| 1 | /* |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 6 | */ |
| 7 | |
| 8 | #include "libs/Kernel.h" |
| 9 | #include "modules/tools/laser/Laser.h" |
| 10 | #include "modules/tools/extruder/ExtruderMaker.h" |
| 11 | #include "modules/tools/temperaturecontrol/TemperatureControlPool.h" |
| 12 | #include "modules/tools/endstops/Endstops.h" |
| 13 | #include "modules/tools/touchprobe/Touchprobe.h" |
| 14 | #include "modules/tools/switch/SwitchPool.h" |
| 15 | #include "modules/robot/Conveyor.h" |
| 16 | #include "modules/utils/simpleshell/SimpleShell.h" |
| 17 | #include "modules/utils/configurator/Configurator.h" |
| 18 | #include "modules/utils/currentcontrol/CurrentControl.h" |
| 19 | #include "modules/utils/player/Player.h" |
| 20 | #include "modules/utils/pausebutton/PauseButton.h" |
| 21 | #include "modules/utils/PlayLed/PlayLed.h" |
| 22 | #include "modules/utils/panel/Panel.h" |
| 23 | |
| 24 | // #include "libs/ChaNFSSD/SDFileSystem.h" |
| 25 | #include "libs/Config.h" |
| 26 | #include "libs/nuts_bolts.h" |
| 27 | #include "libs/utils.h" |
| 28 | |
| 29 | // Debug |
| 30 | #include "libs/SerialMessage.h" |
| 31 | |
| 32 | #include "libs/USBDevice/USB.h" |
| 33 | #include "libs/USBDevice/USBMSD/USBMSD.h" |
| 34 | #include "libs/USBDevice/USBMSD/SDCard.h" |
| 35 | #include "libs/USBDevice/USBSerial/USBSerial.h" |
| 36 | #include "libs/USBDevice/DFU.h" |
| 37 | |
| 38 | #include "libs/SDFAT.h" |
| 39 | |
| 40 | #include "libs/Watchdog.h" |
| 41 | |
| 42 | #include "version.h" |
| 43 | |
| 44 | #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable") |
| 45 | #define disable_msd_checksum CHECKSUM("msd_disable") |
| 46 | #define disable_leds_checksum CHECKSUM("leds_disable") |
| 47 | |
| 48 | // Watchdog wd(5000000, WDT_MRI); |
| 49 | |
| 50 | // USB Stuff |
| 51 | SDCard sd(P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard |
| 52 | //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard |
| 53 | |
| 54 | USB u; |
| 55 | USBSerial usbserial(&u); |
| 56 | USBMSD msc(&u, &sd); |
| 57 | //USBMSD *msc= NULL; |
| 58 | DFU dfu(&u); |
| 59 | |
| 60 | SDFAT mounter("sd", &sd); |
| 61 | |
| 62 | GPIO leds[5] = { |
| 63 | GPIO(P1_18), |
| 64 | GPIO(P1_19), |
| 65 | GPIO(P1_20), |
| 66 | GPIO(P1_21), |
| 67 | GPIO(P4_28) |
| 68 | }; |
| 69 | |
| 70 | int main() { |
| 71 | |
| 72 | // Default pins to low status |
| 73 | for (int i = 0; i < 5; i++){ |
| 74 | leds[i].output(); |
| 75 | leds[i]= 0; |
| 76 | } |
| 77 | |
| 78 | Kernel* kernel = new Kernel(); |
| 79 | |
| 80 | kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 with new accel @%ldMHz\r\n", SystemCoreClock / 1000000); |
| 81 | Version version; |
| 82 | kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date()); |
| 83 | |
| 84 | //some boards don't have leds.. TOO BAD! |
| 85 | kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool(); |
| 86 | |
| 87 | // attempt to be able to disable msd in config |
| 88 | // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){ |
| 89 | // msc= new USBMSD(&u, &sd); |
| 90 | // }else{ |
| 91 | // msc= NULL; |
| 92 | // kernel->streams->printf("MSD is disabled\r\n"); |
| 93 | // } |
| 94 | |
| 95 | bool sdok= (sd.disk_initialize() == 0); |
| 96 | |
| 97 | // Create and add main modules |
| 98 | kernel->add_module( new Laser() ); |
| 99 | kernel->add_module( new ExtruderMaker() ); |
| 100 | kernel->add_module( new SimpleShell() ); |
| 101 | kernel->add_module( new Configurator() ); |
| 102 | kernel->add_module( new CurrentControl() ); |
| 103 | kernel->add_module( new TemperatureControlPool() ); |
| 104 | kernel->add_module( new SwitchPool() ); |
| 105 | kernel->add_module( new PauseButton() ); |
| 106 | kernel->add_module( new PlayLed() ); |
| 107 | kernel->add_module( new Endstops() ); |
| 108 | kernel->add_module( new Player() ); |
| 109 | kernel->add_module( new Panel() ); |
| 110 | kernel->add_module( new Touchprobe() ); |
| 111 | |
| 112 | // Create and initialize USB stuff |
| 113 | u.init(); |
| 114 | //if(sdok) { // only do this if there is an sd disk |
| 115 | // msc= new USBMSD(&u, &sd); |
| 116 | // kernel->add_module( msc ); |
| 117 | //} |
| 118 | |
| 119 | // if(msc != NULL){ |
| 120 | // kernel->add_module( msc ); |
| 121 | // } |
| 122 | |
| 123 | kernel->add_module( &msc ); |
| 124 | kernel->add_module( &usbserial ); |
| 125 | if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){ |
| 126 | kernel->add_module( new USBSerial(&u) ); |
| 127 | } |
| 128 | kernel->add_module( &dfu ); |
| 129 | kernel->add_module( &u ); |
| 130 | |
| 131 | // clear up the config cache to save some memory |
| 132 | kernel->config->config_cache_clear(); |
| 133 | |
| 134 | if(kernel->use_leds) { |
| 135 | // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok |
| 136 | leds[0]= 1; // indicate we are done with init |
| 137 | leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found) |
| 138 | } |
| 139 | |
| 140 | uint16_t cnt= 0; |
| 141 | // Main loop |
| 142 | while(1){ |
| 143 | if(kernel->use_leds) { |
| 144 | // flash led 2 to show we are alive |
| 145 | leds[1]= (cnt++ & 0x1000) ? 1 : 0; |
| 146 | } |
| 147 | kernel->call_event(ON_MAIN_LOOP); |
| 148 | kernel->call_event(ON_IDLE); |
| 149 | } |
| 150 | } |