Revision 7:6deaeace9a3e, committed 2018-06-17

Comitter:

JonFreeman

Date:

Sun Jun 17 06:59:37 2018 +0000

Parent:

6:f289a49c1eae

Child:

8:93203f473f6e

Commit message:

Firmware for STM3 Twin Brushless Motor Electronic Speed Controller; Snapshot at 17th June 2018

Changed in this revision

--- a/DualBLS.h	Tue Jun 05 07:19:39 2018 +0000
+++ b/DualBLS.h	Sun Jun 17 06:59:37 2018 +0000
@@ -1,5 +1,3 @@
-//#define POWER_OF_TWO 12     // Range is 4 to 13, is log2N
-//typedef float ffty;     // Choice of float or double    float is HUGELY FASTER than double
 const   int     HANDBRAKE   = 0,
                 FORWARD     = 8,
                 REVERSE     = 16,
@@ -34,9 +32,9 @@
     {0, 2, 2, "Servo2 0, 1, 2 = Not used, Input, Output"},
     {1, 5, 2, "Command source 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2"},
     {'1', '9', '0', "Alternative ID ascii '1' to '9'"}, //  defaults to '0' before eerom setup for first time
-    {50, 250, 98,  "Wheel diameter mm"},   //  New 01/06/2018
-    {10, 250, 27,  "Motor pinion"},   //  New 01/06/2018
-    {50, 250, 85,  "Wheel gear"},   //  New 01/06/2018
+    {20, 253, 98,  "Wheel diameter mm"},   //  New 01/06/2018
+    {10, 253, 27,  "Motor pinion"},   //  New 01/06/2018
+    {20, 253, 85,  "Wheel gear"},   //  New 01/06/2018
 }   ;
 const int    numof_eeprom_options    = sizeof(option_list) / sizeof (struct optpar);
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/F401RE.h	Sun Jun 17 06:59:37 2018 +0000
@@ -0,0 +1,143 @@
+//  Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out
+
+//  Port A -> MotorA, Port B -> MotorB
+const   uint16_t
+AUL = 1 << 0,   //  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
+AVL = 1 << 6,   //  These are which port bits connect to which mosfet driver
+AWL = 1 << 4,
+
+AUH = 1 << 1,
+AVH = 1 << 7,
+AWH = 1 << 8,
+
+AUV =   AUH | AVL,  //  Each of 6 possible output energisations made up of one hi and one low
+AVU =   AVH | AUL,
+AUW =   AUH | AWL,
+AWU =   AWH | AUL,
+AVW =   AVH | AWL,
+AWV =   AWH | AVL,
+
+KEEP_L_MASK_A   = AUL | AVL | AWL,
+KEEP_H_MASK_A   = AUH | AVH | AWH,
+
+BRA = AUL | AVL | AWL,  //  All low side switches on (and all high side off) for braking
+
+BUL = 1 << 0,   //  Likewise for MotorB but different port bits on different port
+BVL = 1 << 1,
+BWL = 1 << 2,
+
+BUH = 1 << 10,
+BVH = 1 << 12,
+BWH = 1 << 13,
+
+BUV =   BUH | BVL,
+BVU =   BVH | BUL,
+BUW =   BUH | BWL,
+BWU =   BWH | BUL,
+BVW =   BVH | BWL,
+BWV =   BWH | BVL,
+
+KEEP_L_MASK_B   = BUL | BVL | BWL,
+KEEP_H_MASK_B   = BUH | BVH | BWH,
+
+BRB = BUL | BVL | BWL,
+
+PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
+PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
+
+PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
+PortOut MotB    (PortB, PORT_B_MASK);
+
+//  Pin 1   VBAT    NET +3V3
+
+//DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
+InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
+
+
+//  Pin 3   PC14-OSC32_IN   NET O32I
+//  Pin 4   PC15-OSC32_OUT  NET O32O
+//  Pin 5   PH0-OSC_IN      NET PH1
+//  Pin 6   PH1-OSC_OUT     NET PH1
+//  Pin 7   NRST            NET NRST
+AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
+AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
+AnalogIn    Motor_A_Current (PC_2); //  Pin 10
+AnalogIn    Motor_B_Current (PC_3); //  Pin 11
+//  Pin 12 VSSA/VREF-   NET GND
+//  Pin 13 VDDA/VREF+   NET +3V3
+//  Pin 14  Port_A AUL
+//  Pin 15  Port_A AUH
+//  Pins 16, 17 BufferedSerial pc
+BufferedSerial  pc          (PA_2, PA_3, 512, 4, NULL);    //  Pins 16, 17    tx, rx to pc via usb lead
+//  Pin 18  VSS     NET GND
+//  Pin 19  VDD     NET +3V3
+//  Pin 20  Port_A AWL
+//  Pin 21  DigitalOut led1(LED1);
+DigitalOut  LED           (PA_5); //  Pin 21
+//  Pin 22  Port_A AVL
+//  Pin 23  Port_A AVH
+InterruptIn  MBH2      (PC_4); //  Pin 24
+InterruptIn  MBH3      (PC_5); //  Pin 25
+//  Pin 26  Port_B BUL
+//  Pin 27  Port_B BVL
+//  Pin 28  Port_B BWL
+//  Pin 29  Port_B BUH
+//  Pin 30  VCAP1
+//  Pin 31  VSS
+//  Pin 32  VDD
+//  Pin 33  Port_B BVH
+//  Pin 34  Port_B BWH
+DigitalOut  T4        (PB_14);    //  Pin 35
+DigitalOut  T3        (PB_15);    //  Pin 36
+//  BufferedSerial com2 pins 37 Tx, 38 Rx
+BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to XBee module
+FastPWM     A_MAX_V_PWM     (PC_8, 1),  //  Pin 39                  pwm3/3
+            A_MAX_I_PWM     (PC_9, 1); //  pin 40, prescaler value  pwm3/4
+//InterruptIn MotB_Hall   (PA_8); //  Pin 41
+//  Pin 41  Port_A AWH
+//  BufferedSerial com3 pins 42 Tx, 43 Rx
+//InterruptIn tryseredge  (PA_9);
+BufferedSerial  com3        (PA_9, PA_10);    //    Pins 42, 43  tx, rx to any aux module
+//  PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out !
+//  No.
+
+//  Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
+//BufferedSerial  extra_ser   (PA_11, PA_12);    //  Pins 44, 45  tx, rx to XBee module
+DigitalOut  T2  (PA_11);    //  Pin 44
+// was DigitalOut  T1  (PA_12);    //  Pin 45
+
+
+//InterruptIn T1  (PA_12);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+//  InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
+DigitalIn   T1    (PA_12);
+////InterruptIn T1  (PC_13);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+
+
+
+//  Pin 46  SWDIO
+//  Pin 47  VSS
+//  Pin 48  VDD
+//  Pin 49  SWCLK
+
+//Was DigitalOut  T5  (PA_15); //  Pin 50
+DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
+InterruptIn MAH1    (PC_10);    //  Pin 51
+InterruptIn MAH2    (PC_11);    //  Pin 52
+InterruptIn MAH3    (PC_12);    //  Pin 53
