/src/main.cpp
C++ | 275 lines | 205 code | 38 blank | 32 comment | 19 complexity | 18c90157a6ffe64d27171fd0b5aa317e MD5 | raw file
- /*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
- */
- #include "libs/Kernel.h"
- #include "modules/tools/laser/Laser.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/killbutton/KillButton.h"
- #include "modules/utils/PlayLed/PlayLed.h"
- #include "modules/utils/panel/Panel.h"
- #include "libs/Network/uip/Network.h"
- #include "Config.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 "libs/utils.h"
- // Debug
- #include "libs/SerialMessage.h"
- #include "libs/USBDevice/USB.h"
- #include "libs/USBDevice/USBMSD/USBMSD.h"
- #include "libs/USBDevice/USBMSD/SDCard.h"
- #include "libs/USBDevice/USBSerial/USBSerial.h"
- #include "libs/USBDevice/DFU.h"
- #include "libs/SDFAT.h"
- #include "StreamOutputPool.h"
- #include "ToolManager.h"
- #include "libs/Watchdog.h"
- #include "version.h"
- #include "system_LPC17xx.h"
- #include "platform_memory.h"
- #include "mbed.h"
- #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable")
- #define disable_msd_checksum CHECKSUM("msd_disable")
- #define dfu_enable_checksum CHECKSUM("dfu_enable")
- #define watchdog_timeout_checksum CHECKSUM("watchdog_timeout")
- // USB Stuff
- SDCard sd __attribute__ ((section ("AHBSRAM0"))) (P0_9, P0_8, P0_7, P0_6); // this selects SPI1 as the sdcard as it is on Smoothieboard
- //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard
- //SDCard sd(P0_18, P0_17, P0_15, P2_8); // this selects SPI0 as the sdcard witrh a different sd select
- USB u __attribute__ ((section ("AHBSRAM0")));
- USBSerial usbserial __attribute__ ((section ("AHBSRAM0"))) (&u);
- #ifndef DISABLEMSD
- USBMSD msc __attribute__ ((section ("AHBSRAM0"))) (&u, &sd);
- #else
- USBMSD *msc= NULL;
- #endif
- SDFAT mounter __attribute__ ((section ("AHBSRAM0"))) ("sd", &sd);
- GPIO leds[5] = {
- GPIO(P1_18),
- GPIO(P1_19),
- GPIO(P1_20),
- GPIO(P1_21),
- GPIO(P4_28)
- };
- void init() {
- // Default pins to low status
- for (int i = 0; i < 5; i++){
- leds[i].output();
- leds[i]= 0;
- }
- Kernel* kernel = new Kernel();
- kernel->streams->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock / 1000000);
- SimpleShell::version_command("", kernel->streams);
- bool sdok= (sd.disk_initialize() == 0);
- 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(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);
- memset(v, 0, n); // clear the allocated memory
- msc= new(v) USBMSD(&u, &sd); // allocate object using zeroed memory
- }else{
- msc= NULL;
- kernel->streams->printf("MSD is disabled\r\n");
- }
- #endif
- // Create and add main modules
- 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
- SwitchPool *sp= new SwitchPool();
- sp->load_tools();
- delete sp;
- #endif
- #ifndef NO_TOOLS_EXTRUDER
- // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
- ExtruderMaker *em= new ExtruderMaker();
- em->load_tools();
- delete em;
- #endif
- #ifndef NO_TOOLS_TEMPERATURECONTROL
- // Note order is important here must be after extruder so Tn as a parameter will get executed first
- TemperatureControlPool *tp= new TemperatureControlPool();
- 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
- SpindleMaker *sm= new SpindleMaker();
- sm->load_spindle();
- delete sm;
- //kernel->add_module( new(AHB0) Spindle() );
- #endif
- #ifndef NO_UTILS_PANEL
- kernel->add_module( new(AHB0) Panel() );
- #endif
- #ifndef NO_TOOLS_ZPROBE
- kernel->add_module( new(AHB0) ZProbe() );
- #endif
- #ifndef NO_TOOLS_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(AHB0) TemperatureSwitch() );
- #endif
- #ifndef NO_TOOLS_DRILLINGCYCLES
- kernel->add_module( new(AHB0) Drillingcycles() );
- #endif
- #ifndef NO_TOOLS_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();
- #ifdef DISABLEMSD
- if(sdok && msc != NULL){
- kernel->add_module( msc );
- }
- #else
- kernel->add_module( &msc );
- #endif
- kernel->add_module( &usbserial );
- if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
- kernel->add_module( new(AHB0) USBSerial(&u) );
- }
- if( kernel->config->value( dfu_enable_checksum )->by_default(false)->as_bool() ){
- kernel->add_module( new(AHB0) DFU(&u));
- }
- // 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{
- 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 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 indicates sdcard is available (TODO maye should indicate config was found)
- }
- if(sdok) {
- // load config override file if present
- // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
- FILE *fp= fopen(kernel->config_override_filename(), "r");
- if(fp != NULL) {
- char buf[132];
- kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
- while(fgets(buf, sizeof buf, fp) != NULL) {
- kernel->streams->printf(" %s", buf);
- if(buf[0] == ';') continue; // skip the comments
- struct SerialMessage message= {&(StreamOutput::NullStream), buf};
- kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
- }
- kernel->streams->printf("config override file executed\n");
- fclose(fp);
- }
- }
- // start the timers and interrupts
- THEKERNEL->conveyor->start(THEROBOT->get_number_registered_motors());
- THEKERNEL->step_ticker->start();
- THEKERNEL->slow_ticker->start();
- }
- int main()
- {
- init();
- uint16_t cnt= 0;
- // Main loop
- while(1){
- if(THEKERNEL->is_using_leds()) {
- // flash led 2 to show we are alive
- leds[1]= (cnt++ & 0x1000) ? 1 : 0;
- }
- THEKERNEL->call_event(ON_MAIN_LOOP);
- THEKERNEL->call_event(ON_IDLE);
- }
- }