void CmdDcMotor(int mode)
{
uint32_t cmdArgId;
uint32_t cmdArg1;
int32_t cmdArg2;
if(mode != CMD_INTERACTIVE) return;
printf("DC Motor motor\n");
/* check for valid arguments*/
if(fetch_uint32_arg((uint32_t*)&cmdArgId) < 0)
{
printf("Dc motor ID missing\n");
return;
}
if(fetch_uint32_arg((uint32_t*)&cmdArg1) < 0)
{
printf("ON/OFF missing missing\n");
return;
}
/*turn dc motor off by disabling pwm*/
if(!cmdArg1)
{
printf("Turning DC Motor off\n");
stopDcMotorPB(cmdArgId);
return;
}
if(fetch_int32_arg(&cmdArg2) < 0)
{
printf("Signed speed argument missing\n");
return;
}
startDcMotor(cmdArgId, cmdArg1, cmdArg2);
}
void CmdLED(int mode)
{
uint32_t led,val;
int rc;
if(mode != CMD_INTERACTIVE) {
return;
}
rc = fetch_uint32_arg(&led);
if(rc) {
printf("Missing LED index\n");
return;
}
rc = fetch_uint32_arg(&val);
if(rc) {
printf("Missing state value, 0 for Off, 1 for On\n");
return;
}
if((led < 3) || (led > 10)) {
printf("Led index of %u is out of the range (3..10)\n",
(unsigned int)led);
return;
}
led -= 3;
if(val) {
BSP_LED_On(LEDs[led]);
} else {
BSP_LED_Off(LEDs[led]);
}
}
void CmdW(int mode)
{
uint32_t addr,data;
if(mode != CMD_INTERACTIVE) return;
fetch_uint32_arg(&addr);
fetch_uint32_arg(&data);
*((uint32_t *)addr) = data;
}
/*commands for stepper motor*/
void CmdStepper(int mode)
{
uint32_t cmdArg1, cmdArg2, cmdArgNo;
if(mode != CMD_INTERACTIVE) return;
/* check for valid arguments*/
if(fetch_int32_arg((int32_t*)&cmdArgNo) < 0)
{
printf("Stepper motor number missing\n");
return;
}
/* check for valid arguments*/
if(fetch_int32_arg((int32_t*)&cmdArg1) < 0)
{
printf("Step count missing\n");
return;
}
if(fetch_uint32_arg((uint32_t*)&cmdArg2) < 0)
{
printf("step delay missing\n");
return;
}
/*activate stepper*/
if(activateStepper(cmdArgNo, cmdArg1, cmdArg2) != STEPPER_OK)
printf("Stepper error\n");
else
printf("Stepper Success!!\n");
}
void uartsent(int mode)
{
uint32_t c;
if (mode!=CMD_INTERACTIVE) return;
fetch_uint32_arg(&c);
USARTTxBuffer[0]=c;
printf("sending a character\n");
HAL_UART_Transmit(&UartHandle,USARTTxBuffer,1,1000);
}
void CmdR(int mode)
{
uint32_t addr;
if(mode != CMD_INTERACTIVE) return;
fetch_uint32_arg(&addr);
printf("0x%08X: 0x%08X\n",(unsigned int)addr,
(unsigned int)(*((uint32_t *)addr)));
}
// This function handles the command interface between minicom and stm32 library
void CmdCount(int mode)
{
uint32_t val = 0;
int filter;
filter = fetch_uint32_arg(&val);
if(filter)
{
printf("pass in number of counts\n");
return;
}
printf("Entered value for counter is : %d \n",(int)val);
counter = val;
}
void CmdDacWrite(int mode)
{
uint32_t dacVal;
if(mode != CMD_INTERACTIVE) return;
fetch_uint32_arg(&dacVal);
if(dacVal > 4095)
{
printf("argument out of range\n");
return;
}
writeDacPortA(dacVal);
}
void CmdAdcRead(int mode)
{
uint32_t tempCmdArgInt;
int16_t adcVal;
if(mode != CMD_INTERACTIVE) return;
fetch_uint32_arg(&tempCmdArgInt);
if(tempCmdArgInt < 2 || tempCmdArgInt > 5)
{
printf("argument out of range\n");
return;
}
adcVal = readAdcPortA(tempCmdArgInt);
if(adcVal != ADC_ERR)
printf("Analog value at GPIO PA%d is %d\n", (int)tempCmdArgInt, adcVal);
}
void CmdLcdTest(int mode)
{
char *tempCmdArgStr;
uint32_t pos = 0;
if(mode != CMD_INTERACTIVE) return;
fetch_string_arg((char**)&tempCmdArgStr);
fetch_uint32_arg((uint32_t*)&pos);
/*if(!lcdInitDone)
{
initLcd(LCD_DISP_ON_BLINK);
//lcdInitDone = 1;
}*/
initLcd(LCD_DISP_ON);
printf("sending string %s at %d\n", tempCmdArgStr, (int)pos);
setLcdBlBrightness(500);
clearLcd();
gotoLcd(pos);
putsLcd(tempCmdArgStr);
}
