Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
4cff3ded AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
4cff3ded AW |
8 | #include "libs/Kernel.h" |
9 | #include "libs/Module.h" | |
10 | #include "libs/Config.h" | |
4cff3ded | 11 | #include "libs/nuts_bolts.h" |
ded56b35 | 12 | #include "libs/SlowTicker.h" |
3c132bd0 | 13 | #include "libs/Adc.h" |
38d375e7 | 14 | #include "libs/StreamOutputPool.h" |
4c4a372a | 15 | #include <mri.h> |
7af0714f | 16 | #include "checksumm.h" |
8d54c34c | 17 | #include "ConfigValue.h" |
4cff3ded | 18 | |
61134a65 JM |
19 | #include "libs/StepTicker.h" |
20 | #include "libs/PublicData.h" | |
4cff3ded AW |
21 | #include "modules/communication/SerialConsole.h" |
22 | #include "modules/communication/GcodeDispatch.h" | |
23 | #include "modules/robot/Planner.h" | |
24 | #include "modules/robot/Robot.h" | |
3fceb8eb | 25 | #include "modules/robot/Conveyor.h" |
dcc91612 | 26 | #include "StepperMotor.h" |
a395f085 | 27 | #include "BaseSolution.h" |
07186543 | 28 | #include "EndstopsPublicAccess.h" |
3e54c9fc JM |
29 | #include "Configurator.h" |
30 | #include "SimpleShell.h" | |
56ce2b5a | 31 | |
ee1da330 JM |
32 | #ifndef NO_TOOLS_LASER |
33 | #include "Laser.h" | |
34 | #endif | |
35 | ||
2317ea09 JM |
36 | #include "platform_memory.h" |
37 | ||
a39e1557 | 38 | #include <malloc.h> |
56ce2b5a | 39 | #include <array> |
dcc91612 | 40 | #include <string> |
ded56b35 | 41 | |
ee1da330 | 42 | #define laser_checksum CHECKSUM("laser") |
d4f93cf4 AG |
43 | #define baud_rate_setting_checksum CHECKSUM("baud_rate") |
44 | #define uart0_checksum CHECKSUM("uart0") | |
4cff3ded | 45 | |
38bf9a1c JM |
46 | #define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency") |
47 | #define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse") | |
73706276 | 48 | #define disable_leds_checksum CHECKSUM("leds_disable") |
6c0193b3 | 49 | #define grbl_mode_checksum CHECKSUM("grbl_mode") |
4b7cd602 | 50 | #define feed_hold_enable_checksum CHECKSUM("enable_feed_hold") |
7d04f42d | 51 | #define ok_per_line_checksum CHECKSUM("ok_per_line") |
ee1da330 | 52 | #define new_status_format_checksum CHECKSUM("new_status_format") |
38bf9a1c | 53 | |
879341be JM |
54 | Kernel* Kernel::instance; |
55 | ||
7b49793d | 56 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls |
7e0ca38f JM |
57 | Kernel::Kernel() |
58 | { | |
59 | halted = false; | |
60 | feed_hold = false; | |
61 | enable_feed_hold = false; | |
73706276 | 62 | |
7e0ca38f | 63 | instance = this; // setup the Singleton instance of the kernel |
d4ee6ee2 | 64 | |
2ee2ad19 | 65 | // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial |
7e0ca38f | 66 | // Set to UART0, this will be changed to use the same UART as MRI if it's enabled |
2ee2ad19 | 67 | this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE); |
577414f6 JM |
68 | |
69 | // Config next, but does not load cache yet | |
a157d099 | 70 | this->config = new Config(); |
a39e1557 | 71 | |
bcb96295 | 72 | // Pre-load the config cache, do after setting up serial so we can report errors to serial |
577414f6 JM |
73 | this->config->config_cache_load(); |
74 | ||
2ee2ad19 | 75 | // now config is loaded we can do normal setup for serial based on config |
577414f6 | 76 | delete this->serial; |
7e0ca38f | 77 | this->serial = NULL; |
a39e1557 | 78 | |
a157d099 | 79 | this->streams = new StreamOutputPool(); |
d4ee6ee2 | 80 | |
75f4581c JM |
81 | this->current_path = "/"; |
82 | ||
b2b0b56d | 83 | // Configure UART depending on MRI config |
bb3b7f09 | 84 | // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands. |
b2b0b56d | 85 | NVIC_SetPriorityGrouping(0); |
f5f88509 | 86 | |
2ee2ad19 | 87 | #if MRI_ENABLE != 0 |
bb3b7f09 SK |
88 | switch( __mriPlatform_CommUartIndex() ) { |
89 | case 0: | |
7e0ca38f | 90 | this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
91 | break; |
92 | case 1: | |
