Jean Mercier
Command all jmCLIG modules from serial port
Revision 0:9112e09912db, committed 2011-02-12
- Comitter:
- jm
- Date:
- Sat Feb 12 16:50:25 2011 +0000
- Commit message:
- jmAll Command Line Interface Module
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmCommands.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,153 @@
+/** @file jmCommands.c
+ * Auto Generated by jmCLIG
+ * Saturday, February 12, 2011 11:21 AM
+ * @version 2011.01.05
+ */
+
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "jmLPC17xx_gpio.h"
+#include "jmMotor.h"
+#include "jmPulse.h"
+#include "jmStepper.h"
+#include "jmStepperAxis.h"
+#include "jmSwitch.h"
+
+const char jmCLIG[] = {"\njmCLIG Version 2011.01.05 \nInstance Saturday, February 12, 2011 11:21 AM\n"};
+
+// Command Name Table
+const char cmdNames[]=
+ {
+ 'i','p','o','r','t',0,
+ 'i','p','o','r','t','s',0,
+ 'G','P','P','G','0',0,
+ 'g','p','i','o','B','i','t','s',0,
+ 'g','p','i','o','B','i','t',0,
+ 'b','i','t','R','e','a','d',0,
+ 'l','i','s','t',0,
+ 'v','e','r',0,
+ 'h','e','l','p',0,
+ 'f','e','e','d','b','a','c','k',0,
+ 'e','c','h','o',0,
+ 'm','o','t','o','r',0,
+ 'G','P','P','M','T',0,
+ 'm','o','t','o','r','S','p','e','e','d',0,
+ 'p','u','l','s','e',0,
+ 'p','u','l','s','e','I','n','i','t',0,
+ 'p','u','l','s','e','S','t','o','p',0,
+ 'G','P','P','P','0',0,
+ 's','t','e','p','p','e','r',0,
+ 's','t','e','p','p','e','r','S','t','o','p',0,
+ 'G','P','P','S','T',0,
+ 's','t','e','p','S','p','e','e','d',0,
+ 's','t','e','p','p','e','r','A','x','i','s',0,
+ 'G','P','P','S','T','A',0,
+ 's','w','R','e','a','d',0,
+ 's','w','I','n','i','t',0,
+ 'G','P','P','S','0',0,
+ 'i','n','i','t',0,
+ 0
+ };
+
+// Section Definitions
+#define iport 0
+#define iports 1
+#define GPPG0 2
+#define gpioBits 3
+#define gpioBit 4
+#define bitRead 5
+#define list 6
+#define ver 7
+#define help 8
+#define feedback 9
+#define echo 10
+#define motor 11
+#define GPPMT 12
+#define motorSpeed 13
+#define pulse 14
+#define pulseInit 15
+#define pulseStop 16
+#define GPPP0 17
+#define stepper 18
+#define stepperStop 19
+#define GPPST 20
+#define stepSpeed 21
+#define stepperAxis 22
+#define GPPSTA 23
+#define swRead 24
+#define swInit 25
+#define GPPS0 26
+#define init 27
+
+
+/***********************************************************************
+ * @brief Command steering
+ * Command Associated with Command Number is Executed
+ * @param[in] cmdNum Command Number
+ * @return none
+ **********************************************************************/
+void Action(int cmdNum){
+ switch(cmdNum){
+ case iport : cli_PortInfo();
+ break;
+ case iports : PortsInfo();
+ break;
+ case GPPG0 : cli_GPPG0();
+ break;
+ case gpioBits : cli_gpioBits();
+ break;
+ case gpioBit : cli_gpioBit();
+ break;
+ case bitRead : cli_BitRead();
+ break;
+ case list : cli_list();
+ break;
+ case ver : cli_version();
+ break;
+ case help : cli_help();
+ break;
+ case feedback : cli_feedback();
+ break;
+ case echo : cli_echo();
+ break;
+ case motor : cli_Motor();
+ break;
+ case GPPMT : cli_GPPMT();
+ break;
+ case motorSpeed : cli_MotorSpeed();
+ break;
+ case pulse : cli_Pulse();
+ break;
+ case pulseInit : PulseInit();
+ break;
+ case pulseStop : cli_PulseStop();
+ break;
+ case GPPP0 : cli_GPPP0();
+ break;
+ case stepper : cli_Stepper();
+ break;
+ case stepperStop : cli_StepperStop();
+ break;
+ case GPPST : cli_GPPST();
+ break;
+ case stepSpeed : cli_StepSpeed();
+ break;
+ case stepperAxis : cli_StepperAxis();
+ break;
+ case GPPSTA : cli_GPPSTA();
+ break;
+ case swRead : cli_SwitchRead();
+ break;
+ case swInit : cli_SwitchInit();
+ break;
+ case GPPS0 : cli_GPPS0();
+ break;
+ case init : Inits();
+ break;
+ default : UnknownCommand();
+ NextCommand(nl,pLine);
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmCommands.h Sat Feb 12 16:50:25 2011 +0000 @@ -0,0 +1,18 @@ +/** @file jmCommands.h +* Auto Generated by jmCLIG +* @version Saturday, February 12, 2011 11:21 AM +*/ + +#ifndef jmCommandsdef + #define jmCommandsdef 1 + + #define nbCommands 28 + + // Strings + extern const char jmCLIG[77]; + extern const char cmdNames[208]; + +#endif + +// Prototypes +void Action(int);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmInterpreter.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,46 @@
+/*************************************************************************
+ * @file jmInterpreter.c
+ * @brief Command Line Interpreter
+ *
+ * @date December 27,2010
+*/
+
+#include "jmInterpreter.h"
+#include "jmRingBuffer.h"
+#include "jmCommands.h"
+
+/** @brief Interpret a command line.
+ * Interpreter uses Command Line Buffer to fecth command name
+ * and redirects execution to associated function.
+ * @param none
+ * @returns none
+ */
+void Interpret(void){
+ unsigned int i,k;
+ unsigned char Command, found;
+ char Word[WordMaxSize];
+ Command =0;
+ found = 0;
+
+ if(NotEmpty(pLine)){
+ ExtractWord(pLine,Word); // Command name extraction
+ for(i=0, k=0;i<sizeof(cmdNames);i++){ // lookup in names array
+ if(cmdNames[i]!=Word[k]){ // if different
+ while(cmdNames[i]!=0)i++; // next entry in names array
+ Command++; // update command index
+ k=0;
+ }
+ else{
+ if(Word[k]==0){
+ found=1;
+ }
+ else k++;
+ } //else
+
+ if(found)break;
+ } //for
+ }
+
+ // Command execution
+ Action(Command);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmInterpreter.h Sat Feb 12 16:50:25 2011 +0000 @@ -0,0 +1,9 @@ +/************************************************************************* + * @file jmInterpreter.h + * @brief Command Line Interpreter + * + * @date December 27,2010 +*/ + +// Prototypes +void Interpret(void);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmLPC17xx_gpio.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,279 @@
+/*************************************************************************
+ * @file jmLPC17xx_gpio.c
+ * @brief Command Line Interface Module for LPC_GPIO
+ *
+ * @version 1.1
+ * @date Jan 24, 2011
+ */
+
+#include "jmLPC17xx_gpio.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+
+#define DIR 0
+#define PIN 1
+#define MASK 2
+#define CLR 3
+#define SET 4
+
+#define Clear 0
+#define Set 1
+#define Toggle 2
+
+/***********************************************************************
+ * @brief Send port registers content
+ * @param[in] portNum (Port Number value)0..4
+ * @return none
+ **********************************************************************/
+void PortInfo(unsigned int portNum){
+ if(portNum <5){
+ printf("Port %1d\n",portNum);
+ printf("FIODIR \t0x%08X\n",jmGPIO[portNum]->FIODIR);
+ printf("FIOMASK \t0x%08X\n",jmGPIO[portNum]->FIOMASK);
+ printf("FIOPIN \t0x%08X\n",jmGPIO[portNum]->FIOPIN);
+ printf("FIOSET \t0x%08X\n",jmGPIO[portNum]->FIOSET);
+ printf("FIOCLR \t0x%08X\n",jmGPIO[portNum]->FIOCLR);
+ printf("\n");
+ }
+}
+
+/***********************************************************************
+ * @brief Send all ports registers content
+ * @param[in] none
+ * @return none
+ **********************************************************************/
+void PortsInfo(void){
+ unsigned int portNum;
+ for(portNum=0;portNum<5;portNum++) PortInfo(portNum);
+}
+
+/***********************************************************************
+ * @brief iport Command Line Interface.
