#include "modules/communication/GcodeDispatch.h"
#include "modules/robot/Planner.h"
#include "modules/robot/Robot.h"
-#include "modules/robot/Stepper.h"
#include "modules/robot/Conveyor.h"
#include "StepperMotor.h"
#include "BaseSolution.h"
#include "EndstopsPublicAccess.h"
+#include "Configurator.h"
+#include "SimpleShell.h"
+
+#include "platform_memory.h"
#include <malloc.h>
#include <array>
#define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency")
#define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse")
-#define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second")
#define disable_leds_checksum CHECKSUM("leds_disable")
#define grbl_mode_checksum CHECKSUM("grbl_mode")
+#define ok_per_line_checksum CHECKSUM("ok_per_line")
Kernel* Kernel::instance;
#if MRI_ENABLE != 0
switch( __mriPlatform_CommUartIndex() ) {
case 0:
- this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
break;
case 1:
- this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
break;
case 2:
- this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
break;
case 3:
- this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
break;
}
#endif
// default
if(this->serial == NULL) {
- this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
}
//some boards don't have leds.. TOO BAD!
this->use_leds= !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
+
+ #ifdef CNC
+ this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(true)->as_bool();
+ #else
this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
+ #endif
+
+ // we exepct ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code
+ this->ok_per_line= this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
- this->add_module( this->config );
this->add_module( this->serial );
// HAL stuff
NVIC_SetPriority(TIMER1_IRQn, 1);
NVIC_SetPriority(TIMER2_IRQn, 4);
NVIC_SetPriority(PendSV_IRQn, 3);
- 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
// Set other priorities lower than the timers
NVIC_SetPriority(ADC_IRQn, 5);
// Configure the step ticker
this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
- float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number();
- this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
+ float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number();
- // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
- this->step_ticker->set_reset_delay( microseconds_per_step_pulse );
+ // Configure the step ticker
this->step_ticker->set_frequency( this->base_stepping_frequency );
- this->step_ticker->set_acceleration_ticks_per_second(acceleration_ticks_per_second); // must be set after set_frequency
+ this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
// Core modules
this->add_module( this->gcode_dispatch = new GcodeDispatch() );
this->add_module( this->robot = new Robot() );
- this->add_module( this->stepper = new Stepper() );
this->add_module( this->conveyor = new Conveyor() );
+ this->add_module( this->simpleshell = new SimpleShell() );
this->planner = new Planner();
-
+ this->configurator = new Configurator();
}
// return a GRBL-like query string for serial ?
bool homing;
bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
if(!ok) homing= false;
+ bool running= false;
str.append("<");
if(halted) {
str.append("Home,");
}else if(feed_hold) {
str.append("Hold,");
- }else if(this->conveyor->is_queue_empty()) {
+ }else if(this->conveyor->is_idle()) {
str.append("Idle,");
}else{
+ running= true;
str.append("Run,");
}
- // get real time current actuator position in mm
- ActuatorCoordinates current_position{
- robot->actuators[X_AXIS]->get_current_position(),
- robot->actuators[Y_AXIS]->get_current_position(),
- robot->actuators[Z_AXIS]->get_current_position()
- };
-
- // get machine position from the actuator position using FK
- float mpos[3];
- robot->arm_solution->actuator_to_cartesian(current_position, mpos);
-
- char buf[64];
- // machine position
- size_t n= snprintf(buf, sizeof(buf), "%f,%f,%f,", mpos[0], mpos[1], mpos[2]);
- str.append("MPos:").append(buf, n);
-
- // work space position
- Robot::wcs_t pos= robot->mcs2wcs(mpos);
- 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)));
- str.append("WPos:").append(buf, n);
- str.append(">\r\n");
+ if(running) {
+ float mpos[3];
+ robot->get_current_machine_position(mpos);
+ // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
+ if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform
+
+ char buf[128];
+ // machine position
+ 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]));
+ str.append("MPos:").append(buf, n);
+
+ // work space position
+ Robot::wcs_t pos= robot->mcs2wcs(mpos);
+ 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)));
+ str.append("WPos:").append(buf, n);
+ str.append(">\r\n");
+
+ }else{
+ // return the last milestone if idle
+ char buf[128];
+ // machine position
+ Robot::wcs_t mpos= robot->get_axis_position();
+ 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)));
+ str.append("MPos:").append(buf, n);
+
+ // work space position
+ Robot::wcs_t pos= robot->mcs2wcs(mpos);
+ 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)));
+ str.append("WPos:").append(buf, n);
+ str.append(">\r\n");
+
+ }
return str;
}
// Call a specific event with an argument
void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
+ bool was_idle= true;
if(id_event == ON_HALT) {
this->halted= (argument == nullptr);
+ was_idle= conveyor->is_idle(); // see if we were doing anything like printing
}
+
+ // send to all registered modules
for (auto m : hooks[id_event]) {
(m->*kernel_callback_functions[id_event])(argument);
}
+
+ if(id_event == ON_HALT && this->halted && !was_idle) {
+ // we need to try to correct current positions if we were running
+ this->robot->reset_position_from_current_actuator_position();
+ }
}
// These are used by tests to test for various things. basically mocks
HCoop / clinton / Smoothieware.git / blobdiff