Merge pull request #66 from arthurwolf/stepper

[clinton/Smoothieware.git] / src / libs / Kernel.cpp

/*  
      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/>. 
*/

#include "libs/Kernel.h"
#include "libs/Module.h"
#include "libs/Config.h"
#include "libs/nuts_bolts.h"
#include "libs/SlowTicker.h"
#include "libs/Adc.h"
#include "libs/Digipot.h"
#include "libs/Pauser.h"
#include "libs/StreamOutputPool.h"

#include "modules/communication/SerialConsole.h"
#include "modules/communication/GcodeDispatch.h"
#include "modules/robot/Planner.h"
#include "modules/robot/Robot.h"
#include "modules/robot/Stepper.h"
#include "modules/robot/Player.h"
#include <malloc.h>



// List of callback functions, ordered as their corresponding events
const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = { 
        &Module::on_main_loop, 
        &Module::on_console_line_received,
        &Module::on_gcode_received, 
        &Module::on_stepper_wake_up,
        &Module::on_gcode_execute,
        &Module::on_speed_change,
        &Module::on_block_begin,
        &Module::on_block_end,
        &Module::on_config_reload,
        &Module::on_play,
        &Module::on_pause,
        &Module::on_idle
};

#define baud_rate_setting_checksum 10922
#define uart0_checksum             16877

// The kernel is the central point in Smoothie : it stores modules, and handles event calls
Kernel::Kernel(){

    // Value init for the arrays
    for( uint8_t i=0; i<NUMBER_OF_DEFINED_EVENTS; i++ ){ 
        for( uint8_t index=0; index<32; index++ ){
            this->hooks[i][index] = NULL; 
        } 
    }

    // Config first, because we need the baud_rate setting before we start serial 
    this->config         = new Config();

    // Serial second, because the other modules might want to say something
    this->streams        = new StreamOutputPool();

    this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
    //this->serial         = new SerialConsole(p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
    
    this->add_module( this->config );
    this->add_module( this->serial );

    // HAL stuff 
    this->slow_ticker          = new SlowTicker();
    this->step_ticker          = new StepTicker();
    this->adc                  = new Adc();
    this->digipot              = new Digipot();

    // LPC17xx-specific 
    NVIC_SetPriorityGrouping(0);
    NVIC_SetPriority(TIMER0_IRQn, 2); 
    NVIC_SetPriority(TIMER1_IRQn, 1); 
    NVIC_SetPriority(TIMER2_IRQn, 3); 

    // Configure the step ticker
    int base_stepping_frequency       =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
    double microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();
    this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
    this->step_ticker->set_frequency(   base_stepping_frequency );

    // Core modules 
    this->add_module( this->gcode_dispatch = new GcodeDispatch() );
    this->add_module( this->robot          = new Robot()         );
    this->add_module( this->stepper        = new Stepper()       );
    this->add_module( this->planner        = new Planner()       );
    this->add_module( this->player         = new Player()        );
    this->add_module( this->pauser         = new Pauser()        );


}

void Kernel::add_module(Module* module){
    module->kernel = this;
    module->on_module_loaded();
    module->register_for_event(ON_CONFIG_RELOAD);
}

void Kernel::register_for_event(unsigned int id_event, Module* module){
    uint8_t current_id = 0; 
    Module* current = this->hooks[id_event][0];
    while(current != NULL ){
        if( current == module ){ return; }
        current_id++;
        current = this->hooks[id_event][current_id];
    }
    this->hooks[id_event][current_id] = module;
    this->hooks[id_event][current_id+1] = NULL;
}

void Kernel::call_event(unsigned int id_event){
    uint8_t current_id = 0; Module* current = this->hooks[id_event][0];
    while(current != NULL ){   // For each active stepper
        (current->*kernel_callback_functions[id_event])(this);
        current_id++;
        current = this->hooks[id_event][current_id];
    }
}

void Kernel::call_event(unsigned int id_event, void * argument){
    uint8_t current_id = 0; Module* current = this->hooks[id_event][0];
    while(current != NULL ){   // For each active stepper
        (current->*kernel_callback_functions[id_event])(argument);
        current_id++;
        current = this->hooks[id_event][current_id];
    }
}