void ums_run_once()
{
uint8_t nextByte;
// disabled until complete enable string is received
while (umsEnabled < UMS_ENABLE_LEN && pf_receive_byte(&nextByte) != 0) {
if (nextByte == UMS_ENABLE[umsEnabled]) {
++umsEnabled;
if (umsEnabled == UMS_ENABLE_LEN) {
ums_send_accept();
}
} else {
umsEnabled = 0;
}
}
// not disabled, normal operation
if (umsEnabled == UMS_ENABLE_LEN) {
// if the stepper queue is full, then we don't process any more commands
while (!st_full()) {
uint8_t *rx = cmd_receive();
if (rx != NULL) {
cmd_handler(rx);
commandCounter++;
} else {
break;
}
}
}
// send a status when limit switches change or ~1e6 stepper delay ticks have elapsed
if (umsLimits != previousLimits || umsRunTime > nextStatusTime ||
(umsStatus & UMS_SEND_STATUS_NOW) != 0) {
previousLimits = umsLimits;
nextStatusTime += UMS_STATUS_INTERVAL;
ums_send_status();
umsStatus &= ~UMS_SEND_STATUS_NOW;
}
}
static int do_send_ums_status(char *cmd)
{
return ums_send_status();
}
