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
  10 #include "modules/tools/laser/Laser.h"
  11 #include "modules/tools/spindle/SpindleMaker.h"
  12 //#include "modules/tools/spindle/SpindleModbus.h"
  13 #include "modules/tools/extruder/ExtruderMaker.h"
  14 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
  15 #include "modules/tools/endstops/Endstops.h"
  16 #include "modules/tools/zprobe/ZProbe.h"
  17 #include "modules/tools/scaracal/SCARAcal.h"
  18 #include "modules/tools/switch/SwitchPool.h"
  19 #include "modules/tools/temperatureswitch/TemperatureSwitch.h"
  20 #include "modules/tools/drillingcycles/Drillingcycles.h"
  21 #include "FilamentDetector.h"
  22 #include "MotorDriverControl.h"
  23
  24 #include "modules/robot/Conveyor.h"
  25 #include "modules/utils/simpleshell/SimpleShell.h"
  26 #include "modules/utils/configurator/Configurator.h"
  27 #include "modules/utils/currentcontrol/CurrentControl.h"
  28 #include "modules/utils/player/Player.h"
  29 #include "modules/utils/killbutton/KillButton.h"
  30 #include "modules/utils/PlayLed/PlayLed.h"
  31 #include "modules/utils/panel/Panel.h"
  32 #include "libs/Network/uip/Network.h"
  33 #include "Config.h"
  34 #include "checksumm.h"
  35 #include "ConfigValue.h"
  36 #include "StepTicker.h"
  37
  38 // #include "libs/ChaNFSSD/SDFileSystem.h"
  39 #include "libs/nuts_bolts.h"
  40 #include "libs/utils.h"
  41
  42 // Debug
  43 #include "libs/SerialMessage.h"
  44
  45 #include "libs/USBDevice/USB.h"
  46 #include "libs/USBDevice/USBMSD/USBMSD.h"
  47 #include "libs/USBDevice/USBMSD/SDCard.h"
  48 #include "libs/USBDevice/USBSerial/USBSerial.h"
  49 #include "libs/USBDevice/DFU.h"
  50 #include "libs/SDFAT.h"
  51 #include "StreamOutputPool.h"
  52 #include "ToolManager.h"
  53
  54 #include "libs/Watchdog.h"
  55
  56 #include "version.h"
  57 #include "system_LPC17xx.h"
  58
  59 #include "mbed.h"
  60
  61 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  62 #define disable_msd_checksum  CHECKSUM("msd_disable")
  63 #define dfu_enable_checksum  CHECKSUM("dfu_enable")
  64 #define watchdog_timeout_checksum  CHECKSUM("watchdog_timeout")
  65
  66
  67 // USB Stuff
  68 SDCard sd  __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6);      // this selects SPI1 as the sdcard as it is on Smoothieboard
  69 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  70 //SDCard sd(P0_18, P0_17, P0_15, P2_8);  // this selects SPI0 as the sdcard witrh a different sd select
  71
  72 USB u __attribute__ ((section ("AHBSRAM0")));
  73 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  74 #ifndef DISABLEMSD
  75 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  76 #else
  77 USBMSD *msc= NULL;
  78 #endif
  79
  80 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  81
  82 GPIO leds[5] = {
  83     GPIO(P1_18),
  84     GPIO(P1_19),
  85     GPIO(P1_20),
  86     GPIO(P1_21),
  87     GPIO(P4_28)
  88 };
  89
  90 // debug pins, only used if defined in src/makefile
  91 #ifdef STEPTICKER_DEBUG_PIN
  92 GPIO stepticker_debug_pin(STEPTICKER_DEBUG_PIN);
  93 #endif
  94
  95 void init() {
  96
  97     // Default pins to low status
  98     for (int i = 0; i < 5; i++){
  99         leds[i].output();
 100         leds[i]= 0;
 101     }
 102
 103 #ifdef STEPTICKER_DEBUG_PIN
 104     stepticker_debug_pin.output();
 105     stepticker_debug_pin= 0;
 106 #endif
 107
 108     Kernel* kernel = new Kernel();
 109
 110     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
 111     Version version;
 112     kernel->streams->printf("  Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
 113
 114     bool sdok= (sd.disk_initialize() == 0);
 115     if(!sdok) kernel->streams->printf("SDCard is disabled\r\n");
 116
 117 #ifdef DISABLEMSD
 118     // attempt to be able to disable msd in config
 119     if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
 120         // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
 121         size_t n= sizeof(USBMSD);
 122         void *v = AHB0.alloc(n);
 123         memset(v, 0, n); // clear the allocated memory
 124         msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory
 125     }else{
 126         msc= NULL;
 127         kernel->streams->printf("MSD is disabled\r\n");
 128     }
 129 #endif
 130
 131
 132     // Create and add main modules
 133     kernel->add_module( new SimpleShell() );
 134     kernel->add_module( new Configurator() );
 135     kernel->add_module( new CurrentControl() );
 136     kernel->add_module( new KillButton() );
 137     kernel->add_module( new PlayLed() );
 138     kernel->add_module( new Endstops() );
 139     kernel->add_module( new Player() );
 140
 141
