Jean Mercier
/
jmMotor
Control up to 4 DC Motors from a serial port
Revision 0:dedab08b24ea, committed 2011-02-12
- Comitter:
- jm
- Date:
- Sat Feb 12 16:39:20 2011 +0000
- Commit message:
- jmMotor Command Line Interface Module
Changed in this revision
diff -r 000000000000 -r dedab08b24ea jmCommands.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmCommands.c Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,72 @@ +/** @file jmCommands.c + * Auto Generated by jmCLIG + * Saturday, February 12, 2011 9:05 AM + * @version 2011.01.05 + */ + +#include "main.h" +#include "jmCommands.h" +#include "jmMessages.h" +#include "jmRingBuffer.h" +#include "jmMotor.h" + +const char jmCLIG[] = {"\njmCLIG Version 2011.01.05 \nInstance Saturday, February 12, 2011 9:05 AM\n"}; + +// Command Name Table +const char cmdNames[]= + { + '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, + 'i','n','i','t',0, + 0 + }; + +// Section Definitions +#define list 0 +#define ver 1 +#define help 2 +#define feedback 3 +#define echo 4 +#define motor 5 +#define GPPMT 6 +#define motorSpeed 7 +#define init 8 + + +/*********************************************************************** + * @brief Command steering + * Command Associated with Command Number is Executed + * @param[in] cmdNum Command Number + * @return none + **********************************************************************/ +void Action(int cmdNum){ + switch(cmdNum){ + 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 init : Inits(); + break; + default : UnknownCommand(); + NextCommand(nl,pLine); + } +} +
diff -r 000000000000 -r dedab08b24ea jmCommands.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmCommands.h Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,18 @@ +/** @file jmCommands.h +* Auto Generated by jmCLIG +* @version Saturday, February 12, 2011 9:05 AM +*/ + +#ifndef jmCommandsdef + #define jmCommandsdef 1 + + #define nbCommands 9 + + // Strings + extern const char jmCLIG[76]; + extern const char cmdNames[57]; + +#endif + +// Prototypes +void Action(int);
diff -r 000000000000 -r dedab08b24ea jmInterpreter.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmInterpreter.c Sat Feb 12 16:39:20 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); +}
diff -r 000000000000 -r dedab08b24ea jmInterpreter.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmInterpreter.h Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,9 @@ +/************************************************************************* + * @file jmInterpreter.h + * @brief Command Line Interpreter + * + * @date December 27,2010 +*/ + +// Prototypes +void Interpret(void);
diff -r 000000000000 -r dedab08b24ea jmMessages.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMessages.c Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,126 @@ +/************************************************************************* + * @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" +#include "LPC17xx.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); +}
diff -r 000000000000 -r dedab08b24ea jmMessages.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMessages.h Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,36 @@ +/************************************************************************* + * @file jmMessages.h + * @brief Control System Messages + * + * @date December 27,2010 +*/ + +#include "stdint.h" +#include "LPC17xx.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 -----------------
diff -r 000000000000 -r dedab08b24ea jmMotor.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMotor.c Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,240 @@ +/************************************************************************* + * @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 + +extern LPC_GPIO_TypeDef *jmGPIO[5]; + +// 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); +}
diff -r 000000000000 -r dedab08b24ea jmMotor.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMotor.h Sat Feb 12 16:39:20 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(); +*/ +
diff -r 000000000000 -r dedab08b24ea jmRingBuffer.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmRingBuffer.c Sat Feb 12 16:39:20 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; +}
diff -r 000000000000 -r dedab08b24ea jmRingBuffer.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmRingBuffer.h Sat Feb 12 16:39:20 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);
diff -r 000000000000 -r dedab08b24ea main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,76 @@ +/************************************************************************* + * @file main.cpp + * + * @version 1.0 + * @date Feb 11, 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 "jmMotor.h" + + +// Initializations +void Inits(){ + InitCommandLineRingBuffer(); + InitMessages(); + cli_version(); + + // CLIG-INIT + MotorInit(); + +} + +// 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--; + +} + +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(); + + + }// while +}// main + + +
diff -r 000000000000 -r dedab08b24ea main.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Sat Feb 12 16:39:20 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(); +*/
diff -r 000000000000 -r dedab08b24ea mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Feb 12 16:39:20 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912