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/zprobe/ZProbe.h"
  15 #include "modules/tools/scaracal/SCARAcal.h"
  16 #include "modules/tools/switch/SwitchPool.h"
  17 #include "modules/tools/temperatureswitch/TemperatureSwitch.h"
  18
  19 #include "modules/robot/Conveyor.h"
  20 #include "modules/utils/simpleshell/SimpleShell.h"
  21 #include "modules/utils/configurator/Configurator.h"
  22 #include "modules/utils/currentcontrol/CurrentControl.h"
  23 #include "modules/utils/player/Player.h"
  24 #include "modules/utils/pausebutton/PauseButton.h"
  25 #include "modules/utils/PlayLed/PlayLed.h"
  26 #include "modules/utils/panel/Panel.h"
  27 #include "libs/Network/uip/Network.h"
  28 #include "Config.h"
  29 #include "checksumm.h"
  30 #include "ConfigValue.h"
  31
  32 // #include "libs/ChaNFSSD/SDFileSystem.h"
  33 #include "libs/nuts_bolts.h"
  34 #include "libs/utils.h"
  35
  36 // Debug
  37 #include "libs/SerialMessage.h"
  38
  39 #include "libs/USBDevice/USB.h"
  40 #include "libs/USBDevice/USBMSD/USBMSD.h"
  41 #include "libs/USBDevice/USBMSD/SDCard.h"
  42 #include "libs/USBDevice/USBSerial/USBSerial.h"
  43 #include "libs/USBDevice/DFU.h"
  44 #include "libs/SDFAT.h"
  45 #include "StreamOutputPool.h"
  46 #include "ToolManager.h"
  47
  48 #include "libs/Watchdog.h"
  49
  50 #include "version.h"
  51 #include "system_LPC17xx.h"
  52
  53 #include "mbed.h"
  54
  55 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  56 #define disable_msd_checksum  CHECKSUM("msd_disable")
  57 #define disable_leds_checksum  CHECKSUM("leds_disable")
  58
  59 // Watchdog wd(5000000, WDT_MRI);
  60
  61 // USB Stuff
  62 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  63 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  64
  65 USB u __attribute__ ((section ("AHBSRAM0")));
  66 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  67 #ifndef DISABLEMSD
  68 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  69 #else
  70 USBMSD *msc= NULL;
  71 #endif
  72 DFU dfu __attribute__ ((section ("AHBSRAM0"))) (&u);
  73
  74 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  75
  76 GPIO leds[5] = {
  77     GPIO(P1_18),
  78     GPIO(P1_19),
  79     GPIO(P1_20),
  80     GPIO(P1_21),
  81     GPIO(P4_28)
  82 };
  83
  84 void init() {
  85
  86     // Default pins to low status
  87     for (int i = 0; i < 5; i++){
  88         leds[i].output();
  89         leds[i]= 0;
  90     }
  91
  92     Kernel* kernel = new Kernel();
  93
  94     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
  95     Version version;
  96     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
  97
  98     //some boards don't have leds.. TOO BAD!
  99     kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 100
 101 #ifdef DISABLEMSD
 102     // attempt to be able to disable msd in config
 103     if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
 104         // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
 105         size_t n= sizeof(USBMSD);
 106         void *v = AHB0.alloc(n);
 107         memset(v, 0, n); // clear the allocated memory
 108         msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory
 109     }else{
 110         msc= NULL;
 111         kernel->streams->printf("MSD is disabled\r\n");
 112     }
 113 #endif
 114
 115     bool sdok= (sd.disk_initialize() == 0);
 116
 117     // Create and add main modules
 118     kernel->add_module( new SimpleShell() );
 119     kernel->add_module( new Configurator() );
 120     kernel->add_module( new CurrentControl() );
 121     kernel->add_module( new PauseButton() );
 122     kernel->add_module( new PlayLed() );
 123     kernel->add_module( new Endstops() );
 124     kernel->add_module( new Player() );
 125
 126
 127     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 128     #ifndef NO_TOOLS_SWITCH
 129     SwitchPool *sp= new SwitchPool();
 130     sp->load_tools();
 131     delete sp;
 132     #endif
 133     #ifndef NO_TOOLS_EXTRUDER
 134     // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
 135     ExtruderMaker *em= new ExtruderMaker();
 136     em->load_tools();
 137     delete em;
 138     #endif
 139     #ifndef NO_TOOLS_TEMPERATURECONTROL
 140     // Note order is important here must be after extruder so Tn as a parameter will get executed first
 141     TemperatureControlPool *tp= new TemperatureControlPool();
 142     tp->load_tools();
 143     delete tp;
 144     #endif
 145     #ifndef NO_TOOLS_LASER
 146     kernel->add_module( new Laser() );
 147     #endif
 148     #ifndef NO_UTILS_PANEL
 149     kernel->add_module( new Panel() );
 150     #endif
 151     #ifndef NO_TOOLS_TOUCHPROBE
 152     kernel->add_module( new Touchprobe() );
 153     #endif
 154     #ifndef NO_TOOLS_ZPROBE
 155     kernel->add_module( new ZProbe() );
 156     #endif
 157     #ifndef NO_TOOLS_SCARACAL
 158     kernel->add_module( new SCARAcal() );
 159     #endif
 160     #ifndef NONETWORK
 161     kernel->add_module( new Network() );
 162     #endif
 163     #ifndef NO_TOOLS_TEMPERATURESWITCH
 164     // Must be loaded after TemperatureControlPool
 165     kernel->add_module( new TemperatureSwitch() );
 166     #endif
 167
 168     // Create and initialize USB stuff
 169     u.init();
 170
 171 #ifdef DISABLEMSD
 172     if(sdok && msc != NULL){
 173         kernel->add_module( msc );
 174     }
 175 #else
 176     kernel->add_module( &msc );
 177 #endif
 178
 179     kernel->add_module( &usbserial );
 180     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 181         kernel->add_module( new USBSerial(&u) );
 182     }
 183     kernel->add_module( &dfu );
 184     kernel->add_module( &u );
 185
 186     // clear up the config cache to save some memory
 187     kernel->config->config_cache_clear();
 188
 189     if(kernel->use_leds) {
 190         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 191         leds[0]= 1; // indicate we are done with init
 192         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
 193     }
 194
 195     if(sdok) {
 196         // load config override file if present
 197         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 198         FILE *fp= fopen(kernel->config_override_filename(), "r");
 199         if(fp != NULL) {
 200             char buf[132];
 201             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 202             while(fgets(buf, sizeof buf, fp) != NULL) {
 203                 kernel->streams->printf("  %s", buf);
 204                 if(buf[0] == ';') continue; // skip the comments
 205                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 206                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 207             }
 208             kernel->streams->printf("config override file executed\n");
 209             fclose(fp);
 210         }
 211     }
 212 }
 213
 214 int main()
 215 {
 216     init();
 217
 218     uint16_t cnt= 0;
 219     // Main loop
 220     while(1){
 221         if(THEKERNEL->use_leds) {
 222             // flash led 2 to show we are alive
 223             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 224         }
 225         THEKERNEL->call_event(ON_MAIN_LOOP);
 226         THEKERNEL->call_event(ON_IDLE);
 227     }
 228 }