openpnp - 二手西门子电动飞达的测试

news2024/11/25 11:36:25

文章目录

    • 二手西门子电动飞达的初步测试
    • 概述
    • 飞达正常的判断标准
    • 先挑出一个手工控制好使的二手飞达用于测试.
    • 推料的手工检测
    • 扒皮的手工检测
    • 飞达测试的接线
    • 通讯的测试
    • 用串口助手测试通讯
    • 先看看是否发送给飞达的管脚是自己接的那个
    • 查看所有可以用到的上位机通讯命令
    • M115 - 打印固件版本信息
    • M600 - 撕皮预动作
    • M601 - 高级送料模式
    • M602 - 取飞达状态
    • M603 - 取飞达送料计数值
    • M604 - 取0x42错误次数
    • M605 - 取0x43错误次数
    • M606 取0x44错误次数
    • M607 取复位次数
    • M608 - 取飞达的料之间的距离(步进值)
    • M628 - 切换步进值
    • M610 取飞达ID
    • M640 设置飞达ID
    • M630 读飞达内的E2PROM
    • M615 读飞达的固件版本
    • M650 - 自测试开始
    • M651 - 自测试结束
    • 备注
    • 改过的飞达控制板的mega2560r3测试工程
    • SchultzController.ino
    • config.h
    • Feeder.h
    • Feeder.cpp
    • gcode.ino
    • END

二手西门子电动飞达的初步测试

概述

现在手头的openpnp设备和自己做的散料飞达都正常用了, 已经将飞达控制板贴出来了.
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下面, 准备将西门子二手飞达接入设备, 让自己的openpnp设备也变成一个有灵魂的贴片机.

当时定制设备时, 同学给我定了50个二手西门子电动飞达.
因为当时设备刚到手, 还在进行设备调试. 飞达到货后, 只是通电看灯是否亮, 发个包, 看看是否能用通讯控制飞达有动作响应. 只是初步抽检.

现在因为前置条件(设备调试完成, 飞达控制板已经贴好了)都好了, 准备将这50个飞达中好的飞达挑出来用, 将不好的飞达尝试通过换件法拼成能用的正常飞达.

那第一步就是判断这些飞达是否可以正常用(是否可以通过通讯来控制? 按钮控制即使坏了也无所谓, 用不到), 进行一些测试, 通过测试了, 就可以正常接入设备用.
以8x2飞达为例

飞达正常的判断标准

  • 可以正常推料, 供吸嘴来取料.

  • 可以正常将物料编带的透明塑料皮扒下来, 拉紧, 防止塑料蒙皮挡住供料窗.
    撕皮有2个部件:
    飞达前面的塑料皮挡板, M600 NX命令后让挡板向飞达后方动5mm, 靠着撕料齿轮压板的力量, 将塑料皮撕开.
    飞达中部的撕料齿轮
    只有这2个部件都是好的, 撕皮操作才正常.

初步用飞达上的按钮来测试, 不能用也无所谓, 只要用通讯能控制这2个动作就行.

从飞达正后方看, 左边是0号飞达, 右边是1号飞达.

先挑出一个手工控制好使的二手飞达用于测试.

因为我是要先采用通讯控制来控制飞达, 不管按钮好不好使, 主要通讯控制能正常控制飞达就行.
但是初步, 我要挑出一个正常能用按钮来控制的飞达来做第一次的测试.
试了4个, 才挑出一个手工按钮控制都好使的8x2的二手飞达.

推料的手工检测

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飞达后端的绿色箭头按钮是进料按钮, 每按一下, 飞达前部的供料齿轮就转一个角度, 带动物料编带向前走.
如果飞达无响应, 也不一定意味着不能用, 也许按钮接触不好(或者按钮控制电路问题). 后续要用通讯协议来控制, 能用就好.

扒皮的手工检测

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飞达正后方的黄色圆形按钮, 是扒皮按钮.
按下后, 如果正常, 飞达中部的扒皮齿轮会转动. 等后续, 将编带的塑料皮夹入2个扒皮齿轮中间就行. 在正常贴片流程中, 就会随着扒皮齿轮的转动, 将废弃的塑料皮带到飞达下部的垃圾仓. 同时, 将物料编带的保护皮撕下来.

飞达测试的接线

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飞达有4根线:
棕色 : VCC(资料上说要给DC28V, 市面上没有DC28V或者DC30V的电源, 只能是用DC24V的开关电源来供电, 能用)
白色: GND
绿色: 通讯线TX(飞达控制板to飞达的发送, 飞达控制者发包)
黄色: 通讯线RX(飞达to飞达控制板的接收, 飞达控制者收包)
通讯的电平是24V的, 如果和MCU通讯, 要转成MCU适用的电平.

飞达控制板上的控制部件用的是官方原版mega2560R3(支持通讯时触发DTR信号重启设备), 通过USB线连接PC端.
飞达控制板子的供电用的开关电源的DC24V.
和飞达的通讯通过插座(XHD-2*10Y)连接, 线自己压出来, 接飞达航插板.

飞达航插板的供电是开关电源的DC24V, 从飞达控制板来的通讯信号连接到航空插头座(公头).
飞达航插板的航插座(公头)带着24V, GND, TX, RX接飞达出来的航插母头.

通讯的测试

从开源工程上, 将飞达数量改为1, 避免控制不准, 造成错觉(发个包给飞达, 如果发错飞达就尴尬了.).

#if defined (BOARD_MEGA2560)
// 用内存的地方
// FeederClass feeders[NUMBER_OF_FEEDERS];
// 如果不优化(不开DEBUG标记), 只能支持46把飞达
// FEEDER_CNT 47个 : 全局变量使用 8305 个字节（101%）的动态内存，剩下 -113 个字节用于局部变量。最大值为 8192 字节。
// FEEDER_CNT 46个 : 全局变量使用 7903 个字节（96%）的动态内存，剩下 289 个字节用于局部变量。最大值为 8192 字节。
// FEEDER_CNT 45个 : 个全局变量使用 7683 个字节（93%）的动态内存，剩下 509 个字节用于局部变量。最大值为 8192 字节。
// FEEDER_CNT 44个 : 个全局变量使用 7469 个字节（91%）的动态内存，剩下 723 个字节用于局部变量。最大值为 8192 字节。
// 好像局部变量的内存用量, 并没有估计到编译结果中. 局部变量要用多少, 需要自己估计.
// 能编译过的飞达数量是47组, 但是局部变量空间不够. 可以正常运行的飞达数量是44组.
#define FEEDER_CNT 1 // this only for test
#else
#define FEEDER_CNT 20
#endif

确定飞达通讯控制的管脚对应的mega2560R3的数字IO号码.

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我现在的测试连接, 使这个飞达的通讯接到了D21来控制.
在meg2560r3工程中, 将唯一的发达发送管脚定为D21.

/*
       *  Feeder number to TX port mapping (uses D port numbers)
       */
#if defined (BOARD96PIN)
      const uint8_t TXportPin[20] = { 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2 };
#elif defined (BOARD4PIN)
      const uint8_t TXportPin[20] = { 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12 }; // Matches ref des order of board
      //const uint8_t TXportPin[20] = { 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 }; // J20 is port 0, then goes counter-clockwise
#elif defined (BOARD_MEGA2560) // BOARD_MEGA2560 已经定义
      // 官方arduino mega2560 R3 一共有70个数字IO(D0~D69), D0/D1 被编程串口占用了不能用. 剩下的可用数字IO位68个(D2~D69)
      // 其中D14/D15 = UART3, D16/D17 = UART2, D18/D19 = UART1, 这3个串口留着调试用, 剩下的可用数字IO为62个(D2~D13, D20~D69)   
const uint8_t TXportPin[FEEDER_CNT] = { 
        // D2 => D31 was F1 => F30
        21, // pin = D21 // 就定义这一个引脚
        /*2,  3,  4,  5,  6,  7,  8,  9,  10, 11, 
        12, 13, 20, 21, 22, 23, 24, 25, 26, 27, 
        28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 
        38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 
        48, 49, 50, 51, 52, 53, 54, 55, 56, 57,
        58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 
        68, 69*/
        };
#else
      const uint8_t TXportPin[20] = { 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 12, 14, 15, 16, 17, 18, 19, 20, 21 };
#endif

为了弄懂飞达控制的整个流程, 我加了调试宏 DEBUG, 打印了串口调试语句(被DEBUG宏包围), 哪里不对劲, 就可以根据调试信息去代码里面去找问题.

