Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
4cff3ded AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
4cff3ded | 8 | #include "libs/Kernel.h" |
88443c6b | 9 | |
4cff3ded | 10 | #include "modules/tools/laser/Laser.h" |
8322515e | 11 | #include "modules/tools/spindle/SpindleMaker.h" |
14ecdbd7 | 12 | #include "modules/tools/extruder/ExtruderMaker.h" |
3c132bd0 | 13 | #include "modules/tools/temperaturecontrol/TemperatureControlPool.h" |
201bcb94 | 14 | #include "modules/tools/endstops/Endstops.h" |
88443c6b | 15 | #include "modules/tools/zprobe/ZProbe.h" |
ed866a4b | 16 | #include "modules/tools/scaracal/SCARAcal.h" |
c48757a7 | 17 | #include "RotaryDeltaCalibration.h" |
cc1d3b1f | 18 | #include "modules/tools/switch/SwitchPool.h" |
abe97b79 | 19 | #include "modules/tools/temperatureswitch/TemperatureSwitch.h" |
13320983 | 20 | #include "modules/tools/drillingcycles/Drillingcycles.h" |
89b1a6eb | 21 | #include "FilamentDetector.h" |
3eca6882 | 22 | #include "MotorDriverControl.h" |
88443c6b | 23 | |
3fceb8eb | 24 | #include "modules/robot/Conveyor.h" |
4eb9c745 | 25 | #include "modules/utils/simpleshell/SimpleShell.h" |
cf44cb59 | 26 | #include "modules/utils/configurator/Configurator.h" |
0e8b102e | 27 | #include "modules/utils/currentcontrol/CurrentControl.h" |
1cf49da1 | 28 | #include "modules/utils/player/Player.h" |
35e7b158 | 29 | #include "modules/utils/killbutton/KillButton.h" |
4a679a75 | 30 | #include "modules/utils/PlayLed/PlayLed.h" |
35089dc7 | 31 | #include "modules/utils/panel/Panel.h" |
d4ee6ee2 | 32 | #include "libs/Network/uip/Network.h" |
61134a65 | 33 | #include "Config.h" |
7af0714f | 34 | #include "checksumm.h" |
8d54c34c | 35 | #include "ConfigValue.h" |
dc3542cf | 36 | #include "StepTicker.h" |
b772a11c | 37 | #include "SlowTicker.h" |
8a9f9313 | 38 | #include "Robot.h" |
35089dc7 | 39 | |
2487f50b | 40 | // #include "libs/ChaNFSSD/SDFileSystem.h" |
4eb9c745 AW |
41 | #include "libs/nuts_bolts.h" |
42 | #include "libs/utils.h" | |
4cff3ded | 43 | |
40c831b8 MM |
44 | // Debug |
45 | #include "libs/SerialMessage.h" | |
a39e1557 | 46 | |
7c3c5e0f MM |
47 | #include "libs/USBDevice/USB.h" |
48 | #include "libs/USBDevice/USBMSD/USBMSD.h" | |
49 | #include "libs/USBDevice/USBMSD/SDCard.h" | |
50 | #include "libs/USBDevice/USBSerial/USBSerial.h" | |
9f0f2c8f | 51 | #include "libs/USBDevice/DFU.h" |
246fd409 | 52 | #include "libs/SDFAT.h" |
61134a65 | 53 | #include "StreamOutputPool.h" |
17c89e4d | 54 | #include "ToolManager.h" |
246fd409 | 55 | |
073b1698 MM |
56 | #include "libs/Watchdog.h" |
57 | ||
582559c6 | 58 | #include "version.h" |
61134a65 | 59 | #include "system_LPC17xx.h" |
8b261cdc | 60 | #include "platform_memory.h" |
582559c6 | 61 | |
a2f7633f JM |
62 | #include "mbed.h" |
63 | ||
764b2de4 | 64 | #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable") |
82d1ceb3 | 65 | #define disable_msd_checksum CHECKSUM("msd_disable") |
f431d45c | 66 | #define dfu_enable_checksum CHECKSUM("dfu_enable") |
55a2f359 | 67 | #define watchdog_timeout_checksum CHECKSUM("watchdog_timeout") |
764b2de4 | 68 | |
073b1698 | 69 | |
d337942a | 70 | // USB Stuff |
5c84acba | 71 | SDCard sd __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard |
82414cb2 | 72 | //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard |
eaf7b7eb | 73 | //SDCard sd(P0_18, P0_17, P0_15, P2_8); // this selects SPI0 as the sdcard witrh a different sd select |
82414cb2 | 74 | |
5c84acba JM |
75 | USB u __attribute__ ((section ("AHBSRAM0"))); |
76 | USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u); | |
45509e68 JM |
77 | #ifndef DISABLEMSD |
78 | USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd); | |
79 | #else | |
8c6d9683 | 80 | USBMSD *msc= NULL; |
45509e68 | 81 | #endif |
7c3c5e0f | 82 | |
5c84acba | 83 | SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd); |
a39e1557 | 84 | |
ca3a28b4 MM |
85 | GPIO leds[5] = { |
86 | GPIO(P1_18), | |
87 | GPIO(P1_19), | |