+InterruptIn MBH1    (PD_2);     //  Pin 54
+DigitalOut  T6      (PB_3);     //  Pin 55
+FastPWM     B_MAX_V_PWM     (PB_4, 1),  //  Pin 56                  pwm3/3
+            B_MAX_I_PWM     (PB_5, 1); //  pin 57, prescaler value  pwm3/4
+
+I2C i2c                     (PB_7, PB_6);   //  Pins 58, 59 For 24LC64 eeprom
+//  Pin 60  BOOT0
+
+//  Servo pins, 2 off. Configured as Input to read radio control receiver
+//  If used as servo output, code gives pin to 'Servo' - seems to work
+InterruptIn Servo1_i    (PB_8); //  Pin 61  to read output from rc rx
+InterruptIn Servo2_i    (PB_9); //  Pin 62  to read output from rc rx
+
+//  Pin 63  VSS
+//  Pin 64  VDD
+//  SYSTEM CONSTANTS
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/F446ZE.h	Sun Jun 17 06:59:37 2018 +0000
@@ -0,0 +1,145 @@
+//  5TH JUNE 2018 NONE OF THIS IS RIGHT YET !!
+
+//  Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out
+
+//  Port A -> MotorA, Port B -> MotorB
+const   uint16_t
+AUL = 1 << 0,   //  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
+AVL = 1 << 6,   //  These are which port bits connect to which mosfet driver
+AWL = 1 << 4,
+
+AUH = 1 << 1,
+AVH = 1 << 7,
+AWH = 1 << 8,
+
+AUV =   AUH | AVL,  //  Each of 6 possible output energisations made up of one hi and one low
+AVU =   AVH | AUL,
+AUW =   AUH | AWL,
+AWU =   AWH | AUL,
+AVW =   AVH | AWL,
+AWV =   AWH | AVL,
+
+KEEP_L_MASK_A   = AUL | AVL | AWL,
+KEEP_H_MASK_A   = AUH | AVH | AWH,
+
+BRA = AUL | AVL | AWL,  //  All low side switches on (and all high side off) for braking
+
+BUL = 1 << 0,   //  Likewise for MotorB but different port bits on different port
+BVL = 1 << 1,
+BWL = 1 << 2,
+
+BUH = 1 << 10,
+BVH = 1 << 12,
+BWH = 1 << 13,
+
+BUV =   BUH | BVL,
+BVU =   BVH | BUL,
+BUW =   BUH | BWL,
+BWU =   BWH | BUL,
+BVW =   BVH | BWL,
+BWV =   BWH | BVL,
+
+KEEP_L_MASK_B   = BUL | BVL | BWL,
+KEEP_H_MASK_B   = BUH | BVH | BWH,
+
+BRB = BUL | BVL | BWL,
+
+PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
+PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
+
+PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
+PortOut MotB    (PortB, PORT_B_MASK);
+
+//  Pin 1   VBAT    NET +3V3
+
+//DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
+InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
+
+
+//  Pin 3   PC14-OSC32_IN   NET O32I
+//  Pin 4   PC15-OSC32_OUT  NET O32O
+//  Pin 5   PH0-OSC_IN      NET PH1
+//  Pin 6   PH1-OSC_OUT     NET PH1
+//  Pin 7   NRST            NET NRST
+AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
+AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
+AnalogIn    Motor_A_Current (PC_2); //  Pin 10
+AnalogIn    Motor_B_Current (PC_3); //  Pin 11
+//  Pin 12 VSSA/VREF-   NET GND
+//  Pin 13 VDDA/VREF+   NET +3V3
+//  Pin 14  Port_A AUL
+//  Pin 15  Port_A AUH
+//  Pins 16, 17 BufferedSerial pc
+BufferedSerial  pc          (PA_2, PA_3, 512, 4, NULL);    //  Pins 16, 17    tx, rx to pc via usb lead
+//  Pin 18  VSS     NET GND
+//  Pin 19  VDD     NET +3V3
+//  Pin 20  Port_A AWL
+//  Pin 21  DigitalOut led1(LED1);
+DigitalOut  LED           (PA_5); //  Pin 21
+//  Pin 22  Port_A AVL
+//  Pin 23  Port_A AVH
+InterruptIn  MBH2      (PC_4); //  Pin 24
+InterruptIn  MBH3      (PC_5); //  Pin 25
+//  Pin 26  Port_B BUL
+//  Pin 27  Port_B BVL
+//  Pin 28  Port_B BWL
+//  Pin 29  Port_B BUH
+//  Pin 30  VCAP1
+//  Pin 31  VSS
+//  Pin 32  VDD
+//  Pin 33  Port_B BVH
+//  Pin 34  Port_B BWH
+DigitalOut  T4        (PB_14);    //  Pin 35
+DigitalOut  T3        (PB_15);    //  Pin 36
+//  BufferedSerial com2 pins 37 Tx, 38 Rx
+BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to XBee module
+FastPWM     A_MAX_V_PWM     (PC_8, 1),  //  Pin 39                  pwm3/3
+            A_MAX_I_PWM     (PC_9, 1); //  pin 40, prescaler value  pwm3/4
+//InterruptIn MotB_Hall   (PA_8); //  Pin 41
+//  Pin 41  Port_A AWH
+//  BufferedSerial com3 pins 42 Tx, 43 Rx
+//InterruptIn tryseredge  (PA_9);
+BufferedSerial  com3        (PA_9, PA_10);    //    Pins 42, 43  tx, rx to any aux module
+//  PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out !
+//  No.
+
+//  Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
+//BufferedSerial  extra_ser   (PA_11, PA_12);    //  Pins 44, 45  tx, rx to XBee module
+DigitalOut  T2  (PA_11);    //  Pin 44
+// was DigitalOut  T1  (PA_12);    //  Pin 45
+
+
+//InterruptIn T1  (PA_12);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+//  InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
+DigitalIn   T1    (PA_12);
+////InterruptIn T1  (PC_13);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+
+
+
+//  Pin 46  SWDIO
+//  Pin 47  VSS
+//  Pin 48  VDD
+//  Pin 49  SWCLK
+
+//Was DigitalOut  T5  (PA_15); //  Pin 50
+DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
+InterruptIn MAH1    (PC_10);    //  Pin 51
+InterruptIn MAH2    (PC_11);    //  Pin 52
+InterruptIn MAH3    (PC_12);    //  Pin 53
+InterruptIn MBH1    (PD_2);     //  Pin 54
+DigitalOut  T6      (PB_3);     //  Pin 55
+FastPWM     B_MAX_V_PWM     (PB_4, 1),  //  Pin 56                  pwm3/3
+            B_MAX_I_PWM     (PB_5, 1); //  pin 57, prescaler value  pwm3/4
+
+I2C i2c                     (PB_7, PB_6);   //  Pins 58, 59 For 24LC64 eeprom
+//  Pin 60  BOOT0
+
+//  Servo pins, 2 off. Configured as Input to read radio control receiver
+//  If used as servo output, code gives pin to 'Servo' - seems to work
+InterruptIn Servo1_i    (PB_8); //  Pin 61  to read output from rc rx
+InterruptIn Servo2_i    (PB_9); //  Pin 62  to read output from rc rx
+
+//  Pin 63  VSS
+//  Pin 64  VDD
+//  SYSTEM CONSTANTS
+