+ * Send port register content
+ * Command Line Format: iport (portNumber)0..4
+ * @example iport 1 Will printout Port1 registers content
+ * @param[in] Extracted from command line ring buffer (PortNumber)0..4
+ * @return none
+ **********************************************************************/
+void cli_PortInfo(void){
+ unsigned int portNum;
+
+ if(ExtractUInteger(pLine,&portNum,0,4))
+ PortInfo(portNum);
+ else{
+ if(Help)printf("iport (portNumber)0..4\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+ }
+}
+
+
+/***********************************************************************
+ * @brief Command line interface to read and send Port.Bit per bit position
+ * Command Line Format: bitRead (Port Number)0..4 (Bit position)0..31
+ * ex: bitRead 1 18 read and send P1.18 input pin value
+ * pin must be previously set to input in GPIODIR and associated GPIOMASK bit= 0
+ * @param[in] Extracted from command line (Port Number)0..4 (Bit position)0..31
+ * @return none
+ **********************************************************************/
+void cli_BitRead(void){
+ unsigned int portNumber, bitPosition, bitValue;
+ // Extract pin number from Command Line
+ if(ExtractUInteger(pLine,&portNumber,0,4)){
+ // Extract bit position from Command Line
+ if(ExtractUInteger(pLine,&bitPosition,0,31)){
+ // Extract state from Command Line
+ bitValue = 1<<bitPosition;
+ if(jmGPIO[portNumber]->FIOPIN & bitValue)bitValue =1;
+ printf("P%d.%d %d\n",portNumber,bitPosition,bitValue);
+ return;
+ }
+ }
+ if(Help)printf("bitRead (Port Number)0..4 (Bit position)0..31\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Read GPIO Registers
+ * @brief Command Line Interface to Read and Send GPIO register value
+ * @param[in] Extracted from command line GPPG0 (Port)0..4 (Register DIR/PIN/MASK)0..2
+ * @returns Message: GPPG0 (Port)0..4 (Register DIR/PIN/MASK)0..2 (value)0..0xFFFFFFFF
+ */
+void cli_GPPG0(void){
+ uint32_t value=0;
+ unsigned int port, reg;
+ if(ExtractUInteger(pLine,&port,0,4)){ // extract port id
+ if(ExtractUInteger(pLine,®,0,4)){ // extract register id
+ switch(reg){
+ case DIR: value = jmGPIO[port]->FIODIR; break;
+ case PIN: value = jmGPIO[port]->FIOPIN; break;
+ case MASK: value = jmGPIO[port]->FIOMASK; break;
+ case CLR: value = jmGPIO[port]->FIOCLR; break;
+ case SET: value = jmGPIO[port]->FIOSET; break;
+ }
+ printf("GPPG0 %d %d 0x%08X\n",port,reg,value);
+ return;
+ }
+ }
+ if(Help)printf("GPPG0 (Port)0..4 (Register DIR/PIN/MASK/CLR/SET)0..4\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/***********************************************************************
+ * @brief Command line interface to access GPIO register bits
+ * Use with care. Designed to be used with gui which locks non MBED DIP pins
+ * Command Line Format: gpioBits (Port id)0..4 (Register DIR/PIN/MASK/CLR/SET)0..4 (value)0..0xFFFFFFFF (clear/set/toggle)0..2\n
+ * @param[in] Extracted from command line (Port)0..4 (Register DIR/PIN/MASK)0..2 (value)0..0xFFFFFFFF
+ * @return Message: GPPG0 (Port)0..4 (Register DIR/PIN/MASK)0..2 (value)0..0xFFFFFFFF
+ **********************************************************************/
+void cli_gpioBits(void){
+ unsigned int port, reg, value, action;
+ // Extract port id from Command Line
+ if(ExtractUInteger(pLine,&port,0,4)){
+ // Extract register id from Command Line
+ if(ExtractUInteger(pLine,®,0,4)){
+ // Extract value from Command Line
+ if(ExtractUInteger(pLine,&value,0,0xFFFFFFFF)){
+ // Extract state from Command Line
+ if(ExtractUInteger(pLine,&action,0,2)){
+ switch(reg){
+ case DIR:
+ switch(action){
+ case Clear: jmGPIO[port]->FIODIR &= ~value;
+ break;
+ case Set: jmGPIO[port]->FIODIR |= value;
+ break;
+ case Toggle: jmGPIO[port]->FIODIR ^= value;
+ break;
+ }
+ break;
+ case PIN:
+ switch(action){
+ case Clear: jmGPIO[port]->FIOPIN &= ~value;
+ break;
+ case Set: jmGPIO[port]->FIOPIN |= value;
+ break;
+ case Toggle: jmGPIO[port]->FIOPIN ^= value;
+ break;
+ }
+ break;
+ case MASK:
+ switch(action){
+ case Clear: jmGPIO[port]->FIOMASK &= ~value;
+ break;
+ case Set: jmGPIO[port]->FIOMASK |= value;
+ break;
+ case Toggle: jmGPIO[port]->FIOMASK ^= value;
+ break;
+ }
+ break;
+ case CLR:
+ switch(action){
+ case Clear: jmGPIO[port]->FIOCLR &= ~value;
+ break;
+ case Set: jmGPIO[port]->FIOCLR |= value;
+ break;
+ case Toggle: jmGPIO[port]->FIOCLR ^= value;
+ break;
+ }
+ break;
+ case SET:
+ switch(action){
+ case Clear: jmGPIO[port]->FIOSET &= ~value;
+ break;
+ case Set: jmGPIO[port]->FIOSET |= value;
+ break;
+ case Toggle: jmGPIO[port]->FIOSET ^= value;
+ break;
+ }
+ break;
+
+ }
+ // gui feedback
+ switch(reg)
+ {
+ case DIR: printf("GPPG0 %d %d 0x%08X\n",port,reg,jmGPIO[port]->FIODIR);
+ break;
+ case PIN: printf("GPPG0 %d %d 0x%08X\n",port,reg,jmGPIO[port]->FIOPIN);
+ break;
+ case MASK: printf("GPPG0 %d %d 0x%08X\n",port,reg,jmGPIO[port]->FIOMASK);
+ break;
+ case CLR: printf("GPPG0 %d %d 0x%08X\n",port,reg,jmGPIO[port]->FIOCLR);
+ break;
+ case SET: printf("GPPG0 %d %d 0x%08X\n",port,reg,jmGPIO[port]->FIOSET);
+ break;
+ }
+ if(Feedback)printf("GPIO %d %d 0x%08X %d\n",port,reg,value,action);
+ return;
+ }
+ }
+ }
+ }
+ if(Help)printf("gpioBits (Port id)0..4 (Register DIR/PIN/MASK/CLR/SET)0..4 (value)0..0xFFFFFFFF (clear/set/toggle)0..2\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** @brief Reset/Set/Toggle an output pin
+ * Also sets pin as outputs.
+ * @param[in] pin pin id (value)0..432
+ * @param[in] action 0..2 Clear/Set/Toggle
+ * @returns Return Message: GPPB0 pin state
+ */
+void gpio(unsigned int pin, unsigned int action){
+ // Get port and bit for that pin
+ uint32_t bitValue;
+ uint8_t port;
+
+ // Get port, bit and bit value
+ port = pin/100;
+ bitValue = 1<<(pin%100);
+
+ // set mbed pin direction as output
+ jmGPIO[port]->FIODIR |= bitValue;
+ // make sure FIOMASK bit is enable
+ jmGPIO[port]->FIOMASK &= ~bitValue;
+
+ switch(action)
+ {
+ case Clear: jmGPIO[port]->FIOPIN &= ~bitValue; // reset pin low
+ break;
+ case Set: jmGPIO[port]->FIOPIN |= bitValue; // set pin High
+ break;
+ case Toggle:jmGPIO[port]->FIOPIN ^= bitValue; // toggle pin
+ break;
+ }
+ if( (jmGPIO[port]->FIOPIN & bitValue) == 0)bitValue = 0;
+ else bitValue = 1;
+
+ // Report bit modification
+ printf("GPPB0 %d %d\n",pin, bitValue);
+}
+
+/** @brief Command line to Reset/Set/Toggle an output pin
+ * Also sets pin as outputs. Not all pins are available
+ * Use with care. Designed to be used with gui which locks non MBED DIP pins
+ * Command Line Format: gpioBit (Pin id)0..432 (action clear/set/toggle)0..2
+ * @param[in] From command line: (Pin id)0..432 (action clear/set/toggle)0..2
+ * @returns Return Message: GPPB0 pin state
+ */
+void cli_gpioBit(void){
+ unsigned int pin, action;
+ // Extract pin number from Command Line
+ if(ExtractUInteger(pLine,&pin,0,432)){
+ // Extract action from Command Line
+ if(ExtractUInteger(pLine,&action,0,2)){
+ gpio(pin,action);
+ return;
+ }
+ }
+ if(Help)printf("Use with care ! gpioBit (pin Number)0..432 (action Clear/Set/Toggle)0..2\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmLPC17xx_gpio.h Sat Feb 12 16:50:25 2011 +0000 @@ -0,0 +1,38 @@ +/***********************************************************************//** + * @file jmLPC17xx_gpio.h + * @brief LPC17xx GPIO Command Line Interface + * + * @version 1.0 + * @date Feb 2, 2011 + */ + +// Section Port Information +void PortInfo(unsigned int portNumber); +void PortsInfo(void); +void cli_PortInfo(void); + +// Section Port All Bits Access +void cli_GPPG0(void); +void cli_gpioBits(void); +void cli_gpioBit(void); +void gpio(unsigned int pin, unsigned int action); + +// Section Port Bitd +void cli_BitRead(void); + +//-------------------------- CLIG PLUGS -------------------- +// CLIG-INCLUDE +/* +#include "jmLPC17xx_gpio.h" +*/ + +// CLIG-CMD +/* +iport cli_PortInfo(); +iports PortsInfo(); +GPPG0 cli_GPPG0(); +gpioBits cli_gpioBits(); +gpioBit cli_gpioBit(); +bitRead cli_BitRead(); +*/ +//-------------------------- END CLIG PLUGS --------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmMessages.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,125 @@
+/*************************************************************************
+ * @file jmMessages.c
+ * @brief Control System Messages
+ *
+ * @date December 27,2010
+*/
+
+#include "jmCommands.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+#include "jmMessages.h"
+#include "stdint.h"
+
+uint8_t Help;
+uint8_t Feedback;
+uint8_t Echo;
+
+
+/** @brief Enable only help messages
+ * @param none
+ * @returns none
+ */
+void InitMessages(void){
+ Help = 1;
+ Echo = 0;
+ Feedback = 0;
+}
+
+/** @brief Send all command names in a project
+ * @param none
+ * @returns none
+ */
+void cli_list(void){
+ int i,j;
+ printf("Commands:\n");
+ printf(".......................\n");
+ // for each command
+ for(i=0,j=0; i<nbCommands; i++,j++){
+ // print name
+ while(cmdNames[j]) printf("%c",cmdNames[j++]);
+ printf("\n");
+ }
+ printf("........................\n");
+}
+
+/** @brief Send Message Unknown Command from interpreter
+ * @param none
+ * @returns none
+ */
+void UnknownCommand(void){
+ printf("\n?\n");
+}
+
+/** @brief Send Build Version Message
+ * @param none
+ * @returns none
+ */
+void cli_version(void){
+ printf(jmCLIG);
+}
+
+/** @brief Help Command Line Control.
