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/ExtruderMaker.h"
  11 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
  12 #include "modules/tools/endstops/Endstops.h"
  13 #include "modules/tools/touchprobe/Touchprobe.h"
  14 #include "modules/tools/switch/SwitchPool.h"
  15 #include "modules/robot/Conveyor.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/player/Player.h"
  20 #include "modules/utils/pausebutton/PauseButton.h"
  21 #include "modules/utils/PlayLed/PlayLed.h"
  22 #include "modules/utils/panel/Panel.h"
  23 #include "libs/Network/uip/Network.h"
  24
  25 // #include "libs/ChaNFSSD/SDFileSystem.h"
  26 #include "libs/Config.h"
  27 #include "libs/nuts_bolts.h"
  28 #include "libs/utils.h"
  29
  30 // Debug
  31 #include "libs/SerialMessage.h"
  32
  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"
  37 #include "libs/USBDevice/DFU.h"
  38 #include "libs/SDFAT.h"
  39
  40 #include "libs/Watchdog.h"
  41
  42 #include "version.h"
  43
  44 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  45 #define disable_msd_checksum  CHECKSUM("msd_disable")
  46 #define disable_leds_checksum  CHECKSUM("leds_disable")
  47
  48 // Watchdog wd(5000000, WDT_MRI);
  49
  50 // USB Stuff
  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
  54 USB u;
  55 USBSerial usbserial(&u);
  56 USBMSD msc(&u, &sd);
  57 //USBMSD *msc= NULL;
  58 DFU dfu(&u);
  59
  60 SDFAT mounter("sd", &sd);
  61
  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 };
  69
  70 int main() {
  71
  72     // Default pins to low status
  73     for (int i = 0; i < 5; i++){
  74         leds[i].output();
  75         leds[i]= 0;
  76     }
  77
  78     Kernel* kernel = new Kernel();
  79
  80     kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 with new accel @%ldMHz\r\n", SystemCoreClock / 1000000);
  81     Version version;
  82     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
  83
  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
  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
  95     bool sdok= (sd.disk_initialize() == 0);
  96
  97     // Create and add main modules
  98     kernel->add_module( new Laser() );
  99     kernel->add_module( new ExtruderMaker() );
 100     kernel->add_module( new SimpleShell() );
 101     kernel->add_module( new Configurator() );
 102     kernel->add_module( new CurrentControl() );
 103     kernel->add_module( new TemperatureControlPool() );
 104     kernel->add_module( new SwitchPool() );
 105     kernel->add_module( new PauseButton() );
 106     kernel->add_module( new PlayLed() );
 107     kernel->add_module( new Endstops() );
 108     kernel->add_module( new Player() );
 109     kernel->add_module( new Panel() );
 110     kernel->add_module( new Touchprobe() );
 111 #ifndef NONETWORK
 112     kernel->add_module( new Network() );
 113 #endif
 114
 115     // Create and initialize USB stuff
 116     u.init();
 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
 122     // if(msc != NULL){
 123     //     kernel->add_module( msc );
 124     // }
 125
 126     kernel->add_module( &msc );
 127     kernel->add_module( &usbserial );
 128     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 129         kernel->add_module( new USBSerial(&u) );
 130     }
 131     kernel->add_module( &dfu );
 132     kernel->add_module( &u );
 133
 134     // clear up the config cache to save some memory
 135     kernel->config->config_cache_clear();
 136
 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     }
 142
 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
 161     uint16_t cnt= 0;
 162     // Main loop
 163     while(1){
 164         if(kernel->use_leds) {
 165             // flash led 2 to show we are alive
 166             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 167         }
 168         kernel->call_event(ON_MAIN_LOOP);
 169         kernel->call_event(ON_IDLE);
 170     }
 171 }