src/main.cpp

   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/Spindle.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
  39 // #include "libs/ChaNFSSD/SDFileSystem.h"
  40 #include "libs/nuts_bolts.h"
  41 #include "libs/utils.h"
  42
  43 // Debug
  44 #include "libs/SerialMessage.h"
  45
  46 #include "libs/USBDevice/USB.h"
  47 #include "libs/USBDevice/USBMSD/USBMSD.h"
  48 #include "libs/USBDevice/USBMSD/SDCard.h"
  49 #include "libs/USBDevice/USBSerial/USBSerial.h"
  50 #include "libs/USBDevice/DFU.h"
  51 #include "libs/SDFAT.h"
  52 #include "StreamOutputPool.h"
  53 #include "ToolManager.h"
  54
  55 #include "libs/Watchdog.h"
  56
  57 #include "version.h"
  58 #include "system_LPC17xx.h"
  59 #include "platform_memory.h"
  60
  61 #include "mbed.h"
  62
  63 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  64 #define disable_msd_checksum  CHECKSUM("msd_disable")
  65 #define dfu_enable_checksum  CHECKSUM("dfu_enable")
  66 #define watchdog_timeout_checksum  CHECKSUM("watchdog_timeout")
  67
  68
  69 // USB Stuff
  70 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  71 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  72 //SDCard sd(P0_18, P0_17, P0_15, P2_8);  // this selects SPI0 as the sdcard witrh a different sd select
  73
  74 USB u __attribute__ ((section ("AHBSRAM0")));
  75 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  76 #ifndef DISABLEMSD
  77 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  78 #else
  79 USBMSD *msc= NULL;
  80 #endif
  81
  82 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  83
  84 GPIO leds[5] = {
  85     GPIO(P1_18),
  86     GPIO(P1_19),
  87     GPIO(P1_20),
  88     GPIO(P1_21),
  89     GPIO(P4_28)
  90 };
  91
  92 // debug pins, only used if defined in src/makefile
  93 #ifdef STEPTICKER_DEBUG_PIN
  94 GPIO stepticker_debug_pin(STEPTICKER_DEBUG_PIN);
  95 #endif
  96
  97 void init() {
  98
  99     // Default pins to low status
 100     for (int i = 0; i < 5; i++){
 101         leds[i].output();
 102         leds[i]= 0;
 103     }
 104
 105 #ifdef STEPTICKER_DEBUG_PIN
 106     stepticker_debug_pin.output();
 107     stepticker_debug_pin= 0;
 108 #endif
 109
 110     Kernel* kernel = new Kernel();
 111
 112     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
 113     Version version;
 114     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
 115
 116     bool sdok= (sd.disk_initialize() == 0);
 117     if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n");
 118
 119     #ifdef NONETWORK
 120         kernel->streams->printf("NETWORK is disabled\r\n");
 121     #endif
 122
 123 #ifdef DISABLEMSD
 124     // attempt to be able to disable msd in config
 125     if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
 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     }
 135 #endif
 136
 137
 138     // Create and add main modules
 139     kernel->add_module( new(AHB0) Player() );
 140
 141     kernel->add_module( new(AHB0) CurrentControl() );
 142     kernel->add_module( new(AHB0) KillButton() );
 143     kernel->add_module( new(AHB0) PlayLed() );
 144
 145     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 146     #ifndef NO_TOOLS_ENDSTOPS
 147     kernel->add_module( new(AHB0) Endstops() );
 148     #endif
 149
 150     #ifndef NO_TOOLS_SWITCH
 151     SwitchPool *sp= new SwitchPool();
 152     sp->load_tools();
 153     delete sp;
 154     #endif
 155     #ifndef NO_TOOLS_EXTRUDER
 156     // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
 157     ExtruderMaker *em= new ExtruderMaker();
 158     em->load_tools();
 159     delete em;
 160     #endif
 161     #ifndef NO_TOOLS_TEMPERATURECONTROL
 162     // Note order is important here must be after extruder so Tn as a parameter will get executed first
 163     TemperatureControlPool *tp= new TemperatureControlPool();
 164     tp->load_tools();
 165     delete tp;
 166     #endif
 167     #ifndef NO_TOOLS_LASER
 168     kernel->add_module( new Laser() );
 169     #endif
 170     #ifndef NO_TOOLS_SPINDLE
