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

--- /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);
+   }
+}
+

--- /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);

--- /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);
+}

--- /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);

--- /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);
+}

--- /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 -----------------

--- /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);
+}

--- /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();
+*/
+

--- /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;
+}

--- /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);

--- /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
+
+
+

--- /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();
+*/

--- /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