7e0ca38f | 93 | this->serial = new(AHB0) SerialConsole( p13, p14, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
94 | break; |
95 | case 2: | |
7e0ca38f | 96 | this->serial = new(AHB0) SerialConsole( p28, p27, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
97 | break; |
98 | case 3: | |
7e0ca38f | 99 | this->serial = new(AHB0) SerialConsole( p9, p10, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 | 100 | break; |
4c4a372a | 101 | } |
2ee2ad19 JM |
102 | #endif |
103 | // default | |
9326040b | 104 | if(this->serial == NULL) { |
7e0ca38f | 105 | this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
9326040b | 106 | } |
f5f88509 | 107 | |
73706276 | 108 | //some boards don't have leds.. TOO BAD! |
7e0ca38f | 109 | this->use_leds = !this->config->value( disable_leds_checksum )->by_default(false)->as_bool(); |
12e6e7b3 | 110 | |
7e0ca38f JM |
111 | #ifdef CNC |
112 | this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(true)->as_bool(); | |
113 | #else | |
114 | this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(false)->as_bool(); | |
115 | #endif | |
12e6e7b3 | 116 | |
7e0ca38f | 117 | this->enable_feed_hold = this->config->value( feed_hold_enable_checksum )->by_default(this->grbl_mode)->as_bool(); |
4b7cd602 | 118 | |
c9d966bc | 119 | // we expect ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code |
7e0ca38f | 120 | this->ok_per_line = this->config->value( ok_per_line_checksum )->by_default(true)->as_bool(); |
73706276 | 121 | |
a7520bd5 | 122 | this->new_status_format = this->config->value( new_status_format_checksum )->by_default(true)->as_bool(); |
ee1da330 | 123 | |
4cff3ded | 124 | this->add_module( this->serial ); |
38d375e7 | 125 | |
df27a6a3 | 126 | // HAL stuff |
a157d099 | 127 | add_module( this->slow_ticker = new SlowTicker()); |
3eadcfee | 128 | |
a157d099 | 129 | this->step_ticker = new StepTicker(); |
8a9f9313 | 130 | this->adc = new Adc(); |
650ed0a8 | 131 | |
d337942a | 132 | // TODO : These should go into platform-specific files |
df27a6a3 | 133 | // LPC17xx-specific |
813727fb | 134 | NVIC_SetPriorityGrouping(0); |
df27a6a3 MM |
135 | NVIC_SetPriority(TIMER0_IRQn, 2); |
136 | NVIC_SetPriority(TIMER1_IRQn, 1); | |
16220afe JM |
137 | NVIC_SetPriority(TIMER2_IRQn, 4); |
138 | NVIC_SetPriority(PendSV_IRQn, 3); | |
feb204be | 139 | |
b2b0b56d | 140 | // Set other priorities lower than the timers |
16220afe JM |
141 | NVIC_SetPriority(ADC_IRQn, 5); |
142 | NVIC_SetPriority(USB_IRQn, 5); | |
f5f88509 | 143 | |
df27a6a3 | 144 | // If MRI is enabled |
7e0ca38f JM |
145 | if( MRI_ENABLE ) { |
146 | if( NVIC_GetPriority(UART0_IRQn) > 0 ) { NVIC_SetPriority(UART0_IRQn, 5); } | |
147 | if( NVIC_GetPriority(UART1_IRQn) > 0 ) { NVIC_SetPriority(UART1_IRQn, 5); } | |
148 | if( NVIC_GetPriority(UART2_IRQn) > 0 ) { NVIC_SetPriority(UART2_IRQn, 5); } | |
149 | if( NVIC_GetPriority(UART3_IRQn) > 0 ) { NVIC_SetPriority(UART3_IRQn, 5); } | |
150 | } else { | |
16220afe JM |
151 | NVIC_SetPriority(UART0_IRQn, 5); |
152 | NVIC_SetPriority(UART1_IRQn, 5); | |
153 | NVIC_SetPriority(UART2_IRQn, 5); | |
154 | NVIC_SetPriority(UART3_IRQn, 5); | |
b2b0b56d AW |
155 | } |
156 | ||
feb204be | 157 | // Configure the step ticker |
a157d099 | 158 | this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number(); |
12ae3902 | 159 | float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number(); |
f5f88509 | 160 | |
12ae3902 | 161 | // Configure the step ticker |
dd0a7cfa | 162 | this->step_ticker->set_frequency( this->base_stepping_frequency ); |
12ae3902 | 163 | this->step_ticker->set_unstep_time( microseconds_per_step_pulse ); |
3c132bd0 | 164 | |
df27a6a3 | 165 | // Core modules |
6c0d8cf7 | 166 | this->add_module( this->conveyor = new Conveyor() ); |
40843ebc | 167 | this->add_module( this->gcode_dispatch = new GcodeDispatch() ); |
81b547a1 | 168 | this->add_module( this->robot = new Robot() ); |
3e54c9fc | 169 | this->add_module( this->simpleshell = new SimpleShell() ); |
