| 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 | |
| 10 | #include "modules/tools/laser/Laser.h" |
| 11 | #include "modules/tools/spindle/SpindleMaker.h" |
| 12 | #include "modules/tools/extruder/ExtruderMaker.h" |
| 13 | #include "modules/tools/temperaturecontrol/TemperatureControlPool.h" |
| 14 | #include "modules/tools/endstops/Endstops.h" |
| 15 | #include "modules/tools/zprobe/ZProbe.h" |
| 16 | #include "modules/tools/scaracal/SCARAcal.h" |
| 17 | #include "RotaryDeltaCalibration.h" |
| 18 | #include "modules/tools/switch/SwitchPool.h" |
| 19 | #include "modules/tools/temperatureswitch/TemperatureSwitch.h" |
| 20 | #include "modules/tools/drillingcycles/Drillingcycles.h" |
| 21 | #include "FilamentDetector.h" |
| 22 | #include "MotorDriverControl.h" |
| 23 | |
| 24 | #include "modules/robot/Conveyor.h" |
| 25 | #include "modules/utils/simpleshell/SimpleShell.h" |
| 26 | #include "modules/utils/configurator/Configurator.h" |
| 27 | #include "modules/utils/currentcontrol/CurrentControl.h" |
| 28 | #include "modules/utils/player/Player.h" |
| 29 | #include "modules/utils/killbutton/KillButton.h" |
| 30 | #include "modules/utils/PlayLed/PlayLed.h" |
| 31 | #include "modules/utils/panel/Panel.h" |
| 32 | #include "libs/Network/uip/Network.h" |
| 33 | #include "Config.h" |
| 34 | #include "checksumm.h" |
| 35 | #include "ConfigValue.h" |
| 36 | #include "StepTicker.h" |
| 37 | #include "SlowTicker.h" |
| 38 | #include "Robot.h" |
| 39 | |
| 40 | // #include "libs/ChaNFSSD/SDFileSystem.h" |
| 41 | #include "libs/nuts_bolts.h" |
| 42 | #include "libs/utils.h" |
| 43 | |
| 44 | // Debug |
| 45 | #include "libs/SerialMessage.h" |
| 46 | |
| 47 | #include "libs/USBDevice/USB.h" |
| 48 | #include "libs/USBDevice/USBMSD/USBMSD.h" |
| 49 | #include "libs/USBDevice/USBMSD/SDCard.h" |
| 50 | #include "libs/USBDevice/USBSerial/USBSerial.h" |
| 51 | #include "libs/USBDevice/DFU.h" |
| 52 | #include "libs/SDFAT.h" |
| 53 | #include "StreamOutputPool.h" |
| 54 | #include "ToolManager.h" |
| 55 | |
| 56 | #include "libs/Watchdog.h" |
| 57 | |
| 58 | #include "version.h" |
| 59 | #include "system_LPC17xx.h" |
| 60 | #include "platform_memory.h" |
| 61 | |
| 62 | #include "mbed.h" |
| 63 | |
| 64 | #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable") |
| 65 | #define disable_msd_checksum CHECKSUM("msd_disable") |
| 66 | #define dfu_enable_checksum CHECKSUM("dfu_enable") |
| 67 | #define watchdog_timeout_checksum CHECKSUM("watchdog_timeout") |
| 68 | |
| 69 | |
| 70 | // USB Stuff |
| 71 | SDCard sd __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard |
| 72 | //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard |
| 73 | //SDCard sd(P0_18, P0_17, P0_15, P2_8); // this selects SPI0 as the sdcard witrh a different sd select |
| 74 | |
| 75 | USB u __attribute__ ((section ("AHBSRAM0"))); |
| 76 | USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u); |
| 77 | #ifndef DISABLEMSD |
| 78 | USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd); |
| 79 | #else |
| 80 | USBMSD *msc= NULL; |
| 81 | #endif |
| 82 | |
| 83 | SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd); |
| 84 | |
| 85 | GPIO leds[5] = { |
| 86 | GPIO(P1_18), |
| 87 | GPIO(P1_19), |
| 88 | GPIO(P1_20), |
| 89 | GPIO(P1_21), |
| 90 | GPIO(P4_28) |
| 91 | }; |
| 92 | |
| 93 | void init() { |
| 94 | |