--- a/cli_BLS_nortos.cpp	Tue Jun 05 07:19:39 2018 +0000
+++ b/cli_BLS_nortos.cpp	Sun Jun 17 06:59:37 2018 +0000
@@ -12,14 +12,16 @@
 const int   BROADCAST   = '\r';
 const   int MAX_PARAMS = 20;
 struct  parameters  {
-    int32_t position_in_list,   //  set but not used Apr 2018, contains i for i'th menu item
-//            last_time,          //  gets reading from clock() ; not known to be useful or reliable
-            numof_dbls,
-            target_unit;
+    struct kb_command const * command_list;
+    BufferedSerial * com;   //  pc or com2
+    char    cmd_line[120];
+    char    * cmd_line_ptr;
+    int32_t position_in_list, numof_dbls, target_unit, numof_menu_items, cl_index, gp_i;
     double  dbl[MAX_PARAMS];
-    bool    respond;
+    bool    respond, resp_always;
 }   ;
 
+struct parameters pccom, lococom;
 //  WithOUT RTOS
 extern  BufferedSerial com2, pc;
 extern  void    send_test   ()  ;
@@ -28,12 +30,12 @@
 extern  void    setI    (double i)  ;
 extern  void    read_last_VI    (double * val)  ;   //  only for test from cli
 
-BufferedSerial * com;
+//BufferedSerial * com;
 
 void    null_cmd (struct parameters & a)
 {
     if  (a.respond) 
-        com->printf   ("At null_cmd, board ID %c, parameters : First %.3f, second %.3f\r\n", I_Am(), a.dbl[0], a.dbl[1]);
+        a.com->printf   ("At null_cmd, board ID %c, parameters : First %.3f, second %.3f\r\n", I_Am(), a.dbl[0], a.dbl[1]);
 }
 
 extern  void    mode_set   (int mode, double val)  ;   //  called from cli to set fw, re, rb, hb
@@ -44,7 +46,7 @@
     if  (a.respond) {
         double  r[4];
         read_supply_vi  (r);    //  get MotorA.I.ave, MotorB.I.ave, Battery volts
-        com->printf ("rdi%.0f %.0f %.1f\r", r[0], r[1], r[2]);  //  Format good to be unpicked by cli in touch screen controller
+        a.com->printf ("rdi%.0f %.0f %.1f\r", r[0], r[1], r[2]);  //  Format good to be unpicked by cli in touch screen controller
     }
 }
 
@@ -53,7 +55,7 @@
     if  (a.respond) {
         double  r[6];
         read_last_VI    (r);
-        com->printf ("rvi%.2f %.2f %.2f %.2f\r", r[0], r[1], r[2], r[3]);
+        a.com->printf ("rvi%.2f %.2f %.2f %.2f\r", r[0], r[1], r[2], r[3]);
     }
 }
 
@@ -70,7 +72,7 @@
 void    rb_cmd (struct parameters & a)      //  Regen brake command
 {
     double b = a.dbl[0] / 100.0;
-//    com->printf   ("Applying brake %.3f\r\n", b);
+//    a.com->printf   ("Applying brake %.3f\r\n", b);
     mode_set   (REGENBRAKE, b);
 //    apply_brake (b);
 }
@@ -84,9 +86,9 @@
     for (int i = 0; i < 32; i++)
         t[i] = 0xff;
     for (int i = 0; i < 8191; i += 32)  {
-        com->printf (".");
+        a.com->printf (".");
         if  (!wr_24LC64   (i, t, 32))
-            com->printf ("eeprom write prob\r\n");
+            a.com->printf ("eeprom write prob\r\n");
     }
 }
 /*struct  motorpairoptions    {   //  This to be user settable in eeprom, 32 bytes
@@ -107,37 +109,37 @@
 