558e170c | 170 | |
8a9f9313 JM |
171 | this->planner = new Planner(); |
172 | this->configurator = new Configurator(); | |
4cff3ded AW |
173 | } |
174 | ||
dcc91612 JM |
175 | // return a GRBL-like query string for serial ? |
176 | std::string Kernel::get_query_string() | |
177 | { | |
178 | std::string str; | |
07186543 JM |
179 | bool homing; |
180 | bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing); | |
7e0ca38f JM |
181 | if(!ok) homing = false; |
182 | bool running = false; | |
07186543 | 183 | |
dcc91612 JM |
184 | str.append("<"); |
185 | if(halted) { | |
ee1da330 | 186 | str.append("Alarm"); |
7e0ca38f JM |
187 | } else if(homing) { |
188 | running = true; | |
ee1da330 | 189 | str.append("Home"); |
7e0ca38f | 190 | } else if(feed_hold) { |
ee1da330 | 191 | str.append("Hold"); |
7e0ca38f | 192 | } else if(this->conveyor->is_idle()) { |
ee1da330 | 193 | str.append("Idle"); |
7e0ca38f JM |
194 | } else { |
195 | running = true; | |
ee1da330 | 196 | str.append("Run"); |
dcc91612 JM |
197 | } |
198 | ||
31c6c2c2 | 199 | if(running) { |
31c6c2c2 | 200 | float mpos[3]; |
fdfa00d2 | 201 | robot->get_current_machine_position(mpos); |
98728d3f JM |
202 | // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position |
203 | if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform | |
31c6c2c2 JM |
204 | |
205 | char buf[128]; | |
206 | // machine position | |
255219dc | 207 | size_t n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(mpos[0]), robot->from_millimeters(mpos[1]), robot->from_millimeters(mpos[2])); |
5fe7262c | 208 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
209 | |
210 | if(new_status_format) { | |
211 | str.append("|MPos:").append(buf, n); | |
31c6c2c2 | 212 | |
7e0ca38f | 213 | #if MAX_ROBOT_ACTUATORS > 3 |
ee1da330 JM |
214 | // deal with the ABC axis (E will be A) |
215 | for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) { | |
216 | // current actuator position | |
255219dc | 217 | n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position())); |
5fe7262c | 218 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
219 | str.append(buf, n); |
220 | } | |
7e0ca38f JM |
221 | #endif |
222 | ||
ee1da330 JM |
223 | }else{ |
224 | str.append(",MPos:").append(buf, n); | |
225 | } | |
226 | ||
31c6c2c2 | 227 | // work space position |
7e0ca38f | 228 | Robot::wcs_t pos = robot->mcs2wcs(mpos); |
255219dc | 229 | n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos))); |
5fe7262c | 230 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
231 | |
232 | if(new_status_format) { | |
233 | str.append("|WPos:").append(buf, n); | |
234 | // current feedrate | |
235 | float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F); | |
255219dc | 236 | n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr); |
5fe7262c | 237 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
238 | str.append(buf, n); |
239 | float sr= robot->get_s_value(); | |
255219dc | 240 | n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr); |
5fe7262c | 241 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
242 | str.append(buf, n); |
243 | ||
244 | // current Laser power | |
245 | #ifndef NO_TOOLS_LASER | |
246 | Laser *plaser= nullptr; | |
247 | if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) { | |
248 | float lp= plaser->get_current_power(); | |
255219dc | 249 | n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp); |
5fe7262c | 250 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
251 | str.append(buf, n); |
252 | } | |
253 | #endif | |
254 | ||
255 | }else{ | |
256 | str.append(",WPos:").append(buf, n); | |
257 | } | |
258 | ||
31c6c2c2 JM |
259 | str.append(">\r\n"); |
260 | ||
7e0ca38f | 261 | } else { |
31c6c2c2 JM |
262 | // return the last milestone if idle |
263 | char buf[128]; | |
264 | // machine position | |
7e0ca38f | 265 | Robot::wcs_t mpos = robot->get_axis_position(); |
