X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/0333ccb42f97d7a352e6ff255a8b47ef42261a63..1af84f6d7f188f1cae1667c390b05d4f03ddcc96:/src/main.cpp

diff --git a/src/main.cpp b/src/main.cpp
index 39ee9577..50fa6c49 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -8,23 +8,25 @@
 #include "libs/Kernel.h"
 
 #include "modules/tools/laser/Laser.h"
-#include "modules/tools/spindle/Spindle.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/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"
@@ -32,6 +34,8 @@
 #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"
@@ -53,6 +57,7 @@
 
 #include "version.h"
 #include "system_LPC17xx.h"
+#include "platform_memory.h"
 
 #include "mbed.h"
 
@@ -85,11 +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
@@ -98,23 +98,21 @@ 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());
+    SimpleShell::version_command("", kernel->streams);
 
     bool sdok= (sd.disk_initialize() == 0);
-    if(!sdok) kernel->streams->printf("SDCard is disabled\r\n");
+    if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n");
+
+    #ifdef NONETWORK
+        kernel->streams->printf("NETWORK is disabled\r\n");
+    #endif
 
 #ifdef DISABLEMSD
     // attempt to be able to disable msd in config
-    if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
+    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);
@@ -126,16 +124,12 @@ void init() {
     }
 #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 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_SWITCH
@@ -155,38 +149,46 @@ void init() {
     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
-    kernel->add_module( new 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() );
-    #endif
-    #ifndef NO_TOOLS_TOUCHPROBE
-    kernel->add_module( new Touchprobe() );
+    kernel->add_module( new(AHB0) Panel() );
     #endif
     #ifndef NO_TOOLS_ZPROBE
-    kernel->add_module( new ZProbe() );
+    kernel->add_module( new(AHB0) ZProbe() );
     #endif
     #ifndef NO_TOOLS_SCARACAL
-    kernel->add_module( new 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 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) );
     #endif
-
     // Create and initialize USB stuff
     u.init();
 
@@ -205,28 +207,31 @@ void init() {
 
     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");
+    }
 
+    // 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{
-        // 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) {
-            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->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->is_using_leds()) {
-        // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
+        // 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) {
@@ -247,7 +252,10 @@ void init() {
         }
     }
 
+    // start the timers and interrupts
+    THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
     THEKERNEL->step_ticker->start();
+    THEKERNEL->slow_ticker->start();
 }
 
 int main()