Commit | Line | Data |
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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 AW |
8 | #include "libs/Kernel.h" |
9 | #include "modules/tools/laser/Laser.h" | |
14ecdbd7 | 10 | #include "modules/tools/extruder/ExtruderMaker.h" |
3c132bd0 | 11 | #include "modules/tools/temperaturecontrol/TemperatureControlPool.h" |
201bcb94 | 12 | #include "modules/tools/endstops/Endstops.h" |
3779fd74 | 13 | #include "modules/tools/touchprobe/Touchprobe.h" |
cc1d3b1f | 14 | #include "modules/tools/switch/SwitchPool.h" |
3fceb8eb | 15 | #include "modules/robot/Conveyor.h" |
4eb9c745 | 16 | #include "modules/utils/simpleshell/SimpleShell.h" |
cf44cb59 | 17 | #include "modules/utils/configurator/Configurator.h" |
0e8b102e | 18 | #include "modules/utils/currentcontrol/CurrentControl.h" |
1cf49da1 | 19 | #include "modules/utils/player/Player.h" |
81b547a1 | 20 | #include "modules/utils/pausebutton/PauseButton.h" |
4a679a75 | 21 | #include "modules/utils/PlayLed/PlayLed.h" |
35089dc7 | 22 | #include "modules/utils/panel/Panel.h" |
d4ee6ee2 | 23 | #include "libs/Network/uip/Network.h" |
35089dc7 | 24 | |
2487f50b | 25 | // #include "libs/ChaNFSSD/SDFileSystem.h" |
4cff3ded | 26 | #include "libs/Config.h" |
4eb9c745 AW |
27 | #include "libs/nuts_bolts.h" |
28 | #include "libs/utils.h" | |
4cff3ded | 29 | |
40c831b8 MM |
30 | // Debug |
31 | #include "libs/SerialMessage.h" | |
a39e1557 | 32 | |
7c3c5e0f MM |
33 | #include "libs/USBDevice/USB.h" |
34 | #include "libs/USBDevice/USBMSD/USBMSD.h" | |
35 | #include "libs/USBDevice/USBMSD/SDCard.h" | |
36 | #include "libs/USBDevice/USBSerial/USBSerial.h" | |
9f0f2c8f | 37 | #include "libs/USBDevice/DFU.h" |
246fd409 MM |
38 | #include "libs/SDFAT.h" |
39 | ||
073b1698 MM |
40 | #include "libs/Watchdog.h" |
41 | ||
582559c6 JM |
42 | #include "version.h" |
43 | ||
764b2de4 | 44 | #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable") |
82d1ceb3 | 45 | #define disable_msd_checksum CHECKSUM("msd_disable") |
21320fc6 | 46 | #define disable_leds_checksum CHECKSUM("leds_disable") |
764b2de4 | 47 | |
073b1698 MM |
48 | // Watchdog wd(5000000, WDT_MRI); |
49 | ||
d337942a | 50 | // USB Stuff |
82414cb2 L |
51 | SDCard sd(P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard |
52 | //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard | |
53 | ||
7c3c5e0f | 54 | USB u; |
7c3c5e0f | 55 | USBSerial usbserial(&u); |
8a004d38 | 56 | USBMSD msc(&u, &sd); |
82d1ceb3 | 57 | //USBMSD *msc= NULL; |
9f0f2c8f | 58 | DFU dfu(&u); |
7c3c5e0f | 59 | |
246fd409 | 60 | SDFAT mounter("sd", &sd); |
a39e1557 | 61 | |
ca3a28b4 MM |
62 | GPIO leds[5] = { |
63 | GPIO(P1_18), | |
64 | GPIO(P1_19), | |
65 | GPIO(P1_20), | |
66 | GPIO(P1_21), | |
67 | GPIO(P4_28) | |
68 | }; | |
a39e1557 | 69 | |
4cff3ded | 70 | int main() { |
2a1089e1 AW |
71 | |
72 | // Default pins to low status | |
73 | for (int i = 0; i < 5; i++){ | |
ca3a28b4 | 74 | leds[i].output(); |
82d1ceb3 | 75 | leds[i]= 0; |
ca3a28b4 MM |
76 | } |
77 | ||
4464301d | 78 | Kernel* kernel = new Kernel(); |
a39e1557 | 79 | |
80e52d71 | 80 | kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 with new accel @%ldMHz\r\n", SystemCoreClock / 1000000); |
582559c6 JM |
81 | Version version; |
82 | kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date()); | |
4cff3ded | 83 | |
21320fc6 JM |
84 | //some boards don't have leds.. TOO BAD! |
85 | kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool(); | |
86 | ||
82d1ceb3 JM |
87 | // attempt to be able to disable msd in config |
