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/* -*- mode: c++; c-basic-offset: 8; indent-tabs-mode: t -*- */
// Arduino G-code Interpreter
// v1.0 by Mike Ellery - initial software (mellery@gmail.com)
// v1.1 by Zach Hoeken - cleaned up and did lots of tweaks (hoeken@gmail.com)
// v1.2 by Chris Meighan - cleanup / G2&G3 support (cmeighan@gmail.com)
// v1.3 by Zach Hoeken - added thermocouple support and multi-sample temp readings. (hoeken@gmail.com)
// vX.X by Marius Kintel - refactored a bit to save space and clarify code (kintel@sim.no)
#include <HardwareSerial.h>
#include "_init.h"
AxisConfig axes[3] = {
{X_STEP_PIN, X_DIR_PIN, X_MIN_PIN, X_MAX_PIN, X_ENABLE_PIN, INVERT_X_DIR, REFERENCE_X_DIR, ENDSTOP_X_MIN_ENABLED, ENDSTOP_X_MAX_ENABLED, X_STEPS_PER_INCH, X_STEPS_PER_MM, X_MOTOR_STEPS},
{Y_STEP_PIN, Y_DIR_PIN, Y_MIN_PIN, Y_MAX_PIN, Y_ENABLE_PIN, INVERT_Y_DIR, REFERENCE_Y_DIR, ENDSTOP_Y_MIN_ENABLED, ENDSTOP_Y_MAX_ENABLED, Y_STEPS_PER_INCH, Y_STEPS_PER_MM, Y_MOTOR_STEPS},
{Z_STEP_PIN, Z_DIR_PIN, Z_MIN_PIN, Z_MAX_PIN, Z_ENABLE_PIN, INVERT_Z_DIR, REFERENCE_Z_DIR, ENDSTOP_Z_MIN_ENABLED, ENDSTOP_Z_MAX_ENABLED, Z_STEPS_PER_INCH, Z_STEPS_PER_MM, Z_MOTOR_STEPS}
};
#include "RepRapSDCard.h"
//our command string
#define COMMAND_SIZE 128
char cmdbuffer[COMMAND_SIZE];
byte serial_count;
int no_data = 0;
long old_idle_time;
long idle_time;
int delta;
boolean comment = false;
boolean bytes_received = false;
bool use_sd_card = false;
RepRapSDCard sdcard;
File *file;
bool eof = false;
void setup()
{
//Do startup stuff here
Serial.begin(115200);
Serial.println("start");
//other initialization.
init_steppers();
init_extruder();
clear_process_string();
// Open first file, validate contents
// Decide whether to read from serial or SD-card; print debug to serial
if (sdcard.init() == RepRapSDCard::SDOK) {
char filename[12];
if (sdcard.getNextEntry(filename)) {
Serial.print("First file: ");
Serial.println(filename);
if (!(file = sdcard.openFile(filename))) {
Serial.println("Unable to open file.");
}
else {
use_sd_card = true;
}
}
}
}
void clear_process_string()
{
//init our command buffer
for (uint8_t i=0; i<COMMAND_SIZE; i++) cmdbuffer[i] = 0;
serial_count = 0;
bytes_received = false;
idle_time = millis();
}
int input_available()
{
if (use_sd_card) {
if (!eof) return 1;
}
else {
return Serial.available();
}
}
uint8_t input_read()
{
if (use_sd_card) {
uint8_t c;
intptr_t ret = sdcard.readFile(file, &c, 1);
if (ret == 0) {
eof = true;
c = '\n';
}
if (ret == -1) {
Serial.println("Read error.");
eof = true;
c = '\n';
}
return c;
}
else {
return Serial.read();
}
}
void loop()
{
char c;
extruder_manage_temperature(); //keep it hot!
//read in characters if we got them.
if (input_available() > 0)
{
c = input_read();
// Reset no_data timer
no_data = 0;
idle_time = millis();
if (c == '\r') {
Serial.println("debug: linefeed ?!");
}
else
// commands end with newlines
if (c != '\n')
{
// Start of comment - ignore any bytes received from now on
if (c == '(') comment = true;
// If we're not in comment mode, add it to our array.
if (!comment)
{
cmdbuffer[serial_count] = c;
serial_count++;
}
if (c == ')') comment = false; // End of comment - start listening again
}
bytes_received = true;
}
else
{
// mark no_data if nothing heard for 100 milliseconds
delta = millis() - idle_time;
if (delta >= 100)
// if ((millis() - idle_time) >= 100)
{
no_data++;
old_idle_time = idle_time;
idle_time = millis();
}
}
// if there's a pause or we got a real command, do it
if (bytes_received && (c == '\n' || no_data))
{
if (no_data)
{
Serial.print("NODATA(");
Serial.print(no_data);
Serial.print(" ");
Serial.print((long)millis());
Serial.print(" ");
Serial.print(old_idle_time);
Serial.print(" ");
Serial.print(idle_time);
Serial.print(" ");
Serial.print(delta);
Serial.print("): ");
Serial.println(cmdbuffer);
}
#if (DEBUG == 1)
else
{
Serial.print("debug: ");
Serial.println(cmdbuffer);
}
#endif
//process our command!
process_string(cmdbuffer, serial_count);
//clear command.
clear_process_string();
}
//no data for > 1 sec -> turn off steppers
if (no_data > 10)
disable_steppers();
}
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