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
  22 #include "modules/robot/Conveyor.h"
  23 #include "modules/utils/simpleshell/SimpleShell.h"
  24 #include "modules/utils/configurator/Configurator.h"
  25 #include "modules/utils/currentcontrol/CurrentControl.h"
  26 #include "modules/utils/player/Player.h"
  27 #include "modules/utils/pausebutton/PauseButton.h"
  28 #include "modules/utils/PlayLed/PlayLed.h"
  29 #include "modules/utils/panel/Panel.h"
  30 #include "libs/Network/uip/Network.h"
  31 #include "Config.h"
  32 #include "checksumm.h"
  33 #include "ConfigValue.h"
  34 #include "StepTicker.h"
  35
  36 // #include "libs/ChaNFSSD/SDFileSystem.h"
  37 #include "libs/nuts_bolts.h"
  38 #include "libs/utils.h"
  39
  40 // Debug
  41 #include "libs/SerialMessage.h"
  42
  43 #include "libs/USBDevice/USB.h"
  44 #include "libs/USBDevice/USBMSD/USBMSD.h"
  45 #include "libs/USBDevice/USBMSD/SDCard.h"
  46 #include "libs/USBDevice/USBSerial/USBSerial.h"
  47 #include "libs/USBDevice/DFU.h"
  48 #include "libs/SDFAT.h"
  49 #include "StreamOutputPool.h"
  50 #include "ToolManager.h"
  51
  52 #include "libs/Watchdog.h"
  53
  54 #include "version.h"
  55 #include "system_LPC17xx.h"
  56
  57 #include "mbed.h"
  58
  59 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  60 #define disable_msd_checksum  CHECKSUM("msd_disable")
  61 #define disable_leds_checksum  CHECKSUM("leds_disable")
  62 #define dfu_enable_checksum  CHECKSUM("dfu_enable")
  63
  64 // Watchdog wd(5000000, WDT_MRI);
  65
  66 // USB Stuff
  67 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  68 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  69 //SDCard sd(P0_18, P0_17, P0_15, P2_8);  // this selects SPI0 as the sdcard witrh a different sd select
  70
  71 USB u __attribute__ ((section ("AHBSRAM0")));
  72 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  73 #ifndef DISABLEMSD
  74 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  75 #else
  76 USBMSD *msc= NULL;
  77 #endif
  78
  79 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  80
  81 GPIO leds[5] = {
  82     GPIO(P1_18),
  83     GPIO(P1_19),
  84     GPIO(P1_20),
  85     GPIO(P1_21),
  86     GPIO(P4_28)
  87 };
  88
  89 // debug pins, only used if defined in src/makefile
  90 #ifdef STEPTICKER_DEBUG_PIN
  91 GPIO stepticker_debug_pin(STEPTICKER_DEBUG_PIN);
  92 #endif
  93
  94 void init() {
  95
  96     // Default pins to low status
  97     for (int i = 0; i < 5; i++){
  98         leds[i].output();
  99         leds[i]= 0;
 100     }
 101
 102 #ifdef STEPTICKER_DEBUG_PIN
 103     stepticker_debug_pin.output();
 104     stepticker_debug_pin= 0;
 105 #endif
 106
 107     Kernel* kernel = new Kernel();
 108
 109     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
 110     Version version;
 111     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
 112
 113     //some boards don't have leds.. TOO BAD!
 114     kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 115
 116     bool sdok= (sd.disk_initialize() == 0);
 117     if(!sdok) kernel->streams->printf("SDCard is disabled\r\n");
 118
 119 #ifdef DISABLEMSD
 120     // attempt to be able to disable msd in config
 121     if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
 122         // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
 123         size_t n= sizeof(USBMSD);
 124         void *v = AHB0.alloc(n);
 125         memset(v, 0, n); // clear the allocated memory
 126         msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory
 127     }else{
 128         msc= NULL;
 129         kernel->streams->printf("MSD is disabled\r\n");
 130     }
 131 #endif
 132
 133
 134     // Create and add main modules
 135     kernel->add_module( new SimpleShell() );
 136     kernel->add_module( new Configurator() );
 137     kernel->add_module( new CurrentControl() );
 138     kernel->add_module( new PauseButton() );
 139     kernel->add_module( new PlayLed() );
 140     kernel->add_module( new Endstops() );
 141     kernel->add_module( new 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     kernel->temperature_control_pool= tp;
 161     #else
 162     kernel->temperature_control_pool= new TemperatureControlPool(); // so we can get just an empty temperature control array
 163     #endif
 164     #ifndef NO_TOOLS_LASER
 165     kernel->add_module( new Laser() );
 166     #endif
 167     #ifndef NO_TOOLS_SPINDLE
 168     kernel->add_module( new Spindle() );
 169     #endif
 170     #ifndef NO_UTILS_PANEL
 171     kernel->add_module( new Panel() );
 172     #endif
 173     #ifndef NO_TOOLS_TOUCHPROBE
 174     kernel->add_module( new Touchprobe() );
 175     #endif
 176     #ifndef NO_TOOLS_ZPROBE
 177     kernel->add_module( new ZProbe() );
 178     #endif
 179     #ifndef NO_TOOLS_SCARACAL
 180     kernel->add_module( new SCARAcal() );
 181     #endif
 182     #ifndef NONETWORK
 183     kernel->add_module( new Network() );
 184     #endif
 185     #ifndef NO_TOOLS_TEMPERATURESWITCH
 186     // Must be loaded after TemperatureControlPool
 187     kernel->add_module( new TemperatureSwitch() );
 188     #endif
 189     #ifndef NO_TOOLS_DRILLINGCYCLES
 190     kernel->add_module( new Drillingcycles() );
 191     #endif
 192     #ifndef NO_TOOLS_FILAMENTDETECTOR
 193     kernel->add_module( new FilamentDetector() );
 194     #endif
 195
 196     // Create and initialize USB stuff
 197     u.init();
 198
 199 #ifdef DISABLEMSD
 200     if(sdok && msc != NULL){
 201         kernel->add_module( msc );
 202     }
 203 #else
 204     kernel->add_module( &msc );
 205 #endif
 206
 207     kernel->add_module( &usbserial );
 208     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 209         kernel->add_module( new(AHB0) USBSerial(&u) );
 210     }
 211
 212     if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
 213         kernel->add_module( new(AHB0) DFU(&u));
 214     }
 215     kernel->add_module( &u );
 216
 217     // clear up the config cache to save some memory
 218     kernel->config->config_cache_clear();
 219
 220     if(kernel->use_leds) {
 221         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 222         leds[0]= 1; // indicate we are done with init
 223         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
 224     }
 225
 226     if(sdok) {
 227         // load config override file if present
 228         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 229         FILE *fp= fopen(kernel->config_override_filename(), "r");
 230         if(fp != NULL) {
 231             char buf[132];
 232             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 233             while(fgets(buf, sizeof buf, fp) != NULL) {
 234                 kernel->streams->printf("  %s", buf);
 235                 if(buf[0] == ';') continue; // skip the comments
 236                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 237                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 238             }
 239             kernel->streams->printf("config override file executed\n");
 240             fclose(fp);
 241         }
 242     }
 243
 244     THEKERNEL->step_ticker->start();
 245 }
 246
 247 int main()
 248 {
 249     init();
 250
 251     uint16_t cnt= 0;
 252     // Main loop
 253     while(1){
 254         if(THEKERNEL->use_leds) {
 255             // flash led 2 to show we are alive
 256             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 257         }
 258         THEKERNEL->call_event(ON_MAIN_LOOP);
 259         THEKERNEL->call_event(ON_IDLE);
 260     }
 261 }