Commit | Line | Data |
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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" |
3779fd74 | 14 | #include "modules/tools/touchprobe/Touchprobe.h" |
88443c6b | 15 | #include "modules/tools/zprobe/ZProbe.h" |
cc1d3b1f | 16 | #include "modules/tools/switch/SwitchPool.h" |
88443c6b | 17 | |
3fceb8eb | 18 | #include "modules/robot/Conveyor.h" |
4eb9c745 | 19 | #include "modules/utils/simpleshell/SimpleShell.h" |
cf44cb59 | 20 | #include "modules/utils/configurator/Configurator.h" |
0e8b102e | 21 | #include "modules/utils/currentcontrol/CurrentControl.h" |
1cf49da1 | 22 | #include "modules/utils/player/Player.h" |
81b547a1 | 23 | #include "modules/utils/pausebutton/PauseButton.h" |
4a679a75 | 24 | #include "modules/utils/PlayLed/PlayLed.h" |
35089dc7 | 25 | #include "modules/utils/panel/Panel.h" |
d4ee6ee2 | 26 | #include "libs/Network/uip/Network.h" |
61134a65 | 27 | #include "Config.h" |
7af0714f | 28 | #include "checksumm.h" |
8d54c34c | 29 | #include "ConfigValue.h" |
35089dc7 | 30 | |
2487f50b | 31 | // #include "libs/ChaNFSSD/SDFileSystem.h" |
4eb9c745 AW |
32 | #include "libs/nuts_bolts.h" |
33 | #include "libs/utils.h" | |
4cff3ded | 34 | |
40c831b8 MM |
35 | // Debug |
36 | #include "libs/SerialMessage.h" | |
a39e1557 | 37 | |
7c3c5e0f MM |
38 | #include "libs/USBDevice/USB.h" |
39 | #include "libs/USBDevice/USBMSD/USBMSD.h" | |
40 | #include "libs/USBDevice/USBMSD/SDCard.h" | |
41 | #include "libs/USBDevice/USBSerial/USBSerial.h" | |
9f0f2c8f | 42 | #include "libs/USBDevice/DFU.h" |
246fd409 | 43 | #include "libs/SDFAT.h" |
61134a65 | 44 | #include "StreamOutputPool.h" |
17c89e4d | 45 | #include "ToolManager.h" |
246fd409 | 46 | |
073b1698 MM |
47 | #include "libs/Watchdog.h" |
48 | ||
582559c6 | 49 | #include "version.h" |
61134a65 | 50 | #include "system_LPC17xx.h" |
582559c6 | 51 | |
a2f7633f JM |
52 | #include "mbed.h" |
53 | ||
764b2de4 | 54 | #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable") |
82d1ceb3 | 55 | #define disable_msd_checksum CHECKSUM("msd_disable") |
21320fc6 | 56 | #define disable_leds_checksum CHECKSUM("leds_disable") |
764b2de4 | 57 | |
073b1698 MM |
58 | // Watchdog wd(5000000, WDT_MRI); |
59 | ||
d337942a | 60 | // USB Stuff |
5c84acba | 61 | 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 L |
62 | //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard |
63 | ||
5c84acba JM |
64 | USB u __attribute__ ((section ("AHBSRAM0"))); |
65 | USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u); | |
66 | USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd); | |
82d1ceb3 | 67 | //USBMSD *msc= NULL; |
5c84acba | 68 | DFU dfu __attribute__ ((section ("AHBSRAM0"))) (&u); |
7c3c5e0f | 69 | |
5c84acba | 70 | SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd); |
a39e1557 | 71 | |
ca3a28b4 MM |
72 | GPIO leds[5] = { |
73 | GPIO(P1_18), | |
74 | GPIO(P1_19), | |
75 | GPIO(P1_20), | |
76 | GPIO(P1_21), | |
77 | GPIO(P4_28) | |
78 | }; | |
a39e1557 | 79 | |
4cff3ded | 80 | int main() { |
2a1089e1 AW |
81 | |
82 | // Default pins to low status | |
83 | for (int i = 0; i < 5; i++){ | |
ca3a28b4 | 84 | leds[i].output(); |
82d1ceb3 | 85 | leds[i]= 0; |
ca3a28b4 MM |
86 | } |
87 | ||
4464301d | 88 | Kernel* kernel = new Kernel(); |
a39e1557 | 89 | |
577414f6 | 90 | kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000); |
582559c6 JM |
91 | Version version; |
92 | kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date()); | |
4cff3ded | 93 | |
21320fc6 JM |
94 | //some boards don't have leds.. TOO BAD! |
95 | kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool(); | |
96 | ||
82d1ceb3 JM |
97 | // attempt to be able to disable msd in config |
98 | // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){ | |
99 | // msc= new USBMSD(&u, &sd); | |
100 | // }else{ | |
101 | // msc= NULL; | |
102 | // kernel->streams->printf("MSD is disabled\r\n"); | |