 void    mode_cmd (struct parameters & a)       //  With no params, reads eeprom contents. With params sets eeprom contents
 {
-    if  (a.target_unit == BROADCAST) {
-//        com->printf ("At mode_cmd, can not use BROADCAST with mode_cmd\r\n");
+    if  (a.target_unit == BROADCAST || !a.resp_always) {
+//        a.com->printf ("At mode_cmd, can not use BROADCAST with mode_cmd\r\n");
     } else    {
         char    t[36];
-        com->printf ("At mode_cmd with node %d\r\n", a.target_unit);
+        a.com->printf ("At mode_cmd with node %d\r\n", a.target_unit);
         rd_24LC64   (0, t, 32);
-        com->printf ("Numof params=%d\r\n", a.numof_dbls);
+        a.com->printf ("Numof params=%d\r\n", a.numof_dbls);
         for (int i = 0; i < numof_eeprom_options; i++)
-            com->printf ("%2x\t%s\r\n", t[i], option_list[i].t);
+            a.com->printf ("%2x\t%s\r\n", t[i], option_list[i].t);
         if  (a.numof_dbls == 0) {   //  Read present contents, do not write
-            com->printf ("That's it\r\n");
+            a.com->printf ("That's it\r\n");
         } else    { //  Write new shit to eeprom
-            com->printf ("\r\n");
+            a.com->printf ("\r\n");
             if  (a.numof_dbls != numof_eeprom_options) {
-                com->printf ("params required = %d, you offered %d\r\n", numof_eeprom_options, a.numof_dbls);
+                a.com->printf ("params required = %d, you offered %d\r\n", numof_eeprom_options, a.numof_dbls);
             } else    { //  Have been passed correct number of parameters
                 int b;
-                com->printf("Ready to write params to eeprom\r\n");
+                a.com->printf("Ready to write params to eeprom\r\n");
                 for (int i = 0; i < numof_eeprom_options; i++) {
                     b = (int)a.dbl[i];  //  parameter value to check against limits
                     if  (i == 6)    //  Alternative ID must be turned to ascii
                         b |= '0';
                     if  ((b < option_list[i].min) || (b > option_list[i].max))  {   //  if parameter out of range
-                        com->printf("Warning - Parameter = %d, out of range, setting to default %d\r\n", b, option_list[i].def);
+                        a.com->printf("Warning - Parameter = %d, out of range, setting to default %d\r\n", b, option_list[i].def);
                         b = option_list[i].def;
                     }
-                    com->printf ("0x%2x\t%s\r\n", (t[i] = b), option_list[i].t);
+                    a.com->printf ("0x%2x\t%s\r\n", (t[i] = b), option_list[i].t);
                 }
                 wr_24LC64   (0, t, numof_eeprom_options);
                 memcpy  (mode_bytes,t,32);
-                com->printf("Parameters set in eeprom\r\n");
+                a.com->printf("Parameters set in eeprom\r\n");
             }
         }
     }
@@ -149,8 +151,8 @@
 void    hb_cmd (struct parameters & a)
 {
     if  (a.respond) {
-        com->printf   ("numof params = %d\r\n", a.numof_dbls);
-        com->printf   ("Hand Brake : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
+        a.com->printf   ("numof params = %d\r\n", a.numof_dbls);
+        a.com->printf   ("Hand Brake : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
     }
     mode_set   (HANDBRAKE, 0.0);
 }
@@ -158,13 +160,13 @@
 extern  uint32_t    last_temp_count;
 void    temperature_cmd  (struct parameters & a)  {
     if  (a.respond) {
-        com->printf ("tem%c %d\r\n", mode_bytes[ID], (last_temp_count / 16) - 50);
+        a.com->printf ("tem%c %d\r\n", mode_bytes[ID], (last_temp_count / 16) - 50);
     }
 }
 
 void    bogie_constants_report_cmd  (struct parameters & a)  {
     if  (a.respond) {
-        com->printf ("bc%c %d %d %d\r\n", mode_bytes[ID], mode_bytes[WHEELDIA], mode_bytes[MOTPIN], mode_bytes[WHEELGEAR]);
+        a.com->printf ("bc%c %d %d %d\r\n", mode_bytes[ID], mode_bytes[WHEELDIA], mode_bytes[MOTPIN], mode_bytes[WHEELGEAR]);
     }
 }
 
@@ -173,11 +175,19 @@
 {
     if  (a.respond) {
         uint32_t dest[3];
-        read_RPM    (dest);
-        com->printf  ("rpm%d %d\r", dest[0], dest[1]);
+        read_RPM    (dest);     //  gets rpm for each motor
+        a.com->printf  ("rpm%d %d\r", dest[0], dest[1]);
     }
 }
 
+extern  double  rpm2mph ;
+void    mph_cmd (struct parameters & a) //  to report miles per hour
+{
+        uint32_t dest[3];
+        read_RPM    (dest);     //  gets rpm for each motor
+        a.com->printf ("mph%c %.3f\r\n", mode_bytes[ID], (double)(dest[0] + dest[1]) * rpm2mph / 2.0);
+}
+
 void    menucmd (struct parameters & a);
 
 void    vi_cmd (struct parameters & a)
@@ -197,21 +207,21 @@
 void    i_cmd (struct parameters & a)
 {
 //    if  (a.respond)
-//        com->printf   ("In setI, setting I to %.2f\r\n", a.dbl[0]);
+//        a.com->printf   ("In setI, setting I to %.2f\r\n", a.dbl[0]);
     setI   (a.dbl[0] / 100.0);
 }
 
 void    kd_cmd (struct parameters & a)  //  kick the watchdog
 {
     WatchDog = WATCHDOG_RELOAD + (I_Am() & 0x0f);
-//    com->printf ("Poked %d up Dog\r\n", WatchDog);
+//    a.com->printf ("Poked %d up Dog\r\n", WatchDog);
 }
 
 void    who_cmd (struct parameters & a)
 {
     int i = I_Am    ();
     if  (I_Am() == a.target_unit)
-        com->printf ("who%c\r\n", a.target_unit);
+        a.com->printf ("who%c\r\n", a.target_unit);
 }
 
 struct kb_command  {
@@ -220,7 +230,7 @@
     void (*f)(struct parameters &);   //  points to function
 }  ;
 
