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// Yep, this is actually -*- c++ -*-
/***************************************************************************************
* Sanguino 3rd Generation Firmware (S3G)
*
* Specification for this protocol is located at:
* http://docs.google.com/Doc?id=dd5prwmp_14ggw37mfp
*
* License: GPLv2
* Authors: Marius Kintel, Adam Mayer, and Zach Hoeken
*
* Version History:
*
* 0001: Initial release of the protocol and firmware.
*
***************************************************************************************/
//a check to make sure we're compiling for the right firmware
#ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
//include some basic libraries.
#include <WProgram.h>
#include <SimplePacket.h>
#include "Configuration.h"
#include "Datatypes.h"
#include "Timer1.h"
#include "CircularBuffer.h"
#include "RS485.h"
#include "Variables.h"
#include "Commands.h"
#ifdef USE_SD_CARD
#include <RepRapSDCard.h>
#endif
//this is our firmware version.
#define FIRMWARE_VERSION 101
//set up our firmware for actual usage.
void setup()
{
//setup our firmware to a default state.
init_serial();
initialize();
//this is a simple text string that identifies us.
Serial.print("R3G Master v");
Serial.println(FIRMWARE_VERSION, DEC);
}
//this function takes us back to our default state.
void initialize()
{
is_machine_paused = false;
init_psu();
init_commands();
init_steppers();
init_tools();
}
//start our hardware serial drivers
void init_serial()
{
pinMode(RX_ENABLE_PIN, OUTPUT);
pinMode(TX_ENABLE_PIN, OUTPUT);
digitalWrite(RX_ENABLE_PIN, LOW); //always listen.
Serial.begin(HOST_SERIAL_SPEED);
Serial1.begin(SLAVE_SERIAL_SPEED);
}
//handle various things we're required to do.
void loop()
{
//check for and handle any packets that come in.
if (Serial.available())
process_host_packets();
//our basic handling for each loop.
if (commandMode == COMMAND_MODE_IDLE)
handle_commands();
else if (commandMode == COMMAND_MODE_WAIT_FOR_TOOL)
check_tool_ready_state();
check_endstops();
}
//handle the abortion of a print job
void abort_print()
{
//TODO: turn off all of our tools.
//turn off steppers too.
disableTimer1Interrupt();
disable_steppers();
//initalize everything to the beginning
initialize();
}
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