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/>.
8 #include "libs/Kernel.h"
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"
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"
34 #include "checksumm.h"
35 #include "ConfigValue.h"
36 #include "StepTicker.h"
37 #include "SlowTicker.h"
39 // #include "libs/ChaNFSSD/SDFileSystem.h"
40 #include "libs/nuts_bolts.h"
41 #include "libs/utils.h"
44 #include "libs/SerialMessage.h"
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"
55 #include "libs/Watchdog.h"
58 #include "system_LPC17xx.h"
59 #include "platform_memory.h"
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")
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
74 USB u
__attribute__ ((section ("AHBSRAM0")));
75 USBSerial usbserial
__attribute__ ((section ("AHBSRAM0"))) (&u
);
77 USBMSD msc
__attribute__ ((section ("AHBSRAM0"))) (&u
, &sd
);
82 SDFAT mounter
__attribute__ ((section ("AHBSRAM0"))) ("sd", &sd
);
92 // debug pins, only used if defined in src/makefile
93 #ifdef STEPTICKER_DEBUG_PIN
94 GPIO
stepticker_debug_pin(STEPTICKER_DEBUG_PIN
);
99 // Default pins to low status
100 for (int i
= 0; i
< 5; i
++){
105 #ifdef STEPTICKER_DEBUG_PIN
106 stepticker_debug_pin
.output();
107 stepticker_debug_pin
= 0;
110 Kernel
* kernel
= new Kernel();
112 kernel
->streams
->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock
/ 1000000);
114 kernel
->streams
->printf(" Build version %s, Build date %s\r\n", version
.get_build(), version
.get_build_date());
116 kernel
->streams
->printf(" CNC Build\r\n");
119 bool sdok
= (sd
.disk_initialize() == 0);
120 if(!sdok
) kernel
->streams
->printf("SDCard failed to initialize\r\n");
123 kernel
->streams
->printf("NETWORK is disabled\r\n");
127 // attempt to be able to disable msd in config
128 if(sdok
&& !kernel
->config
->value( disable_msd_checksum
)->by_default(false)->as_bool()){
129 // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
130 size_t n
= sizeof(USBMSD
);
131 void *v
= AHB0
.alloc(n
);
132 memset(v
, 0, n
); // clear the allocated memory
133 msc
= new(v
) USBMSD(&u
, &sd
); // allocate object using zeroed memory
136 kernel
->streams
->printf("MSD is disabled\r\n");
141 // Create and add main modules
142 kernel
->add_module( new(AHB0
) Player() );
144 kernel
->add_module( new(AHB0
) CurrentControl() );
145 kernel
->add_module( new(AHB0
) KillButton() );
146 kernel
->add_module( new(AHB0
) PlayLed() );
147 kernel
->add_module( new(AHB0
) Endstops() );
150 // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
151 #ifndef NO_TOOLS_SWITCH
152 SwitchPool
*sp
= new SwitchPool();
156 #ifndef NO_TOOLS_EXTRUDER
157 // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
158 ExtruderMaker
*em
= new ExtruderMaker();
162 #ifndef NO_TOOLS_TEMPERATURECONTROL
163 // Note order is important here must be after extruder so Tn as a parameter will get executed first
164 TemperatureControlPool
*tp
= new TemperatureControlPool();
168 #ifndef NO_TOOLS_LASER
169 kernel
->add_module( new Laser() );
171 #ifndef NO_TOOLS_SPINDLE
172 kernel
->add_module( new Spindle() );
174 #ifndef NO_UTILS_PANEL
175 kernel
->add_module( new(AHB0
) Panel() );
177 #ifndef NO_TOOLS_ZPROBE
178 kernel
->add_module( new(AHB0
) ZProbe() );
180 #ifndef NO_TOOLS_SCARACAL
181 kernel
->add_module( new(AHB0
) SCARAcal() );
183 #ifndef NO_TOOLS_ROTARYDELTACALIBRATION
184 kernel
->add_module( new RotaryDeltaCalibration() );
187 kernel
->add_module( new Network() );
189 #ifndef NO_TOOLS_TEMPERATURESWITCH
190 // Must be loaded after TemperatureControl
191 kernel
->add_module( new TemperatureSwitch() );
193 #ifndef NO_TOOLS_DRILLINGCYCLES
194 kernel
->add_module( new Drillingcycles() );
196 #ifndef NO_TOOLS_FILAMENTDETECTOR
197 kernel
->add_module( new FilamentDetector() );
199 #ifndef NO_UTILS_MOTORDRIVERCONTROL
200 kernel
->add_module( new MotorDriverControl(0) );
202 // Create and initialize USB stuff
206 if(sdok
&& msc
!= NULL
){
207 kernel
->add_module( msc
);
210 kernel
->add_module( &msc
);
213 kernel
->add_module( &usbserial
);
214 if( kernel
->config
->value( second_usb_serial_enable_checksum
)->by_default(false)->as_bool() ){
215 kernel
->add_module( new(AHB0
) USBSerial(&u
) );
218 if( kernel
->config
->value( dfu_enable_checksum
)->by_default(false)->as_bool() ){
219 kernel
->add_module( new(AHB0
) DFU(&u
));
222 // 10 second watchdog timeout (or config as seconds)
223 float t
= kernel
->config
->value( watchdog_timeout_checksum
)->by_default(10.0F
)->as_number();
225 // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
226 kernel
->add_module( new Watchdog(t
*1000000, WDT_MRI
)); // WDT_RESET));
227 kernel
->streams
->printf("Watchdog enabled for %f seconds\n", t
);
229 kernel
->streams
->printf("WARNING Watchdog is disabled\n");
233 kernel
->add_module( &u
);
235 // memory before cache is cleared
236 //SimpleShell::print_mem(kernel->streams);
238 // clear up the config cache to save some memory
239 kernel
->config
->config_cache_clear();
241 if(kernel
->is_using_leds()) {
242 // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok
243 leds
[0]= 1; // indicate we are done with init
244 leds
[3]= sdok
?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found)
248 // load config override file if present
249 // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
250 FILE *fp
= fopen(kernel
->config_override_filename(), "r");
253 kernel
->streams
->printf("Loading config override file: %s...\n", kernel
->config_override_filename());
254 while(fgets(buf
, sizeof buf
, fp
) != NULL
) {
255 kernel
->streams
->printf(" %s", buf
);
256 if(buf
[0] == ';') continue; // skip the comments
257 struct SerialMessage message
= {&(StreamOutput::NullStream
), buf
};
258 kernel
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
260 kernel
->streams
->printf("config override file executed\n");
265 // start the timers and interrupts
266 THEKERNEL
->step_ticker
->start();
267 THEKERNEL
->slow_ticker
->start();
277 if(THEKERNEL
->is_using_leds()) {
278 // flash led 2 to show we are alive
279 leds
[1]= (cnt
++ & 0x1000) ? 1 : 0;
281 THEKERNEL
->call_event(ON_MAIN_LOOP
);
282 THEKERNEL
->call_event(ON_IDLE
);