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/StreamOutputPool.h"
16 #include "checksumm.h"
17 #include "ConfigValue.h"
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"
32 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
33 #define uart0_checksum CHECKSUM("uart0")
35 #define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency")
36 #define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse")
38 Kernel
* Kernel::instance
;
40 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
42 instance
= this; // setup the Singleton instance of the kernel
44 // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
45 // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
46 this->serial
= new SerialConsole(USBTX
, USBRX
, DEFAULT_SERIAL_BAUD_RATE
);
48 // Config next, but does not load cache yet
49 this->config
= new Config();
51 // Pre-load the config cache, do after setting up serial so we can report errors to serial
52 this->config
->config_cache_load();
54 // now config is loaded we can do normal setup for serial based on config
58 this->streams
= new StreamOutputPool();
60 this->current_path
= "/";
62 // Configure UART depending on MRI config
63 // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
64 NVIC_SetPriorityGrouping(0);
67 switch( __mriPlatform_CommUartIndex() ) {
69 this->serial
= new SerialConsole(USBTX
, USBRX
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
72 this->serial
= new SerialConsole( p13
, p14
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
75 this->serial
= new SerialConsole( p28
, p27
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
78 this->serial
= new SerialConsole( p9
, p10
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
83 if(this->serial
== NULL
) {
84 this->serial
= new SerialConsole(USBTX
, USBRX
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
87 this->add_module( this->config
);
88 this->add_module( this->serial
);
91 add_module( this->slow_ticker
= new SlowTicker());
92 this->step_ticker
= new StepTicker();
93 this->adc
= new Adc();
95 // TODO : These should go into platform-specific files
97 NVIC_SetPriorityGrouping(0);
98 NVIC_SetPriority(TIMER0_IRQn
, 2);
99 NVIC_SetPriority(TIMER1_IRQn
, 1);
100 NVIC_SetPriority(TIMER2_IRQn
, 3);
102 // Set other priorities lower than the timers
103 NVIC_SetPriority(ADC_IRQn
, 4);
104 NVIC_SetPriority(USB_IRQn
, 4);
108 if( NVIC_GetPriority(UART0_IRQn
) > 0 ){ NVIC_SetPriority(UART0_IRQn
, 4); }
109 if( NVIC_GetPriority(UART1_IRQn
) > 0 ){ NVIC_SetPriority(UART1_IRQn
, 4); }
110 if( NVIC_GetPriority(UART2_IRQn
) > 0 ){ NVIC_SetPriority(UART2_IRQn
, 4); }
111 if( NVIC_GetPriority(UART3_IRQn
) > 0 ){ NVIC_SetPriority(UART3_IRQn
, 4); }
113 NVIC_SetPriority(UART0_IRQn
, 4);
114 NVIC_SetPriority(UART1_IRQn
, 4);
115 NVIC_SetPriority(UART2_IRQn
, 4);
116 NVIC_SetPriority(UART3_IRQn
, 4);
119 // Configure the step ticker
120 this->base_stepping_frequency
= this->config
->value(base_stepping_frequency_checksum
)->by_default(100000)->as_number();
121 float microseconds_per_step_pulse
= this->config
->value(microseconds_per_step_pulse_checksum
)->by_default(5 )->as_number();
123 // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
124 this->step_ticker
->set_reset_delay( microseconds_per_step_pulse
/ 1000000L );
125 this->step_ticker
->set_frequency( this->base_stepping_frequency
);
128 this->add_module( new GcodeDispatch() );
129 this->add_module( this->robot
= new Robot() );
130 this->add_module( this->stepper
= new Stepper() );
131 this->add_module( this->conveyor
= new Conveyor() );
132 this->add_module( this->pauser
= new Pauser() );
134 this->planner
= new Planner();
138 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
139 void Kernel::add_module(Module
* module
){
140 module
->on_module_loaded();
143 // Adds a hook for a given module and event
144 void Kernel::register_for_event(_EVENT_ENUM id_event
, Module
*mod
){
145 this->hooks
[id_event
].push_back(mod
);
148 // Call a specific event without arguments
149 void Kernel::call_event(_EVENT_ENUM id_event
){
150 for (auto m
: hooks
[id_event
]) {
151 (m
->*kernel_callback_functions
[id_event
])(this);
155 // Call a specific event with an argument
156 void Kernel::call_event(_EVENT_ENUM id_event
, void * argument
){
157 for (auto m
: hooks
[id_event
]) {
158 (m
->*kernel_callback_functions
[id_event
])(argument
);