Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
4cff3ded AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
4cff3ded AW |
8 | #include "libs/Kernel.h" |
9 | #include "libs/Module.h" | |
10 | #include "libs/Config.h" | |
4cff3ded | 11 | #include "libs/nuts_bolts.h" |
ded56b35 | 12 | #include "libs/SlowTicker.h" |
3c132bd0 | 13 | #include "libs/Adc.h" |
0e8b102e | 14 | #include "libs/Digipot.h" |
81b547a1 | 15 | #include "libs/Pauser.h" |
38d375e7 | 16 | #include "libs/StreamOutputPool.h" |
4c4a372a | 17 | #include <mri.h> |
4cff3ded AW |
18 | |
19 | #include "modules/communication/SerialConsole.h" | |
20 | #include "modules/communication/GcodeDispatch.h" | |
21 | #include "modules/robot/Planner.h" | |
22 | #include "modules/robot/Robot.h" | |
23 | #include "modules/robot/Stepper.h" | |
3a4fa0c1 | 24 | #include "modules/robot/Player.h" |
a39e1557 | 25 | #include <malloc.h> |
ded56b35 | 26 | |
4464301d AW |
27 | |
28 | ||
4cff3ded | 29 | // List of callback functions, ordered as their corresponding events |
df27a6a3 MM |
30 | const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = { |
31 | &Module::on_main_loop, | |
4cff3ded | 32 | &Module::on_console_line_received, |
df27a6a3 | 33 | &Module::on_gcode_received, |
4cff3ded AW |
34 | &Module::on_stepper_wake_up, |
35 | &Module::on_gcode_execute, | |
36 | &Module::on_speed_change, | |
37 | &Module::on_block_begin, | |
da24d6ae | 38 | &Module::on_block_end, |
befcf5cc AW |
39 | &Module::on_config_reload, |
40 | &Module::on_play, | |
70c25627 L |
41 | &Module::on_pause, |
42 | &Module::on_idle | |
4cff3ded AW |
43 | }; |
44 | ||
8c309ca9 | 45 | #define baud_rate_setting_checksum 10922 |
3c132bd0 | 46 | #define uart0_checksum 16877 |
4cff3ded | 47 | |
7b49793d | 48 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls |
4cff3ded | 49 | Kernel::Kernel(){ |
e6b5ae25 | 50 | // Value init for the arrays |
df27a6a3 | 51 | for( uint8_t i=0; i<NUMBER_OF_DEFINED_EVENTS; i++ ){ |
db453125 | 52 | for( uint8_t index=0; index<32; index++ ){ |
df27a6a3 MM |
53 | this->hooks[i][index] = NULL; |
54 | } | |
db453125 | 55 | } |
e6b5ae25 | 56 | |
df27a6a3 | 57 | // Config first, because we need the baud_rate setting before we start serial |
4cff3ded | 58 | this->config = new Config(); |
a39e1557 | 59 | |
4cff3ded | 60 | // Serial second, because the other modules might want to say something |
38d375e7 | 61 | this->streams = new StreamOutputPool(); |
4cff3ded | 62 | |
b2b0b56d AW |
63 | // Configure UART depending on MRI config |
64 | NVIC_SetPriorityGrouping(0); | |
4c4a372a | 65 | /* |
b2b0b56d AW |
66 | if (strstr(MRI_UART, "MRI_UART_MBED_USB")){ |
67 | if (strstr(MRI_UART, "MRI_UART_SHARED")){ | |
68 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
69 | }else{ | |
70 | this->serial = new SerialConsole(p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
71 | } | |
72 | }else{ | |
73 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
74 | } | |
4c4a372a | 75 | */ |
504030f9 MM |
76 | if( NVIC_GetPriority(UART0_IRQn) > 0 ){ |
77 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
78 | }else{ | |
79 | this->serial = new SerialConsole(p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
80 | } | |
4cff3ded | 81 | this->add_module( this->config ); |
f5f88509 | 82 | |
4cff3ded | 83 | this->add_module( this->serial ); |
38d375e7 | 84 | |
df27a6a3 | 85 | // HAL stuff |
3c132bd0 | 86 | this->slow_ticker = new SlowTicker(); |
3c132bd0 AW |
87 | this->step_ticker = new StepTicker(); |
88 | this->adc = new Adc(); | |
