Version 3.0.0_221: Added QU,6 query to return the number of commands currently in the FIFO

EBB_firmware/app.X/source/UBW.c

@@ -151,7 +151,7 @@ volatile UINT16 g_StepperDisableTimeoutS;       // Seconds of no motion before m
 volatile UINT16 g_StepperDisableSecondCounter;  // Counts milliseconds up to 1 s for stepper disable timeout
 volatile UINT16 g_StepperDisableCountdownS;     // After motion is done, counts down in seconds from g_StepperDisableTimeoutS to zero
 
-const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.0"};
+const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.1_221"};
 
 #pragma udata ISR_buf = 0x100
 volatile unsigned int ISR_A_FIFO[16];                     // Stores the most recent analog conversions
@@ -2200,6 +2200,7 @@ void parse_CU_packet(void)
 // 3   QU,3,ddd to read back the current FIFO length
 // 4   QU,4,XXX prints out stack high water value (as 3 digit hex value)
 // 5   QU,5,XXX prints out stack high water value (as 3 digit hex value) and resets it to zero
+// 6   QU,6,XX prints out the number of commands currently waiting in the FIFO
 // 60  QU,60,dddd prints out current value of g_PowerMonitorThresholdADC
 // 61  QU,61,dddddd prints out current value of g_StepperDisableTimeoutS
 // 200 QU,200,dddddddddd,dddddddddd prints out the current value of acc_union[0] and acc_union[1] (the accumulators)
@@ -2265,6 +2266,14 @@ void parse_QU_packet(void)
     gStackHighWater = 0;
     INTCONbits.GIEL = 1;  // Turn low priority interrupts on
   }  
+  // CU,6 prints out the number of commands currently waiting in the FIFO
+  else if (6u == parameter_number)
+  {
+    ebb_print_uint(parameter_number);
+    ebb_print_char(',');
+    ebb_print_uint(gFIFOLength);
+    print_line_ending(kLE_NORM);
+  }  
   // 60  QU,60,dddd prints out current value of g_PowerMonitorThresholdADC
   else if (60u == parameter_number)
   {

docs/ebb.html

@@ -2055,6 +2055,12 @@
                     This query is identical to <code>QU,4</code> except that it also resets the stack high water value to zero.
                   </p>
                 </li>
+                <li>
+                  <i>Param_Number</i> = 6 : <b>Read out number of commands currently waiting in the FIFO</b>
+                  <p>
+                    This query returns the instantaneous number of waiting commands in the FIFO as a two digit decimal number.
+                  </p>
+                </li>
                 <li>
                   <i>Param_Number</i> = 60 : <b>Read out <i>Power_Lost_Threshold</i></b>
                   <p>