| 95 | // Default pins to low status |
| 96 | for (int i = 0; i < 5; i++){ |
| 97 | leds[i].output(); |
| 98 | leds[i]= 0; |
| 99 | } |
| 100 | |
| 101 | Kernel* kernel = new Kernel(); |
| 102 | |
| 103 | kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000); |
| 104 | SimpleShell::version_command("", kernel->streams); |
| 105 | |
| 106 | bool sdok= (sd.disk_initialize() == 0); |
| 107 | if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n"); |
| 108 | |
| 109 | #ifdef NONETWORK |
| 110 | kernel->streams->printf("NETWORK is disabled\r\n"); |
| 111 | #endif |
| 112 | |
| 113 | #ifdef DISABLEMSD |
| 114 | // attempt to be able to disable msd in config |
| 115 | if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(true)->as_bool()){ |
| 116 | // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor |
| 117 | size_t n= sizeof(USBMSD); |
| 118 | void *v = AHB0.alloc(n); |
| 119 | memset(v, 0, n); // clear the allocated memory |
| 120 | msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory |
| 121 | }else{ |
| 122 | msc= NULL; |
| 123 | kernel->streams->printf("MSD is disabled\r\n"); |
| 124 | } |
| 125 | #endif |
| 126 | |
| 127 | // Create and add main modules |
| 128 | kernel->add_module( new(AHB0) Player() ); |
| 129 | |
| 130 | kernel->add_module( new(AHB0) CurrentControl() ); |
| 131 | kernel->add_module( new(AHB0) KillButton() ); |
| 132 | kernel->add_module( new(AHB0) PlayLed() ); |
| 133 | |
| 134 | // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES |
| 135 | #ifndef NO_TOOLS_SWITCH |
| 136 | SwitchPool *sp= new SwitchPool(); |
| 137 | sp->load_tools(); |
| 138 | delete sp; |
| 139 | #endif |
| 140 | #ifndef NO_TOOLS_EXTRUDER |
| 141 | // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does |
| 142 | ExtruderMaker *em= new ExtruderMaker(); |
| 143 | em->load_tools(); |
| 144 | delete em; |
| 145 | #endif |
| 146 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
| 147 | // Note order is important here must be after extruder so Tn as a parameter will get executed first |
| 148 | TemperatureControlPool *tp= new TemperatureControlPool(); |
| 149 | tp->load_tools(); |
| 150 | delete tp; |
| 151 | #endif |
| 152 | #ifndef NO_TOOLS_ENDSTOPS |
| 153 | kernel->add_module( new(AHB0) Endstops() ); |
| 154 | #endif |
| 155 | #ifndef NO_TOOLS_LASER |
| 156 | kernel->add_module( new Laser() ); |
| 157 | #endif |
| 158 | #ifndef NO_TOOLS_SPINDLE |
| 159 | SpindleMaker *sm= new SpindleMaker(); |
| 160 | sm->load_spindle(); |
| 161 | delete sm; |
| 162 | //kernel->add_module( new(AHB0) Spindle() ); |
| 163 | #endif |
| 164 | #ifndef NO_UTILS_PANEL |
| 165 | kernel->add_module( new(AHB0) Panel() ); |
| 166 | #endif |
| 167 | #ifndef NO_TOOLS_ZPROBE |
| 168 | kernel->add_module( new(AHB0) ZProbe() ); |
| 169 | #endif |
| 170 | #ifndef NO_TOOLS_SCARACAL |
| 171 | kernel->add_module( new(AHB0) SCARAcal() ); |
| 172 | #endif |
| 173 | #ifndef NO_TOOLS_ROTARYDELTACALIBRATION |
| 174 | kernel->add_module( new(AHB0) RotaryDeltaCalibration() ); |
| 175 | #endif |
| 176 | #ifndef NONETWORK |
| 177 | kernel->add_module( new Network() ); |
| 178 | #endif |
| 179 | #ifndef NO_TOOLS_TEMPERATURESWITCH |
| 180 | // Must be loaded after TemperatureControl |
| 181 | kernel->add_module( new(AHB0) TemperatureSwitch() ); |
| 182 | #endif |
| 183 | #ifndef NO_TOOLS_DRILLINGCYCLES |
