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
  18 #include "modules/communication/SerialConsole.h"
  19 #include "modules/communication/GcodeDispatch.h"
  20 #include "modules/robot/Planner.h"
  21 #include "modules/robot/Robot.h"
  22 #include "modules/robot/Stepper.h"
  23 #include "modules/robot/Conveyor.h"
  24 #include "modules/tools/endstops/Endstops.h"
  25 #include <malloc.h>
  26
  27
  28
  29 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  30 #define uart0_checksum             CHECKSUM("uart0")
  31
  32 static int isDebugMonitorUsingUart0()
  33 {
  34     return NVIC_GetPriority(UART0_IRQn) == 0;
  35 }
  36
  37 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  38 Kernel::Kernel(){
  39     // Config first, because we need the baud_rate setting before we start serial
  40     this->config         = new Config();
  41
  42     // Serial second, because the other modules might want to say something
  43     this->streams        = new StreamOutputPool();
  44
  45     // Configure UART depending on MRI config
  46     NVIC_SetPriorityGrouping(0);
  47     if( !isDebugMonitorUsingUart0() ){
  48         this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  49     }else{
  50         this->serial         = new SerialConsole(p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  51     }
  52     this->add_module( this->config );
  53
  54     this->add_module( this->serial );
  55
  56     // HAL stuff
  57     add_module( this->slow_ticker          = new SlowTicker());
  58     this->step_ticker          = new StepTicker();
  59     this->adc                  = new Adc();
  60
  61     // LPC17xx-specific
  62     NVIC_SetPriorityGrouping(0);
  63     NVIC_SetPriority(TIMER0_IRQn, 2);
  64     NVIC_SetPriority(TIMER1_IRQn, 1);
  65     NVIC_SetPriority(TIMER2_IRQn, 3);
  66
  67     // Set other priorities lower than the timers
  68     NVIC_SetPriority(ADC_IRQn, 4);
  69     NVIC_SetPriority(USB_IRQn, 4);
  70
  71     // If MRI is enabled
  72     if( MRI_ENABLE ){
  73         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
  74         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
  75         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
  76         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
  77     }else{
  78         NVIC_SetPriority(UART0_IRQn, 4);
  79         NVIC_SetPriority(UART1_IRQn, 4);
  80         NVIC_SetPriority(UART2_IRQn, 4);
  81         NVIC_SetPriority(UART3_IRQn, 4);
  82     }
  83
  84     // Configure the step ticker
  85     int base_stepping_frequency          =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
  86     double microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();
  87
  88     this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
  89
  90     this->step_ticker->set_frequency(   base_stepping_frequency );
  91
  92     // Core modules
  93     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
  94     this->add_module( this->robot          = new Robot()         );
  95     this->add_module( this->stepper        = new Stepper()       );
  96     this->add_module( this->planner        = new Planner()       );
  97     this->add_module( this->conveyor       = new Conveyor()      );
  98     this->add_module( this->pauser         = new Pauser()        );
  99
 100 }
 101
 102 void Kernel::add_module(Module* module){
 103     module->kernel = this;
 104     module->on_module_loaded();
 105 }
 106
 107 void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
 108     this->hooks[id_event].push_back(module);
 109 }
 110
 111 void Kernel::call_event(_EVENT_ENUM id_event){
 112     for (Module* current : hooks[id_event]) {
 113         (current->*kernel_callback_functions[id_event])(this);
 114     }
 115 }
 116
 117 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 118     for (Module* current : hooks[id_event]) {
 119         (current->*kernel_callback_functions[id_event])(argument);
 120     }
 121 }