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 number_of_motors_checksum                   CHECKSUM("number_of_motors")
  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
  94     int nmotors=  this->config->value(number_of_motors_checksum)->by_default(5)->as_number(); // default X Y Z E1 E2
  95     this->step_ticker          = new StepTicker(nmotors);
  96     this->adc                  = new Adc();
  97
  98     // TODO : These should go into platform-specific files
  99     // LPC17xx-specific
 100     NVIC_SetPriorityGrouping(0);
 101     NVIC_SetPriority(TIMER0_IRQn, 2);
 102     NVIC_SetPriority(TIMER1_IRQn, 1);
 103     NVIC_SetPriority(TIMER2_IRQn, 3);
 104
 105     // Set other priorities lower than the timers
 106     NVIC_SetPriority(ADC_IRQn, 4);
 107     NVIC_SetPriority(USB_IRQn, 4);
 108
 109     // If MRI is enabled
 110     if( MRI_ENABLE ){
 111         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
 112         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
 113         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
 114         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
 115     }else{
 116         NVIC_SetPriority(UART0_IRQn, 4);
 117         NVIC_SetPriority(UART1_IRQn, 4);
 118         NVIC_SetPriority(UART2_IRQn, 4);
 119         NVIC_SetPriority(UART3_IRQn, 4);
 120     }
 121
 122     // Configure the step ticker
 123     this->base_stepping_frequency       =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
 124     float microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();
 125
 126     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
 127     this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000.0F );
 128     this->step_ticker->set_frequency( this->base_stepping_frequency );
 129
 130     // Core modules
 131     this->add_module( new GcodeDispatch() );
 132     this->add_module( this->robot          = new Robot()         );
 133     this->add_module( this->stepper        = new Stepper()       );
 134     this->add_module( this->conveyor       = new Conveyor()      );
 135     this->add_module( this->pauser         = new Pauser()        );
 136
 137     this->planner = new Planner();
 138
 139 }
 140
 141 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
 142 void Kernel::add_module(Module* module){
 143     module->on_module_loaded();
 144 }
 145
 146 // Adds a hook for a given module and event
 147 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
 148     this->hooks[id_event].push_back(mod);
 149 }
 150
 151 // Call a specific event without arguments
 152 void Kernel::call_event(_EVENT_ENUM id_event){
 153     for (auto m : hooks[id_event]) {
 154         (m->*kernel_callback_functions[id_event])(this);
 155     }
 156 }
 157
 158 // Call a specific event with an argument
 159 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 160     for (auto m : hooks[id_event]) {
 161         (m->*kernel_callback_functions[id_event])(argument);
 162     }
 163 }