*/
#include "libs/Kernel.h"
-\
+
#include "modules/tools/laser/Laser.h"
+#include "modules/tools/spindle/SpindleMaker.h"
#include "modules/tools/extruder/ExtruderMaker.h"
#include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
#include "modules/tools/endstops/Endstops.h"
-#include "modules/tools/touchprobe/Touchprobe.h"
+#include "modules/tools/zprobe/ZProbe.h"
+#include "modules/tools/scaracal/SCARAcal.h"
+#include "RotaryDeltaCalibration.h"
#include "modules/tools/switch/SwitchPool.h"
+#include "modules/tools/temperatureswitch/TemperatureSwitch.h"
+#include "modules/tools/drillingcycles/Drillingcycles.h"
+#include "FilamentDetector.h"
+#include "MotorDriverControl.h"
+
#include "modules/robot/Conveyor.h"
#include "modules/utils/simpleshell/SimpleShell.h"
#include "modules/utils/configurator/Configurator.h"
#include "modules/utils/currentcontrol/CurrentControl.h"
#include "modules/utils/player/Player.h"
-#include "modules/utils/pausebutton/PauseButton.h"
+#include "modules/utils/killbutton/KillButton.h"
#include "modules/utils/PlayLed/PlayLed.h"
#include "modules/utils/panel/Panel.h"
#include "libs/Network/uip/Network.h"
#include "Config.h"
#include "checksumm.h"
#include "ConfigValue.h"
+#include "StepTicker.h"
+#include "SlowTicker.h"
+#include "Robot.h"
// #include "libs/ChaNFSSD/SDFileSystem.h"
#include "libs/nuts_bolts.h"
#include "libs/USBDevice/DFU.h"
#include "libs/SDFAT.h"
#include "StreamOutputPool.h"
+#include "ToolManager.h"
#include "libs/Watchdog.h"
#include "version.h"
#include "system_LPC17xx.h"
+#include "platform_memory.h"
+
+#include "mbed.h"
#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(P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard
+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;
-USBSerial usbserial(&u);
-USBMSD msc(&u, &sd);
-//USBMSD *msc= NULL;
-DFU dfu(&u);
+USB u __attribute__ ((section ("AHBSRAM0")));
+USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
+#ifndef DISABLEMSD
+USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
+#else
+USBMSD *msc= NULL;
+#endif
-SDFAT mounter("sd", &sd);
+SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
GPIO leds[5] = {
GPIO(P1_18),
GPIO(P4_28)
};
-int main() {
+void init() {
// Default pins to low status
for (int i = 0; i < 5; i++){
Kernel* kernel = new Kernel();
- kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 with new accel @%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());
+ kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
+ SimpleShell::version_command("", kernel->streams);
- //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 failed to initialize\r\n");
- // attempt to be able to disable msd in config
- // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
- // msc= new USBMSD(&u, &sd);
- // }else{
- // msc= NULL;
- // kernel->streams->printf("MSD is disabled\r\n");
- // }
+ #ifdef NONETWORK
+ kernel->streams->printf("NETWORK is disabled\r\n");
+ #endif
- bool sdok= (sd.disk_initialize() == 0);
+#ifdef DISABLEMSD
+ // attempt to be able to disable msd in config
+ if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(true)->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);
+ memset(v, 0, n); // clear the allocated memory
+ msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory
+ }else{
+ msc= NULL;
+ kernel->streams->printf("MSD is disabled\r\n");
+ }
+#endif
// Create and add main modules
- kernel->add_module( new SimpleShell() );
- kernel->add_module( new Configurator() );
- kernel->add_module( new CurrentControl() );
- kernel->add_module( new SwitchPool() );
- kernel->add_module( new PauseButton() );
- kernel->add_module( new PlayLed() );
- kernel->add_module( new Endstops() );
