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 #include "modules/tools/laser/Laser.h"
  10 #include "modules/tools/extruder/Extruder.h"
  11 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
  12 #include "modules/tools/endstops/Endstops.h"
  13 #include "modules/tools/switch/SwitchPool.h"
  14 #include "modules/robot/Conveyor.h"
  15 #include "modules/utils/button/ButtonPool.h"
  16 #include "modules/utils/simpleshell/SimpleShell.h"
  17 #include "modules/utils/configurator/Configurator.h"
  18 #include "modules/utils/currentcontrol/CurrentControl.h"
  19 #include "modules/utils/player/Player.h"
  20 #include "modules/utils/pausebutton/PauseButton.h"
  21 #include "modules/utils/PlayLed/PlayLed.h"
  22 // #include "libs/ChaNFSSD/SDFileSystem.h"
  23 #include "libs/Config.h"
  24 #include "libs/nuts_bolts.h"
  25 #include "libs/utils.h"
  26
  27 // Debug
  28 #include "libs/SerialMessage.h"
  29
  30 #include "libs/USBDevice/USB.h"
  31 #include "libs/USBDevice/USBMSD/USBMSD.h"
  32 #include "libs/USBDevice/USBMSD/SDCard.h"
  33 #include "libs/USBDevice/USBSerial/USBSerial.h"
  34 #include "libs/USBDevice/DFU.h"
  35
  36 #include "libs/SDFAT.h"
  37
  38 #include "libs/Watchdog.h"
  39
  40 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  41
  42 // Watchdog wd(5000000, WDT_MRI);
  43
  44 // #include "libs/USBCDCMSC/USBCDCMSC.h"
  45 // SDFileSystem sd(p5, p6, p7, p8, "sd");  // LPC17xx specific : comment if you are not using a SD card ( for example with a mBed ).
  46 SDCard sd(P0_9, P0_8, P0_7, P0_6);
  47 //LocalFileSystem local("local");       // LPC17xx specific : comment if you are not running a mBed
  48 // USBCDCMSC cdcmsc(&sd);                  // LPC17xx specific : Composite serial + msc USB device
  49
  50 USB u;
  51
  52 USBSerial usbserial(&u);
  53 USBMSD msc(&u, &sd);
  54 DFU dfu(&u);
  55
  56 SDFAT mounter("sd", &sd);
  57
  58 char buf[512];
  59
  60 GPIO leds[5] = {
  61     GPIO(P1_18),
  62     GPIO(P1_19),
  63     GPIO(P1_20),
  64     GPIO(P1_21),
  65     GPIO(P4_28)
  66 };
  67
  68 int main() {
  69
  70     // Default pins to low status
  71     for (int i = 0; i < 5; i++){
  72         leds[i].output();
  73         leds[i] = (i & 1) ^ 1;
  74     }
  75
  76     sd.disk_initialize();
  77
  78     Kernel* kernel = new Kernel();
  79
  80     kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 @%dMHz\r\n", SystemCoreClock / 1000000);
  81
  82     // Create and add main modules
  83     kernel->add_module( new Laser() );
  84     kernel->add_module( new Extruder() );
  85     kernel->add_module( new SimpleShell() );
  86     kernel->add_module( new Configurator() );
  87     kernel->add_module( new CurrentControl() );
  88     kernel->add_module( new TemperatureControlPool() );
  89     kernel->add_module( new SwitchPool() );
  90     kernel->add_module( new ButtonPool() );
  91     kernel->add_module( new PauseButton() );
  92     kernel->add_module( new PlayLed() );
  93     kernel->add_module( new Endstops() );
  94     kernel->add_module( new Player() );
  95
  96     // Create and initialize USB stuff
  97     u.init();
  98     kernel->add_module( &msc );
  99     kernel->add_module( &usbserial );
 100     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 101         kernel->add_module( new USBSerial(&u) );
 102     }
 103     kernel->add_module( &dfu );
 104     kernel->add_module( &u );
 105
 106     // Main loop
 107     while(1){
 108         kernel->call_event(ON_MAIN_LOOP);
 109         kernel->call_event(ON_IDLE);
 110     }
 111 }