#include "libs/Kernel.h"
#include "modules/tools/laser/Laser.h"
-#include "modules/tools/spindle/Spindle.h"
+#include "modules/tools/spindle/SpindleMaker.h"
#include "modules/tools/extruder/ExtruderMaker.h"
#include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
#include "modules/tools/endstops/Endstops.h"
#include "modules/tools/zprobe/ZProbe.h"
#include "modules/tools/scaracal/SCARAcal.h"
+#include "RotaryDeltaCalibration.h"
#include "modules/tools/switch/SwitchPool.h"
#include "modules/tools/temperatureswitch/TemperatureSwitch.h"
#include "modules/tools/drillingcycles/Drillingcycles.h"
#include "FilamentDetector.h"
+#include "MotorDriverControl.h"
#include "modules/robot/Conveyor.h"
#include "modules/utils/simpleshell/SimpleShell.h"
#include "modules/utils/configurator/Configurator.h"
#include "modules/utils/currentcontrol/CurrentControl.h"
#include "modules/utils/player/Player.h"
-#include "modules/utils/pausebutton/PauseButton.h"
+#include "modules/utils/killbutton/KillButton.h"
#include "modules/utils/PlayLed/PlayLed.h"
#include "modules/utils/panel/Panel.h"
#include "libs/Network/uip/Network.h"
#include "checksumm.h"
#include "ConfigValue.h"
#include "StepTicker.h"
+#include "SlowTicker.h"
+#include "Robot.h"
// #include "libs/ChaNFSSD/SDFileSystem.h"
#include "libs/nuts_bolts.h"
#include "version.h"
#include "system_LPC17xx.h"
+#include "platform_memory.h"
#include "mbed.h"
GPIO(P4_28)
};
-// debug pins, only used if defined in src/makefile
-#ifdef STEPTICKER_DEBUG_PIN
-GPIO stepticker_debug_pin(STEPTICKER_DEBUG_PIN);
-#endif
-
void init() {
// Default pins to low status
leds[i]= 0;
}
-#ifdef STEPTICKER_DEBUG_PIN
- stepticker_debug_pin.output();
- stepticker_debug_pin= 0;
-#endif
-
Kernel* kernel = new Kernel();
kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
- Version version;
- kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
+ SimpleShell::version_command("", kernel->streams);
bool sdok= (sd.disk_initialize() == 0);
- if(!sdok) kernel->streams->printf("SDCard is disabled\r\n");
+ if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n");
+
+ #ifdef NONETWORK
+ kernel->streams->printf("NETWORK is disabled\r\n");
+ #endif
#ifdef DISABLEMSD
// attempt to be able to disable msd in config
- if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
+ if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(true)->as_bool()){
// HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
size_t n= sizeof(USBMSD);
void *v = AHB0.alloc(n);
}
#endif
-
// Create and add main modules
- kernel->add_module( new SimpleShell() );
- kernel->add_module( new Configurator() );
- kernel->add_module( new CurrentControl() );
- kernel->add_module( new PauseButton() );
- kernel->add_module( new PlayLed() );
- kernel->add_module( new Endstops() );
- kernel->add_module( new Player() );
+ kernel->add_module( new(AHB0) Player() );
+ kernel->add_module( new(AHB0) CurrentControl() );
+ kernel->add_module( new(AHB0) KillButton() );
+ kernel->add_module( new(AHB0) PlayLed() );
// these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
#ifndef NO_TOOLS_SWITCH
tp->load_tools();
delete tp;
#endif
+ #ifndef NO_TOOLS_ENDSTOPS
+ kernel->add_module( new(AHB0) Endstops() );
+ #endif
#ifndef NO_TOOLS_LASER
kernel->add_module( new Laser() );
#endif
#ifndef NO_TOOLS_SPINDLE
- kernel->add_module( new Spindle() );
+ SpindleMaker *sm= new SpindleMaker();
+ sm->load_spindle();
+ delete sm;
+ //kernel->add_module( new(AHB0) Spindle() );
#endif
#ifndef NO_UTILS_PANEL
- kernel->add_module( new Panel() );
- #endif
- #ifndef NO_TOOLS_TOUCHPROBE
- kernel->add_module( new Touchprobe() );
+ kernel->add_module( new(AHB0) Panel() );
#endif
#ifndef NO_TOOLS_ZPROBE
- kernel->add_module( new ZProbe() );
+ kernel->add_module( new(AHB0) ZProbe() );
#endif
#ifndef NO_TOOLS_SCARACAL
- kernel->add_module( new SCARAcal() );
+ kernel->add_module( new(AHB0) SCARAcal() );
+ #endif
+ #ifndef NO_TOOLS_ROTARYDELTACALIBRATION
+ kernel->add_module( new(AHB0) RotaryDeltaCalibration() );
#endif
#ifndef NONETWORK
kernel->add_module( new Network() );
#endif
#ifndef NO_TOOLS_TEMPERATURESWITCH
// Must be loaded after TemperatureControl
- kernel->add_module( new TemperatureSwitch() );
+ kernel->add_module( new(AHB0) TemperatureSwitch() );
#endif
#ifndef NO_TOOLS_DRILLINGCYCLES
- kernel->add_module( new Drillingcycles() );
+ kernel->add_module( new(AHB0) Drillingcycles() );
#endif
#ifndef NO_TOOLS_FILAMENTDETECTOR
- kernel->add_module( new FilamentDetector() );
+ kernel->add_module( new(AHB0) FilamentDetector() );
+ #endif
+ #ifndef NO_UTILS_MOTORDRIVERCONTROL
+ kernel->add_module( new MotorDriverControl(0) );
#endif
-
// Create and initialize USB stuff
u.init();
if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
kernel->add_module( new(AHB0) DFU(&u));
- kernel->streams->printf("WARNING Watchdog is disabled when DFU is enabled\n");
+ }
+ // 10 second watchdog timeout (or config as seconds)
+ float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number();
+ if(t > 0.1F) {
+ // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
+ kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET));
+ kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
}else{
- // 10 second watchdog timeout (or config as seconds)
- float t= kernel->config->value( watchdog_timeout_checksum )->by_default(10.0F)->as_number();
- if(t > 0) {
- kernel->add_module( new Watchdog(t*1000000, WDT_MRI)); // WDT_RESET));
- kernel->streams->printf("Watchdog enabled for %f seconds\n", t);
- }else{
- kernel->streams->printf("WARNING Watchdog is disabled\n");
- }
+ kernel->streams->printf("WARNING Watchdog is disabled\n");
}
+
kernel->add_module( &u );
+ // memory before cache is cleared
+ //SimpleShell::print_mem(kernel->streams);
+
// clear up the config cache to save some memory
kernel->config->config_cache_clear();
if(kernel->is_using_leds()) {
- // set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
+ // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok
leds[0]= 1; // indicate we are done with init
- leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
+ leds[3]= sdok?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found)
}
if(sdok) {
}
}
+ // start the timers and interrupts
+ THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
THEKERNEL->step_ticker->start();
+ THEKERNEL->slow_ticker->start();
}
int main()
HCoop / clinton / Smoothieware.git / blobdiff