0e8b102e | 89 | this->digipot = new Digipot(); |
650ed0a8 | 90 | |
df27a6a3 | 91 | // LPC17xx-specific |
813727fb | 92 | NVIC_SetPriorityGrouping(0); |
df27a6a3 MM |
93 | NVIC_SetPriority(TIMER0_IRQn, 2); |
94 | NVIC_SetPriority(TIMER1_IRQn, 1); | |
95 | NVIC_SetPriority(TIMER2_IRQn, 3); | |
feb204be | 96 | |
b2b0b56d | 97 | // Set other priorities lower than the timers |
df27a6a3 MM |
98 | NVIC_SetPriority(ADC_IRQn, 4); |
99 | NVIC_SetPriority(USB_IRQn, 4); | |
f5f88509 | 100 | |
df27a6a3 | 101 | // If MRI is enabled |
b2b0b56d | 102 | if( MRI_ENABLE ){ |
df27a6a3 MM |
103 | if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); } |
104 | if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); } | |
105 | if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); } | |
106 | if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); } | |
b2b0b56d | 107 | }else{ |
df27a6a3 MM |
108 | NVIC_SetPriority(UART0_IRQn, 4); |
109 | NVIC_SetPriority(UART1_IRQn, 4); | |
110 | NVIC_SetPriority(UART2_IRQn, 4); | |
111 | NVIC_SetPriority(UART3_IRQn, 4); | |
b2b0b56d AW |
112 | } |
113 | ||
feb204be AW |
114 | // Configure the step ticker |
115 | int base_stepping_frequency = this->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number(); | |
116 | double microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number(); | |
f5f88509 | 117 | |
b7eae4fa | 118 | this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L ); |
f5f88509 | 119 | |
b7eae4fa | 120 | this->step_ticker->set_frequency( base_stepping_frequency ); |
3c132bd0 | 121 | |
df27a6a3 | 122 | // Core modules |
81b547a1 | 123 | this->add_module( this->gcode_dispatch = new GcodeDispatch() ); |
5357f9c5 | 124 | this->add_module( this->robot = new Robot() ); |
81b547a1 AW |
125 | this->add_module( this->stepper = new Stepper() ); |
126 | this->add_module( this->planner = new Planner() ); | |
127 | this->add_module( this->player = new Player() ); | |
128 | this->add_module( this->pauser = new Pauser() ); | |
4cff3ded AW |
129 | } |
130 | ||
131 | void Kernel::add_module(Module* module){ | |
132 | module->kernel = this; | |
133 | module->on_module_loaded(); | |
b66fb830 | 134 | module->register_for_event(ON_CONFIG_RELOAD); |
4cff3ded AW |
135 | } |
136 | ||
137 | void Kernel::register_for_event(unsigned int id_event, Module* module){ | |
df27a6a3 | 138 | uint8_t current_id = 0; |
e6b5ae25 AW |
139 | Module* current = this->hooks[id_event][0]; |
140 | while(current != NULL ){ | |
141 | if( current == module ){ return; } | |
142 | current_id++; | |
143 | current = this->hooks[id_event][current_id]; | |
144 | } | |
145 | this->hooks[id_event][current_id] = module; | |
146 | this->hooks[id_event][current_id+1] = NULL; | |
4cff3ded AW |
147 | } |
148 | ||
149 | void Kernel::call_event(unsigned int id_event){ | |
e6b5ae25 AW |
150 | uint8_t current_id = 0; Module* current = this->hooks[id_event][0]; |
151 | while(current != NULL ){ // For each active stepper | |
152 | (current->*kernel_callback_functions[id_event])(this); | |
153 | current_id++; | |
154 | current = this->hooks[id_event][current_id]; | |
4cff3ded AW |
155 | } |
156 | } | |
157 | ||
158 | void Kernel::call_event(unsigned int id_event, void * argument){ | |
e6b5ae25 AW |
159 | uint8_t current_id = 0; Module* current = this->hooks[id_event][0]; |
160 | while(current != NULL ){ // For each active stepper | |
161 | (current->*kernel_callback_functions[id_event])(argument); | |
162 | current_id++; | |
163 | current = this->hooks[id_event][current_id]; | |
4cff3ded AW |
164 | } |
165 | } |