103 | // } | |
104 | ||
df6f3a22 | 105 | bool sdok= (sd.disk_initialize() == 0); |
82d1ceb3 | 106 | |
2a1089e1 | 107 | // Create and add main modules |
4eb9c745 | 108 | kernel->add_module( new SimpleShell() ); |
d3a6143b | 109 | kernel->add_module( new Configurator() ); |
0e8b102e | 110 | kernel->add_module( new CurrentControl() ); |
cc1d3b1f | 111 | kernel->add_module( new SwitchPool() ); |
df27a6a3 | 112 | kernel->add_module( new PauseButton() ); |
4a679a75 | 113 | kernel->add_module( new PlayLed() ); |
201bcb94 | 114 | kernel->add_module( new Endstops() ); |
1cf49da1 | 115 | kernel->add_module( new Player() ); |
df930a5f JM |
116 | |
117 | // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES | |
df930a5f JM |
118 | #ifndef NO_TOOLS_EXTRUDER |
119 | kernel->add_module( new ExtruderMaker() ); | |
120 | #endif | |
c7689006 JM |
121 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
122 | // Note order is important here must be after extruder | |
123 | kernel->add_module( new TemperatureControlPool() ); | |
124 | #endif | |
df930a5f JM |
125 | #ifndef NO_TOOLS_LASER |
126 | kernel->add_module( new Laser() ); | |
127 | #endif | |
128 | #ifndef NO_UTILS_PANEL | |
58d6d841 | 129 | kernel->add_module( new Panel() ); |
df930a5f JM |
130 | #endif |
131 | #ifndef NO_TOOLS_TOUCHPROBE | |
3779fd74 | 132 | kernel->add_module( new Touchprobe() ); |
df930a5f | 133 | #endif |
88443c6b JM |
134 | #ifndef NO_TOOLS_ZPROBE |
135 | kernel->add_module( new ZProbe() ); | |
136 | #endif | |
df930a5f | 137 | #ifndef NONETWORK |
d4ee6ee2 | 138 | kernel->add_module( new Network() ); |
df930a5f | 139 | #endif |
81b547a1 | 140 | |
4a679a75 | 141 | // Create and initialize USB stuff |
7c3c5e0f | 142 | u.init(); |
8a004d38 JM |
143 | //if(sdok) { // only do this if there is an sd disk |
144 | // msc= new USBMSD(&u, &sd); | |
145 | // kernel->add_module( msc ); | |
146 | //} | |
147 | ||
82d1ceb3 JM |
148 | // if(msc != NULL){ |
149 | // kernel->add_module( msc ); | |
150 | // } | |
b813be45 | 151 | |
82d1ceb3 | 152 | kernel->add_module( &msc ); |
7c3c5e0f | 153 | kernel->add_module( &usbserial ); |
764b2de4 L |
154 | if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){ |
155 | kernel->add_module( new USBSerial(&u) ); | |
156 | } | |
9737eccb | 157 | kernel->add_module( &dfu ); |
7c3c5e0f MM |
158 | kernel->add_module( &u ); |
159 | ||
a4bfde91 JM |
160 | // clear up the config cache to save some memory |
161 | kernel->config->config_cache_clear(); | |
162 | ||
21320fc6 JM |
163 | if(kernel->use_leds) { |
164 | // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok | |
165 | leds[0]= 1; // indicate we are done with init | |
166 | leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found) | |
167 | } | |
82d1ceb3 | 168 | |
33e4cc02 JM |
169 | if(sdok) { |
170 | // load config override file if present | |
171 | // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500 | |
172 | FILE *fp= fopen(kernel->config_override_filename(), "r"); | |
173 | if(fp != NULL) { | |
174 | char buf[132]; | |
175 | kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename()); | |
176 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
177 | kernel->streams->printf(" %s", buf); | |
178 | if(buf[0] == ';') continue; // skip the comments | |
179 | struct SerialMessage message= {&(StreamOutput::NullStream), buf}; | |
180 | kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); | |
181 | } | |
182 | kernel->streams->printf("config override file executed\n"); | |
183 | fclose(fp); | |
184 | } | |
185 | } | |
186 | ||
82d1ceb3 | 187 | uint16_t cnt= 0; |
2a1089e1 | 188 | // Main loop |
4cff3ded | 189 | while(1){ |
21320fc6 JM |
190 | if(kernel->use_leds) { |
191 | // flash led 2 to show we are alive | |
192 | leds[1]= (cnt++ & 0x1000) ? 1 : 0; | |
193 | } | |
4cff3ded | 194 | kernel->call_event(ON_MAIN_LOOP); |
f9005ebe | 195 | kernel->call_event(ON_IDLE); |
4cff3ded | 196 | } |
4cff3ded | 197 | } |