+ * Enable/disable help messages
+ * When enabled, Typing name only prints Command Format
+ * @param none
+ * @returns none
+ */
+void cli_help(void){
+ unsigned int value;
+ if(ExtractUInteger(pLine,&value,0,1)){
+ if(value == 1) printf("Help Enabled ! type command name to print its format\n");
+ else printf("Help Disabled !\n");
+
+ Help = (uint8_t) value; // save status
+ return;
+ }
+ // Error on input, show format
+ if(Help)printf("help (value)0..1\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** @brief Feedback Command Line Control.
+ * Enable/disable feedback messages
+ * When enabled, feedback from user input commands are returned
+ * @param none
+ * @returns none
+ */
+void cli_feedback(void){
+ unsigned int value;
+ if(ExtractUInteger(pLine,&value,0,1)){
+ if(value == 1) printf("Feedback Enabled !\n");
+ else printf("Feedback Disabled !\n");
+
+ Feedback = (uint8_t)value; // save status
+ return;
+ }
+
+ // Error on input, show format
+ if(Help)printf("feedback (value)0..1\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** @brief Echo Command Line Control.
+ * Enable/disable communication echoes
+ * When enabled, user inputs are echoed back
+ * @param none
+ * @returns none
+ */
+void cli_echo(void){
+ unsigned int value;
+ if(ExtractUInteger(pLine,&value,0,1)){
+ if(value == 1) printf("Echo Enabled !\n");
+ else printf("Echo Disabled !\n");
+
+ Echo = (uint8_t)value; // save status
+ return;
+ }
+
+ // Error on input, show format
+ if(Help)printf("echo (value)0..1\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMessages.h Sat Feb 12 16:50:25 2011 +0000 @@ -0,0 +1,35 @@ +/************************************************************************* + * @file jmMessages.h + * @brief Control System Messages + * + * @date December 27,2010 +*/ + +#include "stdint.h" + +// variables to enable/disable messages +extern uint8_t Help; +extern uint8_t Feedback; +extern uint8_t Echo; + +// Prototypes +void InitMessages(void); +void cli_list(void); +void cli_version(void); +void UnknownCommand(void); +void cli_help(void); +void cli_feedback(void); +void cli_echo(void); + + +//-------------------------- CLIG PLUGS -------------------- +// CLIG-CMD +/* +list cli_list(); +ver cli_version(); +help cli_help(); +feedback cli_feedback(); +echo cli_echo(); +*/ + +//------------------------ END CLIG PLUGS -----------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmMotor.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,238 @@
+/*************************************************************************
+ * @file jmMotor.c
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+#include "jmMotor.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+#ifndef nonStop
+ #define nonStop 65535 // for continuous mode operation
+#endif
+
+#define mtNotInit 0
+#define mtRunningCW 1
+#define mtRunningCCW 2
+#define mtStopped 3
+
+// Module Data Structure
+struct StructMotor sMotor[motorQty]; // static creation
+
+/** Module Data Structure Initialization
+ * @brief All State Machines non initialized
+ * @param[in] none
+ * @returns none
+ */
+void MotorInit(void){
+ int i;
+ for(i=0;i<motorQty;i++){
+ sMotor[i].active = mtNotInit;
+ }
+}
+
+/** Speed control for motors (1 or up to 4)
+ * @brief motorSpeed Command Line Interface.
+ * Format: command name (arg info)min..max values
+ * motorSpeed (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
+ * @param[in] Extracted from command line (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
+ * @returns Message: motorSpeed ids tOn tOff
+ */
+void cli_MotorSpeed(void){
+ unsigned int id, i, tOn,tOff;
+ if(ExtractUInteger(pLine,&id,1,15)){ //extract id
+ if(ExtractUInteger(pLine,&tOn,0,255)){ //extract tOn
+ if(ExtractUInteger(pLine,&tOff,0,255)){ //extract tOff
+ for(i=0;i<motorQty;i++){ // check each motor
+ if(id & 1<<i){ // motor included ?
+ if(sMotor[i].active){ // motor initialized ?
+ sMotor[i].tOn=(uint8_t)tOn;
+ sMotor[i].tOff=(uint8_t)tOff;
+
+
+ if(tOn==0){ // 0% ?
+ sMotor[i].cycles=0;
+ sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // output pin low
+ }
+
+ if(tOff==0){ // 100% ?
+ sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // output pin high
+ }
+
+ if(tOn!=0 && tOff!=0){ // PWM ?
+ // change motor tOn and tOff values
+ sMotor[i].cycles=nonStop;
+ }
+ // report to gui
+ rGPPMT(i);
+ }
+ }
+ }
+ }
+ }
+
+ if(Feedback)printf("MotorSpeed ID %d tOn %d tOff %d\n",id,tOn, tOff);
+ return;
+ }
+ if(Help)printf("motorSpeed (Motor IDs ORed)1..15 (tOn Value)1..255 (tOff Value)1..255\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+
+/***********************************************************************
+ * @brief Module State Machine.
+ * Enable different motor control concurrently.
+ * @param none
+ * @returns Message at end of cycles: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void MotorSM(void){
+ int i;
+ for(i=0;i<motorQty;i++){ // for each SM define by pins
+ // SM active ?
+ if(!sMotor[i].active) continue;
+
+ if(sMotor[i].cycles!=0){ // Cycles to DO ?
+ switch(sMotor[i].state){
+
+ // pulse is low
+ case 0: if(sMotor[i].eggTimer==0){ // time to change ?
+ sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // set pin High
+ sMotor[i].eggTimer=sMotor[i].tOn; // load timer with tOn
+ sMotor[i].state=1; // next state
+ }
+ break;
+
+ // pulse is High
+ case 1: if(sMotor[i].eggTimer==0){ // time to change ?
+ sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // reset pin low
+ sMotor[i].eggTimer=sMotor[i].tOff; // load timer with tOff
+ if(sMotor[i].cycles != nonStop){ // continuous mode ?
+ if(--sMotor[i].cycles == 0) // decrease qty if not continuous mode
+ rGPPMT(i); // Message: GPPMT id dirPin drivePinB tOn tOff status
+ }
+ sMotor[i].state=0; // state 0
+ }
+ break;
+ }//switch
+ }//if
+ }//for
+}//MotorSM
+
+
+/** @brief motor Command Line Interface
+ * Command Line Interface to control Motor on mbed pins DIP5 to 30.
+ * Format: command name (arg info)min..max values
+ * Command Line Format: motor (Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]
+ * @param[in] Extracted from command line ((Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)1..255 (tOff)1..255 (Cycles)[1..65535]
+ * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void cli_Motor(void){
+ unsigned int id,dirPin,drivePin, dir, tOn,tOff,cycles;
+
+ if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract motor id
+ if(ExtractUInteger(pLine,&dirPin,0,432)){ // extract direction pin
+ if(ExtractUInteger(pLine,&drivePin,0,432)){ // extract drive pin
+ if(ExtractUInteger(pLine,&dir,0,1)){ // extract direction
+ if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn
+ if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff
+ // extract cycles and test for nonStop mode
+ if(!ExtractUInteger(pLine,&cycles,1,nonStop))cycles = nonStop;
+
+ sMotor[id].dirBitValue = 1<<(dirPin%100);
+ sMotor[id].driveBitValue = 1<<(drivePin%100);;
+ sMotor[id].drivePort = jmGPIO[drivePin/100];
+ sMotor[id].dirPort = jmGPIO[dirPin/100];
+ sMotor[id].active = 1;
+
+ // Port.Pin set to outputs
+ sMotor[id].dirPort->FIODIR |= sMotor[id].dirBitValue;
+ sMotor[id].drivePort->FIODIR |= sMotor[id].driveBitValue;
+
+ sMotor[id].direction = dir;
+ sMotor[id].tOn = (uint8_t)tOn;
+ sMotor[id].tOff = (uint8_t)tOff;
+ sMotor[id].cycles = (uint16_t)cycles;
+ sMotor[id].state = 0;
+ sMotor[id].eggTimer = 0;
+ sMotor[id].dirPin = dirPin;
+ sMotor[id].drivePin = drivePin;
+
+ // set output direction bit according to given direction
+ if(dir) sMotor[id].dirPort->FIOPIN |= sMotor[id].dirBitValue;
+ else sMotor[id].dirPort->FIOPIN &= ~sMotor[id].dirBitValue;
+
+ // 100%
+ if(tOff==0){
+ sMotor[id].drivePort->FIOPIN |= sMotor[id].driveBitValue;
+ // SM off
+ sMotor[id].cycles = 0;
+ }
+
+ // 0%
+ if(tOn==0){
+ sMotor[id].drivePort->FIOPIN &= ~sMotor[id].driveBitValue;
+ // SM off
+ sMotor[id].cycles = 0;
+ }
+
+ rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
+
+ if(Feedback)printf("Motor %d DirPin %d DrivePin %d Dir %d tOn %d tOff %d Cycles %d\n",id,
+ dirPin, drivePin, dir,tOn,tOff,cycles);
+ return;
+ }
+ }
+ }
+ }
+ }
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+ return;
+ }
+
+ if(Help)printf("motor (Motor ID)0..%d (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]\n",motorQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Module Get Module Process Properties Command Line Interface
+ * @brief Command Line Interface to Get Module Public Process Properties
+ * @param[in] id Extracted from command line
+ * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void cli_GPPMT(void)
+{ unsigned int id;
+ if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract id
+ rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
+ return;
+ }
+
+ if(Help)printf("GPPST (Motor id)0..%d\n",motorQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Public Properties Message
+ * @brief Send Process Properties to update GUI
+ * @param[in] id Process identification
+ * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void rGPPMT(unsigned int id ){
+ int status;
+ if( sMotor[id].active )
+ { if(sMotor[id].cycles == 0)status = mtStopped;
+ else
+ {
+ if( sMotor[id].direction) status = mtRunningCW;
+ else status = mtRunningCCW;
+ }
+ }
+ else status = mtNotInit;
+ printf("GPPMT %d %d %d %d %d %d\n",id,sMotor[id].dirPin,sMotor[id].drivePin,sMotor[id].tOn,sMotor[id].tOff,status);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmMotor.h Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,85 @@
+/*************************************************************************
+ * @file jmMotor.h
+ * @brief Control motor drive, direction and repetition on mbed DIP5 to 30.
