X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/e799360878781d1aaa1a5e4be42def59cd24834a..de2ee57c0ce72d22638efe7edfb88c5377f562d1:/src/main.cpp

diff --git a/src/main.cpp b/src/main.cpp
index 4e4dc687..351f965e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -14,6 +14,7 @@
 #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"
@@ -33,6 +34,7 @@
 #include "checksumm.h"
 #include "ConfigValue.h"
 #include "StepTicker.h"
+#include "SlowTicker.h"
 
 // #include "libs/ChaNFSSD/SDFileSystem.h"
 #include "libs/nuts_bolts.h"
@@ -54,6 +56,7 @@
 
 #include "version.h"
 #include "system_LPC17xx.h"
+#include "platform_memory.h"
 
 #include "mbed.h"
 
@@ -86,11 +89,6 @@ GPIO leds[5] = {
     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
@@ -99,16 +97,14 @@ void init() {
         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());
+#ifdef CNC
+    kernel->streams->printf("  CNC Build\r\n");
+#endif
 
     bool sdok= (sd.disk_initialize() == 0);
     if(!sdok) kernel->streams->printf("SDCard failed to initialize\r\n");
@@ -133,16 +129,17 @@ void init() {
 
 
     // Create and add main modules
-    kernel->add_module( new SimpleShell() );
-    kernel->add_module( new Configurator() );
-    kernel->add_module( new CurrentControl() );
-    kernel->add_module( new KillButton() );
-    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_ENDSTOPS
+    kernel->add_module( new(AHB0) Endstops() );
+    #endif
+
     #ifndef NO_TOOLS_SWITCH
     SwitchPool *sp= new SwitchPool();
     sp->load_tools();
@@ -167,16 +164,16 @@ void init() {
     kernel->add_module( new 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 RotaryDeltaCalibration() );
     #endif
     #ifndef NONETWORK
     kernel->add_module( new Network() );
@@ -227,13 +224,16 @@ void init() {
 
     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) {
@@ -254,7 +254,10 @@ void init() {
         }
     }
 
+    // start the timers and interrupts
+    THEKERNEL->conveyor->start();
     THEKERNEL->step_ticker->start();
+    THEKERNEL->slow_ticker->start();
 }
 
 int main()