 142     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 143     #ifndef NO_TOOLS_SWITCH
 144     SwitchPool *sp= new SwitchPool();
 145     sp->load_tools();
 146     delete sp;
 147     #endif
 148     #ifndef NO_TOOLS_EXTRUDER
 149     // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
 150     ExtruderMaker *em= new ExtruderMaker();
 151     em->load_tools();
 152     delete em;
 153     #endif
 154     #ifndef NO_TOOLS_TEMPERATURECONTROL
 155     // Note order is important here must be after extruder so Tn as a parameter will get executed first
 156     TemperatureControlPool *tp= new TemperatureControlPool();
 157     tp->load_tools();
 158     delete tp;
 159     #endif
 160     #ifndef NO_TOOLS_LASER
 161     kernel->add_module( new Laser() );
 162     #endif
 163     #ifndef NO_TOOLS_SPINDLE
 164     SpindleMaker *sm= new SpindleMaker();
 165     sm->load_spindle();
 166     delete sm;
 167     //kernel->add_module( new Spindle() );
 168     //kernel->add_module( new SpindleModbus() );
 169     #endif
 170     #ifndef NO_UTILS_PANEL
 171     kernel->add_module( new Panel() );
 172     #endif
 173     #ifndef NO_TOOLS_TOUCHPROBE
 174     kernel->add_module( new Touchprobe() );
 175     #endif
 176     #ifndef NO_TOOLS_ZPROBE
 177     kernel->add_module( new ZProbe() );
 178     #endif
 179     #ifndef NO_TOOLS_SCARACAL
 180     kernel->add_module( new SCARAcal() );
 181     #endif
 182     #ifndef NONETWORK
 183     kernel->add_module( new Network() );
 184     #endif
 185     #ifndef NO_TOOLS_TEMPERATURESWITCH
 186     // Must be loaded after TemperatureControl
 187     kernel->add_module( new TemperatureSwitch() );
 188     #endif
 189     #ifndef NO_TOOLS_DRILLINGCYCLES
 190     kernel->add_module( new Drillingcycles() );
 191     #endif
 192     #ifndef NO_TOOLS_FILAMENTDETECTOR
 193     kernel->add_module( new FilamentDetector() );
 194     #endif
 195     #ifndef NO_UTILS_MOTORDRIVERCONTROL
 196     kernel->add_module( new MotorDriverControl(0) );
 197     #endif
 198     // Create and initialize USB stuff
 199     u.init();
 200
 201 #ifdef DISABLEMSD
 202     if(sdok && msc != NULL){
 203         kernel->add_module( msc );
 204     }
 205 #else
 206     kernel->add_module( &msc );
 207 #endif
 208
 209     kernel->add_module( &usbserial );
 210     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 211         kernel->add_module( new(AHB0) USBSerial(&u) );
 212     }
 213
 214     if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
 215         kernel->add_module( new(AHB0) DFU(&u));
 216     }
 217
 218     // 10 second watchdog timeout (or config as seconds)
 219     float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number();
 220     if(t > 0.1F) {
 221         // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
 222         kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET));
 223         kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
 224     }else{
 225         kernel->streams->printf("WARNING Watchdog is disabled\n");
 226     }
 227
 228
 229     kernel->add_module( &u );
 230
 231     // clear up the config cache to save some memory
 232     kernel->config->config_cache_clear();
 233
 234     if(kernel->is_using_leds()) {
 235         // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 236         leds[0]= 1; // indicate we are done with init
 237         leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
 238     }
 239
 240     if(sdok) {
 241         // load config override file if present
 242         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 243         FILE *fp= fopen(kernel->config_override_filename(), "r");
 244         if(fp != NULL) {
 245             char buf[132];
 246             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 247             while(fgets(buf, sizeof buf, fp) != NULL) {
 248                 kernel->streams->printf("  %s", buf);
 249                 if(buf[0] == ';') continue; // skip the comments
 250                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 251                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 252             }
 253             kernel->streams->printf("config override file executed\n");
 254             fclose(fp);
 255         }
 256     }
 257
 258     THEKERNEL->step_ticker->start();
 259 }
 260
 261 int main()
 262 {
 263     init();
 264
 265     uint16_t cnt= 0;
 266     // Main loop
 267     while(1){
 268         if(THEKERNEL->is_using_leds()) {
 269             // flash led 2 to show we are alive
 270             leds[1]= (cnt++ & 0x1000) ? 1 : 0;
 271         }
 272         THEKERNEL->call_event(ON_MAIN_LOOP);
 273         THEKERNEL->call_event(ON_IDLE);
 274     }
 275 }