Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
4cff3ded AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
4cff3ded | 8 | #include "libs/Kernel.h" |
88443c6b | 9 | |
4cff3ded | 10 | #include "modules/tools/laser/Laser.h" |
14ecdbd7 | 11 | #include "modules/tools/extruder/ExtruderMaker.h" |
3c132bd0 | 12 | #include "modules/tools/temperaturecontrol/TemperatureControlPool.h" |
201bcb94 | 13 | #include "modules/tools/endstops/Endstops.h" |
88443c6b | 14 | #include "modules/tools/zprobe/ZProbe.h" |
ed866a4b | 15 | #include "modules/tools/scaracal/SCARAcal.h" |
cc1d3b1f | 16 | #include "modules/tools/switch/SwitchPool.h" |
abe97b79 | 17 | #include "modules/tools/temperatureswitch/TemperatureSwitch.h" |
88443c6b | 18 | |
3fceb8eb | 19 | #include "modules/robot/Conveyor.h" |
4eb9c745 | 20 | #include "modules/utils/simpleshell/SimpleShell.h" |
cf44cb59 | 21 | #include "modules/utils/configurator/Configurator.h" |
0e8b102e | 22 | #include "modules/utils/currentcontrol/CurrentControl.h" |
1cf49da1 | 23 | #include "modules/utils/player/Player.h" |
81b547a1 | 24 | #include "modules/utils/pausebutton/PauseButton.h" |
4a679a75 | 25 | #include "modules/utils/PlayLed/PlayLed.h" |
35089dc7 | 26 | #include "modules/utils/panel/Panel.h" |
d4ee6ee2 | 27 | #include "libs/Network/uip/Network.h" |
61134a65 | 28 | #include "Config.h" |
7af0714f | 29 | #include "checksumm.h" |
8d54c34c | 30 | #include "ConfigValue.h" |
35089dc7 | 31 | |
2487f50b | 32 | // #include "libs/ChaNFSSD/SDFileSystem.h" |
4eb9c745 AW |
33 | #include "libs/nuts_bolts.h" |
34 | #include "libs/utils.h" | |
4cff3ded | 35 | |
40c831b8 MM |
36 | // Debug |
37 | #include "libs/SerialMessage.h" | |
a39e1557 | 38 | |
7c3c5e0f MM |
39 | #include "libs/USBDevice/USB.h" |
40 | #include "libs/USBDevice/USBMSD/USBMSD.h" | |
41 | #include "libs/USBDevice/USBMSD/SDCard.h" | |
42 | #include "libs/USBDevice/USBSerial/USBSerial.h" | |
9f0f2c8f | 43 | #include "libs/USBDevice/DFU.h" |
246fd409 | 44 | #include "libs/SDFAT.h" |
61134a65 | 45 | #include "StreamOutputPool.h" |
17c89e4d | 46 | #include "ToolManager.h" |
246fd409 | 47 | |
073b1698 MM |
48 | #include "libs/Watchdog.h" |
49 | ||
582559c6 | 50 | #include "version.h" |
61134a65 | 51 | #include "system_LPC17xx.h" |
582559c6 | 52 | |
a2f7633f JM |
53 | #include "mbed.h" |
54 | ||
764b2de4 | 55 | #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable") |
82d1ceb3 | 56 | #define disable_msd_checksum CHECKSUM("msd_disable") |
21320fc6 | 57 | #define disable_leds_checksum CHECKSUM("leds_disable") |
f431d45c | 58 | #define dfu_enable_checksum CHECKSUM("dfu_enable") |
764b2de4 | 59 | |
073b1698 MM |
60 | // Watchdog wd(5000000, WDT_MRI); |
61 | ||
d337942a | 62 | // USB Stuff |
5c84acba | 63 | SDCard sd __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard |
82414cb2 | 64 | //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard |
eaf7b7eb | 65 | //SDCard sd(P0_18, P0_17, P0_15, P2_8); // this selects SPI0 as the sdcard witrh a different sd select |
82414cb2 | 66 | |
5c84acba JM |
67 | USB u __attribute__ ((section ("AHBSRAM0"))); |
68 | USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u); | |
45509e68 JM |
69 | #ifndef DISABLEMSD |
70 | USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd); | |
71 | #else | |
8c6d9683 | 72 | USBMSD *msc= NULL; |
45509e68 | 73 | #endif |
7c3c5e0f | 74 | |
5c84acba | 75 | SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd); |