88 | // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){ | |
89 | // msc= new USBMSD(&u, &sd); | |
90 | // }else{ | |
91 | // msc= NULL; | |
92 | // kernel->streams->printf("MSD is disabled\r\n"); | |
93 | // } | |
94 | ||
df6f3a22 | 95 | bool sdok= (sd.disk_initialize() == 0); |
82d1ceb3 | 96 | |
2a1089e1 AW |
97 | // Create and add main modules |
98 | kernel->add_module( new Laser() ); | |
14ecdbd7 | 99 | kernel->add_module( new ExtruderMaker() ); |
4eb9c745 | 100 | kernel->add_module( new SimpleShell() ); |
d3a6143b | 101 | kernel->add_module( new Configurator() ); |
0e8b102e | 102 | kernel->add_module( new CurrentControl() ); |
3c132bd0 | 103 | kernel->add_module( new TemperatureControlPool() ); |
cc1d3b1f | 104 | kernel->add_module( new SwitchPool() ); |
df27a6a3 | 105 | kernel->add_module( new PauseButton() ); |
4a679a75 | 106 | kernel->add_module( new PlayLed() ); |
201bcb94 | 107 | kernel->add_module( new Endstops() ); |
1cf49da1 | 108 | kernel->add_module( new Player() ); |
58d6d841 | 109 | kernel->add_module( new Panel() ); |
3779fd74 | 110 | kernel->add_module( new Touchprobe() ); |
d4ee6ee2 JM |
111 | #ifndef NONETWORK |
112 | kernel->add_module( new Network() ); | |
113 | #endif | |
81b547a1 | 114 | |
4a679a75 | 115 | // Create and initialize USB stuff |
7c3c5e0f | 116 | u.init(); |
8a004d38 JM |
117 | //if(sdok) { // only do this if there is an sd disk |
118 | // msc= new USBMSD(&u, &sd); | |
119 | // kernel->add_module( msc ); | |
120 | //} | |
121 | ||
82d1ceb3 JM |
122 | // if(msc != NULL){ |
123 | // kernel->add_module( msc ); | |
124 | // } | |
b813be45 | 125 | |
82d1ceb3 | 126 | kernel->add_module( &msc ); |
7c3c5e0f | 127 | kernel->add_module( &usbserial ); |
764b2de4 L |
128 | if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){ |
129 | kernel->add_module( new USBSerial(&u) ); | |
130 | } | |
9737eccb | 131 | kernel->add_module( &dfu ); |
7c3c5e0f MM |
132 | kernel->add_module( &u ); |
133 | ||
a4bfde91 JM |
134 | // clear up the config cache to save some memory |
135 | kernel->config->config_cache_clear(); | |
136 | ||
21320fc6 JM |
137 | if(kernel->use_leds) { |
138 | // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok | |
139 | leds[0]= 1; // indicate we are done with init | |
140 | leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found) | |
141 | } | |
82d1ceb3 | 142 | |
33e4cc02 JM |
143 | if(sdok) { |
144 | // load config override file if present | |
145 | // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500 | |
146 | FILE *fp= fopen(kernel->config_override_filename(), "r"); | |
147 | if(fp != NULL) { | |
148 | char buf[132]; | |
149 | kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename()); | |
150 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
151 | kernel->streams->printf(" %s", buf); | |
152 | if(buf[0] == ';') continue; // skip the comments | |
153 | struct SerialMessage message= {&(StreamOutput::NullStream), buf}; | |
154 | kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); | |
155 | } | |
156 | kernel->streams->printf("config override file executed\n"); | |
157 | fclose(fp); | |
158 | } | |
159 | } | |
160 | ||
82d1ceb3 | 161 | uint16_t cnt= 0; |
2a1089e1 | 162 | // Main loop |
4cff3ded | 163 | while(1){ |
21320fc6 JM |
164 | if(kernel->use_leds) { |
165 | // flash led 2 to show we are alive | |
166 | leds[1]= (cnt++ & 0x1000) ? 1 : 0; | |
167 | } | |
4cff3ded | 168 | kernel->call_event(ON_MAIN_LOOP); |
f9005ebe | 169 | kernel->call_event(ON_IDLE); |
4cff3ded | 170 | } |
4cff3ded | 171 | } |