Diff: main.cpp

Revision:

2:1df0b61d3b5a

Parent:

0:31e91bb0ef3c

diff -r ab59fc9af055 -r 1df0b61d3b5a main.cpp
--- a/main.cpp	Sat Mar 01 02:37:29 2014 +0000
+++ b/main.cpp	Fri Feb 28 18:52:52 2014 -0800
@@ -1,53 +1,182 @@
-/*  
+/*
       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/>. 
+      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/Spindle.h"
-#include "modules/tools/extruder/Extruder.h"
+#include "modules/tools/extruder/ExtruderMaker.h"
 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
-#include "modules/robot/Player.h"
+#include "modules/tools/endstops/Endstops.h"
+#include "modules/tools/touchprobe/Touchprobe.h"
+#include "modules/tools/switch/SwitchPool.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 "libs/ChaNFSSD/SDFileSystem.h"
+#include "modules/utils/PlayLed/PlayLed.h"
+#include "modules/utils/panel/Panel.h"
+#include "libs/Network/uip/Network.h"
+
+// #include "libs/ChaNFSSD/SDFileSystem.h"
 #include "libs/Config.h"
 #include "libs/nuts_bolts.h"
 #include "libs/utils.h"
 
-//#include "libs/USBCDCMSC/USBCDCMSC.h"
-LocalFileSystem local("local");
-//SDFileSystem sd(p5, p6, p7, p8, "sd");  // LPC17xx specific : comment if you are not using a SD&#65533;card ( for example with a mBed ).
-//LocalFileSystem local("local");       // LPC17xx specific :&#65533;comment if you are not running a mBed
-//USBCDCMSC cdcmsc(&sd);                  // LPC17xx specific :&#65533;Composite serial + msc USB device
+// 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 "libs/Watchdog.h"
+
+#include "version.h"
+
+#define second_usb_serial_enable_checksum  CHECKSUM("second_usb_serial_enable")
+#define disable_msd_checksum  CHECKSUM("msd_disable")
+#define disable_leds_checksum  CHECKSUM("leds_disable")
+
+// Watchdog wd(5000000, WDT_MRI);
+
+// USB Stuff
+SDCard sd(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
+
+USB u;
+USBSerial usbserial(&u);
+USBMSD msc(&u, &sd);
+//USBMSD *msc= NULL;
+DFU dfu(&u);
+
+SDFAT mounter("sd", &sd);
+
+GPIO leds[5] = {
+    GPIO(P1_18),
+    GPIO(P1_19),
+    GPIO(P1_20),
+    GPIO(P1_21),
+    GPIO(P4_28)
+};
 
 int main() {
 
+    // Default pins to low status
+    for (int i = 0; i < 5; i++){
+        leds[i].output();
+        leds[i]= 0;
+    }
+
     Kernel* kernel = new Kernel();
 
-    kernel->serial->printf("Smoothie ( grbl port ) version 0.6.1_mbed \r\n");
+    kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 with new accel @%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());
 
-
+    //some boards don't have leds.. TOO BAD!
+    kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 
-    //kernel->add_module( new Laser(p21) );
-    //kernel->add_module( new Extruder() );
-    kernel->add_module( new Spindle() );
+    // attempt to be able to disable msd in config
+    // if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
+    //     msc= new USBMSD(&u, &sd);
+    // }else{
+    //     msc= NULL;
+    //     kernel->streams->printf("MSD is disabled\r\n");
+    // }
+
+    bool sdok= (sd.disk_initialize() == 0);
+
+    // Create and add main modules
     kernel->add_module( new SimpleShell() );
     kernel->add_module( new Configurator() );
     kernel->add_module( new CurrentControl() );
+    kernel->add_module( new SwitchPool() );
+    kernel->add_module( new PauseButton() );
+    kernel->add_module( new PlayLed() );
+    kernel->add_module( new Endstops() );
+    kernel->add_module( new Player() );
+
+    // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
+    #ifndef NO_TOOLS_TEMPERATURECONTROL
     kernel->add_module( new TemperatureControlPool() );
-    kernel->add_module( new PauseButton() );   
+    #endif
+    #ifndef NO_TOOLS_EXTRUDER
+    kernel->add_module( new ExtruderMaker() );
+    #endif
+    #ifndef NO_TOOLS_LASER
+    kernel->add_module( new Laser() );
+    #endif
+    #ifndef NO_UTILS_PANEL
+    kernel->add_module( new Panel() );
+    #endif
+    #ifndef NO_TOOLS_TOUCHPROBE
+    kernel->add_module( new Touchprobe() );
+    #endif
+    #ifndef NONETWORK
+    kernel->add_module( new Network() );
+    #endif
+
+    // Create and initialize USB stuff
+    u.init();
+    //if(sdok) { // only do this if there is an sd disk
+    //    msc= new USBMSD(&u, &sd);
+    //    kernel->add_module( msc );
+    //}
+
+    // if(msc != NULL){
+    //     kernel->add_module( msc );
+    // }
 
-    //kernel->add_module( &cdcmsc );
-   
-    kernel->serial->printf("start\r\n");
+    kernel->add_module( &msc );
+    kernel->add_module( &usbserial );
+    if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
+        kernel->add_module( new USBSerial(&u) );
+    }
+    kernel->add_module( &dfu );
+    kernel->add_module( &u );
+
+    // clear up the config cache to save some memory
+    kernel->config->config_cache_clear();
+
+    if(kernel->use_leds) {
+        // set some leds to indicate status... led0 init doe, 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)
+    }
 
+    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);
+        }
+    }
+
+    uint16_t cnt= 0;
+    // Main loop
     while(1){
+        if(kernel->use_leds) {
+            // flash led 2 to show we are alive
+            leds[1]= (cnt++ & 0x1000) ? 1 : 0;
+        }
         kernel->call_event(ON_MAIN_LOOP);
         kernel->call_event(ON_IDLE);
     }