/*
* Start printing
*/
int unicorn_start(int fd_rd, int fd_wr, int fd_rd_emerg)
{
/* Turn on fans */
printf("unicorn_start\n");
channel_tag fan = NULL;
fan = fan_lookup_by_name("fan_3");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
fan = fan_lookup_by_name("fan_4");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
heater_start();
plan_start();
stepper_start();
gcode_start(fd_rd, fd_wr, fd_rd_emerg);
if (hPause_printing) {
Pause_off(hPause_printing);
}
printf("unicorn_start ok!!!\n");
return 0;
}
int main ()
{
int ret;
ret = fan_is_supported ();
printf ("fan_is_supported: %d\n", ret);
assert (ret); /* you're not running as root! */
/* system calls, yes, I suck :( */
system ("cat /proc/acpi/ibm/fan");
printf ("-\n");
fan_set_level (2);
system ("cat /proc/acpi/ibm/fan");
printf ("-\n");
sleep (10);
system ("cat /proc/acpi/ibm/fan");
printf ("-\n");
fan_set_level (0);
sleep (10);
system ("cat /proc/acpi/ibm/fan");
printf ("-\n");
fan_set_level (FAN_SPEED_AUTO);
sleep (10);
system ("cat /proc/acpi/ibm/fan");
printf ("-\n");
}
int unicorn_disconnect_octoprint()
{
channel_tag fan = NULL;
/* If paused, pause thread off */
if (hPause_printing) {
Pause_on(hPause_printing);
}
printf("stepper_idle\n");
stepper_idle();
printf("ok\n");
fan = fan_lookup_by_name("fan_ext");
if (fan) {
fan_set_level(fan, 0);
fan_disable(fan);
}
fan = fan_lookup_by_name("fan_ext2");
if (fan) {
fan_set_level(fan, 0);
fan_disable(fan);
}
printf("gcode_stop\n");
gcode_stop();
printf("ok\n");
//if (!blocking) {
/* Clean up all fifo data */
stepper_clean_up_fifo();
//}
printf("plan_stop\n");
plan_stop();
printf("ok\n");
printf("heater_stop\n");
heater_stop();
printf("ok\n");
if (unicorn_get_mode() == FW_MODE_REMOTE) {
if (hPause_printing) {
Pause_off(hPause_printing);
}
}
printf("unicorn disconnect ok!\n");
return 0;
}
int unicorn_init(void)
{
channel_tag fan = NULL;
int ret = 0;
board_info_t board_info;
printf("unicorn_init...\n");
ret = eeprom_read_board_info(EEPROM_DEV, &board_info);
if (ret < 0) {
printf("Read eeprom board info failed\n");
return -1;
}
if (!strncasecmp("bbp1s", board_info.name, 5)) {
bbp_board_type = BOARD_BBP1S;
} else if(!strncasecmp("bbp1", board_info.name, 4)){
bbp_board_type = BOARD_BBP1;
}
printf("board name:%s, version:%s, get board type:%d \n", board_info.name, board_info.version, bbp_board_type);
/*
* Create fifo
* fifo_plan2st, fifo_st2plan
* fifo_plan2gc, fifo_gc2plan
*/
Fifo_Attrs fAttrs = Fifo_Attrs_DEFAULT;
hFifo_plan2st = Fifo_create(&fAttrs);
hFifo_st2plan = Fifo_create(&fAttrs);
if ((hFifo_st2plan == NULL) ||
(hFifo_plan2st == NULL)) {
printf("Create Fifo failed\n");
return -1;
}
Pause_Attrs pAttrs = Pause_Attrs_DEFAULT;
hPause_printing = Pause_create(&pAttrs);
if (hPause_printing == NULL) {
printf("Create pause err\n");
return -1;
} else {
Pause_on(hPause_printing);
}
/* set up unicorn system */
ret = unicorn_setup();
if (ret < 0) {
return ret;
}
/* init sub systems of unicorn */
ret = parameter_init(EEPROM_DEV);
if (ret < 0) {
printf("parameter_init failed\n");
return ret;
}
ret = analog_init();
if (ret < 0) {
printf("analog_init failed\n");
return ret;
}
ret = temp_init();
if (ret < 0) {
printf("temp_init failed\n");
return ret;
}
ret = pwm_init();
if (ret < 0) {
printf("pwm_init failed\n");
return ret;
}
ret = fan_init();
if (ret < 0) {
printf("fan_init failed\n");
return ret;
}
ret = heater_init();
if (ret < 0) {
printf("heater_init failed\n");
return ret;
}
#ifdef SERVO
if (bbp_board_type == BOARD_BBP1S) {
ret = servo_init();
if (ret < 0) {
printf("servo_init failed\n");
return ret;
}
}
#endif
ret = lmsw_init();
if (ret < 0) {
printf("lmsw_init failed\n");
return ret;
}
ret = plan_init();
if (ret < 0) {
printf("plan_init failed\n");
return ret;
}
ret = stepper_init();
if (ret < 0) {
printf("stepper_init failed\n");
return ret;
}
ret = gcode_init();
if (ret < 0) {