 171     kernel->add_module( new Spindle() );
 172     #endif
 173     #ifndef NO_UTILS_PANEL
 174     kernel->add_module( new(AHB0) Panel() );
 175     #endif
 176     #ifndef NO_TOOLS_ZPROBE
 177     kernel->add_module( new(AHB0) ZProbe() );
 178     #endif
 179     #ifndef NO_TOOLS_SCARACAL
 180     kernel->add_module( new(AHB0) SCARAcal() );
 181     #endif
 182     #ifndef NO_TOOLS_ROTARYDELTACALIBRATION
 183     kernel->add_module( new RotaryDeltaCalibration() );
 184     #endif
 185     #ifndef NONETWORK
 186     kernel->add_module( new Network() );
 187     #endif
 188     #ifndef NO_TOOLS_TEMPERATURESWITCH
 189     // Must be loaded after TemperatureControl
 190     kernel->add_module( new TemperatureSwitch() );
 191     #endif
 192     #ifndef NO_TOOLS_DRILLINGCYCLES
 193     kernel->add_module( new Drillingcycles() );
 194     #endif
 195     #ifndef NO_TOOLS_FILAMENTDETECTOR
 196     kernel->add_module( new FilamentDetector() );
 197     #endif
 198     #ifndef NO_UTILS_MOTORDRIVERCONTROL
 199     kernel->add_module( new MotorDriverControl(0) );
 200     #endif
 201     // Create and initialize USB stuff
 202     u.init();
 203
 204 #ifdef DISABLEMSD
 205     if(sdok && msc != NULL){
 206         kernel->add_module( msc );
 207     }
 208 #else
 209     kernel->add_module( &msc );
 210 #endif
 211
 212     kernel->add_module( &usbserial );
 213     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 214         kernel->add_module( new(AHB0) USBSerial(&u) );
 215     }
 216
 217     if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
 218         kernel->add_module( new(AHB0) DFU(&u));
 219     }
 220
 221     // 10 second watchdog timeout (or config as seconds)
 222     float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number();
 223     if(t > 0.1F) {
 224         // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
 225         kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET));
 226         kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
 227     }else{
 228         kernel->streams->printf("WARNING Watchdog is disabled\n");
 229     }
 230
 231
 232     kernel->add_module( &u );
 233
 234     // memory before cache is cleared
 235     //SimpleShell::print_mem(kernel->streams);
 236
 237     // clear up the config cache to save some memory
 238     kernel->config->config_cache_clear();
 239
 240     if(kernel->is_using_leds()) {
 241         // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 242         leds[0]= 1; // indicate we are done with init
 243         leds[3]= sdok?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found)
 244     }
 245
 246     if(sdok) {
 247         // load config override file if present
 248         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 249         FILE *fp= fopen(kernel->config_override_filename(), "r");
 250         if(fp != NULL) {
 251             char buf[132];
 252             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 253             while(fgets(buf, sizeof buf, fp) != NULL) {
 254                 kernel->streams->printf("  %s", buf);
 255                 if(buf[0] == ';') continue; // skip the comments
 256                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 257                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 258             }
 259             kernel->streams->printf("config override file executed\n");
 260             fclose(fp);
 261         }
 262     }
 263
 264     // start the timers and interrupts
 265     THEKERNEL->conveyor->start();
 266     THEKERNEL->step_ticker->start();
 267     THEKERNEL->slow_ticker->start();
 268 }
 269
 270 int main()
 271 {
 272     init();
 273
 274     uint16_t cnt= 0;
 275     // Main loop
 276     while(1){
 277         if(THEKERNEL->is_using_leds()) {
 278             // flash led 2 to show we are alive
 279             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 280         }
 281         THEKERNEL->call_event(ON_MAIN_LOOP);
 282         THEKERNEL->call_event(ON_IDLE);
 283     }
 284 }