src/libs/Kernel.cpp

   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 #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"
  13 #include "libs/Adc.h"
  14 #include "libs/Pauser.h"
  15 #include "libs/StreamOutputPool.h"
  16 #include <mri.h>
  17 #include "checksumm.h"
  18 #include "ConfigValue.h"
  19
  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"
  28 #include <array>
  29
  30
  31
  32 #include "modules/robot/Conveyor.h"
  33 #include "modules/tools/endstops/Endstops.h"
  34 #include <malloc.h>
  35
  36 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  37 #define uart0_checksum             CHECKSUM("uart0")
  38
  39 Kernel* Kernel::instance;
  40
  41 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  42 Kernel::Kernel(){
  43     instance= this; // setup the Singleton instance of the kernel
  44
  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);
  48
  49     // Config next, but does not load cache yet
  50     this->config         = new Config();
  51
  52     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  53     this->config->config_cache_load();
  54
  55     // now config is loaded we can do normal setup for serial based on config
  56     delete this->serial;
  57     this->serial= NULL;
  58
  59     this->streams        = new StreamOutputPool();
  60
  61     this->current_path   = "/";
  62
  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);
  66
  67 #if MRI_ENABLE != 0
  68     switch( __mriPlatform_CommUartIndex() ) {
  69         case 0:
  70             this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  71             break;
  72         case 1:
  73             this->serial = new SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  74             break;
  75         case 2:
  76             this->serial = new SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  77             break;
  78         case 3:
  79             this->serial = new SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  80             break;
  81     }
  82 #endif
  83     // default
  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());
  86     }
  87
  88     this->add_module( this->config );
  89     this->add_module( this->serial );
  90
  91     // HAL stuff
  92     add_module( this->slow_ticker          = new SlowTicker());
  93     this->step_ticker          = new StepTicker();
  94     this->adc                  = new Adc();
  95
  96     // TODO : These should go into platform-specific files
  97     // LPC17xx-specific
  98     NVIC_SetPriorityGrouping(0);
  99     NVIC_SetPriority(TIMER0_IRQn, 2);
 100     NVIC_SetPriority(TIMER1_IRQn, 1);
 101     NVIC_SetPriority(TIMER2_IRQn, 3);
 102
 103     // Set other priorities lower than the timers
 104     NVIC_SetPriority(ADC_IRQn, 4);
 105     NVIC_SetPriority(USB_IRQn, 4);
 106
 107     // If MRI is enabled
 108     if( MRI_ENABLE ){
 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); }
 113     }else{
 114         NVIC_SetPriority(UART0_IRQn, 4);
 115         NVIC_SetPriority(UART1_IRQn, 4);
 116         NVIC_SetPriority(UART2_IRQn, 4);
 117         NVIC_SetPriority(UART3_IRQn, 4);
 118     }
 119
 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();
 123
 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 );
 127
 128     // Core modules
 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->toolmanager   = new ToolManager()    );
 137
 138 }
 139
 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();
 143 }
 144
 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);
 148 }
 149
 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);
 154     }
 155 }
 156
 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);
 161     }
 162 }