在arduinoIDE中, 指定开发板和串口, 编译工程, 上传到mega2560R3.

用串口助手测试通讯

测试命令都是M码, 以\n为结尾. 结尾的\n标志着命令发完, 否则飞达控制板不响应命令(没有\n就认为用户命令还没有输入完成).

先看看是否发送给飞达的管脚是自己接的那个

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看到通讯发送的管脚是D21, 没错.

查看所有可以用到的上位机通讯命令

工程改了一下, 可以用M999看到所有可以用到的通讯命令.
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现在挨个来测试通讯命令, 有的命令是和飞达控制板来通讯; 有的命令是通过飞达控制板中转来和飞达通讯.

M115 - 打印固件版本信息

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这个是和飞达控制板通讯, 打印固件版本号, 防止固件版本不是最新.

M600 - 撕皮预动作

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M600 N0 是控制0号位飞达送料, 用眼睛观察, 看到飞达前部左边的撕皮机构, 向后动了一下. 但是中间撕皮齿轮没有动作.
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M600 N1 是控制0号位飞达送料, 用眼睛观察, 看到飞达前部右边的撕皮机构, 向后动了一下. 但是中间撕皮齿轮没有动作.

M601 - 高级送料模式

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M601 N0X0 返回错误, 说没有胶带张力, 因为我现在没有正常上料, 以后再测试这个命令.
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M601 N1X0 返回错误, 说没有胶带张力, 因为我现在没有正常上料, 以后再测试这个命令.

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M601 N0X1 执行后, 只看到0号飞达前面的送料齿轮步进了一下, 没看到撕料机构往后动.
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M601 N0X1 执行后, 只看到1号飞达前面的送料齿轮步进了一下, 没看到撕料机构往后动.

M602 - 取飞达状态

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M602 N0 是取0号位飞达的状态, 现在由于没有正常上料, 飞达编带塑料膜拉紧机构没有检测到张力.

String FeederClass::showStatus() {
  switch (this->feederStatus) {
    case STATUS_OK:
      return "getFeederStatus: feeder OK";
      break;
    case STATUS_INVALID:
      return "getFeederStatus: invalid, status not updated";
      break;
    case STATUS_NO_TAPE_TENSION:
      return "getFeederStatus: No tape tension.  Tape may be broken";
      break;
    case STATUS_NO_TAPE_TRIGGER:
      return "getFeederStatus: Tape take-up not triggered after multiple feeds";
      break;
    case STATUS_FEED_ERROR:
      return "getFeederStatus: Feed motor did not advance";
      break;
    default:
      char statusCode[34];
      sprintf(statusCode, "Unrecognized status code %02X", this->feederStatus);
      return statusCode;
  }
}

/* -----------------------------------------------------------------
*  FEEDER STATUS
*  ----------------------------------------------------------------- */
#define STATUS_OK 0x40
#define STATUS_NO_TAPE_TENSION 0x42 	// cover tape won't tension (no tape, or broken tape)
#define STATUS_NO_TAPE_TRIGGER 0x43  	// didn't trigger a retension after 2 feeds
#define STATUS_FEED_ERROR 0x44          // feed motor stuck
#define STATUS_INVALID 0                // status not checked since last feed

从代码中看到, 只有飞达回0x40时, 才说明飞达没问题.
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M602 N1 是取1号位飞达的状态, 现在由于没有正常上料, 飞达编带塑料膜拉紧机构没有检测到张力.

M603 - 取飞达送料计数值

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M603 N0 命令取回的飞达计数不对, 应该是协议不对. 不过这不重要, 这个命令不在正式场景下应用.
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M603 N1 命令取回的飞达计数不对, 应该是协议不对(以后条件许可时, 可以通过编程器, 读回飞达内的51MCU的bin实现, 逆向分析一下. 听同学说, 这个C51实现是没没有加密的, 直接能读回来). 不过这不重要, 这个命令不在正式场景下应用.

M604 - 取0x42错误次数

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M605 - 取0x43错误次数

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M606 取0x44错误次数

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M607 取复位次数

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看到向2个飞达位发送的命令都是一样的, 说明这个复位次数指的是飞达上电复位的次数, 因为断电再上电, 2个子飞达是一起复位的.

M608 - 取飞达的料之间的距离(步进值)

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看到当前物料之间的距离为4mm.
可以通过飞达按钮的组合来改物料步进值(这个没有原版飞达文档, 得自己去实验). 还可以用M628 NX来切换步进

M628 - 切换步进值

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M628 N0 不带参数, 看到设置的步进类型是0.
读一下步进
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看到当前步进值为2mm
M628 N0 不带参数, 看到设置的步进类型是1.
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读一下步进值
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当前步进是4mm
这个命令等于是每次都先取一下当前步进值, 然后将步进值改变为下一个.
e.g. 8mm飞达只有2个步进值(2mm, 4mm), 每执行一次 M628NX, 就切换到下一种步进值.

M628 N1 同理

M610 取飞达ID

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M640 设置飞达ID

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现在已经将飞达ID设置为了1234
现在读取一下飞达ID看看改过来没有?
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飞达ID已经改过来了.
这个飞达ID有用, 如果某个飞达需要特殊处理, 可以根据飞达ID和飞达位来判断.

M630 读飞达内的E2PROM

这个命令对原厂的工程师才有用.
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这个命令, 从N0/N1的E2PROM中读取了16个字节出来.

M615 读飞达的固件版本

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我现在测试这个飞达版本是v2.4

M650 - 自测试开始

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执行这个命令后, 飞达开始自测试, 能看到所有飞达位的主要的机械结构(推料齿轮, 前面的撕料挡板, 中部的卷带齿轮)都在周期性的在动.
执行这个命令, 可以知道这对应飞达位的这3个机械装置是否完好, 也就知道是否可以通过通讯协议来控制飞达. 如果要初步测试飞达是否可以用通讯协议来控制飞达的机械机构, 用 M650 N0 这1个命令就行了.

执行这个命令时, 不能在上料的情况下进行, 测试的进料忽忽的, 不知道要浪费多少料…

M651 - 自测试结束

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执行 M651 N0后, 自测试就停止了.

备注

西门子二手飞达能提供的协议就这些, 现在只能说飞达可以和飞达控制板通讯, 因为我没看到完整的进料撕膜动作.
下一步, 得用这个飞达连到openpnp中看看效果(在正常上料的情况下), 如果在openpnp中能正常控制送料, 撕膜, 能完成一种物料的连续的正常贴片流程, 才说明这个飞达没问题.

改过的飞达控制板的mega2560r3测试工程

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arduino工程的文件包含关系, 是放在工程目录下的文件都算是源文件, 不是显势包含.
已经试过了, 如果将gcode.ino移动到同级目录下的bk目录, 工程就编译不过了, 因为好多实现在gcode.ino中.
主工程是SchultzController.ino, 因为这个文件中才有setup()和loop().

等用串口助手测试过了, 要给openpnp用时, 要注释掉DEBUG宏, 否则调试信息的回包, 会干扰openpnp的的判断.