-struct  kb_command const command_list[] = {
+struct  kb_command const loco_command_list[] = {
     {"ls", "Lists available commands", menucmd},
     {"?", "Lists available commands, same as ls", menucmd},
     {"fw", "forward", fw_cmd},
@@ -242,14 +252,55 @@
     {"nu", "do nothing", null_cmd},
 };
 
-const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
+//const int numof_loco_menu_items = sizeof(loco_command_list) / sizeof(kb_command);
+
+
+struct  kb_command const pc_command_list[] = {
+    {"ls", "Lists available commands", menucmd},
+    {"?", "Lists available commands, same as ls", menucmd},
+    {"fw", "forward", fw_cmd},
+    {"re", "reverse", re_cmd},
+    {"rb", "regen brake 0 to 99 %", rb_cmd},
+    {"hb", "hand brake", hb_cmd},
+    {"v", "set motors V percent RANGE 0 to 100", v_cmd},
+    {"i", "set motors I percent RANGE 0 to 100", i_cmd},
+    {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd},
+    {"who", "search for connected units, e.g. 3who returs 'Hi there' if found", who_cmd},
+    {"mode", "read or set params in eeprom", mode_cmd},
+    {"erase", "set eeprom contents to all 0xff", erase_cmd},
+    {"tem", "report temperature", temperature_cmd},
+    {"kd", "kick the dog, reloads WatchDog", kd_cmd},
+    {"rpm", "read motor pair speeds", rpm_cmd},
+    {"mph", "read loco speed miles per hour", mph_cmd},
+    {"rvi", "read most recent values sent to pwms", rvi_cmd},
+    {"rdi", "read motor currents and power voltage", rdi_cmd},
+    {"bc", "bogie constants - wheel dia, motor pinion, wheel gear", bogie_constants_report_cmd},
+    {"nu", "do nothing", null_cmd},
+};
+
+void    setup_comms ()  {
+    pccom.com = & pc;
+    pccom.command_list = pc_command_list;
+    pccom.numof_menu_items = sizeof(pc_command_list) / sizeof(kb_command);
+    pccom.cl_index  = 0;
+    pccom.gp_i      = 0;    //  general puropse integer, not used to 30/4/2018
+    pccom.resp_always   = true;
+    lococom.com = & com2;
+    lococom.command_list = loco_command_list;
+    lococom.numof_menu_items = sizeof(loco_command_list) / sizeof(kb_command);
+    lococom.cl_index    = 0;
+    lococom.gp_i        = 0;    //  general puropse integer, toggles 0 / 1 to best guess source of rpm
+    lococom.resp_always = false;
+}
+
+
 void    menucmd (struct parameters & a)
 {
     if  (a.respond) {
-        com->printf("\r\n\nDouble Brushless Motor Driver 2018\r\nAt menucmd function - listing commands:-\r\n");
-        for(int i = 0; i < numof_menu_items; i++)
-            com->printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
-        com->printf("End of List of Commands\r\n");
+        a.com->printf("\r\n\nDouble Brushless Motor Driver 2018\r\nAt menucmd function - listing commands:-\r\n");
+        for(int i = 0; i < a.numof_menu_items; i++)
+            a.com->printf("[%s]\t\t%s\r\n", a.command_list[i].cmd_word, a.command_list[i].explan);
+        a.com->printf("End of List of Commands\r\n");
     }
 }
 