printf("gcode_init failed\n");
return ret;
}
fan = fan_lookup_by_name("fan_3");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
fan = fan_lookup_by_name("fan_4");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
fan = fan_lookup_by_name("fan_5");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
fan = fan_lookup_by_name("fan_6");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
printf("unicorn_init ok!!!\n");
return ret;
}
int unicorn_test(void)
{
int i = 0;
int idx = 0;
int num_fans = 0;
double celsius = 0.0;
channel_tag heater, fan, pwm;
if (bbp_board_type == BOARD_BBP1S) {
num_fans = 6;
} else if (bbp_board_type == BOARD_BBP1) {
num_fans = 5;
}
#if 0
start_test_thread();
int count = 10;
while (1) {
printf("wait evtout count=%d\n", count);
prussdrv_pru_wait_event(PRU_EVTOUT_1);
prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
if(count-- == 0){
return;
}
}
#endif
printf("Test 1: Fan testing...\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 1: Fan testing...\n");
printf(" Please watch the led lights and leds on board\n");
printf(" 1.1 close all fans\n");
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
fan_disable(fan);
}
}
printf(" 1.2 open each fan for 1s then close one by one\n");
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
printf(" Open %s\n", tag_name(fan));
fan_enable(fan);
fan_set_level(fan, 80);
sleep(1);
printf(" Close %s\n", tag_name(fan));
fan_set_level(fan, 0);
fan_disable(fan);
}
}
printf(" 1.3 turn on all fans for 1s, then turn off, repeat 3 times\n");
for (i = 0; i < 2; i++) {
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
fan_enable(fan);
fan_set_level(fan, 80);
}
}
sleep(1);
for (idx = 0; idx < num_fans; idx++) {
fan = fan_lookup_by_index(idx);
if (fan) {
fan_disable(fan);
}
}
sleep(1);
}
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 2: LMSW testing...\n");
printf(" 2.1 Please press min x: \n");
wait_lmsw_min_test(X_AXIS);
printf(" min_x ok\n");
printf(" 2.2 Please press min y: \n");
wait_lmsw_min_test(Y_AXIS);
printf(" min_y ok\n");
printf(" 2.3 Please press min z: \n");
wait_lmsw_min_test(Z_AXIS);
printf(" min_z ok\n");
printf(" 2.4 Please press max x: \n");
wait_lmsw_max(X_AXIS);
printf(" max_x ok\n");
printf(" 2.5 Please press max y: \n");
wait_lmsw_max(Y_AXIS);
printf(" max_y ok\n");
printf(" 2.6 Please press max z: \n");
wait_lmsw_max(Z_AXIS);
printf(" max_z ok\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 3: Heater testing...\n");
printf(" open each heater for 1s then close\n");
printf(" Please watch the led beside the heater interface!\n");
if (bbp_board_type == BOARD_BBP1S) {
pwm = pwm_lookup_by_name("pwm_ext");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(1);
pwm_set_output(pwm, 0);
sleep(1);
pwm = pwm_lookup_by_name("pwm_ext2");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(1);
pwm_set_output(pwm, 0);
sleep(1);
pwm = pwm_lookup_by_name("pwm_bed");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(1);
pwm_set_output(pwm, 0);
sleep(1);
for (i = 0; i < 2; i++) {
pwm = pwm_lookup_by_name("pwm_ext");
if (pwm) {
pwm_set_output(pwm, 80);
}
pwm = pwm_lookup_by_name("pwm_ext2");
if (pwm) {
pwm_set_output(pwm, 80);
}
pwm = pwm_lookup_by_name("pwm_bed");
if (pwm) {
pwm_set_output(pwm, 80);
}
sleep(4);
pwm = pwm_lookup_by_name("pwm_ext");
if (pwm) {
pwm_set_output(pwm, 0);
}
pwm = pwm_lookup_by_name("pwm_ext2");
if (pwm) {
pwm_set_output(pwm, 0);
}
pwm = pwm_lookup_by_name("pwm_bed");
if (pwm) {
pwm_set_output(pwm, 0);
}
sleep(2);
}
}
if (bbp_board_type == BOARD_BBP1) {
for (idx = 0; idx < NUM_HEATERS; idx++) {
heater = heater_lookup_by_index(idx);
if (heater) {
printf(" Open %s\n", tag_name(heater));
heater_enable(heater);
heater_set_raw_pwm(heater, 40);
sleep(5);
printf(" Close %s\n", tag_name(heater));
heater_set_raw_pwm(heater, 0);
heater_disable(heater);
}
}
}