SchultzController.ino

/*
* Author: Bill Ruckman
* (c)2020
*
* Adapted from 0816feeder by mrgl
*    https://github.com/mgrl/0816-feeder-firmware
*
* This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
* http://creativecommons.org/licenses/by-nc-sa/4.0/
*
* current version: v0.0
*
*
*/

// ------------------  I N C  L I B R A R I E S ---------------

#include "config.h"
#include "Feeder.h"


// ------------------  V A R  S E T U P -----------------------

FeederClass feeders[NUMBER_OF_FEEDERS];

// ------------------  U T I L I T I E S ---------------


// ------------------  S E T U P -----------------------
void setup() {
  byte i;

  Serial.begin(SERIAL_BAUD);
  while (!Serial)
    ;
  Serial.println(PRJ_NAME " " PRJ_VER " "
                          "starting...");
  Serial.flush();

  Serial1.begin(9600);  // The hardware RX port

  for (i = 0; i < NUMBER_OF_FEEDERS; i++) {
    feeders[i].setup(i, i / LANES_PER_PORT, i % LANES_PER_PORT);  // initialize with feeder number, port and lane
  }

  // setup listener to serial stream
  setupGCodeProc();

  Serial.println(PRJ_NAME " " PRJ_VER " "
                          "ready.");
}



// ------------------  L O O P -----------------------

void loop() {
  // Process incoming serial data and perform callbacks
  listenToSerialStream();
}

config.h

#ifndef _CONFIG_h
#define _CONFIG_h
#include "arduino.h"

#define PRJ_NAME "my_SchultzController"
#define PRJ_VER "v2.0.1.2_build_2023_0909_1333"

//#define BOARD96PIN
//#define BOARD4PIN
#define BOARD_MEGA2560

// prints some extra information via serial1
// uncomment to disable in production
#define DEBUG
// #define DEBUG1 // my debug flag

// simulates connected feeders
//#define SIMULATE


#define LANES_PER_PORT 2  // only supports 2 for now
// The serial port = Feeder Number / LANES_PER_PORT
// The lane within the port = Feeder Number % LANES_PER_PORT

#if defined (BOARD_MEGA2560)
// 用内存的地方
// FeederClass feeders[NUMBER_OF_FEEDERS];
// 如果不优化(不开DEBUG标记), 只能支持46把飞达
// FEEDER_CNT 47个 : 全局变量使用 8305 个字节（101%）的动态内存，剩下 -113 个字节用于局部变量。最大值为 8192 字节。
// FEEDER_CNT 46个 : 全局变量使用 7903 个字节（96%）的动态内存，剩下 289 个字节用于局部变量。最大值为 8192 字节。
// FEEDER_CNT 45个 : 个全局变量使用 7683 个字节（93%）的动态内存，剩下 509 个字节用于局部变量。最大值为 8192 字节。
// FEEDER_CNT 44个 : 个全局变量使用 7469 个字节（91%）的动态内存，剩下 723 个字节用于局部变量。最大值为 8192 字节。
// 好像局部变量的内存用量, 并没有估计到编译结果中. 局部变量要用多少, 需要自己估计.
// 能编译过的飞达数量是47组, 但是局部变量空间不够. 可以正常运行的飞达数量是44组.
#define FEEDER_CNT 1
#else
#define FEEDER_CNT 20
#endif

// 如果是单个飞达做实验, 如果重新插拔了F0TX, 需要给飞达重新上电, 否则不通讯.
// pin0, 1 和arduino上传串口有冲突(也许是同一个串口), 实际操作的D0, 是D2.

// 将飞达接到D2, 然后操作D0, 就可以控制
// pin2 => D0 => FD0, FD1
// pin3 => D1 => FD2, FD3
// pin4 => D2 => FD4, FD5
// pin5 => D3 => FD6, FD7 // M601N6X1\n, M601N7X1\n
// pin6 => D4 => FD8, FD9
// pin7 => D5 => FD10, FD11
// pin8 => D6 => FD12, FD13
// pin9 => D7 => FD14, FD15
// pin10 => D8 => FD16, FD17
// pin11 => D9 => FD18, FD19
// pin12 => D10 => FD20, FD21
// pin13 => D11 => FD22, FD23 // M601N22X1\n M601N23X1\n

// pin14, pin15 串口3, 留出来通讯用
// pin16, pin17 串口2, 留出来通讯用
// pin18, pin19 串口1, 留出来通讯用, 接收飞达回包. pin19是RXD1 // 总的RX接到了pin19(RXD1)

// pin20 => D18 => FD24, FD25
// pin21 => D19 => FD26, FD27 // M601N26X1\n M601N27X1\n
// pin22 => D20 => FD28, FD29 // M601N28X1\n M601N29X1\n
// pin23 => D21 => FD30, FD31
// pin24 => D22 => FD32, FD33
// pin25 => D23 => FD34, FD35
// pin26 => D24 => FD36, FD37
// pin27 => D25 => FD38, FD39 // M601N38X1\n M601N39X1\n
// pin28 => D26 => FD40, FD41
// pin29 => D27 => FD42, FD43
// pin30 => D28 => FD44, FD45
// pin31 => D29 => FD46, FD47
// pin32 => D30 => FD48, FD49
// pin33 => D31 => FD50, FD51
// pin34 => D32 => FD52, FD53
// pin35 => D33 => FD54, FD55
// pin36 => D34 => FD56, FD57 //
// pin37 => D35 => FD58, FD59
// pin38 => D36 => FD60, FD61
// pin39 => D37 => FD62, FD63
// pin40 => D38 => FD64, FD65
// pin41 => D39 => FD66, FD67
// pin42 => D40 => FD68, FD69
// pin43 => D41 => FD70, FD71
// pin44 => D42 => FD72, FD73
// pin45 => D43 => FD74, FD75
// pin46 => D44 => FD76, FD77
// pin47 => D45 => FD78, FD79
// pin48 => D46 => FD80, FD81
// pin49 => D47 => FD82, FD83
// pin50 => D48 => FD84, FD85
// pin51 => D49 => FD86, FD87 // M601N86X1\n M601N87X1\n

// pin52 => D50 => FD88, FD89
// pin53 => D51 => FD90, FD91
// #define FEEDER_CNT 46 !!!

// pin54 => D52 => FD92, FD93
// pin55 => D53 => FD94, FD95
// pin56 => D54 => FD96, FD97
// pin57 => D55 => FD98, FD99
// pin58 => D56 => FD100, FD101
// pin59 => D57 => FD102, FD103
// pin60 => D58 => FD104, FD105
// pin61 => D59 => FD106, FD107
// pin62 => D60 => FD108, FD109
// pin63 => D61 => FD110, FD111
// pin64 => D62 => FD112, FD113
// pin65 => D63 => FD114, FD115
// pin66 => D64 => FD116, FD117
// pin67 => D65 => FD118, FD119
// pin68 => D66 => FD120, FD121
// pin69 => D67 => FD122, FD123




#define NUMBER_OF_FEEDERS (LANES_PER_PORT * FEEDER_CNT)  // number of ports(20) * LANES_PER_PORT

/*
 *  Upstream Serial
 */
#define SERIAL_BAUD 115200

//buffer size for serial commands received
#define MAX_BUFFFER_MCODE_LINE 64	// no line can be longer than this


/* -----------------------------------------------------------------
*  FEEDER COMMANDS
*  ----------------------------------------------------------------- */
#define CMD_INFO 0x01
#define CMD_PRE_PICK 0x02
#define CMD_ADVANCE 0x03
#define CMD_STATUS 0x15
#define CMD_EEPROM_READ 0x17
#define CMD_SELF_TEST 0x18
#define CMD_EEPROM_WRITE 0x19
#define CMD_SET_PITCH 0x1c

/* -----------------------------------------------------------------
*  FEEDER STATUS
*  ----------------------------------------------------------------- */
#define STATUS_OK 0x40
#define STATUS_NO_TAPE_TENSION 0x42 	// cover tape won't tension (no tape, or broken tape)
#define STATUS_NO_TAPE_TRIGGER 0x43  	// didn't trigger a retension after 2 feeds
#define STATUS_FEED_ERROR 0x44          // feed motor stuck
#define STATUS_INVALID 0                // status not checked since last feed

/* -----------------------------------------------------------------
*  FEEDER COMM CONSTANTS
*  ----------------------------------------------------------------- */
#define ACK_TIMEOUT 50
#define RESP_TIMEOUT 50
#define MSG_ACK 0xE0


