#include "modules/robot/Robot.h"
#include "modules/robot/Stepper.h"
#include "modules/robot/Conveyor.h"
-#include "modules/robot/Pauser.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>
+#include <string>
#define baud_rate_setting_checksum CHECKSUM("baud_rate")
#define uart0_checksum CHECKSUM("uart0")
#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;
// The kernel is the central point in Smoothie : it stores modules, and handles event calls
Kernel::Kernel(){
+ halted= false;
+ feed_hold= false;
+
instance= this; // setup the Singleton instance of the kernel
// serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
#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());
}
- this->add_module( this->config );
+ //some boards don't have leds.. TOO BAD!
+ this->use_leds= !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
+ this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
+ this->ok_per_line= this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
+
this->add_module( this->serial );
// HAL stuff
add_module( this->slow_ticker = new SlowTicker());
this->step_ticker = new StepTicker();
- this->adc = new Adc();
+ this->adc = new(AHB0) Adc();
// TODO : These should go into platform-specific files
// LPC17xx-specific
NVIC_SetPriority(TIMER0_IRQn, 2);
NVIC_SetPriority(TIMER1_IRQn, 1);
NVIC_SetPriority(TIMER2_IRQn, 4);
- NVIC_SetPriority(RIT_IRQn, 4);
NVIC_SetPriority(PendSV_IRQn, 3);
// Set other priorities lower than the timers
this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
// Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
- this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000.0F );
+ this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
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
// Core modules
- this->add_module( new GcodeDispatch() );
+ 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->pauser = new Pauser() );
+ this->add_module( this->simpleshell = new SimpleShell() );
+
+ this->planner = new(AHB0) Planner();
+ this->configurator = new Configurator();
+}
+
+// return a GRBL-like query string for serial ?
+std::string Kernel::get_query_string()
+{
+ std::string str;
+ 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("Alarm,");
+ }else if(homing) {
+ str.append("Home,");
+ }else if(feed_hold) {
+ str.append("Hold,");
+ }else if(this->conveyor->is_queue_empty()) {
+ str.append("Idle,");
+ }else{
+ running= true;
+ str.append("Run,");
+ }
+
+ if(running) {
+ // 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);
- this->planner = new Planner();
+ 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;
}
// Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
this->hooks[id_event].push_back(mod);
}
-// Call a specific event without arguments
-void Kernel::call_event(_EVENT_ENUM id_event){
+// Call a specific event with an argument
+void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
+ if(id_event == ON_HALT) {
+ this->halted= (argument == nullptr);
+ }
for (auto m : hooks[id_event]) {
- (m->*kernel_callback_functions[id_event])(this);
+ (m->*kernel_callback_functions[id_event])(argument);
}
}
-// Call a specific event with an argument
-void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
+// These are used by tests to test for various things. basically mocks
+bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
+{
for (auto m : hooks[id_event]) {
- (m->*kernel_callback_functions[id_event])(argument);
+ if(m == mod) return true;
+ }
+ return false;
+}
+
+void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
+{
+ for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
+ if(*i == mod) {
+ hooks[id_event].erase(i);
+ return;
+ }
}
}
+
HCoop / clinton / Smoothieware.git / blobdiff