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