/* -----------------------------------------------------------------
*  M-CODES
*  ----------------------------------------------------------------- */
#define MCODE_DRIVER_INFO 115
#define MCODE_PRE_PICK 600
#define MCODE_ADVANCE 601
#define MCODE_FEEDER_STATUS 602
#define MCODE_GET_FEED_COUNT 603
#define MCODE_CLEAR_FEED_COUNT 623
#define MCODE_GET_ERR42_COUNT 604
#define MCODE_GET_ERR43_COUNT 605
#define MCODE_GET_ERR44_COUNT 606
#define MCODE_GET_RESET_COUNT 607
#define MCODE_GET_PITCH 608
#define MCODE_TOGGLE_PITCH 628
#define MCODE_GET_FEEDER_ID 610
#define MCODE_SET_FEEDER_ID 640
#define MCODE_READ_EEPROM 630
#define MCODE_GET_FIRMWARE_INFO 615
#define MCODE_START_SELF_TEST 650
#define MCODE_STOP_SELF_TEST 651
#define MCODE_CMD_HELP 999


//DEFINE config_h-ENDIF!!!
#endif

Feeder.h

#ifndef _FEEDER_h
#define _FEEDER_h

#include "arduino.h"
#include "config.h"


class FeederClass {
	protected:

			//on initialize it gets a number.
			int feederNo=-1;
			
			uint8_t port;	// TX serial port for this feeder
			uint8_t lane;	// lane within port
			uint8_t feederStatus = 0;	// initialized to invalid

      #ifdef SIMULATE
        uint8_t eeprom[16]; // simulates eeprom storage for read and write commands
      #endif

      /*
       *  Feeder number to TX port mapping (uses D port numbers)
       */
#if defined (BOARD96PIN)
      const uint8_t TXportPin[20] = { 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2 };
#elif defined (BOARD4PIN)
      const uint8_t TXportPin[20] = { 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12 }; // Matches ref des order of board
      //const uint8_t TXportPin[20] = { 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 }; // J20 is port 0, then goes counter-clockwise
#elif defined (BOARD_MEGA2560)
      // 官方arduino mega2560 R3 一共有70个数字IO(D0~D69), D0/D1 被编程串口占用了不能用. 剩下的可用数字IO位68个(D2~D69)
      // 其中D14/D15 = UART3, D16/D17 = UART2, D18/D19 = UART1, 这3个串口留着调试用, 剩下的可用数字IO为62个(D2~D13, D20~D69)   
const uint8_t TXportPin[FEEDER_CNT] = { 
        // D2 => D31 was F1 => F30
        21, // pin = D21
        /*2,  3,  4,  5,  6,  7,  8,  9,  10, 11, 
        12, 13, 20, 21, 22, 23, 24, 25, 26, 27, 
        28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 
        38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 
        48, 49, 50, 51, 52, 53, 54, 55, 56, 57,
        58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 
        68, 69*/
        };
#else
      const uint8_t TXportPin[20] = { 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 12, 14, 15, 16, 17, 18, 19, 20, 21 };
#endif

      bool inverse_logic = true;  // inverted logic for serial output
      
      bool sendCommand(uint8_t command);  // sends a simple command
      bool sendCommand(uint8_t command, uint8_t *dataBuf);  // sends a simple command, gets a response in dataBuf
      bool sendCommand(uint8_t command, uint8_t *dataBuf, uint8_t offset);  // sends a simple command with extra byte (offset) after lane, gets a response in dataBuf
      bool sendCommand(uint8_t command, uint8_t len, uint8_t *dataBuf);  // sends a simple command followed by data in dataBuf
      bool receiveACK();
      bool receiveMessage(uint8_t *dataBuf);

      /*
       * software serial routines - adapted from SendOnlySoftwareSerial by Nick Gammon 30th December 2016
       */
      uint8_t _transmitBitMask;
      volatile uint8_t *_transmitPortRegister;
      uint8_t m_u8_tx_pin; // 具体是操作核心板哪个引出的管脚

      // Expressed as 4-cycle delays (must never be 0!)
      uint16_t _tx_delay;

      // private methods
      void setTX(uint8_t transmitPin);

      // Return num - sub, or 1 if the result would be < 1
      static uint16_t subtract_cap(uint16_t num, uint16_t sub);

      // private static method for timing
      static inline void tunedDelay(uint16_t delay);

	public:

    //store last timestamp command was sent for timeout
    unsigned long lastTimeCommandSent;
    
    void setup(uint8_t _feeder_no, uint8_t port, uint8_t lane);

    bool sendPrePick();
    bool sendAdvance(bool overrideError);
    bool setPitch(uint8_t pitch);
    bool clearFeedCount();
    bool getFeederStatus();
    bool readEEPROM(uint8_t *buf);
    bool readInfo(uint8_t *buf);
    bool startSelfTest();
    bool stopSelfTest();
    bool setID(int32_t feederID);
    
    String reportStatus();
    String showStatus();
    bool feederIsOk();

    //software serial
    void begin(long speed);
    virtual size_t write(uint8_t byte);
};

extern FeederClass Feeder;

#endif

Feeder.cpp


#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <Arduino.h>
#include <util/delay_basic.h>

#include "Feeder.h"
#include "config.h"

void FeederClass::setup(uint8_t _feederNo, uint8_t port, uint8_t lane) {
  this->feederNo = _feederNo;
  this->port = port;
  this->lane = lane + 1;  // lanes are numbered starting from 1

  FeederClass::setTX(TXportPin[port]);
  FeederClass::begin(9600);  // serial baud rate

#ifdef DEBUG
  Serial.print("FeederClass::setup(_feederNo = ");
  Serial.print(_feederNo);

  Serial.print(", port = ");
  Serial.print(port);

  Serial.print(", lane = ");
  Serial.print(lane);

  Serial.print("), TXportPin[port] = ");
  Serial.print(TXportPin[port]);

  Serial.print("), this->m_u8_tx_pin = ");
  Serial.println(this->m_u8_tx_pin);

#endif
}

bool FeederClass::receiveACK() {
  bool b_rc = false;
  uint8_t RXbuf[4];

  while (!Serial1.available()) {
    if ((millis() - this->lastTimeCommandSent) > ACK_TIMEOUT) {
#ifdef DEBUG
      Serial.println(" ACK timeout!");
#endif
      return false;
    }
  }

  Serial1.readBytes(RXbuf, 3);

#ifdef DEBUG
  Serial.print("FeederClass::receiveACK() : recv : ");
  Serial.print(RXbuf[0], HEX);
  Serial.print(' ');
  Serial.print(RXbuf[1], HEX);
  Serial.print(' ');
  Serial.println(RXbuf[2], HEX);
#endif

  b_rc = ((RXbuf[0] == 1) && (RXbuf[1] == 0xE0) && (RXbuf[2] == 0xE1));
#ifdef DEBUG
  Serial.print("FeederClass::receiveACK() : b_rc = ");
  Serial.println(b_rc);
#endif

  return b_rc;
}

bool FeederClass::receiveMessage(uint8_t *dataBuf) {
  uint8_t RXbuf[4];
  uint8_t inChar;
  uint8_t msgLen = 0;
  uint8_t RXckSum = 0;
  bool gotError = false;

  while (!Serial1.available()) {
    if ((millis() - this->lastTimeCommandSent) > RESP_TIMEOUT) {
#ifdef DEBUG
      Serial.println(" ack timeout!");
#endif
      return false;
    }
  }

  // expecting ack message
  Serial1.readBytes(RXbuf, 3);

#ifdef DEBUG
  Serial.print("FeederClass::receiveMessage() : recv : ");
  Serial.print(RXbuf[0], HEX);
  Serial.print(' ');
  Serial.print(RXbuf[1], HEX);
  Serial.print(' ');
  Serial.println(RXbuf[2], HEX);
#endif

  gotError = (RXbuf[0] != 1) || (RXbuf[1] != 0xE0) || (RXbuf[2] != 0xE1);

  // followed by response message
  while (!Serial1.available()) {
    if ((millis() - this->lastTimeCommandSent) > RESP_TIMEOUT) {
#ifdef DEBUG
      Serial.println(" message timeout!");
#endif
      return false;
    }
  }

  // get message length
  inChar = (uint8_t)Serial1.read();
  msgLen = inChar + 1;
#ifdef DEBUG
  Serial.print("recv msgLen = ");
  Serial.println(msgLen);
#endif
  if ((msgLen > 1) && (msgLen < 64)) {  // valid message is 1 to 64 bytes, otherwise ignore it
    dataBuf[0] = inChar;                // store length
    Serial1.readBytes(&dataBuf[1], msgLen);

