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->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();
// 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 Laser() );
kernel->add_module( new ExtruderMaker() );
kernel->add_module( new SimpleShell() );
kernel->add_module( new Configurator() );
kernel->add_module( new CurrentControl() );
kernel->add_module( new TemperatureControlPool() );
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() );
kernel->add_module( new Panel() );
kernel->add_module( new Touchprobe() );
// 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( &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);
}
}
void init() {
// Default pins to low status
for (int i = 0; i < 5; i++){
leds[i].output();
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());
//some boards don't have leds.. TOO BAD!
kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
bool sdok= (sd.disk_initialize() == 0);
if(!sdok) kernel->streams->printf("SDCard is disabled\r\n");
#ifdef DISABLEMSD
// attempt to be able to disable msd in config
if(sdok && !kernel->config->value( disable_msd_checksum )->by_default(false)->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 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() );
// 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();
kernel->temperature_control_pool= tp;
#else
kernel->temperature_control_pool= new TemperatureControlPool(); // so we can get just an empty temperature control array
#endif
#ifndef NO_TOOLS_LASER
kernel->add_module( new Laser() );
#endif
#ifndef NO_TOOLS_SPINDLE
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() );
#endif
#ifndef NO_TOOLS_ZPROBE
kernel->add_module( new ZProbe() );
#endif
#ifndef NO_TOOLS_SCARACAL
kernel->add_module( new SCARAcal() );
#endif
#ifndef NONETWORK
kernel->add_module( new Network() );
#endif
#ifndef NO_TOOLS_TEMPERATURESWITCH
// Must be loaded after TemperatureControlPool
kernel->add_module( new TemperatureSwitch() );
#endif
#ifndef NO_TOOLS_DRILLINGCYCLES
kernel->add_module( new Drillingcycles() );
#endif
#ifndef NO_TOOLS_FILAMENTDETECTOR
kernel->add_module( new FilamentDetector() );
#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));
}
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);
}
}
THEKERNEL->step_ticker->start();
}
void init() {
// Default pins to low status
for (int i = 0; i < 5; i++){
leds[i].output();
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");
#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()){
// 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() );
kernel->add_module( new(AHB0) Endstops() );
// 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_LASER
kernel->add_module( new Laser() );
#endif
#ifndef NO_TOOLS_SPINDLE
kernel->add_module( new 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 RotaryDeltaCalibration() );
#endif
#ifndef NONETWORK
kernel->add_module( new Network() );
#endif
#ifndef NO_TOOLS_TEMPERATURESWITCH
// Must be loaded after TemperatureControl
kernel->add_module( new TemperatureSwitch() );
#endif
#ifndef NO_TOOLS_DRILLINGCYCLES
kernel->add_module( new Drillingcycles() );
#endif
#ifndef NO_TOOLS_FILAMENTDETECTOR
kernel->add_module( new 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->step_ticker->start();
THEKERNEL->slow_ticker->start();
}