@@ -262,9 +313,77 @@
 But for BROADCAST commands, '0' may respond on behalf of the group
 */
 //void    command_line_interpreter    (void const *argument)
+void    cli_core    (struct parameters & a) {
+    const int MAX_CMD_LEN = 120;
+    int ch, IAm = I_Am();
+    char * pEnd;//, * cmd_line_ptr;
+    while  (a.com->readable()) {
+        ch = a.com->getc();
+        if  (a.cl_index > MAX_CMD_LEN)  {   //  trap out stupidly long command lines
+            a.com->printf   ("Error!! Stupidly long cmd line\r\n");
+            a.cl_index = 0;
+        }
+        if(ch != '\r')  //  was this the 'Enter' key?
+            a.cmd_line[a.cl_index++] = ch;  //  added char to command being assembled
+        else    {   //  key was CR, may or may not be command to lookup
+            a.target_unit = BROADCAST;    //  Set to BROADCAST default once found command line '\r'
+            a.cmd_line_ptr = a.cmd_line;
+            a.cmd_line[a.cl_index] = 0; //  null terminate command string
+            if(a.cl_index)    {   //  If have got some chars to lookup
+                int i, wrdlen;
+                if  (isdigit(a.cmd_line[0]))  {   //  Look for command with prefix digit
+                    a.cmd_line_ptr++;     //  point past identified digit prefix
+                    a.target_unit = a.cmd_line[0];  //  '0' to '9'
+                    //com->printf ("Got prefix %c\r\n", cmd_line[0]);
+                }
+                for (i = 0; i < a.numof_menu_items; i++)   {   //  Look for input match in command list
+                    wrdlen = strlen(a.command_list[i].cmd_word);
+                    if(strncmp(a.command_list[i].cmd_word, a.cmd_line_ptr, wrdlen) == 0 && !isalpha(a.cmd_line_ptr[wrdlen]))  {   //  If match found
+                        for (int k = 0; k < MAX_PARAMS; k++)    {
+                            a.dbl[k] = 0.0;
+                        }
+                        a.position_in_list = i;
+                        a.numof_dbls = 0;
+                        pEnd = a.cmd_line_ptr + wrdlen;
+                        while   (*pEnd)  {          //  Assemble all numerics as doubles
+                            a.dbl[a.numof_dbls++] = strtod    (pEnd, &pEnd);
+                            while   (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd)  {
+                                pEnd++;
+                            }
+                        }
+                        //com->printf   ("\r\n");   //  Not allowed as many may output this.
+                        //for (int k = 0; k < param_block.numof_dbls; k++)
+                        //    com->printf   ("Read %.3f\r\n", param_block.dbl[k]);
+//                            param_block.times[i] = clock();
+//                        a.respond = false;
+                        a.respond = a.resp_always;
+                        if  (((a.target_unit == BROADCAST) && (IAm == '0')) || (IAm == a.target_unit))
+                            a.respond = true; //  sorted 26/4/18
+                        //  All boards to obey BROADCAST command, only specific board to obey number prefixed command
+                        if  ((a.target_unit == BROADCAST) || (IAm == a.target_unit))
+                            a.command_list[i].f(a);   //  execute command if addressed to this unit
+                        i = a.numof_menu_items + 1;    //  to exit for loop
+                    }   //  end of match found
+                }       // End of for numof_menu_items
+                if(i == a.numof_menu_items)
+                    a.com->printf("No Match Found for CMD [%s]\r\n", a.cmd_line);
+            }           //  End of If have got some chars to lookup
+            //com->printf("\r\n>");
+            a.cl_index = 0;
+        }               // End of else key was CR, may or may not be command to lookup
+    }                   //  End of while (com->readable())
+}
+
+void    command_line_interpreter_pc    ()   {
+    cli_core    (pccom);
+}
+void    command_line_interpreter_loco    () {
+    cli_core    (lococom);
+}
+
 void    command_line_interpreter    ()
 {
-    const int MAX_CMD_LEN = 120;
+/*    const int MAX_CMD_LEN = 120;
     static  char    cmd_line[MAX_CMD_LEN + 4];
     static  int     cl_index = 0;
     int ch, IAm = I_Am();
@@ -291,9 +410,9 @@
                     param_block.target_unit = cmd_line[0];  //  '0' to '9'
                     //com->printf ("Got prefix %c\r\n", cmd_line[0]);
                 }
-                for (i = 0; i < numof_menu_items; i++)   {   //  Look for input match in command list
-                    wrdlen = strlen(command_list[i].cmd_word);
-                    if(strncmp(command_list[i].cmd_word, cmd_line_ptr, wrdlen) == 0 && !isalpha(cmd_line_ptr[wrdlen]))  {   //  If match found
+                for (i = 0; i < a.numof_menu_items; i++)   {   //  Look for input match in command list
+                    wrdlen = strlen(a.command_list[i].cmd_word);
+                    if(strncmp(a.command_list[i].cmd_word, a.cmd_line_ptr, wrdlen) == 0 && !isalpha(a.cmd_line_ptr[wrdlen]))  {   //  If match found
                         for (int k = 0; k < MAX_PARAMS; k++)    {
                             param_block.dbl[k] = 0.0;
                         }
@@ -328,7 +447,7 @@
         }               // End of else key was CR, may or may not be command to lookup
     }                   //  End of while (com->readable())
 //        Thread::wait(20);  //  Using RTOS on this project
-//    }
+//    }*/
 }
 
 

--- a/main.cpp	Tue Jun 05 07:19:39 2018 +0000
+++ b/main.cpp	Sun Jun 17 06:59:37 2018 +0000
@@ -6,7 +6,7 @@
 
 /*
 New 29th May 2018 - YET TO CODE FOR - Fwd/Rev line from possible remote hand control box has signal routed to T5
-                Also new LMT01 temperature sensor routed to T1 - and rerouted to PC_13 at InterruptIn on T1 (ports A and B I think) not workable
+                Also new LMT01 temperature sensor routed to T1 - and rerouted to PC_13 as InterruptIn on T1 (ports A and B I think) not workable
 */
 
