//!*************************************************************
//! Name: send(long n, uint8_t base)
//! Description: Sends data through the SPI.
//! Param : long n: data to send.
//! : uint8_t base : base representation.
//! Returns: void
//!*************************************************************
void Wasp485::send(long n, uint8_t base)
{
if (base == BYTE)
maxWrite(THR_REG,(char) n);
else
printIntegerInBase(n, base);
}
/*
* print( n ) - prints an unsigned long integer adding an EOL and a carriage return
*
*/
void WaspUSB::println(unsigned long n)
{
secureBegin();
printIntegerInBase((uint32_t)n, 10, _uart);
printNewline(_uart);
secureEnd();
}
void printInteger(long n) {
if (n < 0) {
serial_write('-');
n = -n;
}
printIntegerInBase(n, 10);
}
//!*************************************************************
//! Name: send(long n)
//! Description: Sends data through the SPI.
//! Param : long n: data to send.
//! Returns: void
//!*************************************************************
void Wasp485::send( long n)
{
if (n < 0) {
maxWrite(THR_REG, '-');
n = -n;
}
printIntegerInBase(n , 10);
}
void printInteger(long n)
{
if(n < 0){
printByte('-');
n = -n;
}
printIntegerInBase(n, 10);
}
/*
* print( n ) - prints a long integer
*
*/
void WaspUSB::print(long n)
{
secureBegin();
if (n < 0)
{
printByte('-',_uart);
n = -n;
}
printIntegerInBase((uint32_t)n, 10, _uart);
secureEnd();
}
/*
* print( n ) - prints an integer adding an EOL and a carriage return
*
*/
void WaspUSB::println(int n)
{
secureBegin();
if (n < 0)
{
printByte('-',_uart);
n = -n;
}
printIntegerInBase((uint32_t) n, 10, _uart);
printNewline(_uart);
secureEnd();
}
/*
* printFloat( number , digits ) - prints a 'float' number
* Parameters:
* number : the number to print
* digits : the number of non-integer part digits
*
*/
void WaspUSB::printFloat(double number, uint8_t digits)
{
secureBegin();
// Handle negative numbers
if (number < 0.0)
{
printByte('-', _uart);
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
for (uint8_t i=0; i<digits; ++i)
rounding /= 10.0;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long)number;
double remainder = number - (double)int_part;
printIntegerInBase(int_part, 10, _uart);
// Print the decimal point, but only if there are digits beyond
if (digits > 0)
printByte('.',_uart);
// Extract digits from the remainder one at a time
while (digits-- > 0)
{
remainder *= 10.0;
int toPrint = int(remainder);
printIntegerInBase( (long) toPrint, 10, _uart);
remainder -= toPrint;
}
secureEnd();
}
void settings_dump() {
printPgmString(PSTR("$0 = ")); printFloat(settings.steps_per_mm[X_AXIS]);
printPgmString(PSTR(" (steps/mm x)\r\n$1 = ")); printFloat(settings.steps_per_mm[Y_AXIS]);
printPgmString(PSTR(" (steps/mm y)\r\n$2 = ")); printFloat(settings.steps_per_mm[Z_AXIS]);
printPgmString(PSTR(" (steps/mm z)\r\n$3 = ")); printInteger(settings.pulse_microseconds);
printPgmString(PSTR(" (microseconds step pulse)\r\n$4 = ")); printFloat(settings.default_feed_rate);
printPgmString(PSTR(" (mm/min default feed rate)\r\n$5 = ")); printFloat(settings.default_seek_rate);
printPgmString(PSTR(" (mm/min default seek rate)\r\n$6 = ")); printFloat(settings.mm_per_arc_segment);
printPgmString(PSTR(" (mm/arc segment)\r\n$7 = ")); printInteger(settings.invert_mask);
printPgmString(PSTR(" (step port invert mask. binary = ")); printIntegerInBase(settings.invert_mask, 2);
printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration/(60*60)); // Convert from mm/min^2 for human readability
printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.junction_deviation);
printPgmString(PSTR(" (cornering junction deviation in mm)"));
printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
}
/*
* print( n , base ) - prints a long number in the specified base
*
*/
void WaspUSB::print(long n, int base)
{
secureBegin();
if (base == 0)
{
printByte((char) n, _uart);
}
else if (base == 10)
{
printInteger(n, _uart);
}
else
{
printIntegerInBase(n, base, _uart);
}
secureEnd();
}
void settings_dump() {
printPgmString(PSTR("PortC")); printInteger(PORTC);
// printPgmString(PSTR("\r\nPortA")); printInteger(PORTA);
// printPgmString(PSTR("\r\nPortB")); printInteger(PORTB);
printPgmString(PSTR("\r\nddrC")); printInteger(DDRC);
// printPgmString(PSTR("\r\nddrA")); printInteger(DDRA);
// printPgmString(PSTR("\r\nddrB")); printInteger(DDRB);
printPgmString(PSTR("\r\n$0 = ")); printFloat(settings.steps_per_mm[X_AXIS]);
printPgmString(PSTR(" (steps/mm x)\r\n$1 = ")); printFloat(settings.steps_per_mm[Y_AXIS]);
printPgmString(PSTR(" (steps/mm y)\r\n$2 = ")); printFloat(settings.steps_per_mm[Z_AXIS]);
printPgmString(PSTR(" (steps/mm z)\r\n$3 = ")); printInteger(settings.pulse_microseconds);
printPgmString(PSTR(" (microseconds step pulse)\r\n$4 = ")); printFloat(settings.default_feed_rate);
printPgmString(PSTR(" (mm/min default feed rate)\r\n$5 = ")); printFloat(settings.default_seek_rate);
printPgmString(PSTR(" (mm/min default seek rate)\r\n$6 = ")); printFloat(settings.mm_per_arc_segment);
printPgmString(PSTR(" (mm/arc segment)\r\n$7 = ")); printInteger(settings.invert_mask);
printPgmString(PSTR(" (step port invert mask. binary = ")); printIntegerInBase(settings.invert_mask, 2);
printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration);
printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.max_jerk);
printPgmString(PSTR(" (max instant cornering speed change in delta mm/min)"));
printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
}
void printFloat(double n) {
if (n < 0) {
serial_write('-');
n = -n;
}
n += 0.5/1000; // Add rounding factor
long integer_part;
integer_part = (int)n;
printIntegerInBase(integer_part,10);
serial_write('.');
n -= integer_part;
int decimals = 3;
uint8_t decimal_part;
while(decimals-- > 0) {
n *= 10;
decimal_part = (int) n;
serial_write('0'+decimal_part);
n -= decimal_part;
}
}
//!*************************************************************
//! Name: send(unsigned long n)
//! Description: Sends data through the SPI.
//! Param : unsigned long n: data to send.
//! Returns: void
//!*************************************************************
void Wasp485::send(unsigned long n)
{
printIntegerInBase(n , 10);
}
void WaspXBee::printNumber(unsigned long n, uint8_t base)
{
printIntegerInBase(n, base, _uart);
}
void HardwareSerial::printNumber(unsigned long n, uint8_t base)
{
printIntegerInBase(n, base);
}
void printBinary(unsigned long n)
{
printIntegerInBase(n, 2);
}
void printOctal(unsigned long n)
{
printIntegerInBase(n, 8);
}
void printHex(unsigned long n)
{
printIntegerInBase(n, 16);
}
/*
* print( n ) - prints an unsigned long integer
*
*/
void WaspUSB::print(unsigned long n)
{
secureBegin();
printIntegerInBase(n, 10, _uart);
secureEnd();
}