+ * Up to 4 motors can be controlled at the same time.
+ *
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+/*
+ * Module Command Line Interface
+ Format: command name (arg info)min..max values [optional argument]
+
+ motor (Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Rotation cw/ccw)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]
+
+ * Module Events
+ On terminating cycles, send Message: GPPMT id dirPin drivePinB tOn tOff status
+
+ * Module Feedback and Help messages may be enabled/disabled by Command Lines.
+ feedback (enable/disable)0..1
+ help (enable/disable)0..1
+*/
+
+#ifndef Motordef
+ #define Motordef 1
+
+ #define motorQty 4 // max number of motor
+
+ #include "LPC17xx.h"
+
+ // Module Data Structure
+ extern struct StructMotor{
+ uint8_t active;
+ uint8_t direction;
+ uint8_t tOff;
+ uint8_t tOn;
+ uint8_t state;
+ uint16_t dirPin;
+ uint16_t drivePin;
+ uint16_t eggTimer;
+ uint16_t cycles;
+ uint32_t dirBitValue;
+ LPC_GPIO_TypeDef * dirPort;
+ uint32_t driveBitValue;
+ LPC_GPIO_TypeDef * drivePort;
+ }sMotor[motorQty];
+#endif
+
+// Module Prototypes
+void cli_Motor(void);
+void MotorInit(void);
+void MotorSM(void);
+void cli_MotorSpeed(void);
+void cli_GPPMT(void);
+void rGPPMT(unsigned int id);
+
+//-------------------------- CLIG PLUGS --------------------
+// CLIG-INCLUDE
+/*
+#include "jmMotor.h"
+*/
+
+// CLIG-CMD
+/*
+motor cli_Motor();
+GPPMT cli_GPPMT();
+motorSpeed cli_MotorSpeed();
+*/
+
+// CLIG-INIT
+/*
+ MotorInit();
+*/
+
+// CLIG-TIMER
+/*
+ // Module jmMotor
+ for(i=0;i<motorQty;i++)if(sMotor[i].eggTimer>0)sMotor[i].eggTimer--;
+*/
+
+// CLIG-SM
+/*
+ MotorSM();
+*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmPulse.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,247 @@
+/**
+ * @file jmPulse.c
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+#include "jmPulse.h"
+#include "jmRingBuffer.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+#ifndef nonStop
+ #define nonStop 65535 // for continuous mode operation
+#endif
+
+// output defenitions
+#define Low 0
+#define High 1
+#define StatusOffset 3
+
+// State definitions
+#define puNotInit 0
+#define puStopped 2
+#define Pulse 1
+
+struct StructPulse sPulse[pulseQty]; // static creation
+
+/** Module Data Structure Initialization
+ * @brief All State Machines put to sleep.
+ * @param[in] none
+ * @returns none
+ */
+void PulseInit(void){
+ int i;
+ for(i=0;i<pulseQty;i++){
+ sPulse[i].state = puNotInit;
+ }
+}
+
+/**
+ * @brief Stop one or all pulse Machines
+ * @param[in] Extracted from command line (Pulse Number)0..7 255 for all
+ * @returns Return Message: GPPP0 id pin tOn tOff status
+ */
+void cli_PulseStop(void){
+ unsigned int id,i;
+
+ if(ExtractUInteger(pLine,&id,0,255)){ // extract pulseNumber
+ // put id pulse machine to sleep
+ if(id < pulseQty){
+ sPulse[id].cycles = 0;
+ sPulse[id].state = puStopped;
+ rGPPP0(id);
+ return;
+ }
+
+ if(id == 255){
+ // stop all controllers
+ for(i=0;i<pulseQty;i++){
+ sPulse[i].cycles = 0;
+ sPulse[i].state = puStopped;
+ }
+ }
+
+ cli_GPPP0(); // Return 8 Messages: GPPP0 id pin tOn tOff status
+ return;
+ }
+ if(Help)printf("pulseStop (Pulse number)0..%d \n",pulseQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+
+/** Module Pulse Command Line Interface
+ * @brief Command Line Interface to control PWM/Pulse on output pins.
+ * @param[in] Extracted from command line (Pulse Controller Number)0..7 (Pin id)0..432 (tOn)0..255 (tOff)0..255) (cycles)1..65535
+ * @returns none
+ */
+void cli_Pulse(void){
+ unsigned int pulseNum, pinNumber,tOn,tOff,cycles;
+ if(ExtractUInteger(pLine,&pulseNum,0,pulseQty-1)){ // extract pulseNumber
+ if(ExtractUInteger(pLine,&pinNumber,0,432)){ // extract pin id
+ if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn
+ if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff
+ // extract cycles and test for nonStop mode
+ if(!ExtractUInteger(pLine,&cycles,1,65535))cycles = nonStop;
+
+ SetPulseParam(pulseNum, pinNumber, tOn, tOff, cycles);
+ if(Feedback)printf("pulse %d Pin%d tOn:%d tOff:%d Cycles:%d\n",pulseNum,pinNumber,tOn,tOff,cycles);
+ return;
+ }
+ }
+ }
+ }
+ if(Help)printf("pulse (Pulse number)0..%d (Pin id)0..432 (tOn)0..255 (tOff)0..255 (Cycles)[1..0xFFFF]\n",pulseQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Module Parameter Setting Function
+ * @brief Enables PWM/pulse State Machine,
+ * Also sets mbed pin as outputs.
+ * @param[in] num pulse controller number (value)0..7
+ * @param[in] pin pin id (value)0..432
+ * @param[in] tOn on time interval in ticks (tOn)0..255
+ * @param[in] tOff off time interval in ticks (tOff)0..255
+ * @param[in] cycles repetition number of tOn-tOff cycles
+ * @param[in] state set state: inactive, pulse, high, low
+ * @returns Return Message: GPPP0 id pin state
+ */
+void SetPulseParam(uint8_t num, uint16_t pin, uint8_t tOn, uint8_t tOff, uint16_t cycles){
+ // Get port and bit for that pin
+ uint32_t bitValue;
+ uint8_t port;
+
+ // Get port, bit and bit value
+ port = pin/100;
+ bitValue = 1<<(pin%100);
+
+ sPulse[num].port = jmGPIO[port];
+ sPulse[num].pin = (uint8_t)pin;
+ sPulse[num].bitValue = bitValue;
+
+ // set mbed pin direction as output
+ jmGPIO[port]->FIODIR |= bitValue;
+ // make sure FIOMASK bit is enable
+ jmGPIO[port]->FIOMASK &= ~bitValue;
+
+
+ // Low State
+ if(tOn == 0 && tOff != 0)
+ {
+ jmGPIO[port]->FIOPIN &= ~bitValue; // reset pin low
+ sPulse[num].output = Low;
+ sPulse[num].state = puStopped;
+ }
+ // High State
+ if(tOn != 0 && tOff == 0)
+ {
+ jmGPIO[port]->FIOPIN |= bitValue; // set pin High
+ sPulse[num].output = High;
+ sPulse[num].state = puStopped;
+ }
+ // Toggle output
+ if(tOn == 0 && tOff == 0)
+ {
+ jmGPIO[port]->FIOPIN ^= bitValue; // toggle pin
+ // Toggle state
+ if(sPulse[num].output == High)sPulse[num].output = Low;
+ else sPulse[num].output = High;
+ sPulse[num].state = puStopped;
+ }
+ // Start Pulse controller
+ if(tOn != 0 && tOff != 0 && cycles !=0){
+ sPulse[num].state = Pulse;
+ sPulse[num].tOn = (uint8_t)tOn;
+ sPulse[num].tOff = (uint8_t)tOff;
+ sPulse[num].cycles = (uint16_t)cycles;
+ sPulse[num].eggTimer = 0;
+ }
+ // Stop Pulse controller
+ if(tOn != 0 && tOff != 0 && cycles ==0){
+ sPulse[num].cycles = 0;
+ sPulse[num].state = puStopped;
+ }
+
+ // Report process modification
+ rGPPP0(num); //Return Message: GPPP0 id pin tOn tOff status
+}
+
+/***********************************************************************
+ * @brief Module State Machine.
+ * Enable different pwm/pulse rates concurrently.
+ * @param none
+ * @returns When cycles Done, Return Message: GPPP0 id pin tOn tOff status
+ */
+void PulseSM(void){
+ int i;
+ for(i=0;i<pulseQty;i++){ // for each SM define by pins
+
+ if(sPulse[i].state == puStopped) continue; //controller running ?
+
+ if(sPulse[i].cycles!=0){ // Cycles to DO ?
+ switch(sPulse[i].output){
+
+ // output is low
+ case Low: if(sPulse[i].eggTimer==0){ // time to change ?
+ sPulse[i].port->FIOPIN |= sPulse[i].bitValue; // set pin High
+ sPulse[i].eggTimer=sPulse[i].tOn; // load timer with tOn
+ sPulse[i].output=High; // udpate structure
+ }
+ break;
+
+ // output is High
+ case High: if(sPulse[i].eggTimer==0){ // time to change ?
+ sPulse[i].port->FIOPIN &= ~sPulse[i].bitValue; // reset pin low
+ sPulse[i].output=Low; // update structure
+ sPulse[i].eggTimer=sPulse[i].tOff; // load timer with tOff
+ if(sPulse[i].cycles != nonStop){ // continuous mode ?