#ifdef DEBUG
    Serial.print("recv(HEX) : ");
    for (uint8_t i = 0; i <= msgLen; i++) {
      Serial.print(dataBuf[i], HEX);
      Serial.print(" ");
    }
    Serial.println("");
#endif

    // verify checksum
    RXckSum = 0;
    for (uint8_t i = 0; i < msgLen; i++) {
      RXckSum += dataBuf[i];
    }

    if (RXckSum != dataBuf[msgLen]) {  // verify checksum
#ifdef DEBUG
      Serial.print(dataBuf[dataBuf[0] + 1], HEX);
      Serial.print(" != ");
      Serial.print(RXckSum, HEX);
      Serial.println(" Checksum failed!");
#endif
      gotError = true;
    }
    return !gotError;
  } else {
#ifdef DEBUG
    Serial.println("err : msgLen must > 1 && < 64");
#endif
    return false;
  }
}

bool FeederClass::sendCommand(uint8_t command) {
  uint8_t cmdLen = 2;
  uint8_t buf[] = { cmdLen, command, this->lane, 0 };
  uint8_t i;
  uint8_t checksum = 0;

  while (Serial1.available()) {  // get rid of any leftover input data
    Serial1.read();
  }

  // calculate checksum
  for (i = 0; i < cmdLen + 1; i++) {
    checksum += buf[i];
  }
  buf[i] = checksum;

#ifdef DEBUG
  Serial.print("sending to port[");
  Serial.print(this->port);
  Serial.print("], m_u8_tx_pin[");
  Serial.print(m_u8_tx_pin);
  Serial.print("] =>(HEX) ");
  for (i = 0; i < cmdLen + 2; i++) {
    Serial.print(buf[i], HEX);
    Serial.print(' ');
  }
  Serial.println();
  Serial1.write(command);
#endif

#ifdef SIMULATE
  return true;
#endif
  for (i = 0; i < cmdLen + 2; i++) {
    FeederClass::write(buf[i]);
  }
  this->lastTimeCommandSent = millis();

  return FeederClass::receiveACK();
}

bool FeederClass::sendCommand(uint8_t command, uint8_t *dataBuf) {
  uint8_t cmdLen = 2;
  uint8_t buf[] = { cmdLen, command, this->lane, 0 };
  uint8_t i;
  uint8_t checksum = 0;

  while (Serial1.available()) {  // get rid of any leftover input data
    Serial1.read();
  }

  // calculate checksum
  for (i = 0; i < cmdLen + 1; i++) {
    checksum += buf[i];
  }
  buf[i] = checksum;

#ifdef DEBUG

  Serial.print("sending to port[");
  Serial.print(this->port);
  Serial.print("], m_u8_tx_pin[");
  Serial.print(m_u8_tx_pin);
  Serial.print("] =>(HEX) ");

  for (i = 0; i < cmdLen + 2; i++) {
    Serial.print(buf[i], HEX);
    Serial.print(' ');
  }
  Serial.println();
  Serial1.write(command);
#endif

#ifdef SIMULATE
  return true;
#endif
  for (i = 0; i < cmdLen + 2; i++) {
    FeederClass::write(buf[i]);
  }
  this->lastTimeCommandSent = millis();

  return FeederClass::receiveMessage(dataBuf);
}

bool FeederClass::sendCommand(uint8_t command, uint8_t *dataBuf, uint8_t offset) {
  uint8_t cmdLen = 3;
  uint8_t buf[] = { cmdLen, command, this->lane, offset, 0 };
  uint8_t i;
  uint8_t checksum = 0;

  while (Serial1.available()) {  // get rid of any leftover input data
    Serial1.read();
  }

  // calculate checksum
  for (i = 0; i < cmdLen + 1; i++) {
    checksum += buf[i];
  }
  buf[i] = checksum;

#ifdef DEBUG
  Serial.print("sending to port[");
  Serial.print(this->port);
  Serial.print("], m_u8_tx_pin[");
  Serial.print(m_u8_tx_pin);
  Serial.print("] =>(HEX) ");
  for (i = 0; i < cmdLen + 2; i++) {
    Serial.print(buf[i], HEX);
    Serial.print(' ');
  }
  Serial.println();
  Serial1.write(command);
#endif

#ifdef SIMULATE
  return true;
#endif
  for (i = 0; i < cmdLen + 2; i++) {
    FeederClass::write(buf[i]);
  }
  this->lastTimeCommandSent = millis();

  return FeederClass::receiveMessage(dataBuf);
}

bool FeederClass::sendCommand(uint8_t command, uint8_t dataLen, uint8_t *data) {
  uint8_t msgLen = dataLen + 2;
  uint8_t buf[msgLen + 2];
  uint8_t i;
  uint8_t checksum = 0;

  buf[0] = msgLen;
  buf[1] = command;
  buf[2] = this->lane;

  for (i = 0; i < dataLen; i++) {
    buf[i + 3] = data[i];
  }

  // calculate checksum
  for (i = 0; i < msgLen + 1; i++) {
    checksum += buf[i];
  }
  buf[i] = checksum;

#ifdef DEBUG
  // Serial.println(checksum, HEX);
  Serial.print("sending to port[");
  Serial.print(this->port);
  Serial.print("], m_u8_tx_pin[");
  Serial.print(m_u8_tx_pin);
  Serial.print("] =>(HEX) ");
  for (i = 0; i < msgLen + 2; i++) {
    Serial.print(buf[i], HEX);
    Serial.print(' ');
  }
  Serial.println();
#endif

  while (Serial1.available()) {  // get rid of any leftover input data
    Serial1.read();
  }

#ifdef SIMULATE
  for (i = 0; i < 16; i++) {
    this->eeprom[i] = buf[i + 3];
  }
  return true;
#endif

  for (i = 0; i < msgLen + 2; i++) {
    FeederClass::write(buf[i]);
  }
  this->lastTimeCommandSent = millis();

  return FeederClass::receiveACK();
}

bool FeederClass::sendPrePick() {
  uint8_t dataBuf[6];

#ifdef DEBUG
  Serial.println("send Pre-Pick command");
#endif

  if (!FeederClass::sendCommand(CMD_PRE_PICK, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }
#ifdef DEBUG
  Serial.println("Received ACK, check status");
#endif

#ifdef SIMULATE
  this->feederStatus = STATUS_OK;
#else
  this->feederStatus = dataBuf[1];  // should verify that byte 2 matches the lane?
#ifdef DEBUG
  Serial.print("feederStatus(dataBuf[1]) = 0x");
  Serial.println(this->feederStatus, HEX);
  Serial.println(this->showStatus());
#endif
#endif
  return true;
}

bool FeederClass::sendAdvance(bool overrideError) {
  if (this->feederStatus == STATUS_INVALID) {  // need to read status from feeder if it is not up to date
    FeederClass::getFeederStatus();
  }

#ifdef DEBUG
  Serial.println("advance triggered");
  Serial.println(this->showStatus());
#endif

  //check whether feeder is OK before every advance command
  if (this->feederStatus != STATUS_OK) {
    //feeder is in error state, usually this would lead to exit advance with false and no advancing command sent

    if (!overrideError) {
//error, and error was not overridden -> return false, advance not successful
#ifdef DEBUG
      Serial.println("error, and error was not overridden -> return false, advance not successful");
#endif
      return false;
    } else {
#ifdef DEBUG
      Serial.println("overridden error temporarily");
#endif
    }
  }
#ifdef DEBUG
  Serial.println("send advance command");
#endif

#ifdef SIMULATE
  if (++this->eeprom[2] == 0) ++this->eeprom[3];
#endif

  if (!FeederClass::sendCommand(CMD_ADVANCE)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }
  return true;
}

bool FeederClass::setPitch(uint8_t pitch) {
  uint8_t dataBuf[22];

  for (uint8_t i = 0; i < 22; i++) {
    dataBuf[i] = 0;
  }

#ifdef DEBUG
  Serial.print("Set pitch to ");
  Serial.println(pitch);
#endif

  dataBuf[0] = pitch;
  dataBuf[1] = 0;

  if (!FeederClass::sendCommand(CMD_SET_PITCH, 1, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

