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/Conveyor.h"
  26 #include "StepperMotor.h"
  27 #include "BaseSolution.h"
  28 #include "EndstopsPublicAccess.h"
  29 #include "Configurator.h"
  30 #include "SimpleShell.h"
  31
  32 #include "platform_memory.h"
  33
  34 #include <malloc.h>
  35 #include <array>
  36 #include <string>
  37
  38 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  39 #define uart0_checksum             CHECKSUM("uart0")
  40
  41 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  42 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  43 #define acceleration_ticks_per_second_checksum      CHECKSUM("acceleration_ticks_per_second")
  44 #define disable_leds_checksum                       CHECKSUM("leds_disable")
  45 #define grbl_mode_checksum                          CHECKSUM("grbl_mode")
  46 #define ok_per_line_checksum                        CHECKSUM("ok_per_line")
  47
  48 Kernel* Kernel::instance;
  49
  50 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  51 Kernel::Kernel(){
  52     halted= false;
  53     feed_hold= false;
  54
  55     instance= this; // setup the Singleton instance of the kernel
  56
  57     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  58         // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
  59     this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
  60
  61     // Config next, but does not load cache yet
  62     this->config = new Config();
  63
  64     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  65     this->config->config_cache_load();
  66
  67     // now config is loaded we can do normal setup for serial based on config
  68     delete this->serial;
  69     this->serial= NULL;
  70
  71     this->streams = new StreamOutputPool();
  72
  73     this->current_path   = "/";
  74
  75     // Configure UART depending on MRI config
  76     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  77     NVIC_SetPriorityGrouping(0);
  78
  79 #if MRI_ENABLE != 0
  80     switch( __mriPlatform_CommUartIndex() ) {
  81         case 0:
  82             this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  83             break;
  84         case 1:
  85             this->serial = new(AHB0) SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  86             break;
  87         case 2:
  88             this->serial = new(AHB0) SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  89             break;
  90         case 3:
  91             this->serial = new(AHB0) SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  92             break;
  93     }
  94 #endif
  95     // default
  96     if(this->serial == NULL) {
  97         this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  98     }
  99
 100     //some boards don't have leds.. TOO BAD!
 101     this->use_leds= !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 102     this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
 103     this->ok_per_line= this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
 104
 105     this->add_module( this->serial );
 106
 107     // HAL stuff
 108     add_module( this->slow_ticker = new SlowTicker());
 109
 110     this->step_ticker = new StepTicker();
 111     this->adc = new Adc();
 112
 113     // TODO : These should go into platform-specific files
 114     // LPC17xx-specific
 115     NVIC_SetPriorityGrouping(0);
 116     NVIC_SetPriority(TIMER0_IRQn, 2);
 117     NVIC_SetPriority(TIMER1_IRQn, 1);
 118     NVIC_SetPriority(TIMER2_IRQn, 4);
 119     NVIC_SetPriority(PendSV_IRQn, 3);
 120
 121     // Set other priorities lower than the timers
 122     NVIC_SetPriority(ADC_IRQn, 5);
 123     NVIC_SetPriority(USB_IRQn, 5);
 124
 125     // If MRI is enabled
 126     if( MRI_ENABLE ){
 127         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 5); }
 128         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 5); }
 129         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 5); }
 130         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 5); }
 131     }else{
 132         NVIC_SetPriority(UART0_IRQn, 5);
 133         NVIC_SetPriority(UART1_IRQn, 5);
 134         NVIC_SetPriority(UART2_IRQn, 5);
 135         NVIC_SetPriority(UART3_IRQn, 5);
 136     }
 137
 138     // Configure the step ticker
 139     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 140     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number();
 141     this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
 142
 143     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
 144     this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
 145     this->step_ticker->set_frequency( this->base_stepping_frequency );
 146
 147     // Core modules
 148     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 149     this->add_module( this->robot          = new Robot()         );
 150     this->add_module( this->conveyor       = new Conveyor()      );
 151     this->add_module( this->simpleshell    = new SimpleShell()   );
 152
 153     this->planner = new Planner();
 154     this->configurator = new Configurator();
 155 }
 156
 157 // return a GRBL-like query string for serial ?
 158 std::string Kernel::get_query_string()
 159 {
 160     std::string str;
 161     bool homing;
 162     bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
 163     if(!ok) homing= false;
 164     bool running= false;
 165
 166     str.append("<");
 167     if(halted) {
 168         str.append("Alarm,");
 169     }else if(homing) {
 170         str.append("Home,");
 171     }else if(feed_hold) {
 172         str.append("Hold,");
 173     }else if(this->conveyor->is_idle()) {
 174         str.append("Idle,");
 175     }else{
 176         running= true;
 177         str.append("Run,");
 178     }
 179
 180     if(running) {
 181         // get real time current actuator position in mm
 182         ActuatorCoordinates current_position{
 183             robot->actuators[X_AXIS]->get_current_position(),
 184             robot->actuators[Y_AXIS]->get_current_position(),
 185             robot->actuators[Z_AXIS]->get_current_position()
 186         };
 187
 188         // get machine position from the actuator position using FK
 189         float mpos[3];
 190         robot->arm_solution->actuator_to_cartesian(current_position, mpos);
 191
 192         char buf[128];
 193         // machine position
 194         size_t n= snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f,", robot->from_millimeters(mpos[0]), robot->from_millimeters(mpos[1]), robot->from_millimeters(mpos[2]));
 195         str.append("MPos:").append(buf, n);
 196
 197         // work space position
 198         Robot::wcs_t pos= robot->mcs2wcs(mpos);
 199         n= snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos)));
 200         str.append("WPos:").append(buf, n);
 201         str.append(">\r\n");
 202
 203     }else{
 204         // return the last milestone if idle
 205         char buf[128];
 206         // machine position
 207         Robot::wcs_t mpos= robot->get_axis_position();
 208         size_t n= snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f,", robot->from_millimeters(std::get<X_AXIS>(mpos)), robot->from_millimeters(std::get<Y_AXIS>(mpos)), robot->from_millimeters(std::get<Z_AXIS>(mpos)));
 209         str.append("MPos:").append(buf, n);
 210
 211         // work space position
 212         Robot::wcs_t pos= robot->mcs2wcs(mpos);
 213         n= snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos)));
 214         str.append("WPos:").append(buf, n);
 215         str.append(">\r\n");
 216
 217     }
 218     return str;
 219 }
 220
 221 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 222 void Kernel::add_module(Module* module){
 223     module->on_module_loaded();
 224 }
 225
 226 // Adds a hook for a given module and event
 227 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
 228     this->hooks[id_event].push_back(mod);
 229 }
 230
 231 // Call a specific event with an argument
 232 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 233     bool was_idle= true;
 234     if(id_event == ON_HALT) {
 235         this->halted= (argument == nullptr);
 236         was_idle= conveyor->is_idle(); // see if we were doing anything like printing
 237     }
 238
 239     // send to all registered modules
 240     for (auto m : hooks[id_event]) {
 241         (m->*kernel_callback_functions[id_event])(argument);
 242     }
 243
 244     if(id_event == ON_HALT && this->halted && !was_idle) {
 245         // we need to try to correct current positions if we were running
 246         this->robot->reset_position_from_current_actuator_position();
 247     }
 248 }
 249
 250 // These are used by tests to test for various things. basically mocks
 251 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 252 {
 253     for (auto m : hooks[id_event]) {
 254         if(m == mod) return true;
 255     }
 256     return false;
 257 }
 258
 259 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 260 {
 261     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 262         if(*i == mod) {
 263             hooks[id_event].erase(i);
 264             return;
 265         }
 266     }
 267 }
 268