src/main.cpp

   1 /*
   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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "libs/Kernel.h"
   9 #include "modules/tools/laser/Laser.h"
  10 #include "modules/tools/extruder/Extruder.h"
  11 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
  12 #include "modules/tools/endstops/Endstops.h"
  13 #include "modules/tools/switch/SwitchPool.h"
  14 #include "modules/utils/button/ButtonPool.h"
  15 #include "modules/robot/Player.h"
  16 #include "modules/utils/simpleshell/SimpleShell.h"
  17 #include "modules/utils/configurator/Configurator.h"
  18 #include "modules/utils/currentcontrol/CurrentControl.h"
  19 #include "modules/utils/pausebutton/PauseButton.h"
  20 // #include "libs/ChaNFSSD/SDFileSystem.h"
  21 #include "libs/Config.h"
  22 #include "libs/nuts_bolts.h"
  23 #include "libs/utils.h"
  24
  25 // Debug
  26 #include "libs/SerialMessage.h"
  27
  28 #include "libs/USBDevice/USB.h"
  29 #include "libs/USBDevice/USBMSD/USBMSD.h"
  30 #include "libs/USBDevice/USBMSD/SDCard.h"
  31 #include "libs/USBDevice/USBSerial/USBSerial.h"
  32 #include "libs/USBDevice/DFU.h"
  33
  34 #include "libs/SDFAT.h"
  35
  36 #include "libs/Watchdog.h"
  37
  38 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  39
  40 // Watchdog wd(5000000, WDT_MRI);
  41
  42 // #include "libs/USBCDCMSC/USBCDCMSC.h"
  43 // SDFileSystem sd(p5, p6, p7, p8, "sd");  // LPC17xx specific : comment if you are not using a SD card ( for example with a mBed ).
  44 SDCard sd(P0_9, P0_8, P0_7, P0_6);
  45 //LocalFileSystem local("local");       // LPC17xx specific : comment if you are not running a mBed
  46 // USBCDCMSC cdcmsc(&sd);                  // LPC17xx specific : Composite serial + msc USB device
  47
  48 USB u;
  49
  50 USBSerial usbserial(&u);
  51 USBMSD msc(&u, &sd);
  52 DFU dfu(&u);
  53
  54 SDFAT mounter("sd", &sd);
  55
  56 char buf[512];
  57
  58 GPIO leds[5] = {
  59     GPIO(P1_18),
  60     GPIO(P1_19),
  61     GPIO(P1_20),
  62     GPIO(P1_21),
  63     GPIO(P4_28)
  64 };
  65
  66 int main() {
  67     for (int i = 0; i < 5; i++)
  68     {
  69         leds[i].output();
  70         leds[i] = (i & 1) ^ 1;
  71     }
  72
  73     sd.disk_initialize();
  74
  75     Kernel* kernel = new Kernel();
  76
  77     kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 \r\n");
  78
  79 //     kernel->streams->printf("Disk Status: %d, Type: %d\n", sd.disk_status(), sd.card_type());
  80 //     if (sd.disk_status() == 0) {
  81 //         uint16_t s1;
  82 //         uint8_t s2;
  83 //         char suffix;
  84 //         if (sd.disk_sectors() >= (1<<21)) {
  85 //             s1 = sd.disk_sectors() >> 21;
  86 //             s2 = ((sd.disk_sectors() * 10) >> 21) - (s1 * 10);
  87 //             suffix = 'G';
  88 //         }
  89 //         else if (sd.disk_sectors() >= (1<<11)) {
  90 //             s1 = sd.disk_sectors() >> 11;
  91 //             s2 = ((sd.disk_sectors() * 10) >> 11) - (s1 * 10);
  92 //             suffix = 'M';
  93 //         }
  94 //         else if (sd.disk_sectors() >= (1<< 1)) {
  95 //             s1 = sd.disk_sectors() >> 1;
  96 //             s2 = ((sd.disk_sectors() * 10) >> 1) - (s1 * 10);
  97 //             suffix = 'K';
  98 //         }
  99 //         else {
 100 //             s1 = sd.disk_sectors() << 9;
 101 //             s2 = 0;
 102 //             suffix = ' ';
 103 //         }
 104 //         kernel->streams->printf("Card has %lu blocks; %llu bytes; %d.%d%cB\n", sd.disk_sectors(), sd.disk_size(), s1, s2, suffix);
 105 //     }
 106
 107      kernel->add_module( new Laser() );
 108 //     kernel->add_module( &wd );
 109     kernel->add_module( new Extruder() );
 110     kernel->add_module( new SimpleShell() );
 111     kernel->add_module( new Configurator() );
 112     kernel->add_module( new CurrentControl() );
 113     kernel->add_module( new TemperatureControlPool() );
 114     kernel->add_module( new SwitchPool() );
 115     kernel->add_module( new ButtonPool() );
 116     kernel->add_module( new PauseButton() );
 117     kernel->add_module( new Endstops() );
 118
 119     u.init();
 120
 121     kernel->add_module( &msc );
 122     kernel->add_module( &usbserial );
 123     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 124         kernel->add_module( new USBSerial(&u) );
 125     }
 126     kernel->add_module( &dfu );
 127     kernel->add_module( &u );
 128
 129     struct SerialMessage message;
 130     message.message = "G90";
 131     message.stream = kernel->serial;
 132     kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 133
 134     while(1){
 135         kernel->call_event(ON_MAIN_LOOP);
 136         kernel->call_event(ON_IDLE);
 137     }
 138 }