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 4: Stepper testing...\n");
printf(" 4.1 Turn on all stepper\n");
stepper_test();
printf(" 4.2 Stop Stepper\n");
printf(" Please press min x to stop stepper\n");
wait_lmsw_min(X_AXIS);
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 5: USB Host testing...\n");
printf(" 5.1 please insert U mass storage\n");
if(unicorn_test_usb_storage() == -1){
halt_test("Usb mass storage is BAD!!!!!!!!!!!!!!!\n");
}
printf("Usb mass storage is OK\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 6: Internal emmc testing...\n");
if(unicorn_test_emmc() == -1){
halt_test("Internal emmc is BAD!!!!!!!!!!!!!!\n");
}
printf("Internal emmc is OK\n");
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 7: eeprom testing...\n");
if(unicorn_test_eeprom() == -1){
halt_test("eeprom is BAD!!!!!!!!!!!!\n");
}
printf("eeprom is OK\n");
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 8: rtc testing...\n");
if(unicorn_test_rtc() == -1) {
halt_test("rtc is BAD!!!!!!!!!!!!\n");
}
printf("rtc is OK\n");
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("\n-------------------------------------------------------------\n");
printf("Test 9: Network testing...\n");
printf(" Start to ping the router..\n");
if(unicorn_test_network() == -1) {
halt_test("network is BAD!!!!!!!!!!!!\n");
}
printf("done.\n");
printf("-------------------------------------------------------------\n");
printf("Test 10: USB OTG testing...\n");
printf(" 11.1 Please connect usb otg line to PC\n");
printf(" 11.2 Could you see the boot partion? If yes, Please press min_x..\n");
wait_lmsw_min_test(X_AXIS);
printf("done.\n");
printf("-------------------------------------------------------------\n");
if (bbp_board_type == BOARD_BBP1S) {
printf("Test 11: Test max6675 temperature...\n");
printf("long press min y key to exit\n");
if(unicorn_test_max6675() == -1) {
halt_test("max6675 is BAD!!!!!!!!!!!!\n");
}
printf("\n-------------------------------------------------------------\n");
}
#if 0
if (bbp_board_type == BOARD_BBP1S) {
#ifdef SERVO
printf("Test 12: Test servo...\n");
if (unicorn_test_servo()) {
halt_test("servo is BAD!!!!!!!!!!!!\n");
}
printf("\n-------------------------------------------------------------\n");
#endif
}
#endif
printf("\n-------------------------------------------------------------\n");
printf("Test 12: Temp adc testing...\n");
heater_start();
if (bbp_board_type == BOARD_BBP1S) {
char *heater_array_bbp1s[] = {"heater_ext", "heater_ext2", "heater_bed"};
for (idx = 0; idx < sizeof(heater_array_bbp1s)/sizeof(heater_array_bbp1s[0]); idx++) {
heater = heater_lookup_by_name(heater_array_bbp1s[idx]);
if (heater) {
heater_enable(heater);
heater_set_setpoint(heater, TARGET_TEMP);
}
}
for (i = 0; i < 80 && stepper_check_lmsw(X_AXIS) == 0; i++) {
for (idx = 0; idx < sizeof(heater_array_bbp1s)/sizeof(heater_array_bbp1s[0]); idx++) {
heater = heater_lookup_by_name(heater_array_bbp1s[idx]);
if (heater) {
celsius = 0.0;
heater_get_celsius(heater, &celsius);
printf("%s -> %f\n", tag_name(heater), celsius);
sleep(1);
}
}
}
} else if (bbp_board_type == BOARD_BBP1) {
for (idx = 0; idx < NUM_HEATERS; idx++) {
heater = heater_lookup_by_index(idx);
if (heater) {
heater_enable(heater);
heater_set_setpoint(heater, TARGET_TEMP);
}
}
printf("long press min x key to exit\n");
heater = heater_lookup_by_name("heater_bed");
for (i = 0; i < 80 && stepper_check_lmsw(X_AXIS) == 0; i++) {
if (heater_temp_reached(heater)) {
printf("ok\n");
break;
} else {
sleep(1);
}
for (idx = 0; idx < NUM_HEATERS; idx++) {
heater = heater_lookup_by_index(idx);
if (heater) {
celsius = 0.0;
heater_get_celsius(heater, &celsius);
printf("%s -> %f\n", tag_name(heater), celsius);
}
}
printf("\n");
}
}
heater_stop();
printf("done.\n");
printf("-------------------------------------------------------------\n");
halt_test("All is Good!\n");
return 0;
}
