Command Line Interface

The firmware exposes a Zephyr shell for interactive inspection and control. This page lists the custom commands implemented in this repository and the additional commands provided by nturt_vcu application. Please refer to the Zephyr documentation for other commands provided by Zephyr.

Note

All custom commands support tab completion feature and command help for ease of use.

Available Commands

canopen

CANopen diagnostics.

Subcommands

  • error

    • get: Print currently set CANopen errors.

err

Error handling commands provided by Error Handling.

Subcommands

  • list: Print all registered errors with severity tagging.

  • get: Show currently set errors.

  • set: Set an error by name.

  • clear: Clear a set error by name.

msg

Message passing diagnostics.

Subcommands

  • stats: Display statistics for each channel.

  • dump: Dump every message published by a given channel to console.

sensor_axis

Sensor axis input diagnostics and calibration utilities.

Subcommands

  • channel

    • list: List the underlying sensors that form a channel.

    • calib_set: Calibrate all sensors in the channel using the current readings and save them to settings.

  • sensor

    • calib_get: Read the stored calibration points for a specific sensor.

    • calib_set: Calibrate a single sensor using its current reading abd save it to settings.

    • dump_raw: Dump raw sensor output to console.

nturt_vcu Commands

The following commands are provided by nturt_vcu.

ctrl

Control system management.

Subcommands

  • param

    • list: Print all control parameters with current values and types.

    • get: Gat the value of a parameter.

    • set: Update a parameter and save it to settings. Values must match the parameter type.

  • inv

    • fault_reset: Clear inverter fault.

dashboard

Dashboard and display controls.

Subcommands

  • brightness

    • get: Get the current dashboard brightness level.

    • set: Set dashboard brightness level and save it to settings.

  • mode

    • get Display the active dashboard mode.

    • set Set the dashboard display mode.

states

Control state machine commands provided by State Machine.

Subcommands

  • get Print the current state bitmask along with human-readable names.

  • trans Request a state transition.