 
@@ -28,154 +28,11 @@
 
 
 */
-//#if defined (TARGET_NUCLEO_F446ZE)
-#if defined (TARGET_NUCLEO_F401RE)
-
-//  Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out
-
-//  Port A -> MotorA, Port B -> MotorB
-const   uint16_t
-AUL = 1 << 0,   //  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
-AVL = 1 << 6,   //  These are which port bits connect to which mosfet driver
-AWL = 1 << 4,
-
-AUH = 1 << 1,
-AVH = 1 << 7,
-AWH = 1 << 8,
-
-AUV =   AUH | AVL,  //  Each of 6 possible output energisations made up of one hi and one low
-AVU =   AVH | AUL,
-AUW =   AUH | AWL,
-AWU =   AWH | AUL,
-AVW =   AVH | AWL,
-AWV =   AWH | AVL,
-
-KEEP_L_MASK_A   = AUL | AVL | AWL,
-KEEP_H_MASK_A   = AUH | AVH | AWH,
-
-BRA = AUL | AVL | AWL,  //  All low side switches on (and all high side off) for braking
-
-BUL = 1 << 0,   //  Likewise for MotorB but different port bits on different port
-BVL = 1 << 1,
-BWL = 1 << 2,
-
-BUH = 1 << 10,
-BVH = 1 << 12,
-BWH = 1 << 13,
-
-BUV =   BUH | BVL,
-BVU =   BVH | BUL,
-BUW =   BUH | BWL,
-BWU =   BWH | BUL,
-BVW =   BVH | BWL,
-BWV =   BWH | BVL,
-
-KEEP_L_MASK_B   = BUL | BVL | BWL,
-KEEP_H_MASK_B   = BUH | BVH | BWH,
-
-BRB = BUL | BVL | BWL,
-
-PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
-PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
-
-PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
-PortOut MotB    (PortB, PORT_B_MASK);
-
-//  Pin 1   VBAT    NET +3V3
-
-//DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
-InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
-
-
-//  Pin 3   PC14-OSC32_IN   NET O32I
-//  Pin 4   PC15-OSC32_OUT  NET O32O
-//  Pin 5   PH0-OSC_IN      NET PH1
-//  Pin 6   PH1-OSC_OUT     NET PH1
-//  Pin 7   NRST            NET NRST
-AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
-AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
-AnalogIn    Motor_A_Current (PC_2); //  Pin 10
-AnalogIn    Motor_B_Current (PC_3); //  Pin 11
-//  Pin 12 VSSA/VREF-   NET GND
-//  Pin 13 VDDA/VREF+   NET +3V3
-//  Pin 14  Port_A AUL
-//  Pin 15  Port_A AUH
-//  Pins 16, 17 BufferedSerial pc
-BufferedSerial  pc          (PA_2, PA_3, 512, 4, NULL);    //  Pins 16, 17    tx, rx to pc via usb lead
-//  Pin 18  VSS     NET GND
-//  Pin 19  VDD     NET +3V3
-//  Pin 20  Port_A AWL
-//  Pin 21  DigitalOut led1(LED1);
-DigitalOut  LED           (PA_5); //  Pin 21
-//  Pin 22  Port_A AVL
-//  Pin 23  Port_A AVH
-InterruptIn  MBH2      (PC_4); //  Pin 24
-InterruptIn  MBH3      (PC_5); //  Pin 25
-//  Pin 26  Port_B BUL
-//  Pin 27  Port_B BVL
-//  Pin 28  Port_B BWL
-//  Pin 29  Port_B BUH
-//  Pin 30  VCAP1
-//  Pin 31  VSS
-//  Pin 32  VDD
-//  Pin 33  Port_B BVH
-//  Pin 34  Port_B BWH
-DigitalOut  T4        (PB_14);    //  Pin 35
-DigitalOut  T3        (PB_15);    //  Pin 36
-//  BufferedSerial com2 pins 37 Tx, 38 Rx
-BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to XBee module
-FastPWM     A_MAX_V_PWM     (PC_8, 1),  //  Pin 39                  pwm3/3
-            A_MAX_I_PWM     (PC_9, 1); //  pin 40, prescaler value  pwm3/4
-//InterruptIn MotB_Hall   (PA_8); //  Pin 41
-//  Pin 41  Port_A AWH
-//  BufferedSerial com3 pins 42 Tx, 43 Rx
-//InterruptIn tryseredge  (PA_9);
-BufferedSerial  com3        (PA_9, PA_10);    //    Pins 42, 43  tx, rx to any aux module
-//  PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out !
-//  No.
-
-//  Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
-//BufferedSerial  extra_ser   (PA_11, PA_12);    //  Pins 44, 45  tx, rx to XBee module
-DigitalOut  T2  (PA_11);    //  Pin 44
-// was DigitalOut  T1  (PA_12);    //  Pin 45
-
-
-//InterruptIn T1  (PA_12);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
-//  InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
-DigitalIn   T1    (PA_12);
-////InterruptIn T1  (PC_13);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
-
-
-
-//  Pin 46  SWDIO
-//  Pin 47  VSS
-//  Pin 48  VDD
-//  Pin 49  SWCLK
-
-//Was DigitalOut  T5  (PA_15); //  Pin 50
-DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
-InterruptIn MAH1    (PC_10);    //  Pin 51
-InterruptIn MAH2    (PC_11);    //  Pin 52
-InterruptIn MAH3    (PC_12);    //  Pin 53
-InterruptIn MBH1    (PD_2);     //  Pin 54
-DigitalOut  T6      (PB_3);     //  Pin 55
-FastPWM     B_MAX_V_PWM     (PB_4, 1),  //  Pin 56                  pwm3/3
-            B_MAX_I_PWM     (PB_5, 1); //  pin 57, prescaler value  pwm3/4
-
-I2C i2c                     (PB_7, PB_6);   //  Pins 58, 59 For 24LC64 eeprom
-//  Pin 60  BOOT0
-
-//  Servo pins, 2 off. Configured as Input to read radio control receiver
-//  If used as servo output, code gives pin to 'Servo' - seems to work
-InterruptIn Servo1_i    (PB_8); //  Pin 61  to read output from rc rx
-InterruptIn Servo2_i    (PB_9); //  Pin 62  to read output from rc rx
-
-//  Pin 63  VSS
-//  Pin 64  VDD
-//  SYSTEM CONSTANTS
-
+#if defined (TARGET_NUCLEO_F401RE)  //  CPU in 64 pin LQFP
+#include    "F401RE.h"
 #endif
-#if defined (TARGET_NUCLEO_F446ZE)
+#if defined (TARGET_NUCLEO_F446ZE)  //  CPU in 144 pin LQFP
+#include    "F446ZE.h"
 #endif
 /*  Global variable declarations */
 volatile    uint32_t    fast_sys_timer      = 0;    //  gets incremented by our Ticker ISR every VOLTAGE_READ_INTERVAL_US
@@ -188,11 +45,14 @@
 bool        loop_flag   = false;    //  made true in ISR_loop_timer, picked up and made false again in main programme loop
 bool        flag_8Hz    = false;    //  As loop_flag but repeats 8 times per sec
 bool        temp_sensor_exists = false;
+bool        eeprom_flag; //  gets set according to 24LC674 being found or not
+bool        mode_good_flag  = false;
 char        mode_bytes[36];
 
 uint32_t    temp_sensor_count = 0,  //  incremented by every rising edge from LMT01
             last_temp_count = 0;  //  global updated approx every 100ms after each LMT01 conversion completes
 //    struct  single_bogie_options    bogie;    
+    double  rpm2mph = 0.0;  //  gets calculated from eeprom mode entries if present
 /*  End of Global variable declarations */
 
 Ticker  tick_vread;     //  Device to cause periodic interrupts, used to time voltage readings etc
@@ -364,7 +224,7 @@
 motor   MotorA  (&MotA, &A_MAX_V_PWM, &A_MAX_I_PWM, A_tabl, AHarr);
 motor   MotorB  (&MotB, &B_MAX_V_PWM, &B_MAX_I_PWM, B_tabl, BHarr);
 
-motor * MotPtr[8];  //  Array of pointers to some number of motor objects
+//motor * MotPtr[8];  //  Array of pointers to some number of motor objects
 
 motor::motor    (PortOut * P , FastPWM * _maxV_ , FastPWM * _maxI_ , const uint16_t * lutptr, InterruptIn ** Hall)        //  Constructor
 {   //  Constructor
@@ -700,7 +560,9 @@
     }
 }
 
