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 using namespace std;
   9 #include <vector>
  10 #include "libs/Kernel.h"
  11 #include "libs/Module.h"
  12 #include "libs/Config.h"
  13 #include "libs/nuts_bolts.h"
  14 #include "libs/SlowTicker.h"
  15 #include "libs/Adc.h"
  16 #include "libs/Digipot.h"
  17 #include "libs/Pauser.h"
  18 #include "libs/StreamOutputPool.h"
  19
  20 #include "modules/communication/SerialConsole.h"
  21 #include "modules/communication/GcodeDispatch.h"
  22 #include "modules/robot/Planner.h"
  23 #include "modules/robot/Robot.h"
  24 #include "modules/robot/Stepper.h"
  25 #include "modules/robot/Player.h"
  26
  27
  28 // List of callback functions, ordered as their corresponding events
  29 const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = {
  30         &Module::on_main_loop,
  31         &Module::on_console_line_received,
  32         &Module::on_gcode_received,
  33         &Module::on_stepper_wake_up,
  34         &Module::on_gcode_execute,
  35         &Module::on_speed_change,
  36         &Module::on_block_begin,
  37         &Module::on_block_end,
  38         &Module::on_config_reload,
  39         &Module::on_play,
  40         &Module::on_pause,
  41         &Module::on_idle
  42 };
  43
  44 #define baud_rate_setting_checksum 10922
  45 #define uart0_checksum             16877
  46
  47 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  48 Kernel::Kernel(){
  49
  50     // Config first, because we need the baud_rate setting before we start serial
  51     this->config         = new Config();
  52     // Serial second, because the other modules might want to say something
  53     this->streams        = new StreamOutputPool();
  54
  55     this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  56
  57     this->add_module( this->config );
  58     this->add_module( this->serial );
  59
  60     // HAL stuff
  61     this->slow_ticker          = new SlowTicker();
  62     this->step_ticker          = new StepTicker();
  63     this->adc                  = new Adc();
  64     this->digipot              = new Digipot();
  65
  66     // LPC17xx-specific
  67     NVIC_SetPriority(TIMER0_IRQn, 1);
  68     NVIC_SetPriority(TIMER2_IRQn, 2);
  69
  70     // Core modules
  71     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
  72     this->add_module( this->robot          = new Robot()         );
  73     this->add_module( this->stepper        = new Stepper()       );
  74     this->add_module( this->planner        = new Planner()       );
  75     this->add_module( this->player         = new Player()        );
  76     this->add_module( this->pauser         = new Pauser()        );
  77 }
  78
  79 void Kernel::add_module(Module* module){
  80     module->kernel = this;
  81     module->on_module_loaded();
  82     module->register_for_event(ON_CONFIG_RELOAD);
  83 }
  84
  85 void Kernel::register_for_event(unsigned int id_event, Module* module){
  86     this->hooks[id_event].push_back(module);
  87 }
  88
  89 void Kernel::call_event(unsigned int id_event){
  90     for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
  91         (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this);
  92     }
  93 }
  94
  95 void Kernel::call_event(unsigned int id_event, void * argument){
  96     for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
  97         (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument);
  98     }
  99 }