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/>.
8 #include "libs/Kernel.h"
9 #include "libs/Module.h"
10 #include "libs/Config.h"
11 #include "libs/nuts_bolts.h"
12 #include "libs/SlowTicker.h"
14 #include "libs/Pauser.h"
15 #include "libs/StreamOutputPool.h"
17 #include "checksumm.h"
18 #include "ConfigValue.h"
20 #include "libs/StepTicker.h"
21 #include "libs/PublicData.h"
22 #include "modules/communication/SerialConsole.h"
23 #include "modules/communication/GcodeDispatch.h"
24 #include "modules/tools/toolsmanager/ToolsManager.h"
25 #include "modules/robot/Planner.h"
26 #include "modules/robot/Robot.h"
27 #include "modules/robot/Stepper.h"
32 #include "modules/robot/Conveyor.h"
33 #include "modules/tools/endstops/Endstops.h"
36 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
37 #define uart0_checksum CHECKSUM("uart0")
39 Kernel
* Kernel::instance
;
41 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
43 instance
= this; // setup the Singleton instance of the kernel
45 // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
46 // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
47 this->serial
= new SerialConsole(USBTX
, USBRX
, DEFAULT_SERIAL_BAUD_RATE
);
49 // Config next, but does not load cache yet
50 this->config
= new Config();
52 // Pre-load the config cache, do after setting up serial so we can report errors to serial
53 this->config
->config_cache_load();
55 // now config is loaded we can do normal setup for serial based on config
59 this->streams
= new StreamOutputPool();
61 this->current_path
= "/";
63 // Configure UART depending on MRI config
64 // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
65 NVIC_SetPriorityGrouping(0);
68 switch( __mriPlatform_CommUartIndex() ) {
70 this->serial
= new SerialConsole(USBTX
, USBRX
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
73 this->serial
= new SerialConsole( p13
, p14
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
76 this->serial
= new SerialConsole( p28
, p27
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
79 this->serial
= new SerialConsole( p9
, p10
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
84 if(this->serial
== NULL
) {
85 this->serial
= new SerialConsole(USBTX
, USBRX
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
88 this->add_module( this->config
);
89 this->add_module( this->serial
);
92 add_module( this->slow_ticker
= new SlowTicker());
93 this->step_ticker
= new StepTicker();
94 this->adc
= new Adc();
96 // TODO : These should go into platform-specific files
98 NVIC_SetPriorityGrouping(0);
99 NVIC_SetPriority(TIMER0_IRQn
, 2);
100 NVIC_SetPriority(TIMER1_IRQn
, 1);
101 NVIC_SetPriority(TIMER2_IRQn
, 3);
103 // Set other priorities lower than the timers
104 NVIC_SetPriority(ADC_IRQn
, 4);
105 NVIC_SetPriority(USB_IRQn
, 4);
109 if( NVIC_GetPriority(UART0_IRQn
) > 0 ){ NVIC_SetPriority(UART0_IRQn
, 4); }
110 if( NVIC_GetPriority(UART1_IRQn
) > 0 ){ NVIC_SetPriority(UART1_IRQn
, 4); }
111 if( NVIC_GetPriority(UART2_IRQn
) > 0 ){ NVIC_SetPriority(UART2_IRQn
, 4); }
112 if( NVIC_GetPriority(UART3_IRQn
) > 0 ){ NVIC_SetPriority(UART3_IRQn
, 4); }
114 NVIC_SetPriority(UART0_IRQn
, 4);
115 NVIC_SetPriority(UART1_IRQn
, 4);
116 NVIC_SetPriority(UART2_IRQn
, 4);
117 NVIC_SetPriority(UART3_IRQn
, 4);
120 // Configure the step ticker
121 int base_stepping_frequency
= this->config
->value(base_stepping_frequency_checksum
)->by_default(100000)->as_number();
122 float microseconds_per_step_pulse
= this->config
->value(microseconds_per_step_pulse_checksum
)->by_default(5 )->as_number();
124 // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
125 this->step_ticker
->set_reset_delay( microseconds_per_step_pulse
/ 1000000L );
126 this->step_ticker
->set_frequency( base_stepping_frequency
);
129 this->add_module( this->gcode_dispatch
= new GcodeDispatch() );
130 this->add_module( this->robot
= new Robot() );
131 this->add_module( this->stepper
= new Stepper() );
132 this->add_module( this->planner
= new Planner() );
133 this->add_module( this->conveyor
= new Conveyor() );
134 this->add_module( this->pauser
= new Pauser() );
135 this->add_module( this->public_data
= new PublicData() );
136 this->add_module( this->toolsmanager
= new ToolsManager() );
140 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
141 void Kernel::add_module(Module
* module
){
142 module
->on_module_loaded();
145 // Adds a hook for a given module and event
146 void Kernel::register_for_event(_EVENT_ENUM id_event
, Module
* module
){
147 this->hooks
[id_event
].push_back(module
);
150 // Call a specific event without arguments
151 void Kernel::call_event(_EVENT_ENUM id_event
){
152 for (Module
* current
: hooks
[id_event
]) {
153 (current
->*kernel_callback_functions
[id_event
])(this);
157 // Call a specific event with an argument
158 void Kernel::call_event(_EVENT_ENUM id_event
, void * argument
){
159 for (Module
* current
: hooks
[id_event
]) {
160 (current
->*kernel_callback_functions
[id_event
])(argument
);