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// Arduino G-code Interpreter
// v1.0 by Mike Ellery - initial software (mellery@gmail.com)
// v1.1 by Zach Smith - 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 Smith - added thermocouple support and multi-sample temp readings. (hoeken@gmail.com)
// also added preliminary and experimental support for rotary encoders.
#include <HardwareSerial.h>
//our command string
#define COMMAND_SIZE 128
char word[COMMAND_SIZE];
byte serial_count;
int no_data = 0;
void setup()
{
//Do startup stuff here
Serial.begin(19200);
Serial.println("start");
Serial.println("v1.3");
//other initialization.
init_process_string();
init_steppers();
init_extruder();
}
void loop()
{
char c;
//keep it hot!
extruder_manage_temperature();
//read in characters if we got them.
if (Serial.available() > 0)
{
c = Serial.read();
no_data = 0;
//newlines are ends of commands.
if (c != '\n')
{
word[serial_count] = c;
serial_count++;
}
}
//mark no data.
else
{
no_data++;
delayMicrosecondsInterruptible(100);
}
//if theres a pause or we got a real command, do it
if (serial_count && (c == '\n' || no_data > 100))
{
//process our command!
process_string(word, serial_count);
//clear command.
init_process_string();
}
//no data? turn off steppers
if (no_data > 1000)
disable_steppers();
}
void delayMicrosecondsInterruptible(unsigned int us)
{
#if F_CPU >= 16000000L
// for the 16 MHz clock on most Arduino boards
// for a one-microsecond delay, simply return. the overhead
// of the function call yields a delay of approximately 1 1/8 us.
if (--us == 0)
return;
// the following loop takes a quarter of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2;
// account for the time taken in the preceeding commands.
us -= 2;
#else
// for the 8 MHz internal clock on the ATmega168
// for a one- or two-microsecond delay, simply return. the overhead of
// the function calls takes more than two microseconds. can't just
// subtract two, since us is unsigned; we'd overflow.
if (--us == 0)
return;
if (--us == 0)
return;
// the following loop takes half of a microsecond (4 cycles)
// per iteration, so execute it twice for each microsecond of
// delay requested.
us <<= 1;
// partially compensate for the time taken by the preceeding commands.
// we can't subtract any more than this or we'd overflow w/ small delays.
us--;
#endif
// busy wait
__asm__ __volatile__ (
"1: sbiw %0,1" "\n\t" // 2 cycles
"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
);
}
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