88 | GPIO(P1_20), | |
89 | GPIO(P1_21), | |
90 | GPIO(P4_28) | |
91 | }; | |
a39e1557 | 92 | |
8a1a44cb | 93 | void init() { |
2a1089e1 AW |
94 | |
95 | // Default pins to low status | |
96 | for (int i = 0; i < 5; i++){ | |
ca3a28b4 | 97 | leds[i].output(); |
82d1ceb3 | 98 | leds[i]= 0; |
ca3a28b4 MM |
99 | } |
100 | ||
4464301d | 101 | Kernel* kernel = new Kernel(); |
a39e1557 | 102 | |
577414f6 | 103 | kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000); |
37b7b898 | 104 | SimpleShell::version_command("", kernel->streams); |
4cff3ded | 105 | |
f431d45c | 106 | bool sdok= (sd.disk_initialize() == 0); |
bb270b88 JM |
107 | if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n"); |
108 | ||
109 | #ifdef NONETWORK | |
110 | kernel->streams->printf("NETWORK is disabled\r\n"); | |
111 | #endif | |
f431d45c | 112 | |
45509e68 | 113 | #ifdef DISABLEMSD |
82d1ceb3 | 114 | // attempt to be able to disable msd in config |
e6c14bac | 115 | if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(true)->as_bool()){ |
8c6d9683 JM |
116 | // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor |
117 | size_t n= sizeof(USBMSD); | |
118 | void *v = AHB0.alloc(n); | |
119 | memset(v, 0, n); // clear the allocated memory | |
120 | msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory | |
121 | }else{ | |
122 | msc= NULL; | |
123 | kernel->streams->printf("MSD is disabled\r\n"); | |
124 | } | |
45509e68 | 125 | #endif |
82d1ceb3 | 126 | |
2a1089e1 | 127 | // Create and add main modules |
f6898df1 | 128 | kernel->add_module( new(AHB0) Player() ); |
df930a5f | 129 | |
8b261cdc JM |
130 | kernel->add_module( new(AHB0) CurrentControl() ); |
131 | kernel->add_module( new(AHB0) KillButton() ); | |
132 | kernel->add_module( new(AHB0) PlayLed() ); | |
24584878 | 133 | |
df930a5f | 134 | // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES |
8b260c2c JM |
135 | #ifndef NO_TOOLS_ENDSTOPS |
136 | kernel->add_module( new(AHB0) Endstops() ); | |
137 | #endif | |
138 | ||
24584878 JM |
139 | #ifndef NO_TOOLS_SWITCH |
140 | SwitchPool *sp= new SwitchPool(); | |
141 | sp->load_tools(); | |
142 | delete sp; | |
143 | #endif | |
df930a5f | 144 | #ifndef NO_TOOLS_EXTRUDER |
ec6fde0b | 145 | // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does |
24584878 JM |
146 | ExtruderMaker *em= new ExtruderMaker(); |
147 | em->load_tools(); | |
148 | delete em; | |
df930a5f | 149 | #endif |
c7689006 | 150 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
ec6fde0b | 151 | // Note order is important here must be after extruder so Tn as a parameter will get executed first |
24584878 JM |
152 | TemperatureControlPool *tp= new TemperatureControlPool(); |
153 | tp->load_tools(); | |
bab4e1bd | 154 | delete tp; |
c7689006 | 155 | #endif |
df930a5f | 156 | #ifndef NO_TOOLS_LASER |
23201534 | 157 | kernel->add_module( new Laser() ); |
df930a5f | 158 | #endif |
65d97468 | 159 | #ifndef NO_TOOLS_SPINDLE |
8322515e | 160 | SpindleMaker *sm= new SpindleMaker(); |
161 | sm->load_spindle(); | |
162 | delete sm; | |
2ad2e4f7 | 163 | //kernel->add_module( new(AHB0) Spindle() ); |
65d97468 | 164 | #endif |
df930a5f | 165 | #ifndef NO_UTILS_PANEL |
8b261cdc | 166 | kernel->add_module( new(AHB0) Panel() ); |
df930a5f | 167 | #endif |
88443c6b | 168 | #ifndef NO_TOOLS_ZPROBE |
8b261cdc | 169 | kernel->add_module( new(AHB0) ZProbe() ); |
88443c6b | 170 | #endif |
ed866a4b | 171 | #ifndef NO_TOOLS_SCARACAL |
8b261cdc | 172 | kernel->add_module( new(AHB0) SCARAcal() ); |
ed866a4b | 173 | #endif |
c48757a7 | 174 | #ifndef NO_TOOLS_ROTARYDELTACALIBRATION |
216ef701 | 175 | kernel->add_module( new(AHB0) RotaryDeltaCalibration() ); |
c48757a7 | 176 | #endif |
df930a5f | 177 | #ifndef NONETWORK |
d4ee6ee2 | 178 | kernel->add_module( new Network() ); |
df930a5f | 179 | #endif |
1dc339ee | 180 | #ifndef NO_TOOLS_TEMPERATURESWITCH |
bab4e1bd | 181 | // Must be loaded after TemperatureControl |
