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/extruder/ExtruderMaker.h"
  13 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
  14 #include "modules/tools/endstops/Endstops.h"
  15 #include "modules/tools/zprobe/ZProbe.h"
  16 #include "modules/tools/scaracal/SCARAcal.h"
  17 #include "RotaryDeltaCalibration.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 #include "SlowTicker.h"
  38 #include "Robot.h"
  39
  40 // #include "libs/ChaNFSSD/SDFileSystem.h"
  41 #include "libs/nuts_bolts.h"
  42 #include "libs/utils.h"
  43
  44 // Debug
  45 #include "libs/SerialMessage.h"
  46
  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"
  51 #include "libs/USBDevice/DFU.h"
  52 #include "libs/SDFAT.h"
  53 #include "StreamOutputPool.h"
  54 #include "ToolManager.h"
  55
  56 #include "libs/Watchdog.h"
  57
  58 #include "version.h"
  59 #include "system_LPC17xx.h"
  60 #include "platform_memory.h"
  61
  62 #include "mbed.h"
  63
  64 #define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
  65 #define disable_msd_checksum  CHECKSUM("msd_disable")
  66 #define dfu_enable_checksum  CHECKSUM("dfu_enable")
  67 #define watchdog_timeout_checksum  CHECKSUM("watchdog_timeout")
  68
  69
  70 // USB Stuff
  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
  72 //SDCard sd(P0_18, P0_17, P0_15, P0_16);  // this selects SPI0 as the sdcard
  73 //SDCard sd(P0_18, P0_17, P0_15, P2_8);  // this selects SPI0 as the sdcard witrh a different sd select
  74
  75 USB u __attribute__ ((section ("AHBSRAM0")));
  76 USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
  77 #ifndef DISABLEMSD
  78 USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
  79 #else
  80 USBMSD *msc= NULL;
  81 #endif
  82
  83 SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
  84
  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 };
  92
  93 void init() {
  94
  95     // Default pins to low status
  96     for (int i = 0; i < 5; i++){
  97         leds[i].output();
  98         leds[i]= 0;
  99     }
 100
 101     Kernel* kernel = new Kernel();
 102
 103     kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
 104     SimpleShell::version_command("", kernel->streams);
 105
 106     bool sdok= (sd.disk_initialize() == 0);
 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
 112
 113 #ifdef DISABLEMSD
 114     // attempt to be able to disable msd in config
 115     if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(true)->as_bool()){
 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     }
 125 #endif
 126
 127     // Create and add main modules
 128     kernel->add_module( new(AHB0) Player() );
 129
 130     kernel->add_module( new(AHB0) CurrentControl() );
 131     kernel->add_module( new(AHB0) KillButton() );
 132     kernel->add_module( new(AHB0) PlayLed() );
 133
 134     // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
 135     #ifndef NO_TOOLS_SWITCH
 136     SwitchPool *sp= new SwitchPool();
 137     sp->load_tools();
 138     delete sp;
 139     #endif
 140     #ifndef NO_TOOLS_EXTRUDER
 141     // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
 142     ExtruderMaker *em= new ExtruderMaker();
 143     em->load_tools();
 144     delete em;
 145     #endif
 146     #ifndef NO_TOOLS_TEMPERATURECONTROL
 147     // Note order is important here must be after extruder so Tn as a parameter will get executed first
 148     TemperatureControlPool *tp= new TemperatureControlPool();
 149     tp->load_tools();
 150     delete tp;
 151     #endif
 152     #ifndef NO_TOOLS_ENDSTOPS
 153     kernel->add_module( new(AHB0) Endstops() );
 154     #endif
 155     #ifndef NO_TOOLS_LASER
 156     kernel->add_module( new Laser() );
 157     #endif
 158     #ifndef NO_TOOLS_SPINDLE
 159     SpindleMaker *sm= new SpindleMaker();
 160     sm->load_spindle();
 161     delete sm;
 162     //kernel->add_module( new(AHB0) Spindle() );
 163     #endif
 164     #ifndef NO_UTILS_PANEL
 165     kernel->add_module( new(AHB0) Panel() );
 166     #endif
 167     #ifndef NO_TOOLS_ZPROBE
 168     kernel->add_module( new(AHB0) ZProbe() );
 169     #endif
 170     #ifndef NO_TOOLS_SCARACAL
 171     kernel->add_module( new(AHB0) SCARAcal() );
 172     #endif
 173     #ifndef NO_TOOLS_ROTARYDELTACALIBRATION
 174     kernel->add_module( new(AHB0) RotaryDeltaCalibration() );
 175     #endif
 176     #ifndef NONETWORK
 177     kernel->add_module( new Network() );
 178     #endif
 179     #ifndef NO_TOOLS_TEMPERATURESWITCH
 180     // Must be loaded after TemperatureControl
 181     kernel->add_module( new(AHB0) TemperatureSwitch() );
 182     #endif
 183     #ifndef NO_TOOLS_DRILLINGCYCLES
 184     kernel->add_module( new(AHB0) Drillingcycles() );
 185     #endif
 186     #ifndef NO_TOOLS_FILAMENTDETECTOR
 187     kernel->add_module( new(AHB0) FilamentDetector() );
 188     #endif
 189     #ifndef NO_UTILS_MOTORDRIVERCONTROL
 190     kernel->add_module( new MotorDriverControl(0) );
 191     #endif
 192     // Create and initialize USB stuff
 193     u.init();
 194
 195 #ifdef DISABLEMSD
 196     if(sdok && msc != NULL){
 197         kernel->add_module( msc );
 198     }
 199 #else
 200     kernel->add_module( &msc );
 201 #endif
 202
 203     kernel->add_module( &usbserial );
 204     if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
 205         kernel->add_module( new(AHB0) USBSerial(&u) );
 206     }
 207
 208     if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
 209         kernel->add_module( new(AHB0) DFU(&u));
 210     }
 211
 212     // 10 second watchdog timeout (or config as seconds)
 213     float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number();
 214     if(t > 0.1F) {
 215         // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
 216         kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET));
 217         kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
 218     }else{
 219         kernel->streams->printf("WARNING Watchdog is disabled\n");
 220     }
 221
 222
 223     kernel->add_module( &u );
 224
 225     // memory before cache is cleared
 226     //SimpleShell::print_mem(kernel->streams);
 227
 228     // clear up the config cache to save some memory
 229     kernel->config->config_cache_clear();
 230
 231     if(kernel->is_using_leds()) {
 232         // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok
 233         leds[0]= 1; // indicate we are done with init
 234         leds[3]= sdok?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found)
 235     }
 236
 237     if(sdok) {
 238         // load config override file if present
 239         // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
 240         FILE *fp= fopen(kernel->config_override_filename(), "r");
 241         if(fp != NULL) {
 242             char buf[132];
 243             kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
 244             while(fgets(buf, sizeof buf, fp) != NULL) {
 245                 kernel->streams->printf("  %s", buf);
 246                 if(buf[0] == ';') continue; // skip the comments
 247                 struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 248                 kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 249             }
 250             kernel->streams->printf("config override file executed\n");
 251             fclose(fp);
 252         }
 253     }
 254
 255     // start the timers and interrupts
 256     THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
 257     THEKERNEL->step_ticker->start();
 258     THEKERNEL->slow_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 }