78ebd522b6
Implemented bed skew calibration by matching a precise physical model to the measured data using the least squares method. Rewrote handling of the command buffer to preserve memory and allow pushing the commands to the front of the queue.
337 lines
7.6 KiB
C++
337 lines
7.6 KiB
C++
/*
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HardwareSerial.cpp - Hardware serial library for Wiring
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Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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Modified 23 November 2006 by David A. Mellis
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Modified 28 September 2010 by Mark Sproul
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*/
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#include "Marlin.h"
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#include "MarlinSerial.h"
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#ifndef AT90USB
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// this next line disables the entire HardwareSerial.cpp,
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// this is so I can support Attiny series and any other chip without a UART
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#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
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#if UART_PRESENT(SERIAL_PORT)
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ring_buffer rx_buffer = { { 0 }, 0, 0 };
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#endif
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FORCE_INLINE void store_char(unsigned char c)
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{
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int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
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// if we should be storing the received character into the location
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// just before the tail (meaning that the head would advance to the
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// current location of the tail), we're about to overflow the buffer
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// and so we don't write the character or advance the head.
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if (i != rx_buffer.tail) {
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rx_buffer.buffer[rx_buffer.head] = c;
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rx_buffer.head = i;
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}
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}
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//#elif defined(SIG_USART_RECV)
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#if defined(M_USARTx_RX_vect)
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// fixed by Mark Sproul this is on the 644/644p
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//SIGNAL(SIG_USART_RECV)
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SIGNAL(M_USARTx_RX_vect)
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{
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// Test for a framing error.
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if (M_UCSRxA & (1<<M_FEx)) {
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// Characters received with the framing errors will be ignored.
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// The temporary variable "c" was made volatile, so the compiler does not optimize this out.
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volatile unsigned char c = M_UDRx;
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} else {
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// Read the input register.
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unsigned char c = M_UDRx;
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store_char(c);
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}
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}
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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MarlinSerial::MarlinSerial()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void MarlinSerial::begin(long baud)
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{
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uint16_t baud_setting;
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bool useU2X = true;
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#if F_CPU == 16000000UL && SERIAL_PORT == 0
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// hard-coded exception for compatibility with the bootloader shipped
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// with the Duemilanove and previous boards and the firmware on the 8U2
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// on the Uno and Mega 2560.
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if (baud == 57600) {
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useU2X = false;
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}
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#endif
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if (useU2X) {
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M_UCSRxA = 1 << M_U2Xx;
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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} else {
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M_UCSRxA = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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M_UBRRxH = baud_setting >> 8;
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M_UBRRxL = baud_setting;
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sbi(M_UCSRxB, M_RXENx);
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sbi(M_UCSRxB, M_TXENx);
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sbi(M_UCSRxB, M_RXCIEx);
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}
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void MarlinSerial::end()
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{
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cbi(M_UCSRxB, M_RXENx);
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cbi(M_UCSRxB, M_TXENx);
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cbi(M_UCSRxB, M_RXCIEx);
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}
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int MarlinSerial::peek(void)
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{
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if (rx_buffer.head == rx_buffer.tail) {
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return -1;
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} else {
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return rx_buffer.buffer[rx_buffer.tail];
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}
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}
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int MarlinSerial::read(void)
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{
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// if the head isn't ahead of the tail, we don't have any characters
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if (rx_buffer.head == rx_buffer.tail) {
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return -1;
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} else {
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unsigned char c = rx_buffer.buffer[rx_buffer.tail];
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rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
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return c;
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}
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}
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void MarlinSerial::flush()
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{
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// were full, not empty.
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rx_buffer.head = rx_buffer.tail;
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}
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/// imports from print.h
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void MarlinSerial::print(char c, int base)
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{
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print((long) c, base);
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}
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void MarlinSerial::print(unsigned char b, int base)
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{
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print((unsigned long) b, base);
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}
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void MarlinSerial::print(int n, int base)
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{
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print((long) n, base);
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}
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void MarlinSerial::print(unsigned int n, int base)
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{
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print((unsigned long) n, base);
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}
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void MarlinSerial::print(long n, int base)
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{
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if (base == 0) {
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write(n);
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} else if (base == 10) {
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if (n < 0) {
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print('-');
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n = -n;
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}
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printNumber(n, 10);
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} else {
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printNumber(n, base);
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}
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}
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void MarlinSerial::print(unsigned long n, int base)
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{
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if (base == 0) write(n);
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else printNumber(n, base);
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}
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void MarlinSerial::print(double n, int digits)
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{
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printFloat(n, digits);
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}
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void MarlinSerial::println(void)
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{
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print('\r');
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print('\n');
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}
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void MarlinSerial::println(const String &s)
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{
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print(s);
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println();
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}
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void MarlinSerial::println(const char c[])
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{
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print(c);
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println();
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}
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void MarlinSerial::println(char c, int base)
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{
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print(c, base);
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println();
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}
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void MarlinSerial::println(unsigned char b, int base)
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{
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print(b, base);
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println();
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}
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void MarlinSerial::println(int n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(unsigned int n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(long n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(unsigned long n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(double n, int digits)
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{
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print(n, digits);
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println();
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}
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// Private Methods /////////////////////////////////////////////////////////////
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void MarlinSerial::printNumber(unsigned long n, uint8_t base)
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{
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unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
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unsigned long i = 0;
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if (n == 0) {
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print('0');
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return;
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}
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while (n > 0) {
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buf[i++] = n % base;
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n /= base;
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}
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for (; i > 0; i--)
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print((char) (buf[i - 1] < 10 ?
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'0' + buf[i - 1] :
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'A' + buf[i - 1] - 10));
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}
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void MarlinSerial::printFloat(double number, uint8_t digits)
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{
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// Handle negative numbers
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if (number < 0.0)
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{
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print('-');
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number = -number;
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}
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// Round correctly so that print(1.999, 2) prints as "2.00"
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double rounding = 0.5;
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for (uint8_t i=0; i<digits; ++i)
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rounding /= 10.0;
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number += rounding;
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// Extract the integer part of the number and print it
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unsigned long int_part = (unsigned long)number;
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double remainder = number - (double)int_part;
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print(int_part);
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// Print the decimal point, but only if there are digits beyond
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if (digits > 0)
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print(".");
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// Extract digits from the remainder one at a time
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while (digits-- > 0)
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{
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remainder *= 10.0;
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int toPrint = int(remainder);
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print(toPrint);
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remainder -= toPrint;
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}
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}
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// Preinstantiate Objects //////////////////////////////////////////////////////
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MarlinSerial MSerial;
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#endif // whole file
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#endif // !AT90USB
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// For AT90USB targets use the UART for BT interfacing
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#if defined(AT90USB) && defined (BTENABLED)
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HardwareSerial bt;
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#endif
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