  // update pitch field in eeprom
  //   Read current EEPROM data
#ifdef DEBUG
  Serial.println("1. send read EEPROM command");
#endif

  if (!FeederClass::sendCommand(CMD_EEPROM_READ, dataBuf, 0)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef SIMULATE
  for (uint8_t i = 0; i < 16; i++) {
    dataBuf[i + 1] = this->eeprom[i];
  }
#endif

  for (uint8_t i = 1; i < 17; i++) {
    dataBuf[i] = dataBuf[i + 3];
  }

  dataBuf[0] = 0;
  dataBuf[5] = pitch;  // pitch byte

#ifdef DEBUG
  Serial.println("send write EEPROM command");
#endif

#ifdef DEBUG
  Serial.print("EEPROM: ");
  for (uint8_t i = 0; i < 17; i++) {
    Serial.print(dataBuf[i], HEX);
    Serial.print(' ');
  }
  Serial.println();
#endif

  if (!FeederClass::sendCommand(CMD_EEPROM_WRITE, 17, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef SIMULATE
  for (uint8_t i = 0; i < 16; i++) {
    this->eeprom[i] == dataBuf[i + 1];
  }
#endif

  return true;
}

bool FeederClass::feederIsOk() {
  if (this->feederStatus == STATUS_OK) {
    return true;
  } else {
    return false;
  }
}

bool FeederClass::getFeederStatus() {
  int i = 0;
  uint8_t dataBuf[6];
#ifdef DEBUG
  Serial.println("send status command(getFeederStatus)");
#endif

  for (i = 0; i < 6; i++) {
    dataBuf[i] = 0;
  }

  if (!FeederClass::sendCommand(CMD_STATUS, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef DEBUG
  Serial.print("getFeederStatus(), ACK from feeder(HEX) : ");
  for (i = 0; i < 6; i++) {
    Serial.print(dataBuf[i], HEX);
    Serial.print(" ");
  }
  Serial.println("");


  Serial.print("feederStatus is dataBuf[1] = 0x");
  Serial.print(dataBuf[1], HEX);
  Serial.println(" ");
#endif

#ifdef SIMULATE
  this->feederStatus = STATUS_OK;
#else
  this->feederStatus = dataBuf[1];  // should verify that byte 2 matches the lane?
#endif
  return true;
}

bool FeederClass::readEEPROM(uint8_t *dataBuf) {
#ifdef DEBUG
  Serial.println("2. send read EEPROM command");
#endif

  if (!FeederClass::sendCommand(CMD_EEPROM_READ, dataBuf, 0)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef SIMULATE
  for (uint8_t i = 0; i < 16; i++) {
    dataBuf[i] = this->eeprom[i];
  }
#else
  uint8_t len = dataBuf[0];
  #ifdef DEBUG
    Serial.print("len = ");
    Serial.println(len);
  #endif
  uint8_t i = 0;

  // len = 2时, 没进下面这个循环
  for (; i < len - 4; i++) {
    dataBuf[i] = dataBuf[i + 4];
  }
  dataBuf[i] = 0;
#endif

  return true;
}

bool FeederClass::readInfo(uint8_t *dataBuf) {
#ifdef DEBUG
  Serial.println("send read info command");
#endif

  if (!FeederClass::sendCommand(CMD_INFO, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

  return true;
}

bool FeederClass::clearFeedCount() {
  uint8_t dataBuf[22];

  // Read current EEPROM data
#ifdef DEBUG
  Serial.println("3. send read EEPROM command");
#endif

  if (!FeederClass::sendCommand(CMD_EEPROM_READ, dataBuf, 0)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef SIMULATE
  for (uint8_t i = 0; i < 16; i++) {
    dataBuf[i + 1] = this->eeprom[i];
  }
#endif

  for (uint8_t i = 1; i < 17; i++) {
    dataBuf[i] = dataBuf[i + 3];
  }

  dataBuf[0] = 0;

  dataBuf[3] = 0;  // count low byte
  dataBuf[4] = 0;  // count mid byte
  dataBuf[6] = 0;  // count high byte
#ifdef DEBUG
  Serial.println("send write EEPROM command");
#endif

  if (!FeederClass::sendCommand(CMD_EEPROM_WRITE, 17, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef SIMULATE
  for (uint8_t i = 0; i < 16; i++) {
    this->eeprom[i] == dataBuf[i + 1];
  }
#endif

  return true;
}

bool FeederClass::setID(int32_t feederID) {
  uint8_t dataBuf[22];

  for (uint8_t i = 0; i < 22; i++) {
    dataBuf[i] = 0;
  }

  if (this->lane == 1) {
    dataBuf[1] = feederID & 0xFF;         // low byte of ID
    dataBuf[2] = (feederID >> 8) & 0xFF;  // high byte of ID
    dataBuf[7] = 0x31;
    dataBuf[8] = 1;
  } else {
    dataBuf[8] = 0x3c;
  }

#ifdef DEBUG
  Serial.println("send write EEPROM command");
#endif

  if (!FeederClass::sendCommand(CMD_EEPROM_WRITE, 17, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  }

#ifdef SIMULATE
  for (uint8_t i = 0; i < 16; i++) {
    this->eeprom[i] == dataBuf[i + 1];
  }
#endif

  return true;
}


String FeederClass::reportStatus() {
  FeederClass::getFeederStatus();
  return FeederClass::showStatus();
}

String FeederClass::showStatus() {
  switch (this->feederStatus) {
    case STATUS_OK:
      return "getFeederStatus: feeder OK";
      break;
    case STATUS_INVALID:
      return "getFeederStatus: invalid, status not updated";
      break;
    case STATUS_NO_TAPE_TENSION:
      return "getFeederStatus: No tape tension.  Tape may be broken";
      break;
    case STATUS_NO_TAPE_TRIGGER:
      return "getFeederStatus: Tape take-up not triggered after multiple feeds";
      break;
    case STATUS_FEED_ERROR:
      return "getFeederStatus: Feed motor did not advance";
      break;
    default:
      char statusCode[34];
      sprintf(statusCode, "Unrecognized status code %02X", this->feederStatus);
      return statusCode;
  }
}

bool FeederClass::startSelfTest() {
  uint8_t dataBuf[2];

#ifdef DEBUG
  Serial.println("send self test command");
#endif

  dataBuf[0] = 5;
  dataBuf[1] = 0;

  if (!FeederClass::sendCommand(CMD_SELF_TEST, 1, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  } else {
    return true;
  }
}

bool FeederClass::stopSelfTest() {
  uint8_t dataBuf[2];

#ifdef DEBUG
  Serial.println("send stop self test command");
#endif

  dataBuf[0] = 7;
  dataBuf[1] = 0;

  if (!FeederClass::sendCommand(CMD_SELF_TEST, 1, dataBuf)) {
#ifdef DEBUG
    Serial.println("No ACK from feeder");
#endif
    return false;
  } else {
    return true;
  }
}

void FeederClass::setTX(uint8_t tx) {
  // First write, then set output. If we do this the other way around,
  // the pin would be output low for a short while before switching to
  // output high. Now, it is input with pullup for a short while, which
  // is fine. With inverse logic, either order is fine.
  digitalWrite(tx, this->inverse_logic ? LOW : HIGH);
  pinMode(tx, OUTPUT);
  this->_transmitBitMask = digitalPinToBitMask(tx);
  uint8_t port = digitalPinToPort(tx);
  this->_transmitPortRegister = portOutputRegister(port);
  this->m_u8_tx_pin = tx;
}

uint16_t FeederClass::subtract_cap(uint16_t num, uint16_t sub) {
  if (num > sub)
    return num - sub;
  else
    return 1;
}

/* static */
inline void FeederClass::tunedDelay(uint16_t delay) {
  _delay_loop_2(delay);
}

void FeederClass::begin(long speed) {
  this->_tx_delay = 0;

