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/scaracal/SCARAcal.h"
  17 #include "modules/tools/switch/SwitchPool.h"
  18 #include "modules/tools/temperatureswitch/TemperatureSwitch.h"
  19
  20 #include "modules/robot/Conveyor.h"
  21 #include "modules/utils/simpleshell/SimpleShell.h"
  22 #include "modules/utils/configurator/Configurator.h"
  23 #include "modules/utils/currentcontrol/CurrentControl.h"
  24 #include "modules/utils/player/Player.h"
  25 #include "modules/utils/pausebutton/PauseButton.h"
  26 #include "modules/utils/PlayLed/PlayLed.h"
  27 #include "modules/utils/panel/Panel.h"
  28 #include "libs/Network/uip/Network.h"
  29 #include "Config.h"
  30 #include "checksumm.h"
  31 #include "ConfigValue.h"
  32
  33 // #include "libs/ChaNFSSD/SDFileSystem.h"
  34 #include "libs/nuts_bolts.h"
  35 #include "libs/utils.h"
  36
  37 // Debug
  38 #include "libs/SerialMessage.h"
  39
  40 #include "libs/USBDevice/USB.h"
  41 #include "libs/USBDevice/USBMSD/USBMSD.h"
  42 #include "libs/USBDevice/USBMSD/SDCard.h"
  43 #include "libs/USBDevice/USBSerial/USBSerial.h"
  44 #include "libs/USBDevice/DFU.h"
  45 #include "libs/SDFAT.h"
  46 #include "StreamOutputPool.h"
  47 #include "ToolManager.h"
  48
  49 #include "libs/Watchdog.h"
  50
  51 #include "version.h"
  52 #include "system_LPC17xx.h"
  53
  54 #include "mbed.h"
  55
  56 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  57 #define disable_msd_checksum  CHECKSUM("msd_disable")
  58 #define disable_leds_checksum  CHECKSUM("leds_disable")
  59
  60 // Watchdog wd(5000000, WDT_MRI);
  61
  62 // USB Stuff
  63 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  64 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  65
  66 USB u __attribute__ ((section ("AHBSRAM0")));
  67 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  68 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  69 //USBMSD *msc= NULL;
  70 DFU dfu __attribute__ ((section ("AHBSRAM0"))) (&u);
  71
  72 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  73
  74 GPIO leds[5] = {
  75     GPIO(P1_18),
  76     GPIO(P1_19),
  77     GPIO(P1_20),
  78     GPIO(P1_21),
  79     GPIO(P4_28)
  80 };
  81
  82 void init() {
  83
  84     // Default pins to low status
  85     for (int i = 0; i < 5; i++){
  86         leds[i].output();
  87         leds[i]= 0;
  88     }
  89
  90     Kernel* kernel = new Kernel();
  91
  92     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
  93     Version version;
  94     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
  95
  96     //some boards don't have leds.. TOO BAD!
  97     kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
  98
  99     // attempt to be able to disable msd in config
 100     // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
 101     //     msc= new USBMSD(&u, &sd);
 102     // }else{
 103     //     msc= NULL;
 104     //     kernel->streams->printf("MSD is disabled\r\n");
 105     // }
 106
 107     bool sdok= (sd.disk_initialize() == 0);
 108
 109     // Create and add main modules
 110     kernel->add_module( new SimpleShell() );
 111     kernel->add_module( new Configurator() );
 112     kernel->add_module( new CurrentControl() );
 113     kernel->add_module( new PauseButton() );
 114     kernel->add_module( new PlayLed() );
 115     kernel->add_module( new Endstops() );
 116     kernel->add_module( new Player() );
 117
 118
 119     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 120     #ifndef NO_TOOLS_SWITCH
 121     SwitchPool *sp= new SwitchPool();
 122     sp->load_tools();
 123     delete sp;
 124     #endif
 125     #ifndef NO_TOOLS_EXTRUDER
 126     // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
 127     ExtruderMaker *em= new ExtruderMaker();
 128     em->load_tools();
 129     delete em;
 130     #endif
 131     #ifndef NO_TOOLS_TEMPERATURECONTROL
 132     // Note order is important here must be after extruder so Tn as a parameter will get executed first
 133     TemperatureControlPool *tp= new TemperatureControlPool();
 134     tp->load_tools();
 135     delete tp;
 136     #endif
 137     #ifndef NO_TOOLS_LASER
 138     kernel->add_module( new Laser() );
 139     #endif
 140     #ifndef NO_UTILS_PANEL
 141     kernel->add_module( new Panel() );
 142     #endif
 143     #ifndef NO_TOOLS_TOUCHPROBE
 144     kernel->add_module( new Touchprobe() );
 145     #endif
 146     #ifndef NO_TOOLS_ZPROBE
 147     kernel->add_module( new ZProbe() );
 148     #endif
 149     #ifndef NO_TOOLS_SCARACAL
 150     kernel->add_module( new SCARAcal() );
 151     #endif
 152     #ifndef NONETWORK
 153     kernel->add_module( new Network() );
 154     #endif
 155     #ifndef NO_TOOLS_TEMPERATURESWITCH
 156     kernel->add_module( new TemperatureSwitch() );
 157     #endif
 158
 159     // Create and initialize USB stuff
 160     u.init();
 161     //if(sdok) { // only do this if there is an sd disk
 162     //    msc= new USBMSD(&u, &sd);
 163     //    kernel->add_module( msc );
 164     //}
 165
 166     // if(msc != NULL){
 167     //     kernel->add_module( msc );
 168     // }
 169
 170     kernel->add_module( &msc );
 171     kernel->add_module( &usbserial );
 172     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 173         kernel->add_module( new USBSerial(&u) );
 174     }
 175     kernel->add_module( &dfu );
 176     kernel->add_module( &u );
 177
 178     // clear up the config cache to save some memory
 179     kernel->config->config_cache_clear();
 180
 181     if(kernel->use_leds) {
 182         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 183         leds[0]= 1; // indicate we are done with init
 184         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
 185     }
 186
 187     if(sdok) {
 188         // load config override file if present
 189         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 190         FILE *fp= fopen(kernel->config_override_filename(), "r");
 191         if(fp != NULL) {
 192             char buf[132];
 193             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 194             while(fgets(buf, sizeof buf, fp) != NULL) {
 195                 kernel->streams->printf("  %s", buf);
 196                 if(buf[0] == ';') continue; // skip the comments
 197                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 198                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 199             }
 200             kernel->streams->printf("config override file executed\n");
 201             fclose(fp);
 202         }
 203     }
 204 }
 205
 206 int main()
 207 {
 208     init();
 209
 210     uint16_t cnt= 0;
 211     // Main loop
 212     while(1){
 213         if(THEKERNEL->use_leds) {
 214             // flash led 2 to show we are alive
 215             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 216         }
 217         THEKERNEL->call_event(ON_MAIN_LOOP);
 218         THEKERNEL->call_event(ON_IDLE);
 219     }
 220 }