dynlink_tst
Purpose:
-
Test the dynlink interface for Unico Dynos by processing commands to read, write, reset, exit, log on, or log off, and supporting interactive mode.
Enter:
-
dynlink_tst <CMD> [CMD args]
Where:
-
CMD
Specify one of the following optional command arguments:
- READ [slot]to read the last values read from dynlink.
- RESET [slot] to reset the dynlink interface.
- EXIT [slot] to exit the dynlink driver task.
- WRITE to write values to the dynlink interface. This requires three arguments:
- arg1: the output variable
- arg2: the torque reference
- arg3: the velocity reference
- LOGON [slot] to enable logging to /ram/dynlink of raw data written and read from UART.
- LOGOFF [slot] to disable logging.
Example:
-
dynlink_tst WRITE 0 10 300
The preceding command writes the specified values to the dynlink interface.
Notes:
-
The program runs interactively if no command is provided, prompting for commands like ‘r’ for read, ‘w’ for write, ‘c’ for continuous mode, or ‘x’ to exit.