+ if(--sPulse[i].cycles == 0){ // decrease qty if not continuous mode
+ sPulse[i].state = puStopped; // stop controller
+ // report end of cycles
+ rGPPP0(i); //Message: GPPP0 id pin tOn tOff status
+ }
+ }
+ }
+ break;
+ }//switch
+ }//if cycles
+ }//for
+}//PulseSM
+
+/** Module Get Module Process Properties Command Line Interface
+ * @brief Command Line Interface to Get Module Public Process Properties
+ * @param[in] Extracted from command line GPPP0 id
+ * @returns Message: GPPP0 id pin tOn tOff status
+ */
+void cli_GPPP0(void)
+{ unsigned int id;
+ if(ExtractUInteger(pLine,&id,0,7)){ // extract pulse id Number
+ rGPPP0(id); //Message: GPPP0 id pin tOn tOff status
+ return;
+ }
+
+ if(Help)printf("GPPP0 (Pulse id)0..%d\n",pulseQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Public Properties Message
+ * @brief Send Process Properties to update GUI
+ * @param[in] id Process identification
+ * @returns Message: GPPP0 id pin tOn tOff status
+ */
+void rGPPP0(unsigned int id ){
+ int status;
+ if(id < pulseQty){
+ if( sPulse[id].state == puStopped)status = sPulse[id].output +StatusOffset;
+ else status = sPulse[id].state;
+ printf("GPPP0 %d %d %d %d %d\n",id,sPulse[id].pin,sPulse[id].tOn,sPulse[id].tOff,status);
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmPulse.h Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,92 @@
+/*************************************************************************
+ * @file jmPulse.h
+ * @brief Control pulse duration and repetition on digital mbed pins
+ * Up to 8 pins can be controlled at the same time.
+ * Single pulse or PWM like waveforms can be generated.
+ *
+ * @version 1.1
+ * @date Feb 12, 2011
+ */
+
+/*
+ * Module Command Line Interface
+ Format: command name (arg info)min..max values [optional argument]
+
+ pulse (pulse number)0..3 (pin number)0..432 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]
+ Ex: pulse 0 118 5 10 20 Pulse Port1 Bit 18 High for 5 tick units, then Low for 10 ticks and repeat 20 times,
+ then Return Message: GPPP0 id pin tOn tOff status
+
+ Ex: pulse 0 118 1 0 Set output Port1 Bit 18 High
+ Ex: pulse 0 118 0 1 Reset output Port1 Bit 18 Low
+ Ex: pulse 0 118 0 0 Toggle Port1 Bit 18 state
+
+ * Module Events
+ On terminating pulse cycles, Return Message: GPPP0 id pin tOn tOff status
+
+ * Module Feedback and Help messages may be enabled/disabled by Command Lines.
+ feedback (enable/disable)0..1
+ help (enable/disable)0..1
+*/
+
+#ifndef Pulsedef
+ #define Pulsedef 1
+
+ #define pulseQty 8 // number of pins for pulse
+
+ #include "LPC17xx.h"
+
+ // Module Data Structure
+ extern struct StructPulse{
+ uint16_t pin;
+ uint8_t tOff;
+ uint8_t tOn;
+ uint8_t output;
+ uint8_t state;
+ uint16_t eggTimer;
+ uint16_t cycles;
+ uint32_t bitValue;
+ LPC_GPIO_TypeDef * port;
+ }sPulse[pulseQty];
+
+
+#endif
+
+// Module Prototypes
+void PulseInit(void);
+void cli_Pulse(void);
+void PulseSM(void);
+void SetPulseParam(uint8_t pulseNum, uint16_t pin, uint8_t tOn, uint8_t tOff, uint16_t cycles);
+void cli_GPPP0(void);
+void rGPPP0(unsigned int id);
+void cli_PulseStop(void);
+
+//-------------------------- CLIG PLUGS --------------------
+// CLIG-INCLUDE
+/*
+#include "jmPulse.h"
+*/
+
+// CLIG-CMD
+/*
+pulse cli_Pulse();
+pulseInit PulseInit();
+pulseStop cli_PulseStop();
+GPPP0 cli_GPPP0();
+*/
+
+// CLIG-INIT
+/*
+ PulseInit();
+*/
+
+// CLIG-TIMER
+/*
+ // Module jmPulse
+ for(i=0;i<pulseQty;i++)if(sPulse[i].eggTimer>0)sPulse[i].eggTimer--;
+*/
+
+// CLIG-SM
+/*
+ PulseSM();
+*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmRingBuffer.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,215 @@
+/*************************************************************************
+ * @file jmRingBuffer.c
+ * @brief Command Line Rx Ring Buffer
+ *
+ * @date Feb 12, 2011
+*/
+
+
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+// static creation of Command Line Buffer
+struct RingBuffer Line, *pLine;
+
+/** @brief Command line ring buffer initialization.
+ * @param none
+ * @returns none
+ */
+void InitCommandLineRingBuffer(void){
+ pLine = &Line;
+ FlushRingBuffer(pLine);
+}
+
+/** @brief Move ring head pointer foward.
+ * @param *p pointer to ring buffer
+ * @returns none
+ */
+void NextHead(struct RingBuffer *p)
+{ p->head++;
+ if(p->head >= DimRingBuffer)
+ p->head=0;
+}
+
+/** @brief Move ring tail pointer foward.
+ * @param pointer to ring buffer
+ * @returns none
+ */
+void NextTail(struct RingBuffer *p)
+{ p->tail++;
+ if(p->tail >= DimRingBuffer)
+ p->tail=0;
+}
+
+/** @brief Check if buffer full.
+ * @param *p pointer to ring buffer
+ * @returns true if full, false otherwise
+ */
+bool Full(struct RingBuffer *p)
+{ if(p->qty >= DimRingBuffer)
+ return true;
+ else
+ return false;
+}
+
+/** @brief Insert a char in buffer.
+ * @param c unsigned char to be inserted
+ * @param *p pointer to ring buffer
+ * @returns none
+ */
+void Insert(unsigned char c, struct RingBuffer *p)
+{ if(Full(p))
+ NextHead(p);
+ else
+ p->qty++;
+
+ p->Buffer[p->tail]=c;
+ NextTail(p);
+}
+
+/** @brief Check if ring buffer not empty.
+ * @param *p pointer to ring buffer
+ * @returns true if full, false otherwise
+ */
+bool NotEmpty(struct RingBuffer *p)
+{ if(p->qty == 0)
+ return false ;
+ else
+ return true;
+}
+
+/** @brief Extract a char from ring buffer.
+ * @param *p pointer to ring buffer
+ * @returns unsigned char
+ */
+unsigned char Extract(struct RingBuffer *p)
+{ unsigned char c;
+ c = p->Buffer[p->head];
+ if(NotEmpty(p))
+ { NextHead(p);
+ p->qty--;
+ }
+ return c;
+}
+
+/** @brief Flush ring buffer.
+ * @param *p pointer to ring buffer
+ * @returns none
+ */
+void FlushRingBuffer(struct RingBuffer *p)
+{ int i;
+ p->head = 0;
+ p->tail = 0;
+ p->qty = 0;
+ for(i=0;i<DimRingBuffer;i++)p->Buffer[i]=0;
+}
+
+/** @brief Delete last char from ring buffer.
+ * @param *p pointer to ring buffer
+ * @returns none
+ */
+void DelChar(struct RingBuffer *p)
+{ if(p->qty != 0){
+ if(p->tail==0)p->tail=DimRingBuffer;
+ else p->tail--;
+ p->qty--;
+ }
+}
+
+/** @brief Remove a command line from ring buffer.
+ * @param c end command identifier unsigned char
+ * @param *p pointer to ring buffer
+ * @returns none
+ */
+void NextCommand(unsigned char c, struct RingBuffer *p){
+ // remove all char till end identifier is found
+ while(NotEmpty(p) && p->Buffer[p->head] != c)
+ { NextHead(p);
+ p->qty--;
+ }
+
+ // remove end identifier
+ if(NotEmpty(p)&& p->Buffer[p->head] == c)
+ { NextHead(p);
+ p->qty--;
+ }
+}
+
+/** @brief View ring buffer content.
+ * Print ring buffer content
+ * @param *p pointer to ring buffer
+ * @returns none
+ */
+void ViewRingBuffer(struct RingBuffer *p){
+ int i,j;
+
+ printf("\nRingBuffer Qty: %d \nContent: ",p->qty);
+
+ for(j=0,i=p->head;j<p->qty;j++){
+ printf("%c",p->Buffer[i]);
+ if(i++>DimRingBuffer)i=0;
+ }
+ printf("\n");
+}
+
+/** @brief Extract a word from ring buffer.
+ * The extracted word is put in the array pointed by word
+ * @param p pointer to a ring buffer
+ * @param word pointer to array of char
+ * @returns true if a word is extracted otherwise returns false
+ */
+bool ExtractWord(struct RingBuffer *p, char * word){
+ unsigned char c;
+ int i,j;
+ j=0;
+
+ if(NotEmpty(p)){
+ for(i=0;i<WordMaxSize-1;i++){
+ // extract a char from Rx ring buffer
+ c=Extract(p);
+
+ // remove leading blanks
+ if(c==' ' && j==0)continue;
+
+ // end of word or end of command line
+ if(c==' ' || c==nl)break;
+
+ // build the Word
+ word[j++]=c;
+ }
+ // 0 string termination
+ word[j]=0;
+ if(j>0)return true;
+ }
+ return false;
+}
+
+/** @brief Extract an unsigned int from ring buffer.
+ * Convert a word from buffer into an integer between min and max values
+ * Value converted should be between min and max values.
+ * Value should be decimal or hexadecimal (beginning by 0x or 0X)
+ * @param p pointer to ring buffer
+ * @param result pointer to unsigned int
+ * @param min minimum limit
+ * @param max maximum limit
+ * @returns true if value is converted beetween limits, including limits.