- kernel->add_module( new Player() );
+ kernel->add_module( new(AHB0) Player() );
+
+ kernel->add_module( new(AHB0) CurrentControl() );
+ kernel->add_module( new(AHB0) KillButton() );
+ kernel->add_module( new(AHB0) PlayLed() );
// these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
- #ifndef NO_TOOLS_TEMPERATURECONTROL
- kernel->add_module( new TemperatureControlPool() );
+ #ifndef NO_TOOLS_SWITCH
+ SwitchPool *sp= new SwitchPool();
+ sp->load_tools();
+ delete sp;
#endif
#ifndef NO_TOOLS_EXTRUDER
- kernel->add_module( new ExtruderMaker() );
+ // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
+ ExtruderMaker *em= new ExtruderMaker();
+ em->load_tools();
+ delete em;
+ #endif
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
+ // Note order is important here must be after extruder so Tn as a parameter will get executed first
+ TemperatureControlPool *tp= new TemperatureControlPool();
+ tp->load_tools();
+ delete tp;
+ #endif
+ #ifndef NO_TOOLS_ENDSTOPS
+ kernel->add_module( new(AHB0) Endstops() );
#endif
#ifndef NO_TOOLS_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 Panel() );
+ kernel->add_module( new(AHB0) Panel() );
+ #endif
+ #ifndef NO_TOOLS_ZPROBE
+ kernel->add_module( new(AHB0) ZProbe() );
#endif
- #ifndef NO_TOOLS_TOUCHPROBE
- kernel->add_module( new Touchprobe() );
+ #ifndef NO_TOOLS_SCARACAL
+ kernel->add_module( new(AHB0) SCARAcal() );
+ #endif
+ #ifndef NO_TOOLS_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(AHB0) TemperatureSwitch() );
+ #endif
+ #ifndef NO_TOOLS_DRILLINGCYCLES
+ kernel->add_module( new(AHB0) Drillingcycles() );
+ #endif
+ #ifndef NO_TOOLS_FILAMENTDETECTOR
+ kernel->add_module( new(AHB0) FilamentDetector() );
+ #endif
+ #ifndef NO_UTILS_MOTORDRIVERCONTROL
+ kernel->add_module( new MotorDriverControl(0) );
+ #endif
// Create and initialize USB stuff
u.init();
- //if(sdok) { // only do this if there is an sd disk
- // msc= new USBMSD(&u, &sd);
- // kernel->add_module( msc );
- //}
-
- // if(msc != NULL){
- // kernel->add_module( msc );
- // }
+#ifdef DISABLEMSD
+ if(sdok && msc != NULL){
+ kernel->add_module( msc );
+ }
+#else
kernel->add_module( &msc );
+#endif
+
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->add_module( &dfu );
+
+ // 10 second watchdog timeout (or config as seconds)
+ float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number();
+ if(t > 0.1F) {
+ // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
+ kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET));
+ kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
+ }else{
+ kernel->streams->printf("WARNING Watchdog is disabled\n");
+ }
+
+
kernel->add_module( &u );
+ // memory before cache is cleared
+ //SimpleShell::print_mem(kernel->streams);
+
// clear up the config cache to save some memory
kernel->config->config_cache_clear();
- if(kernel->use_leds) {
- // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
+ if(kernel->is_using_leds()) {
+ // set some leds to indicate status... led0 init done, 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)
+ leds[3]= sdok?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found)
}
if(sdok) {
}
}
+ // start the timers and interrupts
+ THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
+ THEKERNEL->step_ticker->start();
+ THEKERNEL->slow_ticker->start();
+}
+
+int main()
+{
+ init();
+
uint16_t cnt= 0;
// Main loop
while(1){
- if(kernel->use_leds) {
+ if(THEKERNEL->is_using_leds()) {
// flash led 2 to show we are alive
leds[1]= (cnt++ & 0x1000) ? 1 : 0;
}
- kernel->call_event(ON_MAIN_LOOP);
- kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_MAIN_LOOP);
+ THEKERNEL->call_event(ON_IDLE);
}
}
HCoop / clinton / Smoothieware.git / blobdiff