a39e1557 | 76 | |
ca3a28b4 MM |
77 | GPIO leds[5] = { |
78 | GPIO(P1_18), | |
79 | GPIO(P1_19), | |
80 | GPIO(P1_20), | |
81 | GPIO(P1_21), | |
82 | GPIO(P4_28) | |
83 | }; | |
a39e1557 | 84 | |
9e089978 JM |
85 | // debug pins, only used if defined in src/makefile |
86 | #ifdef BLOCK_DEBUG_PIN | |
87 | GPIO block_debug_pin(BLOCK_DEBUG_PIN); | |
88 | #endif | |
89 | ||
90 | #ifdef STEPTICKER_DEBUG_PIN | |
91 | GPIO stepticker_debug_pin(STEPTICKER_DEBUG_PIN); | |
92 | #endif | |
93 | ||
8a1a44cb | 94 | void init() { |
2a1089e1 AW |
95 | |
96 | // Default pins to low status | |
97 | for (int i = 0; i < 5; i++){ | |
ca3a28b4 | 98 | leds[i].output(); |
82d1ceb3 | 99 | leds[i]= 0; |
ca3a28b4 MM |
100 | } |
101 | ||
9e089978 JM |
102 | #ifdef BLOCK_DEBUG_PIN |
103 | block_debug_pin.output(); | |
104 | block_debug_pin= 0; | |
105 | #endif | |
106 | #ifdef STEPTICKER_DEBUG_PIN | |
107 | stepticker_debug_pin.output(); | |
108 | stepticker_debug_pin= 0; | |
109 | #endif | |
110 | ||
4464301d | 111 | Kernel* kernel = new Kernel(); |
a39e1557 | 112 | |
577414f6 | 113 | kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000); |
582559c6 JM |
114 | Version version; |
115 | kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date()); | |
4cff3ded | 116 | |
21320fc6 JM |
117 | //some boards don't have leds.. TOO BAD! |
118 | kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool(); | |
119 | ||
f431d45c JM |
120 | bool sdok= (sd.disk_initialize() == 0); |
121 | if(!sdok) kernel->streams->printf("SDCard is disabled\r\n"); | |
122 | ||
45509e68 | 123 | #ifdef DISABLEMSD |
82d1ceb3 | 124 | // attempt to be able to disable msd in config |
f431d45c | 125 | if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){ |
8c6d9683 JM |
126 | // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor |
127 | size_t n= sizeof(USBMSD); | |
128 | void *v = AHB0.alloc(n); | |
129 | memset(v, 0, n); // clear the allocated memory | |
130 | msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory | |
131 | }else{ | |
132 | msc= NULL; | |
133 | kernel->streams->printf("MSD is disabled\r\n"); | |
134 | } | |
45509e68 | 135 | #endif |
82d1ceb3 | 136 | |
82d1ceb3 | 137 | |
2a1089e1 | 138 | // Create and add main modules |
4eb9c745 | 139 | kernel->add_module( new SimpleShell() ); |
d3a6143b | 140 | kernel->add_module( new Configurator() ); |
0e8b102e | 141 | kernel->add_module( new CurrentControl() ); |
df27a6a3 | 142 | kernel->add_module( new PauseButton() ); |
4a679a75 | 143 | kernel->add_module( new PlayLed() ); |
201bcb94 | 144 | kernel->add_module( new Endstops() ); |
1cf49da1 | 145 | kernel->add_module( new Player() ); |
df930a5f | 146 | |
24584878 | 147 | |
df930a5f | 148 | // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES |
24584878 JM |
149 | #ifndef NO_TOOLS_SWITCH |
150 | SwitchPool *sp= new SwitchPool(); | |
151 | sp->load_tools(); | |
152 | delete sp; | |
153 | #endif | |
df930a5f | 154 | #ifndef NO_TOOLS_EXTRUDER |
ec6fde0b | 155 | // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does |
24584878 JM |
156 | ExtruderMaker *em= new ExtruderMaker(); |
157 | em->load_tools(); | |
158 | delete em; | |
df930a5f | 159 | #endif |
c7689006 | 160 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
ec6fde0b | 161 | // Note order is important here must be after extruder so Tn as a parameter will get executed first |
24584878 JM |
162 | TemperatureControlPool *tp= new TemperatureControlPool(); |