+ */
+bool ExtractUInteger(struct RingBuffer *p, unsigned int *result, unsigned int min, unsigned int max){
+ unsigned int i ;
+ char word[WordMaxSize-1];
+
+ if(ExtractWord(p,word)){ // Extract string value
+ if(word[0]=='0' && (word[1]=='x' || word[1]=='X')) {
+ sscanf(word,"%x",&i); // convert hexadecimal input
+ }
+ else
+ sscanf(word,"%d",&i); // convert decimal input
+
+ if(i>=min && i<=max){
+ *result = i;
+ return true;
+ }
+ }
+ *result = 0;
+ return false;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmRingBuffer.h Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,36 @@
+/*************************************************************************
+ * @file jmRingBuffer.h
+ * @brief Command Line Rx Ring Buffer
+ *
+ * @date Feb12, 2011
+*/
+
+#ifndef jmRingBufferDef
+ #define jmRingBufferDef 1
+
+ #define nl 10 // new line
+ #define WordMaxSize 21
+ #define DimRingBuffer 41
+
+
+ // Ring Buffer data structure
+ extern struct RingBuffer
+ { unsigned char Buffer[DimRingBuffer];
+ unsigned char head;
+ unsigned char tail;
+ unsigned char qty;
+ }Line, *pLine;
+#endif
+
+// Prototypes
+bool Full(struct RingBuffer *p);
+void Insert(unsigned char c, struct RingBuffer *p);
+bool NotEmpty(struct RingBuffer *p);
+unsigned char Extract(struct RingBuffer *p);
+void FlushRingBuffer(struct RingBuffer *p);
+void DelChar(struct RingBuffer *p);
+void InitCommandLineRingBuffer(void);
+void NextCommand(unsigned char c, struct RingBuffer *p);
+void ViewRingBuffer(struct RingBuffer *p);
+bool ExtractWord(struct RingBuffer *p, char *param);
+bool ExtractUInteger(struct RingBuffer *p, unsigned int *result, unsigned int min, unsigned int max);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepper.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,225 @@
+/*************************************************************************
+ * @file jmStepper.c
+ * @brief Command Line Interface Stepper Module
+ *
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+#include "jmMessages.h"
+#include "jmStepper.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+#ifndef nonStop
+ #define nonStop 65535
+#endif
+
+#define stNotInit 0
+#define stRunningCW 1
+#define stRunningCCW 2
+#define stStopped 3
+
+// static structures creation
+struct StructStepper sStepper[stepperQty];
+
+/** Module Data Structure Initialization
+ * @brief All State Machines put to sleep.
+ * @param[in] none
+ * @returns none
+ */
+void StepperInit(void){
+ int i;
+ for(i=0;i<stepperQty;i++){
+ sStepper[i].active = stNotInit;
+ }
+}
+
+/** @brief Step Function
+ * Change Coil drives according to stepper number and direction.
+ * For 2 bit hardware controllers (full steps, full torque)
+ * @param[in] number (stepper number)0..3
+ * @param[in] CW (direction)0..1
+ * @returns none
+ */
+void Step(int number, uint8_t CW){
+ uint8_t seq = sStepper[number].seq;
+ if(CW){
+ if(seq)sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue;
+ else sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue;
+ }
+ else {
+ if(seq)sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue;
+ else sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue;
+ }
+ sStepper[number].seq = !seq;
+}
+
+
+/**
+ * @brief stepperStop Command Line Interface.
+ * Format: command name (arg info)min..max values
+ * @param[in] number Extracted from command line (stepper ORed ids)1..15
+ * @returns none
+ */
+void cli_StepperStop(void){
+ unsigned int value, i;
+ if(ExtractUInteger(pLine,&value,1,15)){
+ for(i=0;i<stepperQty;i++){
+ if(value & 1<<i)sStepper[i].nSteps=0;
+ rGPPST(i); // GPPST id pinA pinB delay status
+ }
+
+ if(Feedback)printf("StepperStop %d\n",value);
+ return;
+ }
+ if(Help)printf("stepperStop (Value)1..15\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Speed control for step motors (1 or up to 4)
+ * @brief stepSpeed Command Line Interface.
+ * Format: command name (arg info)min..max values
+ * @param[in] Extracted from command line (stepper ORed ids)1..15
+ * @returns Message: stepSpeed ids value
+ */
+void cli_StepSpeed(void){
+ unsigned int id, i, delay;
+ if(ExtractUInteger(pLine,&id,1,15)){
+ if(ExtractUInteger(pLine,&delay,1,255)){
+ for(i=0;i<stepperQty;i++){
+ // change delay for one stepper
+ if(id & 1<<i)sStepper[i].delay=(uint8_t)delay;
+ // report to gui
+ printf("stepSpeed %d %d\n",id,delay);
+ }
+ }
+
+ if(Feedback)printf("StepperSpeed ID %d Delay %d\n",id,delay);
+ return;
+ }
+ if(Help)printf("stepSpeed (Stepper IDs ORed)1..15 (Delay Value)1..255\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** @brief Module State Machine.
+ * @param[in] none
+ * @returns On Ending steps, Send Message: GPPST id pinA pinB delay status
+ */
+void StepperSM(void){
+ int i;
+
+ for(i=0;i<stepperQty;i++){ // for each stepper
+ if(sStepper[i].active){ // SM initialized ?
+ if(sStepper[i].nSteps!=0){ // step to do ?
+ if(sStepper[i].eggTimer==0){ // time to step ?
+ Step(i,sStepper[i].cw); // step
+ sStepper[i].eggTimer=sStepper[i].delay; // set delay timer for next step
+ if(sStepper[i].nSteps<nonStop){ // continuous mode ?
+ if(--sStepper[i].nSteps == 0) // decrease step qty if not continuous mode
+ rGPPST(i); // Message GPPST id pinA pinB delay status
+ }
+ }
+ }
+ }
+ }
+}
+
+
+/** @brief stepper Command Line Interface.
+ * This function controls the stepper
+ * Command Line Format: stepper (value)0..3 (direction)0..1 (PinA)0..432 (PinB)0..432 (delay)1..255 (steps)1..65535
+ * @param[in] Extracted from command line (value)0..3 (PinA)0..432 (PinB)0..432 (direction)0..1 (delay)1..255 (steps)1..65535
+ * @returns Message: GPPST id pinA pinB delay status
+ */
+void cli_Stepper(void){
+unsigned int id,cw, delay, steps, pinA, pinB, port, bitValue;
+
+ if(ExtractUInteger(pLine,&id,0,stepperQty-1)){ // extract stepper id
+ if(ExtractUInteger(pLine,&pinA,0,432)){ // extract pinA
+ if(ExtractUInteger(pLine,&pinB,0,432)){ // extract pinB
+ if(ExtractUInteger(pLine,&cw,0,1)){ // extract direction
+ if(ExtractUInteger(pLine,&delay,1,255)){ // extract step delay
+ if(!ExtractUInteger(pLine,&steps,1,65535)){ // check for optionnal steps arg
+ steps = nonStop; // default to nonStop
+ }
+
+ // Get ports, bit and bit values
+ sStepper[id].pinA=(uint8_t)pinA;
+ sStepper[id].pinB=(uint8_t)pinB;
+ port = pinA/100;
+ bitValue = 1<<(pinA%100);
+ sStepper[id].portCoilA = jmGPIO[port]; // Coil A port
+ sStepper[id].CoilA_bitValue = bitValue; // Coil A bit
+
+ port = pinB/100;
+ bitValue = 1<<(pinB%100);
+ sStepper[id].portCoilB = jmGPIO[port]; // Coil B port
+ sStepper[id].CoilB_bitValue = bitValue; // Coil B bit
+
+ sStepper[id].active = 1; // initialized true
+
+ // Port.Pin set to outputs
+ sStepper[id].portCoilA->FIODIR |= sStepper[id].CoilA_bitValue;
+ sStepper[id].portCoilB->FIODIR |= sStepper[id].CoilB_bitValue;
+
+ sStepper[id].cw =cw;
+ sStepper[id].delay = (uint8_t)delay;
+ sStepper[id].nSteps = (uint16_t)steps;
+
+ // chip report to GUI
+ rGPPST(id); //Message: GPPST id pinA pinB delay status
+
+ if(Feedback)printf("Stepper:%d PinA:%d PinB:%d CW:%d Delay:%d Steps:%d\n",id,pinA,pinB,cw,delay,steps);
+ return;
+ }// delay
+ }// direction
+ }// pinB
+ }// pinA
+ }// stepper number
+ if(Help)printf("stepper (Stepper id)0..3 (PinA)0..432 (PinB)0..432 (Direction cw/ccw)0..1 (Delay)1..255 [(Steps)1..65535]\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Module Get Module Process Properties Command Line Interface
+ * @brief Command Line Interface to Get Module Public Process Properties
+ * @param[in] id Extracted from command line id Process identification
+ * @returns Message: GPPST id pinA pinB delay status
+ */
+void cli_GPPST(void)
+{ unsigned int id;
+ if(ExtractUInteger(pLine,&id,0,stepperQty-1)){ // extract id Number
+ rGPPST(id); // Message: GPPST id pinA pinB delay status
+ return;
+ }
+
+ if(Help)printf("GPPST (Stepper id)0..%d\n",stepperQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Public Properties Message
+ * @brief Send Process Properties to update GUI
+ * @param[in] id Process identification
+ * @returns Message: GPPST id pinA pinB ddelay status
+ */
+void rGPPST(unsigned int id ){
+ int status;
+ if( sStepper[id].active )
+ { if(sStepper[id].nSteps == 0)status = stStopped;
+ else
+ {
+ if( sStepper[id].cw) status = stRunningCW;
+ else status = stRunningCCW;
+ }
+ }
+ else status = stNotInit;
+ printf("GPPST %d %d %d %d %d\n",id,sStepper[id].pinA,sStepper[id].pinB,sStepper[id].delay,status);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepper.h Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,99 @@
+/*************************************************************************
+ * @file jmStepper.h
+ * @brief Stepper Control Interface
+ * You can use 4,5,6 and 8 wire steppers.
+ * Each output pin must have two drivers.
+ * One driver must be the inverted output pin.
+ * The other driver is the non inverted output pin.
+ * This way the steppers operate in full step, full torque mode.
+ * .
+ * @version 1.0
+ * @date Feb 12, 2010
+ */
+
+/*
+ * Module Command Line Interface
+ Format: command name (arg info)min..max values [optional argument]
+ stepper (Stepper number)0..3 (Pin CoilA)0..432 (Pin CoilB)0..432 (Direction)0..1 (Delay)1..255 [(Steps)1..65535]
+ stepperStop (steppers value)1..15
+
+ Example for stepper on pins Port1.31 Port1.30 DIP20 DIP19
+ stepper 0 131 130 1 1 shortest delays between steps (fastest speed) continuous mode
+ stepper 0 131 130 0 1 1 one step in reverse direction
+ stepper 0 131 130 1 10 5 5 steps in foward direction with 10 unit ticks between steps
+
+ * Module Events
+ GPPST (stepper id)0..3
+ On Ending steps, Send Message: GPPST id pinA pinB delay status
+
+ * Module Feedback and Help messages may be enabled/disabled by Command Lines.
