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1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | 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. | |
4 | 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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | using namespace std; | |
9 | #include <vector> | |
10 | #include "libs/Kernel.h" | |
11 | #include "libs/Module.h" | |
12 | #include "libs/Config.h" | |
13 | #include "mbed.h" | |
14 | #include "libs/nuts_bolts.h" | |
ded56b35 | 15 | #include "libs/SlowTicker.h" |
3c132bd0 | 16 | #include "libs/Adc.h" |
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17 | |
18 | #include "modules/communication/SerialConsole.h" | |
19 | #include "modules/communication/GcodeDispatch.h" | |
20 | #include "modules/robot/Planner.h" | |
21 | #include "modules/robot/Robot.h" | |
22 | #include "modules/robot/Stepper.h" | |
3a4fa0c1 | 23 | #include "modules/robot/Player.h" |
4cff3ded | 24 | |
ded56b35 | 25 | |
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26 | // List of callback functions, ordered as their corresponding events |
27 | const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = { | |
28 | &Module::on_main_loop, | |
29 | &Module::on_console_line_received, | |
30 | &Module::on_gcode_received, | |
31 | &Module::on_stepper_wake_up, | |
32 | &Module::on_gcode_execute, | |
33 | &Module::on_speed_change, | |
34 | &Module::on_block_begin, | |
da24d6ae | 35 | &Module::on_block_end, |
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36 | &Module::on_config_reload, |
37 | &Module::on_play, | |
38 | &Module::on_pause | |
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39 | }; |
40 | ||
41 | #define baud_rate_setting_ckeckusm 10922 | |
3c132bd0 | 42 | #define uart0_checksum 16877 |
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43 | |
44 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls | |
45 | Kernel::Kernel(){ | |
ded56b35 | 46 | |
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47 | // Config first, because we need the baud_rate setting before we start serial |
48 | this->config = new Config(); | |
49 | // Serial second, because the other modules might want to say something | |
3c132bd0 | 50 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_ckeckusm)->by_default(9600)->as_number()); |
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51 | |
52 | this->add_module( this->config ); | |
53 | this->add_module( this->serial ); | |
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54 | |
55 | // HAL stuff | |
56 | this->slow_ticker = new SlowTicker(); | |
57 | this->slow_ticker->kernel = this; // TODO DEBUG: To remove | |
58 | this->step_ticker = new StepTicker(); | |
59 | this->adc = new Adc(); | |
60 | ||
cd011f58 | 61 | // LPC17xx-specific |
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62 | NVIC_SetPriority(TIMER0_IRQn, 1); |
63 | NVIC_SetPriority(TIMER2_IRQn, 2); | |
b6c86164 | 64 | |
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65 | // Core modules |
66 | this->gcode_dispatch = new GcodeDispatch(); | |
67 | this->robot = new Robot(); | |
68 | this->stepper = new Stepper(); | |
69 | this->planner = new Planner(); | |
3a4fa0c1 | 70 | this->player = new Player(); |
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71 | |
72 | this->add_module( this->gcode_dispatch ); | |
73 | this->add_module( this->robot ); | |
74 | this->add_module( this->stepper ); | |
75 | this->add_module( this->planner ); | |
3a4fa0c1 | 76 | this->add_module( this->player ); |
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77 | |
78 | } | |
79 | ||
80 | void Kernel::add_module(Module* module){ | |
81 | module->kernel = this; | |
82 | module->on_module_loaded(); | |
b66fb830 | 83 | module->register_for_event(ON_CONFIG_RELOAD); |
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84 | } |
85 | ||
86 | void Kernel::register_for_event(unsigned int id_event, Module* module){ | |
87 | this->hooks[id_event].push_back(module); | |
88 | } | |
89 | ||
90 | void Kernel::call_event(unsigned int id_event){ | |
91 | for(unsigned int i=0; i < this->hooks[id_event].size(); i++){ | |
92 | (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this); | |
93 | } | |
94 | } | |
95 | ||
96 | void Kernel::call_event(unsigned int id_event, void * argument){ | |
97 | for(unsigned int i=0; i < this->hooks[id_event].size(); i++){ | |
98 | (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument); | |
99 | } | |
100 | } |