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/StreamOutputPool.h"
  15 #include <mri.h>
  16 #include "checksumm.h"
  17 #include "ConfigValue.h"
  18
  19 #include "libs/StepTicker.h"
  20 #include "libs/PublicData.h"
  21 #include "modules/communication/SerialConsole.h"
  22 #include "modules/communication/GcodeDispatch.h"
  23 #include "modules/robot/Planner.h"
  24 #include "modules/robot/Robot.h"
  25 #include "modules/robot/Stepper.h"
  26 #include "modules/robot/Conveyor.h"
  27 #include "modules/robot/Pauser.h"
  28
  29 #include <malloc.h>
  30 #include <array>
  31
  32 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  33 #define uart0_checksum             CHECKSUM("uart0")
  34
  35 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  36 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  37 #define acceleration_ticks_per_second_checksum      CHECKSUM("acceleration_ticks_per_second")
  38 #define disable_leds_checksum                       CHECKSUM("leds_disable")
  39
  40 Kernel* Kernel::instance;
  41
  42 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  43 Kernel::Kernel(){
  44     halted= false;
  45
  46     instance= this; // setup the Singleton instance of the kernel
  47
  48     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  49         // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
  50     this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
  51
  52     // Config next, but does not load cache yet
  53     this->config = new Config();
  54
  55     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  56     this->config->config_cache_load();
  57
  58     // now config is loaded we can do normal setup for serial based on config
  59     delete this->serial;
  60     this->serial= NULL;
  61
  62     this->streams = new StreamOutputPool();
  63
  64     this->current_path   = "/";
  65
  66     // Configure UART depending on MRI config
  67     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  68     NVIC_SetPriorityGrouping(0);
  69
  70 #if MRI_ENABLE != 0
  71     switch( __mriPlatform_CommUartIndex() ) {
  72         case 0:
  73             this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  74             break;
  75         case 1:
  76             this->serial = new SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  77             break;
  78         case 2:
  79             this->serial = new SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  80             break;
  81         case 3:
  82             this->serial = new SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  83             break;
  84     }
  85 #endif
  86     // default
  87     if(this->serial == NULL) {
  88         this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  89     }
  90
  91     //some boards don't have leds.. TOO BAD!
  92     this->use_leds= !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
  93
  94     this->add_module( this->config );
  95     this->add_module( this->serial );
  96
  97     // HAL stuff
  98     add_module( this->slow_ticker = new SlowTicker());
  99
 100     this->step_ticker = new StepTicker();
 101     this->adc = new Adc();
 102
 103     // TODO : These should go into platform-specific files
 104     // LPC17xx-specific
 105     NVIC_SetPriorityGrouping(0);
 106     NVIC_SetPriority(TIMER0_IRQn, 2);
 107     NVIC_SetPriority(TIMER1_IRQn, 1);
 108     NVIC_SetPriority(TIMER2_IRQn, 4);
 109     NVIC_SetPriority(PendSV_IRQn, 3);
 110     NVIC_SetPriority(RIT_IRQn, 3); // we make acceleration tick the same prio as pendsv so it can't be pre-empted by end of block
 111
 112     // Set other priorities lower than the timers
 113     NVIC_SetPriority(ADC_IRQn, 5);
 114     NVIC_SetPriority(USB_IRQn, 5);
 115
 116     // If MRI is enabled
 117     if( MRI_ENABLE ){
 118         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 5); }
 119         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 5); }
 120         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 5); }
 121         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 5); }
 122     }else{
 123         NVIC_SetPriority(UART0_IRQn, 5);
 124         NVIC_SetPriority(UART1_IRQn, 5);
 125         NVIC_SetPriority(UART2_IRQn, 5);
 126         NVIC_SetPriority(UART3_IRQn, 5);
 127     }
 128
 129     // Configure the step ticker
 130     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 131     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number();
 132     this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
 133
 134     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
 135     this->step_ticker->set_reset_delay( microseconds_per_step_pulse );
 136     this->step_ticker->set_frequency( this->base_stepping_frequency );
 137     this->step_ticker->set_acceleration_ticks_per_second(acceleration_ticks_per_second); // must be set after set_frequency
 138
 139     // Core modules
 140     this->add_module( new GcodeDispatch() );
 141     this->add_module( this->robot          = new Robot()         );
 142     this->add_module( this->stepper        = new Stepper()       );
 143     this->add_module( this->conveyor       = new Conveyor()      );
 144     this->add_module( this->pauser         = new Pauser()        );
 145
 146     this->planner = new Planner();
 147
 148 }
 149
 150 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 151 void Kernel::add_module(Module* module){
 152     module->on_module_loaded();
 153 }
 154
 155 // Adds a hook for a given module and event
 156 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
 157     this->hooks[id_event].push_back(mod);
 158 }
 159
 160 // Call a specific event with an argument
 161 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 162     if(id_event == ON_HALT) {
 163         this->halted= (argument == nullptr);
 164     }
 165     for (auto m : hooks[id_event]) {
 166         (m->*kernel_callback_functions[id_event])(argument);
 167     }
 168 }
 169
 170 // These are used by tests to test for various things. basically mocks
 171 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 172 {
 173     for (auto m : hooks[id_event]) {
 174         if(m == mod) return true;
 175     }
 176     return false;
 177 }
 178
 179 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 180 {
 181     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 182         if(*i == mod) {
 183             hooks[id_event].erase(i);
 184             return;
 185         }
 186     }
 187 }
 188