+ feedback (enable/disable)0..1
+ help (enable/disable)0..1
+
+*/
+
+#ifndef jmStepperdef
+ #define jmStepperdef 1
+
+ #define stepperQty 4 // 4 steppers max
+
+ #include "LPC17xx.h"
+
+ // Module Data Structure
+ extern struct StructStepper{
+ uint8_t cw;
+ uint8_t active;
+ uint8_t seq;
+ uint8_t delay;
+ uint8_t eggTimer;
+ uint16_t nSteps;
+ uint16_t pinA;
+ uint16_t pinB;
+ uint32_t CoilA_bitValue;
+ uint32_t CoilB_bitValue;
+ LPC_GPIO_TypeDef *portCoilA;
+ LPC_GPIO_TypeDef *portCoilB;
+ }sStepper[stepperQty];
+
+#endif
+
+// Module Prototypes
+void StepperInit(void);
+void StepperSM(void);
+void cli_Stepper(void);
+void Step(int number, bool CW);
+void cli_StepperStop(void);
+void cli_GPPST(void);
+void rGPPST(unsigned int id);
+void cli_StepSpeed(void);
+
+//-------------------------- CLIG PLUGS --------------------
+// CLIG-INCLUDE
+/*
+#include "jmStepper.h"
+*/
+
+// CLIG-INIT
+/*
+ StepperInit();
+*/
+
+// CLIG-TIMER
+/*
+ // Module jmStepper
+ for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--;
+*/
+
+// CLIG-CMD
+/*
+stepper cli_Stepper();
+stepperStop cli_StepperStop();
+GPPST cli_GPPST();
+stepSpeed cli_StepSpeed();
+*/
+
+// CLIG-SM
+/*
+ StepperSM();
+*/
+//-------------------------- END CLIG PLUGS --------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepperAxis.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,173 @@
+/*************************************************************************
+ * @file jmStepperAxis.c
+ * @brief Command Line Interface StepperAxis Module
+ *
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+#include "jmMessages.h"
+#include "jmStepperAxis.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+#include "jmSwitch.h"
+#include "jmStepper.h"
+
+#ifndef nonStop
+ #define nonStop 65535
+#endif
+
+#define NotInit 0
+#define Initialized 1
+#define CW 1
+#define CCW 0
+#define Open 1
+#define Close 0
+#define bothLimitSwitchActivated 4
+#define LimitCWReached 3
+#define LimitCCWReached 2
+#define LogicOK 1
+#define true 1
+#define false 0
+
+// static structures creation
+struct StructStepperAxis sStepperAxis[stepperAxisQty];
+
+/** Module Data Structure Initialization
+ * @brief All State Machines put to sleep.
+ * @param[in] none
+ * @returns none
+ */
+void StepperAxisInit(void){
+ int i;
+ for(i=0;i<stepperAxisQty;i++){
+ sStepperAxis[i].active = false;
+ }
+}
+
+/** @brief stepperAxis Command Line Interface.
+ * Set up a stepper axis from one stepper and two limit switch modules
+ * Command Line Format: stepperAxis id stepperID limitCWid limitCCWid
+ * @param[in] Extracted from command line id stepperID limitCWid limitCCWid
+ * @returns Message: GPPSTA id stepperID limitCWid limitCCWid status
+ */
+void cli_StepperAxis(void){
+unsigned int id, stepperID, limitCWid, limitCCWid;
+
+ if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){ // extract stepper axis id
+ if(ExtractUInteger(pLine,&stepperID,0,stepperQty-1)){ // extract stepper id
+ if(ExtractUInteger(pLine,&limitCWid,0,switchQty-1)){ // extract Limit Switch CW id
+ if(ExtractUInteger(pLine,&limitCCWid,0,switchQty-1)){ // extract Limit Switch CCW id
+
+ sStepperAxis[id].active=true;
+ sStepperAxis[id].stepperID=stepperID;
+ sStepperAxis[id].limitCW=limitCWid;
+ sStepperAxis[id].limitCCW=limitCCWid;
+
+ // chip report to GUI
+ rGPPSTA(id);
+ if(Feedback)printf("StepperAxis %d StepperID %d limitCCWid %d limitCWid %d\n",id,stepperID,limitCCWid,limitCWid);
+ return;
+ }// CCW
+ }// CW
+ }// stepper
+ }// axis
+ if(Help)printf("stepperAxis (Stepper id)0..3 (limit switch CCW id)0..7 (limit switch CW id)0..7\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** @brief
+ * @param[in] none
+ * @returns
+ */
+void StepperAxisSM(void)
+{
+ int i;
+ for(i=0;i<stepperAxisQty;i++)
+ {
+ if(sStepperAxis[i].active==true)
+ {
+ uint8_t oldStatus = sStepperAxis[i].status;
+
+ // Limits Reached
+ // two limits switches activated ?
+ if(sSwitch[sStepperAxis[i].limitCW].state == Close && sSwitch[sStepperAxis[i].limitCCW].state==Close){
+ sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+ sStepperAxis[i].status = bothLimitSwitchActivated;
+ if(oldStatus != bothLimitSwitchActivated)rGPPSTA(i); // report change
+ continue;
+ }
+ // Limit Switch CW activated and step direction CW
+ if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
+ sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+ sStepperAxis[i].status = LimitCWReached;
+ if(oldStatus != LimitCWReached)rGPPSTA(i); // report change
+ continue;
+ }
+
+ // Limit Switch CCW activated and step direction CCW
+ if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
+ sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+ sStepperAxis[i].status = LimitCCWReached;
+ if(oldStatus != LimitCCWReached)rGPPSTA(i); // report change
+ continue;
+ }
+
+ // safe operating area
+ // no limit switch activated
+ if(sSwitch[sStepperAxis[i].limitCW].state == Open && sSwitch[sStepperAxis[i].limitCCW].state == Open){
+ sStepperAxis[i].status = LogicOK;
+ if(oldStatus != LogicOK)rGPPSTA(i); // report change
+ continue;
+ }
+
+ // Limit Switch CW activated and step direction CCW
+ if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
+ sStepperAxis[i].status = LogicOK;
+ if(oldStatus != LogicOK)rGPPSTA(i); // report change
+ continue;
+ }
+
+ // Limit Switch CCW activated and step direction CW
+ if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
+ sStepperAxis[i].status = LogicOK;
+ if(oldStatus != LogicOK)rGPPSTA(i); // report change
+ continue;
+ }
+ }
+ }
+}
+
+/** Module Get Module Process Properties Command Line Interface
+ * @brief Command Line Interface to Get Module Public Process Properties
+ * @param[in] id Extracted from command line id Process identification
+ * @returns none
+ */
+void cli_GPPSTA(void)
+{ unsigned int id;
+ if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){ // extract id
+ rGPPSTA(id);
+ return;
+ }
+
+ if(Help)printf("GPPSTA (StepperAxis id)0..%d\n",stepperAxisQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Public Properties Message
+ * @brief Send Process Properties to update GUI
+ * @param[in] id Process identification
+ * @returns Message: GPPSTA id stepperID limitCWid limitCCWid status
+ */
+void rGPPSTA(unsigned int id ){
+ int status;
+ if(sStepperAxis[id].active==false)status=0;
+ else status = sStepperAxis[id].status;
+ printf("GPPSTA %d %d %d %d %d\n",id,sStepperAxis[id].stepperID,sStepperAxis[id].limitCCW,sStepperAxis[id].limitCW ,status);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepperAxis.h Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,74 @@
+/*************************************************************************
+ * @file jmStepperAxis.h
+ * @brief
+ * .
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+/*
+ * Module Command Line Interface
+ Format: command name (arg info)min..max values [optional argument]
+
+
+ * Module Events
+
+ * Module Feedback and Help messages may be enabled/disabled by Command Lines.
