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 #include "ToolManager.h"
  46
  47 #include "libs/Watchdog.h"
  48
  49 #include "version.h"
  50 #include "system_LPC17xx.h"
  51
  52 #include "mbed.h"
  53
  54 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  55 #define disable_msd_checksum  CHECKSUM("msd_disable")
  56 #define disable_leds_checksum  CHECKSUM("leds_disable")
  57
  58 // Watchdog wd(5000000, WDT_MRI);
  59
  60 // USB Stuff
  61 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  62 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  63
  64 USB u __attribute__ ((section ("AHBSRAM0")));
  65 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  66 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  67 //USBMSD *msc= NULL;
  68 DFU dfu __attribute__ ((section ("AHBSRAM0"))) (&u);
  69
  70 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  71
  72 GPIO leds[5] = {
  73     GPIO(P1_18),
  74     GPIO(P1_19),
  75     GPIO(P1_20),
  76     GPIO(P1_21),
  77     GPIO(P4_28)
  78 };
  79
  80 int main() {
  81
  82     // Default pins to low status
  83     for (int i = 0; i < 5; i++){
  84         leds[i].output();
  85         leds[i]= 0;
  86     }
  87
  88     Kernel* kernel = new Kernel();
  89
  90     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
  91     Version version;
  92     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
  93
  94     //some boards don't have leds.. TOO BAD!
  95     kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
  96
  97     // attempt to be able to disable msd in config
  98     // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
  99     //     msc= new USBMSD(&u, &sd);
 100     // }else{
 101     //     msc= NULL;
 102     //     kernel->streams->printf("MSD is disabled\r\n");
 103     // }
 104
 105     bool sdok= (sd.disk_initialize() == 0);
 106
 107     // Create and add main modules
 108     kernel->add_module( new SimpleShell() );
 109     kernel->add_module( new Configurator() );
 110     kernel->add_module( new CurrentControl() );
 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
 117     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 118     #ifndef NO_TOOLS_SWITCH
 119     SwitchPool *sp= new SwitchPool();
 120     sp->load_tools();
 121     delete sp;
 122     #endif
 123     #ifndef NO_TOOLS_EXTRUDER
 124     ExtruderMaker *em= new ExtruderMaker();
 125     em->load_tools();
 126     delete em;
 127     #endif
 128     #ifndef NO_TOOLS_TEMPERATURECONTROL
 129     // Note order is important here must be after extruder
 130     TemperatureControlPool *tp= new TemperatureControlPool();
 131     tp->load_tools();
 132     delete tp;
 133     #endif
 134     #ifndef NO_TOOLS_LASER
 135     kernel->add_module( new Laser() );
 136     #endif
 137     #ifndef NO_UTILS_PANEL
 138     kernel->add_module( new Panel() );
 139     #endif
 140     #ifndef NO_TOOLS_TOUCHPROBE
 141     kernel->add_module( new Touchprobe() );
 142     #endif
 143     #ifndef NO_TOOLS_ZPROBE
 144     kernel->add_module( new ZProbe() );
 145     #endif
 146     #ifndef NONETWORK
 147     kernel->add_module( new Network() );
 148     #endif
 149
 150     // Create and initialize USB stuff
 151     u.init();
 152     //if(sdok) { // only do this if there is an sd disk
 153     //    msc= new USBMSD(&u, &sd);
 154     //    kernel->add_module( msc );
 155     //}
 156
 157     // if(msc != NULL){
 158     //     kernel->add_module( msc );
 159     // }
 160
 161     kernel->add_module( &msc );
 162     kernel->add_module( &usbserial );
 163     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 164         kernel->add_module( new USBSerial(&u) );
 165     }
 166     kernel->add_module( &dfu );
 167     kernel->add_module( &u );
 168
 169     // clear up the config cache to save some memory
 170     kernel->config->config_cache_clear();
 171
 172     if(kernel->use_leds) {
 173         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 174         leds[0]= 1; // indicate we are done with init
 175         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
 176     }
 177
 178     if(sdok) {
 179         // load config override file if present
 180         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 181         FILE *fp= fopen(kernel->config_override_filename(), "r");
 182         if(fp != NULL) {
 183             char buf[132];
 184             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 185             while(fgets(buf, sizeof buf, fp) != NULL) {
 186                 kernel->streams->printf("  %s", buf);
 187                 if(buf[0] == ';') continue; // skip the comments
 188                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 189                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 190             }
 191             kernel->streams->printf("config override file executed\n");
 192             fclose(fp);
 193         }
 194     }
 195
 196     uint16_t cnt= 0;
 197     // Main loop
 198     while(1){
 199         if(kernel->use_leds) {
 200             // flash led 2 to show we are alive
 201             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 202         }
 203         kernel->call_event(ON_MAIN_LOOP);
 204         kernel->call_event(ON_IDLE);
 205     }
 206 }