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" |
38d375e7 | 14 | #include "libs/StreamOutputPool.h" |
4c4a372a | 15 | #include <mri.h> |
7af0714f | 16 | #include "checksumm.h" |
8d54c34c | 17 | #include "ConfigValue.h" |
4cff3ded | 18 | |
61134a65 JM |
19 | #include "libs/StepTicker.h" |
20 | #include "libs/PublicData.h" | |
4cff3ded AW |
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" | |
3fceb8eb | 26 | #include "modules/robot/Conveyor.h" |
dcc91612 | 27 | #include "StepperMotor.h" |
a395f085 | 28 | #include "BaseSolution.h" |
56ce2b5a | 29 | |
a39e1557 | 30 | #include <malloc.h> |
56ce2b5a | 31 | #include <array> |
dcc91612 | 32 | #include <string> |
ded56b35 | 33 | |
d4f93cf4 AG |
34 | #define baud_rate_setting_checksum CHECKSUM("baud_rate") |
35 | #define uart0_checksum CHECKSUM("uart0") | |
4cff3ded | 36 | |
38bf9a1c JM |
37 | #define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency") |
38 | #define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse") | |
a157d099 | 39 | #define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second") |
73706276 | 40 | #define disable_leds_checksum CHECKSUM("leds_disable") |
38bf9a1c | 41 | |
879341be JM |
42 | Kernel* Kernel::instance; |
43 | ||
7b49793d | 44 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls |
4cff3ded | 45 | Kernel::Kernel(){ |
73706276 JM |
46 | halted= false; |
47 | ||
879341be | 48 | instance= this; // setup the Singleton instance of the kernel |
d4ee6ee2 | 49 | |
2ee2ad19 | 50 | // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial |
36463641 | 51 | // Set to UART0, this will be changed to use the same UART as MRI if it's enabled |
2ee2ad19 | 52 | this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE); |
577414f6 JM |
53 | |
54 | // Config next, but does not load cache yet | |
a157d099 | 55 | this->config = new Config(); |
a39e1557 | 56 | |
bcb96295 | 57 | // Pre-load the config cache, do after setting up serial so we can report errors to serial |
577414f6 JM |
58 | this->config->config_cache_load(); |
59 | ||
2ee2ad19 | 60 | // now config is loaded we can do normal setup for serial based on config |
577414f6 | 61 | delete this->serial; |
9326040b | 62 | this->serial= NULL; |
a39e1557 | 63 | |
a157d099 | 64 | this->streams = new StreamOutputPool(); |
d4ee6ee2 | 65 | |
75f4581c JM |
66 | this->current_path = "/"; |
67 | ||
b2b0b56d | 68 | // Configure UART depending on MRI config |
bb3b7f09 | 69 | // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands. |
b2b0b56d | 70 | NVIC_SetPriorityGrouping(0); |
f5f88509 | 71 | |
2ee2ad19 | 72 | #if MRI_ENABLE != 0 |
bb3b7f09 SK |
73 | switch( __mriPlatform_CommUartIndex() ) { |
74 | case 0: | |
2ee2ad19 | 75 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
76 | break; |
77 | case 1: | |
2ee2ad19 | 78 | this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
79 | break; |
80 | case 2: | |
2ee2ad19 | 81 | this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
82 | break; |
83 | case 3: | |
2ee2ad19 | 84 | this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 | 85 | break; |
4c4a372a | 86 | } |
2ee2ad19 JM |
87 | #endif |
88 | // default | |
9326040b | 89 | if(this->serial == NULL) { |
2ee2ad19 | 90 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
9326040b | 91 | } |
f5f88509 | 92 | |
73706276 JM |
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 | ||