+ feedback (enable/disable)0..1
+ help (enable/disable)0..1
+
+*/
+
+#ifndef jmStepperAxisdef
+ #define jmStepperAxisdef 1
+
+ #define stepperAxisQty 4 // 4 steppers max
+
+ #include "LPC17xx.h"
+
+ // Module Data Structure
+ extern struct StructStepperAxis{
+ uint8_t active;
+ uint8_t limitCW;
+ uint8_t limitCCW;
+ uint8_t stepperID;
+ uint8_t status;
+ }sStepperAxis[stepperAxisQty];
+
+#endif
+
+// Module Prototypes
+void StepperAxisInit(void);
+void StepperAxisSM(void);
+void cli_StepperAxis(void);
+void rGPPSTA(unsigned int id );
+void cli_GPPSTA(void);
+
+//-------------------------- CLIG PLUGS --------------------
+// CLIG-INCLUDE
+/*
+#include "jmStepperAxis.h"
+*/
+
+// CLIG-INIT
+/*
+ StepperAxisInit();
+*/
+
+// CLIG-NEEDS
+/*
+jmStepper
+jmSwitch
+*/
+
+// CLIG-CMD
+/*
+stepperAxis cli_StepperAxis();
+GPPSTA cli_GPPSTA();
+*/
+
+// CLIG-SM
+/*
+ StepperAxisSM();
+*/
+//-------------------------- END CLIG PLUGS --------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmSwitch.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,152 @@
+/*************************************************************************
+ * @file jmSwitch.c
+ * @brief Switch Debounce Module
+ *
+ * @version 1.0
+ * @date Feb 12, 2011
+*/
+
+#include "jmRingBuffer.h"
+#include "jmMessages.h"
+#include "jmSwitch.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+#define swClose 0
+#define swOpen 1
+#define swNotInit 2
+
+
+// Static structure creation
+struct StructSwitch sSwitch[switchQty];
+
+/***********************************************************************
+ * @brief Limit Switch Module Reset
+ * @param[in] none
+ * @return none
+ **********************************************************************/
+void SwitchModuleReset(void){
+ int i;
+ for(i=0;i<switchQty;i++){
+ sSwitch[i].state=swNotInit;
+ }
+}
+
+/***********************************************************************
+ * @brief Initialize an input Switch process
+ * Format: command name (arg info)min..max values
+ * Command Line Format: swInit (Switch id)0..7 (Pin number)0..432 (Debounce)1..255
+ * @param[in] Extracted from command line (Switch id)0..7 (Pin number)0..432 (Debounce)1..255
+ * @return Send Message GPPS0 id pin debounce state
+ **********************************************************************/
+void cli_SwitchInit(void){
+ //get switch id, DIP number, debounce time and update structure
+ unsigned int swNum, pin, debounce, state, port,bitValue;
+ if(ExtractUInteger(pLine,&swNum,0,7)){
+ if(ExtractUInteger(pLine,&pin,0,432)){
+ if(ExtractUInteger(pLine,&debounce,1,255)){
+ // Get port, bit and bit value
+ port = pin/100;
+ bitValue = 1<<(pin%100);
+
+ sSwitch[swNum].pin = (uint8_t)pin;
+ sSwitch[swNum].port = jmGPIO[port];
+ sSwitch[swNum].bitValue = bitValue;
+ sSwitch[swNum].debounce = (uint8_t)debounce;
+ // read Switch present state
+ state = sSwitch[swNum].port->FIOPIN &= sSwitch[swNum].bitValue;
+ if(state>0)sSwitch[swNum].state = swOpen;
+ else sSwitch[swNum].state = swClose;
+ rGPPS0(swNum); // Message GPPS0 id pin debounce state
+ if(Feedback)printf("SW %d Pin %d Debounce %d Value %d\n",swNum,pin,debounce,state);
+
+ return;
+ }
+ }
+ }
+ if(Help)printf("swInit (Switch id)0..7 (Pin number)0..432 (Debounce)1..255\n");
+
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/***********************************************************************
+ * @brief Switch Edge Detection
+ * @param[in] none
+ * @return Send Message GPPS0 id pin debounce state
+ **********************************************************************/
+void SwitchEdgeDetect(void){
+ unsigned int presentState,i;
+
+ for(i=0;i<switchQty;i++){ // for each switch SM
+ if(sSwitch[i].state < swNotInit){ // Switch initialized ?
+ if(sSwitch[i].eggTimer==0){ // debouncing ?
+
+ presentState = sSwitch[i].port->FIOPIN &= sSwitch[i].bitValue;
+
+ if(presentState > 0)presentState = swOpen; // present switch state
+ else presentState = swClose;
+
+ if(sSwitch[i].state > presentState ){ // High to Low edge ?
+ sSwitch[i].eggTimer = sSwitch[i].debounce; // load debounce time
+ // memorize presentState
+ sSwitch[i].state = presentState;
+ rGPPS0(i); // GPPS0 message
+ }
+ else{
+ if(presentState > sSwitch[i].state ){ // Low to High edge ?
+ sSwitch[i].eggTimer = sSwitch[i].debounce;// load debounce time
+ // memorize presentState
+ sSwitch[i].state = presentState;
+ rGPPS0(i); // GPPS0 message
+ }
+ }
+ }
+ }
+ }
+}
+
+/***********************************************************************
+ * @brief Command line interface to read Limit Switch Status
+ * Format: command name (arg info)min..max values
+ * Command Line Format: swRead (Switch id number)0..7
+ * @param[in] Extracted from command line (switch id number)0..7
+ * @return Message GPPS0 id pin debounce state
+ **********************************************************************/
+void cli_SwitchRead(void){
+ unsigned int swNumber;
+ if(ExtractUInteger(pLine,&swNumber,0,7)){
+ // One Message GPPS0 id pin debounce state
+ rGPPS0(swNumber);
+ return;
+ }
+ if(Help)printf("swRead (Switch id number)0..7\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Get Module Process Properties Command Line Interface
+ * @brief Command Line Interface to Get All Public Process Properties
+ * @param[in] none
+ * @returns 8 Messages: GPPS0 id pin debounce state
+ */
+void cli_GPPS0(void){
+ int i;
+ for(i=0;i<switchQty;i++){
+ rGPPS0(i); // Message GPPS0 id pin debounce state
+ }
+}
+
+/** Public Properties Message
+ * @brief Send Process Properties to update GUI
+ * @param[in] id Process identification
+ * @returns Message GPPS0 id pin debounce state
+ */
+void rGPPS0(unsigned int id )
+{
+ printf("GPPS0 %d %d %d %d\n",id,sSwitch[id].pin,sSwitch[id].debounce,sSwitch[id].state);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmSwitch.h Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,77 @@
+/*************************************************************************
+ * @file jmSwitch.h
+ * @brief Command Line Interface Module for reading switches
+ * Up to 8 switches can be defined on any digital mbed Pin.
+ * Provide debounce and edge detection
+ * @version 1.0
+ * @date Feb 2, 2011
+
+ Command Line Interface
+ Format: command name (arg info)min..max values [optional argument]
+ swRead (Switch id)0..3 Return Message: GPPS0 id pin debounce state
+ swInit (Switch id)0..7 (Pin number)0..432 (debounce interval)1..255
+ Initialize a Limit Switch Process and return Message: GPPS0 id pin debounce state
+ GPPS0 Return 8 Message: GPPS0 id pin debounce state
+
+ Module Events
+ On closing of switch, Return Message: GPPS0 id pin debounce state
+ On Opening of switch, Return Message: GPPS0 id pin debounce state
+*/
+
+#ifndef jmSwitchDef
+ #define jmSwitchDef 1
+ #include "stdint.h"
+ #include "LPC17xx.h"
+
+ #define switchQty 8 // max switch qty
+
+ // Module Data Structure
+ extern struct StructSwitch{
+ uint16_t pin;
+ uint8_t debounce;
+ uint8_t state;
+ uint8_t eggTimer;
+ uint32_t bitValue;
+ LPC_GPIO_TypeDef *port;
+ }sSwitch[switchQty];
+#endif
+
+// Module Prototypes
+void SwitchEdgeDetect(void);
+void cli_SwitchInit(void);
+void cli_SwitchRead(void);
+void cli_GPPS0();
+void rGPPS0(unsigned int id);
+void SwitchModuleReset(void);
+
+//-------------------------- CLIG PLUGS --------------------
+// CLIG-INCLUDE
+/*
+#include "jmSwitch.h"
+
+*/
+
+// CLIG-INIT
+/*
+ SwitchModuleReset();
+*/
+
+// CLIG-TIMER
+/*
+ // Module jmSwitch
+ for(i=0;i<switchQty;i++)if(sSwitch[i].eggTimer>0)sSwitch[i].eggTimer--;
+*/
+
+// CLIG-CMD
+/*
+swRead cli_SwitchRead();
+swInit cli_SwitchInit();
+GPPS0 cli_GPPS0();
+*/
+
+// CLIG-SM
+/*
+ SwitchEdgeDetect();
+*/
+
+//-------------------------- END CLIG PLUGS --------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,96 @@
+/*************************************************************************
+ * @file main.cpp
+ *
+ * @version 1.0
+ * @date Feb 12, 2011
+*/
+
+#include "mbed.h"
+
+// Basic includes
+#include "jmInterpreter.h"
+#include "jmRingBuffer.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "LPC17xx.h"
+
+
+LPC_GPIO_TypeDef *jmGPIO[5] ={LPC_GPIO0,LPC_GPIO1,LPC_GPIO2,LPC_GPIO3,LPC_GPIO4};
+
+// CLIG-INCLUDE
+#include "jmLPC17xx_gpio.h"
+#include "jmMotor.h"
+#include "jmPulse.h"
+#include "jmStepper.h"
+#include "jmStepperAxis.h"
+#include "jmSwitch.h"
+
+
+// Initializations
+void Inits(){
+ InitCommandLineRingBuffer();
+ InitMessages();
+ cli_version();
+
+ // CLIG-INIT
+ MotorInit();
+ PulseInit();
+ StepperInit();
+ StepperAxisInit();
+ SwitchModuleReset();
+
+}
+
+// EggTimer tickers for modules
+void eggTimers(){
+ int i;
+ // CLIG-TIMER
+ // Module jmMotor
+ for(i=0;i<motorQty;i++)if(sMotor[i].eggTimer>0)sMotor[i].eggTimer--;
+ // Module jmPulse
+ for(i=0;i<pulseQty;i++)if(sPulse[i].eggTimer>0)sPulse[i].eggTimer--;
+ // Module jmStepper
+ for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--;
+ // Module jmSwitch
+ for(i=0;i<switchQty;i++)if(sSwitch[i].eggTimer>0)sSwitch[i].eggTimer--;
+
+}
+
+int main() {
+ unsigned char c;
+ Serial pc(USBTX, USBRX); // communication medium
+ pc.baud(115200); // 115200 bauds, 8bits, 1 stop, no control flow
+ Ticker tick; // enable system ticks
+ tick.attach_us(&eggTimers,1000); // enable and select granularity for egg timers
+ Inits(); // initialization
+
+ while(true){
+ if( pc.readable()){ // something to read ?
+ c= pc.getc(); // read one char
+
+ if(Echo) printf("%c",c); // echo it ?
+
+ switch(c){ // process it
+
+ case 8 : DelChar(pLine); // remove last one
+ break;
+ case 10 : Insert(c,pLine); // end of line
+ Interpret();// process line
+ break;
+ default : Insert(c,pLine); // insert char in command line buffer
+ }
+ } // if
+
+ // CLIG-SM
+ MotorSM();
+ PulseSM();
+ StepperSM();
+ StepperAxisSM();
+ SwitchEdgeDetect();
+
+
+ }// while
+}// main
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Sat Feb 12 16:50:25 2011 +0000 @@ -0,0 +1,18 @@ +/************************************************************************* + * @file main.h + * @version 1.0 + * @date Feb 12, 2011 + */ + +#include "LPC17xx.h" + +// registers +extern LPC_GPIO_TypeDef *jmGPIO[5]; + +// Prototypes +void Inits(void); + +// CLIG-CMD +/* +init Inits(); +*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Feb 12 16:50:25 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912