| 184 | kernel->add_module( new(AHB0) Drillingcycles() ); |
| 185 | #endif |
| 186 | #ifndef NO_TOOLS_FILAMENTDETECTOR |
| 187 | kernel->add_module( new(AHB0) FilamentDetector() ); |
| 188 | #endif |
| 189 | #ifndef NO_UTILS_MOTORDRIVERCONTROL |
| 190 | kernel->add_module( new MotorDriverControl(0) ); |
| 191 | #endif |
| 192 | // Create and initialize USB stuff |
| 193 | u.init(); |
| 194 | |
| 195 | #ifdef DISABLEMSD |
| 196 | if(sdok && msc != NULL){ |
| 197 | kernel->add_module( msc ); |
| 198 | } |
| 199 | #else |
| 200 | kernel->add_module( &msc ); |
| 201 | #endif |
| 202 | |
| 203 | kernel->add_module( &usbserial ); |
| 204 | if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){ |
| 205 | kernel->add_module( new(AHB0) USBSerial(&u) ); |
| 206 | } |
| 207 | |
| 208 | if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){ |
| 209 | kernel->add_module( new(AHB0) DFU(&u)); |
| 210 | } |
| 211 | |
| 212 | // 10 second watchdog timeout (or config as seconds) |
| 213 | float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number(); |
| 214 | if(t > 0.1F) { |
| 215 | // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal |
| 216 | kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET)); |
| 217 | kernel->streams->printf("Watchdog enabled for %f seconds\n", t); |
| 218 | }else{ |
| 219 | kernel->streams->printf("WARNING Watchdog is disabled\n"); |
| 220 | } |
| 221 | |
| 222 | |
| 223 | kernel->add_module( &u ); |
| 224 | |
| 225 | // memory before cache is cleared |
| 226 | //SimpleShell::print_mem(kernel->streams); |
| 227 | |
| 228 | // clear up the config cache to save some memory |
| 229 | kernel->config->config_cache_clear(); |
| 230 | |
| 231 | if(kernel->is_using_leds()) { |
| 232 | // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok |
| 233 | leds[0]= 1; // indicate we are done with init |
| 234 | leds[3]= sdok?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found) |
| 235 | } |
| 236 | |
| 237 | if(sdok) { |
| 238 | // load config override file if present |
| 239 | // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500 |
| 240 | FILE *fp= fopen(kernel->config_override_filename(), "r"); |
| 241 | if(fp != NULL) { |
| 242 | char buf[132]; |
| 243 | kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename()); |
| 244 | while(fgets(buf, sizeof buf, fp) != NULL) { |
| 245 | kernel->streams->printf(" %s", buf); |
| 246 | if(buf[0] == ';') continue; // skip the comments |
| 247 | struct SerialMessage message= {&(StreamOutput::NullStream), buf}; |
| 248 | kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); |
| 249 | } |
| 250 | kernel->streams->printf("config override file executed\n"); |
| 251 | fclose(fp); |
| 252 | } |
| 253 | } |
| 254 | |
| 255 | // start the timers and interrupts |
| 256 | THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors()); |
| 257 | THEKERNEL->step_ticker->start(); |
| 258 | THEKERNEL->slow_ticker->start(); |
| 259 | } |
| 260 | |
| 261 | int main() |
| 262 | { |
| 263 | init(); |
| 264 | |
| 265 | uint16_t cnt= 0; |
| 266 | // Main loop |
| 267 | while(1){ |
| 268 | if(THEKERNEL->is_using_leds()) { |
| 269 | // flash led 2 to show we are alive |
| 270 | leds[1]= (cnt++ & 0x1000) ? 1 : 0; |
| 271 | } |
| 272 | THEKERNEL->call_event(ON_MAIN_LOOP); |
| 273 | THEKERNEL->call_event(ON_IDLE); |
| 274 | } |
| 275 | } |