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