  // Precalculate the various delays, in number of 4-cycle delays
  uint16_t bit_delay = (F_CPU / speed) / 4;

  // 12 (gcc 4.8.2) or 13 (gcc 4.3.2) cycles from start bit to first bit,
  // 15 (gcc 4.8.2) or 16 (gcc 4.3.2) cycles between bits,
  // 12 (gcc 4.8.2) or 14 (gcc 4.3.2) cycles from last bit to stop bit
  // These are all close enough to just use 15 cycles, since the inter-bit
  // timings are the most critical (deviations stack 8 times)
  this->_tx_delay = subtract_cap(bit_delay, 15 / 4);
}


size_t FeederClass::write(uint8_t b) {
  // By declaring these as local variables, the compiler will put them
  // in registers _before_ disabling interrupts and entering the
  // critical timing sections below, which makes it a lot easier to
  // verify the cycle timings
  volatile uint8_t *reg = this->_transmitPortRegister;
  uint8_t reg_mask = this->_transmitBitMask;
  uint8_t inv_mask = ~this->_transmitBitMask;
  uint8_t oldSREG = SREG;
  bool inv = this->inverse_logic;
  uint16_t delay = this->_tx_delay;

  if (inv)
    b = ~b;

  cli();  // turn off interrupts for a clean txmit

  // Write the start bit
  if (inv)
    *reg |= reg_mask;
  else
    *reg &= inv_mask;

  tunedDelay(delay);

  // Write each of the 8 bits
  for (uint8_t i = 8; i > 0; --i) {
    if (b & 1)           // choose bit
      *reg |= reg_mask;  // send 1
    else
      *reg &= inv_mask;  // send 0

    tunedDelay(delay);
    b >>= 1;
  }

  // restore pin to natural state
  if (inv)
    *reg &= inv_mask;
  else
    *reg |= reg_mask;

  SREG = oldSREG;  // turn interrupts back on
  tunedDelay(delay);

  return 1;
}

gcode.ino

#include "config.h"

String inputBuffer[] = { "", "", "", "" };  // Buffer for incoming G-Code lines
int bufPtr = 0;

/**
* Look for character /code/ in the inputBuffer and read the float that immediately follows it.
* @return the value found.  If nothing is found, /defaultVal/ is returned.
* @input code the character to look for.
* @input defaultVal the return value if /code/ is not found.
**/
float parseParameter(String inBuf, char code, float defaultVal) {
  int codePosition = inBuf.indexOf(code);
  if (codePosition != -1) {
    //code found in buffer

    //find end of number (separated by " " (space))
    int delimiterPosition = inBuf.indexOf(" ", codePosition + 1);

    float parsedNumber = inBuf.substring(codePosition + 1, delimiterPosition).toFloat();

    return parsedNumber;
  } else {
    return defaultVal;
  }
}

void setupGCodeProc() {
  for (int i = 0; i < 4; i++) {
    inputBuffer[i].reserve(MAX_BUFFFER_MCODE_LINE);
  }
}

void sendAnswer(uint8_t error, String message) {
  switch (error) {
    case 0:
      {
        Serial.print("ok ");
        Serial.println(message);
        break;
      }

    case 1:
      {
        Serial.print("error ");
        Serial.println(message);
        break;
      }

    case 2:
      {
        Serial.println(message);
        Serial.println("ok ");
        break;
      }
  }
}

bool validFeederNo(int8_t signedFeederNo, uint8_t feederNoMandatory = 0) {
  bool b_rc = false;

  do {
    if (signedFeederNo == -1 && feederNoMandatory >= 1) {
      //no number given (-1) but it is mandatory.
      break;
    } else {
      //state now: number is given, check for valid range
      if (signedFeederNo < 0 || signedFeederNo > (NUMBER_OF_FEEDERS - 1)) {
        //error, number not in a valid range
        break;
      } else {
        //valid number
        b_rc = true;
        break;
      }
    }
  } while (0);

  if (!b_rc) {
#ifdef DEBUG
    Serial.print("signedFeederNo valid range = [0 ~ ");
    Serial.print((NUMBER_OF_FEEDERS - 1));
    Serial.println("]");
#endif
  }

  return b_rc;
}

bool validPitch(int8_t pitch, uint8_t pitchMandatory = 0) {
  if (pitch == -1 && pitchMandatory >= 1) {
    //no number given (-1) but it is mandatory.
    return false;
  } else {
    //state now: number is given, check for valid range
    if (pitch < 0 || pitch > 1) {
      //error, number not in a valid range
      return false;
    } else {
      //valid number
      return true;
    }
  }
}

bool validFeederID(int32_t signedFeederID, uint8_t feederIDMandatory = 0) {
  if (signedFeederID == -1 && feederIDMandatory >= 1) {
    //no number given (-1) but it is mandatory.
    return false;
  } else {
    //state now: number is given, check for valid range
    if (signedFeederID < 0 || signedFeederID > 65535) {
      //error, number not in a valid range
      return false;
    } else {
      //valid number
      return true;
    }
  }
}

/**
* Read the input buffer and find any recognized commands.  One G or M command per line.
*/
void processCommand(String cmdBuf) {

  //get the command, default -1 if no command found
  int cmd = parseParameter(cmdBuf, 'M', -1);

#ifdef DEBUG1
  Serial.print("command found: M");
  Serial.println(cmd);
#endif


  switch (cmd) {

    // M115
    case MCODE_DRIVER_INFO:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_DRIVER_INFO");
#endif
        sendAnswer(2, "FIRMWARE_NAME: " PRJ_NAME ", FIRMWARE_VERSION: " PRJ_VER);
        break;
      }

      /*
		FEEDER-CODES
		*/

    case MCODE_PRE_PICK:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_PRE_PICK");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);

#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of a mandatory FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        //send pre pick command
        if (!feeders[signedFeederNo].sendPrePick()) {
          sendAnswer(1, "No acknowledge from feeder");
        } else {
          sendAnswer(0, "Shutter opened");
        }

        break;
      }

    case MCODE_ADVANCE:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_ADVANCE");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        int8_t overrideErrorRaw = (int)parseParameter(cmdBuf, 'X', -1);
#ifdef DEBUG
        Serial.print("overrideErrorRaw = ");
        Serial.println(overrideErrorRaw);
#endif
        bool overrideError = false;
        if (overrideErrorRaw >= 1) {
          overrideError = true;
#ifdef DEBUG
          Serial.println("Argument X1 found, error will be ignored");
#endif
        }

        //check for presence of a mandatory FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        //send feed command
        if (!feeders[signedFeederNo].sendAdvance(overrideError)) {
          sendAnswer(1, "Unable to advance tape");
        } else {
          sendAnswer(0, "Tape advanced");
        }

        break;
      }

    case MCODE_FEEDER_STATUS:
      {
        

#ifdef DEBUG
        Serial.println("cmdproc : MCODE_FEEDER_STATUS");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
        
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        sendAnswer(0, feeders[signedFeederNo].reportStatus());

        break;
      }

    case MCODE_GET_FEED_COUNT:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_FEED_COUNT");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }

        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
#ifdef DEBUG
          Serial.print("inBuf(HEX) = [");
          for (int i = 0; i < 24; i++) {
            Serial.print(inBuf[i], HEX);
            Serial.print(" ");
          }
          Serial.println("]");
#endif

          uint32_t counth = inBuf[5];
          counth <<= 16;
          uint32_t countm = inBuf[3];
          countm <<= 8;
          uint32_t count = counth + countm + inBuf[2];
          char countStr[22];
          sprintf(countStr, "Feed count: %lu", count);
          sendAnswer(0, countStr);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_CLEAR_FEED_COUNT:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_CLEAR_FEED_COUNT");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        if (!feeders[signedFeederNo].clearFeedCount()) {
          sendAnswer(1, "Unable to clear feed count");
        } else {
          sendAnswer(0, "Feed count cleared");
        }

        break;
      }

    case MCODE_GET_ERR42_COUNT:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_ERR42_COUNT");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          uint16_t count = inBuf[12] & 0x0f;
          count <<= 8;
          count += inBuf[8];
          char countStr[22];
          sprintf(countStr, "Error 42 count: %u", count);
          sendAnswer(0, countStr);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_GET_ERR43_COUNT:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_ERR43_COUNT");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          uint16_t count = inBuf[12] & 0xf0;
          count <<= 4;
          count += inBuf[9];
          char countStr[22];
          sprintf(countStr, "Error 43 count: %u", count);
          sendAnswer(0, countStr);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_GET_ERR44_COUNT:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_ERR44_COUNT");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          uint16_t count = inBuf[13] & 0x0f;
          count <<= 8;
          count += inBuf[10];
          char countStr[22];
          sprintf(countStr, "Error 44 count: %u", count);
          sendAnswer(0, countStr);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_GET_RESET_COUNT:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_RESET_COUNT");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        if (signedFeederNo % 2 != 0) {  // Reset count is only in the lane 1 field, so need to adjust if it is lane 2
          signedFeederNo--;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          uint16_t count = inBuf[13] & 0xf0;
          count <<= 4;
          count += inBuf[11];
          char countStr[22];
          sprintf(countStr, "Reset count: %u", count);
          sendAnswer(0, countStr);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_READ_EEPROM:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_READ_EEPROM");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }

        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          char hex[50];
          sprintf(hex, "%02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X ", inBuf[0], inBuf[1], inBuf[2], inBuf[3], inBuf[4], inBuf[5], inBuf[6], inBuf[7], inBuf[8], inBuf[9], inBuf[10], inBuf[11], inBuf[12], inBuf[13], inBuf[14], inBuf[15]);
          sendAnswer(0, hex);
        } else {
          sendAnswer(1, " no response from feeder");
        }
        break;
      }

    case MCODE_GET_FEEDER_ID:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_FEEDER_ID");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        bool left = true;
        if (signedFeederNo % 2 != 0) {  // ID is only in the lane 1 field, so need to adjust if it is lane 2
          left = false;
          signedFeederNo--;
        }

        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          uint16_t id = (inBuf[1] << 8) + inBuf[0];
          char idStr[22];
          sprintf(idStr, "ID: %u%s", id, (left ? "L" : "R"));
          sendAnswer(0, idStr);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_SET_FEEDER_ID:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_SET_FEEDER_ID");
#endif

        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif
        int32_t newFeederID = (int)parseParameter(cmdBuf, 'X', -1);

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        //must be run from lane 1 of feeder, so adjust.
        if ((signedFeederNo % 2) != 0) {
          --signedFeederNo;
        }

        //check for presence of FeederID
        if (!validFeederID(newFeederID, 1)) {
          sendAnswer(1, "feederID missing or invalid");
          break;
        }


        if (feeders[signedFeederNo].setID(newFeederID)) {
          if (feeders[signedFeederNo + 1].setID(0)) {  // need to clear 2nd lane also
            sendAnswer(0, "ID set");
          } else {
            sendAnswer(1, " no response from feeder");
          }
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_GET_PITCH:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_PITCH");
#endif

        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          char pitch[6];
          sprintf(pitch, "%d MM", (inBuf[4] == 0 ? 2 : 4));
          sendAnswer(0, pitch);
        } else {
          sendAnswer(1, " no response from feeder");
        }
        break;
      }

    case MCODE_TOGGLE_PITCH:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_TOGGLE_PITCH");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif
        int8_t pitch;

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[24];
        for (int i = 0; i < 24; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readEEPROM(inBuf)) {
          if (inBuf[4] == 0) {
            pitch = 1;
          } else {
            pitch = 0;
          }
          //send set pitch command
          if (!feeders[signedFeederNo].setPitch(pitch)) {
            sendAnswer(1, "Unable to set pitch");
          } else {
            sendAnswer(0, "Pitch set");
          }

        } else {
          sendAnswer(1, " no response from feeder");
        }
        break;
      }

    case MCODE_GET_FIRMWARE_INFO:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_GET_FIRMWARE_INFO");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        uint8_t inBuf[64];
        for (int i = 0; i < 64; i++) {
          inBuf[i] = 0;
        }
        if (feeders[signedFeederNo].readInfo(inBuf)) {
          char version[25];
          sprintf(version, "Firmware version %d.%d", inBuf[2], inBuf[3]);
          sendAnswer(0, version);
        } else {
          sendAnswer(1, " no response from feeder");
        }

        break;
      }

    case MCODE_START_SELF_TEST:
      {
        bool b_rc = false;
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_START_SELF_TEST");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of a mandatory FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        //send self test command
        b_rc = feeders[signedFeederNo].startSelfTest();
#ifdef DEBUG
        Serial.print("startSelfTest() return b_rc = ");
        Serial.println(b_rc);
#endif
        if (!b_rc) {
          sendAnswer(1, "err: No acknowledge from feeder");
        } else {
          sendAnswer(0, "ok: Self test started");
        }

        break;
      }

    case MCODE_STOP_SELF_TEST:
      {
#ifdef DEBUG
        Serial.println("cmdproc : MCODE_STOP_SELF_TEST");
#endif
        int8_t signedFeederNo = (int)parseParameter(cmdBuf, 'N', -1);
#ifdef DEBUG
        Serial.print("signedFeederNo = ");
        Serial.println(signedFeederNo);
#endif

        //check for presence of a mandatory FeederNo
        if (!validFeederNo(signedFeederNo, 1)) {
          sendAnswer(1, "feederNo missing or invalid");
          break;
        }

        //send self test command
        if (!feeders[signedFeederNo].stopSelfTest()) {
          sendAnswer(1, "No acknowledge from feeder");
        } else {
          sendAnswer(0, "Self test stopped");
        }

        break;
      }

    case MCODE_CMD_HELP:
      {
        Serial.println("command list below:");
        Serial.println("M115 MCODE_DRIVER_INFO ");
        Serial.println("M600 MCODE_PRE_PICK ");
        Serial.println("M601 MCODE_ADVANCE e.g. M601N0X1 is ok, M601N0X0 is err");
        Serial.println("M602 MCODE_FEEDER_STATUS ");
        Serial.println("M603 MCODE_GET_FEED_COUNT ");
        Serial.println("M623 MCODE_CLEAR_FEED_COUNT ");
        Serial.println("M604 MCODE_GET_ERR42_COUNT ");
        Serial.println("M605 MCODE_GET_ERR43_COUNT ");
        Serial.println("M606 MCODE_GET_ERR44_COUNT ");
        Serial.println("M607 MCODE_GET_RESET_COUNT ");
        Serial.println("M608 MCODE_GET_PITCH ");
        Serial.println("M628 MCODE_TOGGLE_PITCH ");
        Serial.println("M610 MCODE_GET_FEEDER_ID ");
        Serial.println("M640 MCODE_SET_FEEDER_ID ");
        Serial.println("M630 MCODE_READ_EEPROM ");
        Serial.println("M615 MCODE_GET_FIRMWARE_INFO ");
        Serial.println("M650 MCODE_START_SELF_TEST ");
        Serial.println("M651 MCODE_STOP_SELF_TEST ");
        Serial.println("M999 MCODE_CMD_HELP ");
      }
      break;


    default:
      sendAnswer(0, "unknown or empty command ignored");

      break;
  }
}

void listenToSerialStream() {

  while (Serial.available()) {

    // get the received byte, convert to char for adding to buffer
    char receivedChar = (char)Serial.read();

    // print back for debugging
    //#ifdef DEBUG
    Serial.print(receivedChar);
    //#endif

    // add to buffer
    inputBuffer[bufPtr] += receivedChar;

    // if the received character is a newline, processCommand
    if (receivedChar == '\n') {
#ifdef DEBUG
      Serial.print("buffer ");
      Serial.println(bufPtr);
#endif
      int curBuf = bufPtr;
      // switch to next buffer while processing this one
      if (++bufPtr > 3)
        bufPtr = 0;

      //remove comments
      inputBuffer[curBuf].remove(inputBuffer[curBuf].indexOf(";"));
      inputBuffer[curBuf].trim();


      processCommand(inputBuffer[curBuf]);

      //clear buffer
      inputBuffer[curBuf] = "";
    }
  }
}

END

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