-extern  void    command_line_interpreter    ()  ;
+extern  void    setup_comms ()  ;
+extern  void    command_line_interpreter_pc    ()  ;
+extern  void    command_line_interpreter_loco    ()  ;
 extern  int     check_24LC64   ()  ;   //  Call from near top of main() to init i2c bus
 extern  bool    wr_24LC64  (int mem_start_addr, char * source, int length)   ;
 extern  bool    rd_24LC64  (int mem_start_addr, char * dest, int length)   ;
@@ -719,6 +581,12 @@
     return  IAm;
 }
 
+double  mph (int    rpm)    {
+    if  (mode_good_flag)    {
+        return  rpm2mph * (double) rpm;
+    }
+    return  -1.0;
+}
 
 int main()
 {
@@ -726,8 +594,8 @@
 
     MotA   = 0;     //  Output all 0s to Motor drive ports A and B
     MotB   = 0;
-    MotPtr[0] = &MotorA;    //  Pointers to motor class objects
-    MotPtr[1] = &MotorB;
+//    MotPtr[0] = &MotorA;    //  Pointers to motor class objects
+//    MotPtr[1] = &MotorB;
     
     Temperature_pin.fall (&temp_sensor_isr);
     Temperature_pin.mode (PullUp);
@@ -767,23 +635,18 @@
     pc.baud     (9600);
     com3.baud   (1200);
     com2.baud   (19200);
+    setup_comms ();
 
+    IAm = '0';
     if  (check_24LC64() != 0xa0)  { //  searches for i2c devices, returns address of highest found
         pc.printf   ("Check for 24LC64 eeprom FAILED\r\n");
         com2.printf   ("Check for 24LC64 eeprom FAILED\r\n");
+        eeprom_flag = false;
     }
     else   {        //  Found 24LC64 memory on I2C
+        eeprom_flag = true;
         bool k;
-//        static const char ramtst[] = "I found the man sir!";
-//        j = wr_24LC64  (0x1240, (char*)ramtst, strlen(ramtst));
-//        for (int i = 0; i < TXTBUFSIZ; i++)    buff[i] = 0;     //  Clear buffer
-//        //  need a way to check i2c busy - YES implemented ack_poll
-//        k = rd_24LC64  (0x1240, buff, strlen(ramtst));
-//        pc.printf("Ram test returned [%s], wr ret'd [%s], rd ret'd [%s]\r\n", buff, j ? "true" : "false", k ? "true" : "false");
-//        com2.printf("Ram test returned [%s], wr ret'd [%s], rd ret'd [%s]\r\n", buff, j ? "true" : "false", k ? "true" : "false");
         k = rd_24LC64   (0, mode_bytes, 32);
-//        if  (k)
-//            com2.printf ("Good read from eeprom\r\n");
         if  (!k)
             com2.printf ("Error reading from eeprom\r\n");
 
@@ -796,11 +659,16 @@
 //            else
 //                com2.printf ("%2x Good %s\r\n", buff[i], option_list[i].t);
         }
-        IAm = '0';
+        rpm2mph = 0.0;
         if  (err == 0)  {
+            mode_good_flag = true;
             MotorA.direction_set    (mode_bytes[MOTADIR]);
             MotorB.direction_set    (mode_bytes[MOTBDIR]);
             IAm = mode_bytes[ID];
+            rpm2mph = 60.0                                                          //  to Motor Revs per hour;
+                    * ((double)mode_bytes[MOTPIN] / (double)mode_bytes[WHEELGEAR])  //  Wheel revs per hour
+                    * PI * ((double)mode_bytes[WHEELDIA] / 1000.0)                  //  metres per hour
+                    * 39.37 / (1760.0 * 36.0);                                      //  miles per hour
         }
            //  Alternative ID 1 to 9
 //        com2.printf ("Alternative ID = 0x%2x\r\n", buff[6]);
@@ -826,7 +694,7 @@
     Servo   Servo2  (PB_9)  ;
     Servos[1] = & Servo2;
     
-    pc.printf   ("last_temp_count = %d\r\n", last_temp_count);  //  Has had time to do at least 1 conversion
+//    pc.printf   ("last_temp_count = %d\r\n", last_temp_count);  //  Has had time to do at least 1 conversion
     if  ((last_temp_count > 160) && (last_temp_count < 2400))   //  in range -40 to +100 degree C
         temp_sensor_exists  = true;
 /*
@@ -851,10 +719,12 @@
             break;
     }
     */
-    pc.printf   ("Ready to go!, wheel gear in position %d\r\n", WHEELGEAR);
+//    pc.printf   ("Ready to go!, wheel gear in position %d\r\n", WHEELGEAR);
+    pc.printf   ("About to start!\r\n");
     while   (1) {      //  Loop forever, repeats synchroised by waiting for ticker Interrupt Service Routine to set 'loop_flag' true
         while   (!loop_flag)  {         //  Most of the time is spent in this loop, repeatedly re-checking for commands from pc port
-            command_line_interpreter    ()  ;   //  Proceed beyond here once loop_timer ticker ISR has set loop_flag true
+            command_line_interpreter_pc    ()  ;   //  Proceed beyond here once loop_timer ticker ISR has set loop_flag true
+            command_line_interpreter_loco    ()  ;   //  Proceed beyond here once loop_timer ticker ISR has set loop_flag true
             AtoD_reader ();                     //  Performs A to D conversions at rate set by ticker interrupts
         }
         loop_flag = false;              //  Clear flag set by ticker interrupt handler
@@ -877,12 +747,12 @@
                 eighth_sec_count = 0;
                 MotorA.current_calc ();     //  Updates readings in MotorA.I.min, MotorA.I.ave and MotorA.I.max
                 MotorB.current_calc ();
-                if  (temp_sensor_exists)    {
+/*                if  (temp_sensor_exists)    {
                     double  tmprt = (double) last_temp_count;
                     tmprt /= 16.0;
                     tmprt -= 50.0;
                     pc.printf   ("Temp %.2f\r\n", tmprt);
-                }
+                }*/
 //                com2.printf   ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IAmin %d, IAave %d, IAmax %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls  (), MotorB.read_Halls  (), MotorA.I.min, MotorA.I.ave, MotorA.I.max, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24);
             }
         }   //  End of if(flag_8Hz)