void loop() {
uint8_t c;
uint16_t newKeys;
//read in characters if we got them.
if (Serial.available() > 0) {
c = (uint8_t)Serial.read();
no_data = 0;
command_word[serial_count++] = c;
}
else {
no_data++;
delayMicroseconds(100);
}
//if theres a pause or we got a real command, do it
if (serial_count && (c == '\n' || no_data > 100)) {
command_word[serial_count] = 0; //change \n to null terminator
process_string(command_word); //do
init_process_string(); //clear
}
/*
//keypad actions
newKeys = keypad_scan();
if (newKeys != oldKeys) {
Serial.println(newKeys,HEX);
oldKeys = newKeys;
switch(newKeys) {
case _BV(1):
case _BV(2):
case _BV(3):
case _BV(4):
case _BV(5):
case _BV(6):
case _BV(7):
case _BV(8):
case _BV(9):
case _BV(10):
case _BV(11):
case _BV(12):
case _BV(13):
case _BV(14):
case _BV(15):
default:
break;
}
}
*/
//no data? turn off steppers
if (no_data > 1000) {
disable_steppers();
}
}
void setup() {
//serial
Serial.begin(9600);
//my init code
// keypad_init();
myStepper_init();
motor_init();
_feedrate = getMaxFeedrate();
//reprap init code
init_steppers();
init_process_string();
//increase clock resolution
TCCR0B &= ~_BV(CS00); //for ATmega168!! XXX: this will mess up millis,micros,delay,delayMicroseconds
Serial.println("start");
}
void setupGcodeProcessor()
{
gc.LastLineNrRecieved = -1;
init_process_string();
}
// Get a command and process it
void get_and_do_command()
{
c = ' ';
while(talkToHost.gotData() && c != '\n')
{
c = talkToHost.get();
sharedMachineModel.blink();
if(c == '\r')
c = '\n';
// Throw away control chars except \n
if(c >= ' ' || c == '\n')
{
//newlines are ends of commands.
if (c != '\n')
{
// Start of comment - ignore any bytes received from now on
if (c == ';' || c=='(')
comment = true;
if(!comment)
{
if(c == '\"')
{
stringArg=!stringArg;
strArgBuffer[strArgCount]=0x0;
}
else if(stringArg)
{
if(strArgCount<STRING_BUFFER_SIZE)
strArgBuffer[strArgCount++] = c;
}
else // If we're not in comment mode (and string mode), add it to our array.
cmdbuffer[serial_count++] = toupper(c);
}
}
}
// Buffer overflow?
if(serial_count >= COMMAND_SIZE)
init_process_string();
}
//if we've got a real command, do it
if ((comment || serial_count) && c == '\n')
{
if(serial_count>0)
{
// Terminate string
cmdbuffer[serial_count] = 0;
if(SendDebug & DEBUG_ECHO)
sprintf(talkToHost.string(), "Echo: %s", cmdbuffer);
//process our command!
process_string(cmdbuffer, serial_count);
}
//clear command.
init_process_string();
// Say we're ready for the next one
talkToHost.sendMessage(SendDebug & DEBUG_INFO);
}
}