add option to enable watchdog. Enabled if dfu is disabled.

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

diff --git a/src/main.cpp b/src/main.cpp
index 2854921..41e7ecf 100644 (file)
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -8,6 +8,7 @@
 #include "libs/Kernel.h"
 
 #include "modules/tools/laser/Laser.h"
+#include "modules/tools/spindle/Spindle.h"
 #include "modules/tools/extruder/ExtruderMaker.h"
 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
 #include "modules/tools/endstops/Endstops.h"
@@ -15,6 +16,8 @@
 #include "modules/tools/scaracal/SCARAcal.h"
 #include "modules/tools/switch/SwitchPool.h"
 #include "modules/tools/temperatureswitch/TemperatureSwitch.h"
+#include "modules/tools/drillingcycles/Drillingcycles.h"
+#include "FilamentDetector.h"
 
 #include "modules/robot/Conveyor.h"
 #include "modules/utils/simpleshell/SimpleShell.h"
@@ -28,6 +31,7 @@
 #include "Config.h"
 #include "checksumm.h"
 #include "ConfigValue.h"
+#include "StepTicker.h"
 
 // #include "libs/ChaNFSSD/SDFileSystem.h"
 #include "libs/nuts_bolts.h"
@@ -54,13 +58,14 @@
 
 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
 #define disable_msd_checksum  CHECKSUM("msd_disable")
-#define disable_leds_checksum  CHECKSUM("leds_disable")
+#define dfu_enable_checksum  CHECKSUM("dfu_enable")
+#define watchdog_timeout_checksum  CHECKSUM("watchdog_timeout")
 
-// Watchdog wd(5000000, WDT_MRI);
 
 // USB Stuff
 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
+//SDCard sd(P0_18, P0_17, P0_15, P2_8);  // this selects SPI0 as the sdcard witrh a different sd select
 
 USB u __attribute__ ((section ("AHBSRAM0")));
 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
@@ -69,7 +74,6 @@ USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
 #else
 USBMSD *msc= NULL;
 #endif
-DFU dfu __attribute__ ((section ("AHBSRAM0"))) (&u);
 
 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
 
@@ -81,6 +85,11 @@ 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
@@ -89,18 +98,23 @@ 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());
 
-    //some boards don't have leds.. TOO BAD!
-    kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
+    bool sdok= (sd.disk_initialize() == 0);
+    if(!sdok) kernel->streams->printf("SDCard is disabled\r\n");
 
 #ifdef DISABLEMSD
     // attempt to be able to disable msd in config
-    if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
+    if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
         // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
         size_t n= sizeof(USBMSD);
         void *v = AHB0.alloc(n);
@@ -112,7 +126,6 @@ void init() {
     }
 #endif
 
-    bool sdok= (sd.disk_initialize() == 0);
 
     // Create and add main modules
     kernel->add_module( new SimpleShell() );
@@ -145,6 +158,9 @@ void init() {
     #ifndef NO_TOOLS_LASER
     kernel->add_module( new Laser() );
     #endif
+    #ifndef NO_TOOLS_SPINDLE
+    kernel->add_module( new Spindle() );
+    #endif
     #ifndef NO_UTILS_PANEL
     kernel->add_module( new Panel() );
     #endif
@@ -161,9 +177,15 @@ void init() {
     kernel->add_module( new Network() );
     #endif
     #ifndef NO_TOOLS_TEMPERATURESWITCH
-    // Must be loaded after TemperatureControlPool
+    // Must be loaded after TemperatureControl
     kernel->add_module( new TemperatureSwitch() );
     #endif
+    #ifndef NO_TOOLS_DRILLINGCYCLES
+    kernel->add_module( new Drillingcycles() );
+    #endif
+    #ifndef NO_TOOLS_FILAMENTDETECTOR
+    kernel->add_module( new FilamentDetector() );
+    #endif
 
     // Create and initialize USB stuff
     u.init();
@@ -178,15 +200,30 @@ void init() {
 
     kernel->add_module( &usbserial );
     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
-        kernel->add_module( new USBSerial(&u) );
+        kernel->add_module( new(AHB0) USBSerial(&u) );
+    }
+
+    if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
+        kernel->add_module( new(AHB0) DFU(&u));
+        kernel->streams->printf("WARNING Watchdog is disabled when DFU is enabled\n");
+
+    }else{
+        // 5 second watchdog timeout (or config as seconds)
+        float t= kernel->config->value( watchdog_timeout_checksum )->by_default(5.0F)->as_number();
+        if(t > 0) {
+            kernel->add_module( new Watchdog(t*1000000, WDT_RESET));
+            kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
+        }else{
+            kernel->streams->printf("WARNING Watchdog is disabled\n");
+        }
     }
-    kernel->add_module( &dfu );
+
     kernel->add_module( &u );
 
     // clear up the config cache to save some memory
     kernel->config->config_cache_clear();
 
-    if(kernel->use_leds) {
+    if(kernel->is_using_leds()) {
         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
         leds[0]= 1; // indicate we are done with init
         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
@@ -209,6 +246,8 @@ void init() {
             fclose(fp);
         }
     }
+
+    THEKERNEL->step_ticker->start();
 }
 
 int main()
@@ -218,7 +257,7 @@ int main()
     uint16_t cnt= 0;
     // Main loop
     while(1){
-        if(THEKERNEL->use_leds) {
+        if(THEKERNEL->is_using_leds()) {
             // flash led 2 to show we are alive
             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
         }