implement parsing of A B C parameters for multi axis, NOTE mutually exclusive with...

[clinton/Smoothieware.git] / src / main.cpp

diff --git a/src/main.cpp b/src/main.cpp
index 2514cc7..87886c2 100644 (file)
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -35,6 +35,7 @@
 #include "ConfigValue.h"
 #include "StepTicker.h"
 #include "SlowTicker.h"
+#include "Robot.h"
 
 // #include "libs/ChaNFSSD/SDFileSystem.h"
 #include "libs/nuts_bolts.h"
@@ -89,11 +90,6 @@ GPIO leds[5] = {
     GPIO(P4_28)
 };
 
-// debug pins, only used if defined in src/makefile
-#ifdef STEPTICKER_DEBUG_PIN
-GPIO stepticker_debug_pin(STEPTICKER_DEBUG_PIN);
-#endif
-
 void init() {
 
     // Default pins to low status
@@ -102,19 +98,10 @@ void init() {
         leds[i]= 0;
     }
 
-#ifdef STEPTICKER_DEBUG_PIN
-    stepticker_debug_pin.output();
-    stepticker_debug_pin= 0;
-#endif
-
     Kernel* kernel = new Kernel();
 
     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
-    Version version;
-    kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
-#ifdef CNC
-    kernel->streams->printf("  CNC Build\r\n");
-#endif
+    SimpleShell::version_command("", kernel->streams);
 
     bool sdok= (sd.disk_initialize() == 0);
     if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n");
@@ -137,7 +124,6 @@ void init() {
     }
 #endif
 
-
     // Create and add main modules
     kernel->add_module( new(AHB0) Player() );
 
@@ -168,10 +154,10 @@ void init() {
     delete tp;
     #endif
     #ifndef NO_TOOLS_LASER
-    kernel->add_module( new Laser() );
+//    kernel->add_module( new Laser() );
     #endif
     #ifndef NO_TOOLS_SPINDLE
-    kernel->add_module( new Spindle() );
+    kernel->add_module( new(AHB0) Spindle() );
     #endif
     #ifndef NO_UTILS_PANEL
     kernel->add_module( new(AHB0) Panel() );
@@ -183,20 +169,20 @@ void init() {
     kernel->add_module( new(AHB0) SCARAcal() );
     #endif
     #ifndef NO_TOOLS_ROTARYDELTACALIBRATION
-    kernel->add_module( new RotaryDeltaCalibration() );
+    kernel->add_module( new(AHB0) RotaryDeltaCalibration() );
     #endif
     #ifndef NONETWORK
     kernel->add_module( new Network() );
     #endif
     #ifndef NO_TOOLS_TEMPERATURESWITCH
     // Must be loaded after TemperatureControl
-    kernel->add_module( new TemperatureSwitch() );
+    kernel->add_module( new(AHB0) TemperatureSwitch() );
     #endif
     #ifndef NO_TOOLS_DRILLINGCYCLES
-    kernel->add_module( new Drillingcycles() );
+    kernel->add_module( new(AHB0) Drillingcycles() );
     #endif
     #ifndef NO_TOOLS_FILAMENTDETECTOR
-    kernel->add_module( new FilamentDetector() );
+    kernel->add_module( new(AHB0) FilamentDetector() );
     #endif
     #ifndef NO_UTILS_MOTORDRIVERCONTROL
     kernel->add_module( new MotorDriverControl(0) );
@@ -265,7 +251,7 @@ void init() {
     }
 
     // start the timers and interrupts
-    THEKERNEL->conveyor->start();
+    THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
     THEKERNEL->step_ticker->start();
     THEKERNEL->slow_ticker->start();
 }