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/extruder/ExtruderMaker.h"
  12 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
  13 #include "modules/tools/endstops/Endstops.h"
  14 #include "modules/tools/touchprobe/Touchprobe.h"
  15 #include "modules/tools/zprobe/ZProbe.h"
  16 #include "modules/tools/switch/SwitchPool.h"
  17
  18 #include "modules/robot/Conveyor.h"
  19 #include "modules/utils/simpleshell/SimpleShell.h"
  20 #include "modules/utils/configurator/Configurator.h"
  21 #include "modules/utils/currentcontrol/CurrentControl.h"
  22 #include "modules/utils/player/Player.h"
  23 #include "modules/utils/pausebutton/PauseButton.h"
  24 #include "modules/utils/PlayLed/PlayLed.h"
  25 #include "modules/utils/panel/Panel.h"
  26 #include "libs/Network/uip/Network.h"
  27 #include "Config.h"
  28 #include "checksumm.h"
  29 #include "ConfigValue.h"
  30
  31 // #include "libs/ChaNFSSD/SDFileSystem.h"
  32 #include "libs/nuts_bolts.h"
  33 #include "libs/utils.h"
  34
  35 // Debug
  36 #include "libs/SerialMessage.h"
  37
  38 #include "libs/USBDevice/USB.h"
  39 #include "libs/USBDevice/USBMSD/USBMSD.h"
  40 #include "libs/USBDevice/USBMSD/SDCard.h"
  41 #include "libs/USBDevice/USBSerial/USBSerial.h"
  42 #include "libs/USBDevice/DFU.h"
  43 #include "libs/SDFAT.h"
  44 #include "StreamOutputPool.h"
  45
  46 #include "libs/Watchdog.h"
  47
  48 #include "version.h"
  49 #include "system_LPC17xx.h"
  50
  51 #include "mbed.h"
  52
  53 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  54 #define disable_msd_checksum  CHECKSUM("msd_disable")
  55 #define disable_leds_checksum  CHECKSUM("leds_disable")
  56
  57 // Watchdog wd(5000000, WDT_MRI);
  58
  59 // USB Stuff
  60 SDCard sd(P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  61 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  62
  63 USB u;
  64 USBSerial usbserial(&u);
  65 USBMSD msc(&u, &sd);
  66 //USBMSD *msc= NULL;
  67 DFU dfu(&u);
  68
  69 SDFAT mounter("sd", &sd);
  70
  71 GPIO leds[5] = {
  72     GPIO(P1_18),
  73     GPIO(P1_19),
  74     GPIO(P1_20),
  75     GPIO(P1_21),
  76     GPIO(P4_28)
  77 };
  78
  79 int main() {
  80
  81     // Default pins to low status
  82     for (int i = 0; i < 5; i++){
  83         leds[i].output();
  84         leds[i]= 0;
  85     }
  86
  87     Kernel* kernel = new Kernel();
  88
  89     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
  90     Version version;
  91     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
  92
  93     //some boards don't have leds.. TOO BAD!
  94     kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
  95
  96     // attempt to be able to disable msd in config
  97     // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
  98     //     msc= new USBMSD(&u, &sd);
  99     // }else{
 100     //     msc= NULL;
 101     //     kernel->streams->printf("MSD is disabled\r\n");
 102     // }
 103
 104     bool sdok= (sd.disk_initialize() == 0);
 105
 106     // Create and add main modules
 107     kernel->add_module( new SimpleShell() );
 108     kernel->add_module( new Configurator() );
 109     kernel->add_module( new CurrentControl() );
 110     kernel->add_module( new SwitchPool() );
 111     kernel->add_module( new PauseButton() );
 112     kernel->add_module( new PlayLed() );
 113     kernel->add_module( new Endstops() );
 114     kernel->add_module( new Player() );
 115
 116     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 117     #ifndef NO_TOOLS_TEMPERATURECONTROL
 118     kernel->add_module( new TemperatureControlPool() );
 119     #endif
 120     #ifndef NO_TOOLS_EXTRUDER
 121     kernel->add_module( new ExtruderMaker() );
 122     #endif
 123     #ifndef NO_TOOLS_LASER
 124     kernel->add_module( new Laser() );
 125     #endif
 126     #ifndef NO_UTILS_PANEL
 127     kernel->add_module( new Panel() );
 128     #endif
 129     #ifndef NO_TOOLS_TOUCHPROBE
 130     kernel->add_module( new Touchprobe() );
 131     #endif
 132     #ifndef NO_TOOLS_ZPROBE
 133     kernel->add_module( new ZProbe() );
 134     #endif
 135     #ifndef NONETWORK
 136     kernel->add_module( new Network() );
 137     #endif
 138
 139     // Create and initialize USB stuff
 140     u.init();
 141     //if(sdok) { // only do this if there is an sd disk
 142     //    msc= new USBMSD(&u, &sd);
 143     //    kernel->add_module( msc );
 144     //}
 145
 146     // if(msc != NULL){
 147     //     kernel->add_module( msc );
 148     // }
 149
 150     kernel->add_module( &msc );
 151     kernel->add_module( &usbserial );
 152     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 153         kernel->add_module( new USBSerial(&u) );
 154     }
 155     kernel->add_module( &dfu );
 156     kernel->add_module( &u );
 157
 158     // clear up the config cache to save some memory
 159     kernel->config->config_cache_clear();
 160
 161     if(kernel->use_leds) {
 162         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 163         leds[0]= 1; // indicate we are done with init
 164         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
 165     }
 166
 167     if(sdok) {
 168         // load config override file if present
 169         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 170         FILE *fp= fopen(kernel->config_override_filename(), "r");
 171         if(fp != NULL) {
 172             char buf[132];
 173             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 174             while(fgets(buf, sizeof buf, fp) != NULL) {
 175                 kernel->streams->printf("  %s", buf);
 176                 if(buf[0] == ';') continue; // skip the comments
 177                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 178                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 179             }
 180             kernel->streams->printf("config override file executed\n");
 181             fclose(fp);
 182         }
 183     }
 184
 185     uint16_t cnt= 0;
 186     // Main loop
 187     while(1){
 188         if(kernel->use_leds) {
 189             // flash led 2 to show we are alive
 190             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 191         }
 192         kernel->call_event(ON_MAIN_LOOP);
 193         kernel->call_event(ON_IDLE);
 194     }
 195 }