Revision 0:3e676fcd9c71, committed 2011-02-12

Comitter:

jm

Date:

Sat Feb 12 16:49:03 2011 +0000

Commit message:

jmStepperAxis Command Line Interface Module

Changed in this revision

diff -r 000000000000 -r 3e676fcd9c71 jmCommands.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmCommands.c	Sat Feb 12 16:49:03 2011 +0000
@@ -0,0 +1,98 @@
+/** @file  jmCommands.c
+ *  Auto Generated by jmCLIG
+ *  Saturday, February 12, 2011  11:03 AM
+ *  @version  2011.01.05
+ */
+
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "jmStepper.h"
+#include "jmStepperAxis.h"
+#include "jmSwitch.h"
+
+const char jmCLIG[] = {"\njmCLIG Version  2011.01.05 \nInstance Saturday, February 12, 2011  11:03 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,
+      '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 list 0
+#define ver 1
+#define help 2
+#define feedback 3
+#define echo 4
+#define stepper 5
+#define stepperStop 6
+#define GPPST 7
+#define stepSpeed 8
+#define stepperAxis 9
+#define GPPSTA 10
+#define swRead 11
+#define swInit 12
+#define GPPS0 13
+#define init 14
+
+
+/***********************************************************************
+ * @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 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);
+   }
+}
+

diff -r 000000000000 -r 3e676fcd9c71 jmCommands.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmCommands.h	Sat Feb 12 16:49:03 2011 +0000
@@ -0,0 +1,18 @@
+/** @file  jmCommands.h
+*  Auto Generated by jmCLIG
+*  @version  Saturday, February 12, 2011  11:03 AM
+*/
+
+#ifndef jmCommandsdef
+   #define jmCommandsdef 1
+
+   #define nbCommands 15
+
+   // Strings
+   extern const char jmCLIG[77];
+   extern const char cmdNames[109];
+
+#endif
+
+// Prototypes
+void Action(int);

diff -r 000000000000 -r 3e676fcd9c71 jmInterpreter.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmInterpreter.c	Sat Feb 12 16:49:03 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 3e676fcd9c71 jmInterpreter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmInterpreter.h	Sat Feb 12 16:49:03 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 3e676fcd9c71 jmMessages.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmMessages.c	Sat Feb 12 16:49:03 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);
+}

diff -r 000000000000 -r 3e676fcd9c71 jmMessages.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmMessages.h	Sat Feb 12 16:49:03 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 -----------------

diff -r 000000000000 -r 3e676fcd9c71 jmRingBuffer.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmRingBuffer.c	Sat Feb 12 16:49:03 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 3e676fcd9c71 jmRingBuffer.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmRingBuffer.h	Sat Feb 12 16:49:03 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 3e676fcd9c71 jmStepper.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepper.c	Sat Feb 12 16:49:03 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);
+}

diff -r 000000000000 -r 3e676fcd9c71 jmStepper.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepper.h	Sat Feb 12 16:49:03 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 --------------------

diff -r 000000000000 -r 3e676fcd9c71 jmStepperAxis.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepperAxis.c	Sat Feb 12 16:49:03 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);
+}

diff -r 000000000000 -r 3e676fcd9c71 jmStepperAxis.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepperAxis.h	Sat Feb 12 16:49:03 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 --------------------

diff -r 000000000000 -r 3e676fcd9c71 jmSwitch.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmSwitch.c	Sat Feb 12 16:49:03 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); 
+}

diff -r 000000000000 -r 3e676fcd9c71 jmSwitch.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmSwitch.h	Sat Feb 12 16:49:03 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 --------------------

diff -r 000000000000 -r 3e676fcd9c71 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 12 16:49:03 2011 +0000
@@ -0,0 +1,85 @@
+/*************************************************************************
+ * @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 "jmStepper.h"
+#include "jmStepperAxis.h"
+#include "jmSwitch.h"
+
+
+// Initializations
+void Inits(){
+   InitCommandLineRingBuffer();
+   InitMessages();
+   cli_version();
+
+   // CLIG-INIT
+   StepperInit();
+   StepperAxisInit();
+   SwitchModuleReset();   
+
+}
+
+// EggTimer tickers for modules
+void eggTimers(){
+   int i;
+   // CLIG-TIMER
+   // 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
+     StepperSM();
+     StepperAxisSM();
+     SwitchEdgeDetect();
+
+
+   }// while
+}// main
+
+
+

diff -r 000000000000 -r 3e676fcd9c71 main.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Sat Feb 12 16:49:03 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 3e676fcd9c71 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Feb 12 16:49:03 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912