cli.h File Reference

This module implements a command line interface for the A4988 stepper motor driver. More...

Go to the source code of this file.

Macros
#define	CLI_ARG_MOTOR_ON   0
#define	CLI_ARG_MOTOR_OFF   1
#define	CLI_ARG_TURN_LEFT   0
#define	CLI_ARG_TURN_RIGHT   1

Enumerations
enum	cli_command_t { CLI_CMD_STEP, CLI_CMD_MOTOR, CLI_CMD_ADVANCE, CLI_CMD_DIRECTION }
enum	cli_state_t {   CLI_STATE_GET_COMMAND, CLI_STATE_GET_MOTOR_ARG, CLI_STATE_GET_ADVANCE_ARG1, CLI_STATE_GET_ADVANCE_ARG2,   CLI_STATE_GET_DIRECTION_ARG, CLI_STATE_GET_TERMINAL, CLI_STATE_EXECUTE, CLI_STATE_ERROR }

Functions
cli_state_t	cli_parse_command (char token, cli_command_t *command)
	Parse command. More...
cli_state_t	cli_parse_direction_argument (char token, uint16_t *argument)
	Parse direction argument. More...
cli_state_t	cli_parse_motor_argument (char token, uint16_t *argument)
	Parse motor argument. More...
cli_state_t	cli_parse_advance_argument1 (char token, uint16_t *argument)
	Parse first advance argument. More...
cli_state_t	cli_parse_advance_argument2 (char token, uint16_t *argument)
	Parse second advance argument. More...
cli_state_t	cli_parse_terminal (char token)
	Parse terminal. More...
cli_state_t	cli_execute (cli_command_t command, uint16_t argument)
	Execute command. More...
cli_state_t	cli_error (void)
	Print error message. More...

Detailed Description

This module implements a command line interface for the A4988 stepper motor driver.

Protocol Definition

• Start Condition: Command (A, M, S, T)
• Stop Condition: Terminal (space)
• Message Format: 'COMMAND''TERMINAL' or 'COMMAND''ARGUMENT''TERMINAL' or 'COMMAND''ARGUMENT1''ARGUMENT2''TERMINAL'
  • A digit digit - Advance the motor num = digit digit steps
  • M O/F - Switch motor on (O) or off (F)
  • S - Advance the motor one step
  • T R/L - Turn right (R) or left (L)

Author

Wolfgang Neff

Version

3.0

Date

2018-11-25

History

Created: 2017-08-06
Modified: 2018-06-02
Modified: 2018-07-11
Modified: 2018-11-25

Macro Definition Documentation

CLI_ARG_MOTOR_OFF

#define CLI_ARG_MOTOR_OFF   1

CLI_ARG_MOTOR_ON

#define CLI_ARG_MOTOR_ON   0

CLI_ARG_TURN_LEFT

#define CLI_ARG_TURN_LEFT   0

CLI_ARG_TURN_RIGHT

#define CLI_ARG_TURN_RIGHT   1

Enumeration Type Documentation

cli_command_t

enum cli_command_t

Enumerator
CLI_CMD_STEP
CLI_CMD_MOTOR
CLI_CMD_ADVANCE
CLI_CMD_DIRECTION

cli_state_t

enum cli_state_t

Enumerator
CLI_STATE_GET_COMMAND
CLI_STATE_GET_MOTOR_ARG
CLI_STATE_GET_ADVANCE_ARG1
CLI_STATE_GET_ADVANCE_ARG2
CLI_STATE_GET_DIRECTION_ARG
CLI_STATE_GET_TERMINAL
CLI_STATE_EXECUTE
CLI_STATE_ERROR

Function Documentation

cli_error()

cli_state_t cli_error

(

void

)

Print error message.

Prints an error message if an error occurred. The subsequent state is CLI_STATE_GET_COMMAND.

Returns

The subsequent state.

cli_execute()

cli_state_t cli_execute	(	cli_command_t	command,
		uint16_t	argument
	)

Execute command.

Executes the provided command with the given argument. It returns CLI_STATE_GET_COMMAND if no error occured.

Parameters

command	The command to be executed.
argument	The argument for the command.

Returns

The subsequent state.

cli_parse_advance_argument1()

cli_state_t cli_parse_advance_argument1	(	char	token,
		uint16_t *	argument
	)

Parse first advance argument.

This routine parses the first argument that follows the CLI_CMD_ADVANCE command. The subsequent state is returned. It will be CLI_STATE_PARSE_ERROR if the argument is not valid.

Parameters

token	The input token.
argument	The value of the parsed argument.

Returns

The subsequent state.

cli_parse_advance_argument2()

cli_state_t cli_parse_advance_argument2	(	char	token,
		uint16_t *	argument
	)

Parse second advance argument.

This routine parses the second argument that follows the CLI_CMD_ADVANCE command. The subsequent state is returned. It will be CLI_STATE_PARSE_ERROR if the argument is not valid. On entry parameter argument must contain argument1 as the value of both arguments is returned.

Parameters

token	The input token.
argument	The value of argument1 and argument2.

Returns

The subsequent state.

cli_parse_command()

cli_state_t cli_parse_command	(	char	token,
		cli_command_t *	command
	)

Parse command.

A parser analyzes input tokens and determines their meaning. Their meaning is defined by the protocol. This routine parses the input token and determines the specified command. It also returns the subsequent state. A CLI_STATE_PARSE_ERROR is returned if no valid command is found.

Parameters

token	The input token.
command	The parsed command.

Returns

The subsequent state.

cli_parse_direction_argument()

cli_state_t cli_parse_direction_argument	(	char	token,
		uint16_t *	argument
	)

Parse direction argument.

This routine parses the argument that follows the CLI_CMD_DIRECTION command. The subsequent state is returned. It will be CLI_STATE_PARSE_ERROR if the argument is not valid.

Parameters

token	The input token.
argument	The value of the parsed argument.

Returns

The subsequent state.

cli_parse_motor_argument()

cli_state_t cli_parse_motor_argument	(	char	token,
		uint16_t *	argument
	)

Parse motor argument.

This routine parses the argument that follows the CLI_CMD_MOTOR command. The subsequent state is returned. It will be CLI_STATE_PARSE_ERROR if the the argument is not valid.

Parameters

token	The input token.
argument	The value of the parsed argument.

Returns

The subsequent state.

cli_parse_terminal()

cli_state_t cli_parse_terminal

(

char

token

)

Parse terminal.

Terminal symbols are symbols which terminate a command. This routine checks if the token passed is a terminal. It returns CLI_STATE_EXECUTE if a terminal symbol was found or CLI_STATE_PARSE_ERROR otherwise.

Parameters

token

The input token.

Returns

The subsequent state.