163 | tp->load_tools(); | |
164 | delete tp; | |
c7689006 | 165 | #endif |
df930a5f JM |
166 | #ifndef NO_TOOLS_LASER |
167 | kernel->add_module( new Laser() ); | |
168 | #endif | |
169 | #ifndef NO_UTILS_PANEL | |
58d6d841 | 170 | kernel->add_module( new Panel() ); |
df930a5f JM |
171 | #endif |
172 | #ifndef NO_TOOLS_TOUCHPROBE | |
3779fd74 | 173 | kernel->add_module( new Touchprobe() ); |
df930a5f | 174 | #endif |
88443c6b JM |
175 | #ifndef NO_TOOLS_ZPROBE |
176 | kernel->add_module( new ZProbe() ); | |
177 | #endif | |
ed866a4b QH |
178 | #ifndef NO_TOOLS_SCARACAL |
179 | kernel->add_module( new SCARAcal() ); | |
180 | #endif | |
df930a5f | 181 | #ifndef NONETWORK |
d4ee6ee2 | 182 | kernel->add_module( new Network() ); |
df930a5f | 183 | #endif |
1dc339ee | 184 | #ifndef NO_TOOLS_TEMPERATURESWITCH |
e6b0fc38 | 185 | // Must be loaded after TemperatureControlPool |
1dc339ee | 186 | kernel->add_module( new TemperatureSwitch() ); |
187 | #endif | |
81b547a1 | 188 | |
4a679a75 | 189 | // Create and initialize USB stuff |
7c3c5e0f | 190 | u.init(); |
8a004d38 | 191 | |
45509e68 | 192 | #ifdef DISABLEMSD |
8c6d9683 JM |
193 | if(sdok && msc != NULL){ |
194 | kernel->add_module( msc ); | |
195 | } | |
45509e68 JM |
196 | #else |
197 | kernel->add_module( &msc ); | |
198 | #endif | |
b813be45 | 199 | |
7c3c5e0f | 200 | kernel->add_module( &usbserial ); |
764b2de4 | 201 | if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){ |
f431d45c JM |
202 | kernel->add_module( new(AHB0) USBSerial(&u) ); |
203 | } | |
204 | ||
205 | if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){ | |
206 | kernel->add_module( new(AHB0) DFU(&u)); | |
764b2de4 | 207 | } |
7c3c5e0f MM |
208 | kernel->add_module( &u ); |
209 | ||
a4bfde91 JM |
210 | // clear up the config cache to save some memory |
211 | kernel->config->config_cache_clear(); | |
212 | ||
21320fc6 JM |
213 | if(kernel->use_leds) { |
214 | // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok | |
215 | leds[0]= 1; // indicate we are done with init | |
216 | leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found) | |
217 | } | |
82d1ceb3 | 218 | |
33e4cc02 JM |
219 | if(sdok) { |
220 | // load config override file if present | |
221 | // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500 | |
222 | FILE *fp= fopen(kernel->config_override_filename(), "r"); | |
223 | if(fp != NULL) { | |
224 | char buf[132]; | |
225 | kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename()); | |
226 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
227 | kernel->streams->printf(" %s", buf); | |
228 | if(buf[0] == ';') continue; // skip the comments | |
229 | struct SerialMessage message= {&(StreamOutput::NullStream), buf}; | |
230 | kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); | |
231 | } | |
232 | kernel->streams->printf("config override file executed\n"); | |
233 | fclose(fp); | |
234 | } | |
235 | } | |
8a1a44cb JM |
236 | } |
237 | ||
238 | int main() | |
239 | { | |
240 | init(); | |
33e4cc02 | 241 | |
82d1ceb3 | 242 | uint16_t cnt= 0; |
2a1089e1 | 243 | // Main loop |
4cff3ded | 244 | while(1){ |
8a1a44cb | 245 | if(THEKERNEL->use_leds) { |
21320fc6 JM |
246 | // flash led 2 to show we are alive |
247 | leds[1]= (cnt++ & 0x1000) ? 1 : 0; | |
248 | } | |
8a1a44cb JM |
249 | THEKERNEL->call_event(ON_MAIN_LOOP); |
250 | THEKERNEL->call_event(ON_IDLE); | |
4cff3ded | 251 | } |
4cff3ded | 252 | } |