216ef701 | 182 | kernel->add_module( new(AHB0) TemperatureSwitch() ); |
1dc339ee | 183 | #endif |
13320983 | 184 | #ifndef NO_TOOLS_DRILLINGCYCLES |
216ef701 | 185 | kernel->add_module( new(AHB0) Drillingcycles() ); |
b4a89b87 | 186 | #endif |
89b1a6eb | 187 | #ifndef NO_TOOLS_FILAMENTDETECTOR |
216ef701 | 188 | kernel->add_module( new(AHB0) FilamentDetector() ); |
89b1a6eb | 189 | #endif |
9b013d84 | 190 | #ifndef NO_UTILS_MOTORDRIVERCONTROL |
fc320ac5 | 191 | kernel->add_module( new MotorDriverControl(0) ); |
3eca6882 | 192 | #endif |
4a679a75 | 193 | // Create and initialize USB stuff |
7c3c5e0f | 194 | u.init(); |
8a004d38 | 195 | |
45509e68 | 196 | #ifdef DISABLEMSD |
8c6d9683 JM |
197 | if(sdok && msc != NULL){ |
198 | kernel->add_module( msc ); | |
199 | } | |
45509e68 JM |
200 | #else |
201 | kernel->add_module( &msc ); | |
202 | #endif | |
b813be45 | 203 | |
7c3c5e0f | 204 | kernel->add_module( &usbserial ); |
764b2de4 | 205 | if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){ |
f431d45c JM |
206 | kernel->add_module( new(AHB0) USBSerial(&u) ); |
207 | } | |
208 | ||
209 | if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){ | |
210 | kernel->add_module( new(AHB0) DFU(&u)); | |
f6193cbd | 211 | } |
55a2f359 | 212 | |
f6193cbd JM |
213 | // 10 second watchdog timeout (or config as seconds) |
214 | float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number(); | |
215 | if(t > 0.1F) { | |
216 | // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal | |
217 | kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET)); | |
218 | kernel->streams->printf("Watchdog enabled for %f seconds\n", t); | |
55a2f359 | 219 | }else{ |
f6193cbd | 220 | kernel->streams->printf("WARNING Watchdog is disabled\n"); |
764b2de4 | 221 | } |
55a2f359 | 222 | |
f6193cbd | 223 | |
7c3c5e0f MM |
224 | kernel->add_module( &u ); |
225 | ||
8b261cdc JM |
226 | // memory before cache is cleared |
227 | //SimpleShell::print_mem(kernel->streams); | |
228 | ||
a4bfde91 JM |
229 | // clear up the config cache to save some memory |
230 | kernel->config->config_cache_clear(); | |
231 | ||
73706276 | 232 | if(kernel->is_using_leds()) { |
a3be54e3 | 233 | // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok |
21320fc6 | 234 | leds[0]= 1; // indicate we are done with init |
a3be54e3 | 235 | leds[3]= sdok?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found) |
21320fc6 | 236 | } |
82d1ceb3 | 237 | |
33e4cc02 JM |
238 | if(sdok) { |
239 | // load config override file if present | |
240 | // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500 | |
241 | FILE *fp= fopen(kernel->config_override_filename(), "r"); | |
242 | if(fp != NULL) { | |
243 | char buf[132]; | |
244 | kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename()); | |
245 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
246 | kernel->streams->printf(" %s", buf); | |
247 | if(buf[0] == ';') continue; // skip the comments | |
248 | struct SerialMessage message= {&(StreamOutput::NullStream), buf}; | |
249 | kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); | |
250 | } | |
251 | kernel->streams->printf("config override file executed\n"); | |
252 | fclose(fp); | |
253 | } | |
254 | } | |
dc3542cf | 255 | |
b772a11c | 256 | // start the timers and interrupts |
8a9f9313 | 257 | THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors()); |
dc3542cf | 258 | THEKERNEL->step_ticker->start(); |
b772a11c | 259 | THEKERNEL->slow_ticker->start(); |
8a1a44cb JM |
260 | } |
261 | ||
262 | int main() | |
263 | { | |
264 | init(); | |
33e4cc02 | 265 | |
82d1ceb3 | 266 | uint16_t cnt= 0; |
2a1089e1 | 267 | // Main loop |
4cff3ded | 268 | while(1){ |
73706276 | 269 | if(THEKERNEL->is_using_leds()) { |
21320fc6 JM |
270 | // flash led 2 to show we are alive |
271 | leds[1]= (cnt++ & 0x1000) ? 1 : 0; | |
272 | } | |
8a1a44cb JM |
273 | THEKERNEL->call_event(ON_MAIN_LOOP); |
274 | THEKERNEL->call_event(ON_IDLE); | |
4cff3ded | 275 | } |
4cff3ded | 276 | } |