Fixed a number of bugs caused by using abs() on floats and long ints. Added support for selectively inverting bits of the stepping port. Debugged, optimized and cleaned up timing code for the step-pulses.

serial_protocol.c

@@ -26,9 +26,9 @@
 #include <math.h>
 #include "nuts_bolts.h"
 
-#define BLOCK_BUFFER_SIZE 128
+#define LINE_BUFFER_SIZE 128
 
-char line[BLOCK_BUFFER_SIZE];
+char line[LINE_BUFFER_SIZE];
 uint8_t line_counter;
 
 void prompt() {
@@ -79,6 +79,9 @@ void sp_process()
   {
     if((c < 32)) {  // Line is complete. Then execute!
       line[line_counter] = 0;
+      // printString("->");
+      // printString(line);
+      // printString("<-\r\n");
       gc_execute_line(line);
       line_counter = 0;
       prompt();