255219dc | 266 | size_t n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(mpos)), robot->from_millimeters(std::get<Y_AXIS>(mpos)), robot->from_millimeters(std::get<Z_AXIS>(mpos))); |
5fe7262c | 267 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
268 | if(new_status_format) { |
269 | str.append("|MPos:").append(buf, n); | |
7e0ca38f | 270 | #if MAX_ROBOT_ACTUATORS > 3 |
ee1da330 JM |
271 | // deal with the ABC axis (E will be A) |
272 | for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) { | |
273 | // current actuator position | |
255219dc | 274 | n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position())); |
5fe7262c | 275 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
276 | str.append(buf, n); |
277 | } | |
7e0ca38f | 278 | #endif |
31c6c2c2 | 279 | |
ee1da330 JM |
280 | }else{ |
281 | str.append(",MPos:").append(buf, n); | |
282 | } | |
283 | ||
31c6c2c2 | 284 | // work space position |
7e0ca38f | 285 | Robot::wcs_t pos = robot->mcs2wcs(mpos); |
255219dc | 286 | n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos))); |
5fe7262c | 287 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
288 | if(new_status_format) { |
289 | str.append("|WPos:").append(buf, n); | |
290 | }else{ | |
291 | str.append(",WPos:").append(buf, n); | |
292 | } | |
293 | ||
294 | if(new_status_format) { | |
295 | float fr= robot->from_millimeters(robot->get_feed_rate()); | |
255219dc | 296 | n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr); |
5fe7262c | 297 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 JM |
298 | str.append(buf, n); |
299 | } | |
31c6c2c2 | 300 | |
ee1da330 | 301 | str.append(">\r\n"); |
31c6c2c2 | 302 | } |
dcc91612 JM |
303 | return str; |
304 | } | |
305 | ||
cb2e6bc6 | 306 | // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded |
7e0ca38f JM |
307 | void Kernel::add_module(Module* module) |
308 | { | |
4cff3ded AW |
309 | module->on_module_loaded(); |
310 | } | |
311 | ||
93694d6b | 312 | // Adds a hook for a given module and event |
7e0ca38f JM |
313 | void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod) |
314 | { | |
96f67b65 | 315 | this->hooks[id_event].push_back(mod); |
4cff3ded AW |
316 | } |
317 | ||
93ea6adb | 318 | // Call a specific event with an argument |
7e0ca38f JM |
319 | void Kernel::call_event(_EVENT_ENUM id_event, void * argument) |
320 | { | |
321 | bool was_idle = true; | |
73706276 | 322 | if(id_event == ON_HALT) { |
7e0ca38f JM |
323 | this->halted = (argument == nullptr); |
324 | was_idle = conveyor->is_idle(); // see if we were doing anything like printing | |
73706276 | 325 | } |
785da581 JM |
326 | |
327 | // send to all registered modules | |
96f67b65 | 328 | for (auto m : hooks[id_event]) { |
93ea6adb | 329 | (m->*kernel_callback_functions[id_event])(argument); |
4cff3ded | 330 | } |
785da581 | 331 | |
92485600 JM |
332 | if(id_event == ON_HALT) { |
333 | if(!this->halted || !was_idle) { | |
334 | // if we were running and this is a HALT | |
335 | // or if we are clearing the halt with $X or M999 | |
336 | // fix up the current positions in case they got out of sync due to backed up commands | |
337 | this->robot->reset_position_from_current_actuator_position(); | |
338 | } | |
785da581 | 339 | } |
4cff3ded AW |
340 | } |
341 | ||
93ea6adb JM |
342 | // These are used by tests to test for various things. basically mocks |
343 | bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod) | |
344 | { | |
96f67b65 | 345 | for (auto m : hooks[id_event]) { |
93ea6adb | 346 | if(m == mod) return true; |
4cff3ded | 347 | } |
93ea6adb | 348 | return false; |
4cff3ded | 349 | } |
93ea6adb JM |
350 | |
351 | void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod) | |
352 | { | |
353 | for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) { | |
354 | if(*i == mod) { | |
355 | hooks[id_event].erase(i); | |
356 | return; | |
357 | } | |
358 | } | |
359 | } | |
360 |