type value    ^ Range value     ^ Comment ^
| motor_watchdog_value | int | [-1;2147483647] | -1 will disable the watchdog |



=== Getter ===
Some functions are read only, they take up to 1 parameter :
<code>
- func_name [<motor>]
</code>

Let's use encoder_motor as an example : 



  * With **0 parameter**, encoder_motor display the encoder value for both motor separated by ':'.
<code>
>encoder_motor

>D:001-000000 ans = 0:45359
</code>

  * With **1 parameter**, encoder_motor displays the encoder value for the selected motor. The parameter is called motor and can take the following value : '1' '2' 'r' 'l'. '1' and 'r' stand for the right motor and '2' and 'l' stand for the left one.
<code>
>encoder_motor 1

>D:001-000000 ans = 0

>encoder_motor l

>D:001-000000 ans = 45359
</code>

List of commands :

  * encoder_motor
  * current_motor

^Name         ^ Type value    ^ Range value     ^ Comment ^
| encoder_motor | int | [0;65535] | 16 bits counter  |
| current_motor | int | [0;4096] |  12 bits ADC  |



----
===== Flash memory layout (deprecated) =====

See "[[How to write a parameter in the flash]]" for more information.


The maximum length of a command is 64 characters. Each flash page is composed of 2048 "32 bits" units. But because of the prefetch buffer, only 512 units are available. One unit can store 4 characters so we can save 2048 characters per page.

Therefore we can save 32 command lines per page. The first page will be reserved for some configuration. The following table describes the flash memory layout for the command history.

^Group's name   ^ Name    ^ Address        ^ Description ^
|Configurations | ADDR_CHECK_HISTORY_INIT   | **0x0807F000**  | If set to 0, means that a history is stored in the flash      | 
| :::  |  ...  |  ...  |  ...  |
| :::  | ADDR_NUMBER_HISTORY_SAVED   | 0x0807F004    | The number of commands saved in this page   |
| :::  |  unused    |||
| :::  |  ...  |||
|Command 1 | ADDR_FIRST_HISTORY_CMD    | **0x0807F040**   |  ex : h,e,l     |
| :::  | None    | 0x0807F044  |  ex : p,\0,0xFF     |
| :::  |  ...  |  ...  |  ...  |
|Command 2 | None    | **0x0807F080**   |  ex : t,r,c     |
| :::  | None    | 0x0807F084  |  ex : _,t,o     |
| :::  | None    | 0x0807F084  |  ex : g,g,l     |
| :::  | None    | 0x0807F084  |  ex : e, ,4     |
| :::  | None    | 0x0807F084  |  ex : 4,\0,0xFF     |
|Command 3 | None    | **0x0807F0C0**   |   ...     |
| :::  |  ...  |  ...  |  ...  |
| ...  |  ...  |  ...  |  ...  |


For example, here the Command 1 is "help" and the Command 2 is "trc_toggle 44". "trc_toggle 44" was the last command typed by the user.


----