merged latest edge branch and fixed the spindle module. Also added ON_IDLE calls...

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

diff --git a/src/main.cpp b/src/main.cpp
index 694667d..d0f2647 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
@@ -102,11 +98,6 @@ 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);
@@ -137,17 +128,18 @@ void init() {
     }
 #endif
 
-
     // Create and add main modules
     kernel->add_module( new(AHB0) Player() );
 
     kernel->add_module( new(AHB0) CurrentControl() );
     kernel->add_module( new(AHB0) KillButton() );
     kernel->add_module( new(AHB0) PlayLed() );
-    kernel->add_module( new(AHB0) Endstops() );
-
 
     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
+    #ifndef NO_TOOLS_ENDSTOPS
+    kernel->add_module( new(AHB0) Endstops() );
+    #endif
+
     #ifndef NO_TOOLS_SWITCH
     SwitchPool *sp= new SwitchPool();
     sp->load_tools();
@@ -166,12 +158,13 @@ void init() {
     delete tp;
     #endif
     #ifndef NO_TOOLS_LASER
-    kernel->add_module( new Laser() );
+//    kernel->add_module( new Laser() );
     #endif
     #ifndef NO_TOOLS_SPINDLE
     SpindleMaker *sm= new SpindleMaker();
     sm->load_spindle();
     delete sm;
+    //kernel->add_module( new(AHB0) Spindle() );
     #endif
     #ifndef NO_UTILS_PANEL
     kernel->add_module( new(AHB0) Panel() );
@@ -183,20 +176,20 @@ 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) );
@@ -265,6 +258,7 @@ void init() {
     }
 
     // start the timers and interrupts
+    THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
     THEKERNEL->step_ticker->start();
     THEKERNEL->slow_ticker->start();
 }