93694d6b | 96 | this->add_module( this->config ); |
4cff3ded | 97 | this->add_module( this->serial ); |
38d375e7 | 98 | |
df27a6a3 | 99 | // HAL stuff |
a157d099 | 100 | add_module( this->slow_ticker = new SlowTicker()); |
3eadcfee | 101 | |
a157d099 JM |
102 | this->step_ticker = new StepTicker(); |
103 | this->adc = new Adc(); | |
650ed0a8 | 104 | |
d337942a | 105 | // TODO : These should go into platform-specific files |
df27a6a3 | 106 | // LPC17xx-specific |
813727fb | 107 | NVIC_SetPriorityGrouping(0); |
df27a6a3 MM |
108 | NVIC_SetPriority(TIMER0_IRQn, 2); |
109 | NVIC_SetPriority(TIMER1_IRQn, 1); | |
16220afe JM |
110 | NVIC_SetPriority(TIMER2_IRQn, 4); |
111 | NVIC_SetPriority(PendSV_IRQn, 3); | |
4dfd2dce | 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 |
feb204be | 113 | |
b2b0b56d | 114 | // Set other priorities lower than the timers |
16220afe JM |
115 | NVIC_SetPriority(ADC_IRQn, 5); |
116 | NVIC_SetPriority(USB_IRQn, 5); | |
f5f88509 | 117 | |
df27a6a3 | 118 | // If MRI is enabled |
b2b0b56d | 119 | if( MRI_ENABLE ){ |
16220afe JM |
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); } | |
b2b0b56d | 124 | }else{ |
16220afe JM |
125 | NVIC_SetPriority(UART0_IRQn, 5); |
126 | NVIC_SetPriority(UART1_IRQn, 5); | |
127 | NVIC_SetPriority(UART2_IRQn, 5); | |
128 | NVIC_SetPriority(UART3_IRQn, 5); | |
b2b0b56d AW |
129 | } |
130 | ||
feb204be | 131 | // Configure the step ticker |
a157d099 JM |
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(); | |
f5f88509 | 135 | |
d337942a | 136 | // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? ) |
aed1f6ca | 137 | this->step_ticker->set_reset_delay( microseconds_per_step_pulse ); |
dd0a7cfa | 138 | this->step_ticker->set_frequency( this->base_stepping_frequency ); |
a157d099 | 139 | this->step_ticker->set_acceleration_ticks_per_second(acceleration_ticks_per_second); // must be set after set_frequency |
3c132bd0 | 140 | |
df27a6a3 | 141 | // Core modules |
40843ebc | 142 | this->add_module( this->gcode_dispatch = new GcodeDispatch() ); |
81b547a1 AW |
143 | this->add_module( this->robot = new Robot() ); |
144 | this->add_module( this->stepper = new Stepper() ); | |
663d7943 | 145 | this->add_module( this->conveyor = new Conveyor() ); |
558e170c JM |
146 | |
147 | this->planner = new Planner(); | |
148 | ||
4cff3ded AW |
149 | } |
150 | ||
dcc91612 JM |
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 | ||
a395f085 JM |
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 | ||
dcc91612 | 175 | char buf[64]; |
a395f085 JM |
176 | // machine position |
177 | size_t n= snprintf(buf, sizeof(buf), "%f,%f,%f,", mpos[0], mpos[1], mpos[2]); | |
dcc91612 JM |
178 | str.append("MPos:").append(buf, n); |
179 | ||
a395f085 JM |
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))); | |
dcc91612 JM |
183 | str.append("WPos:").append(buf, n); |
184 | str.append(">\r\n"); | |
185 | return str; | |
186 | } | |
187 | ||
cb2e6bc6 | 188 | // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded |
4cff3ded | 189 | void Kernel::add_module(Module* module){ |
4cff3ded AW |
190 | module->on_module_loaded(); |
191 | } | |
192 | ||
93694d6b | 193 | // Adds a hook for a given module and event |
96f67b65 JM |
194 | void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){ |
195 | this->hooks[id_event].push_back(mod); | |
4cff3ded AW |
196 | } |
197 | ||
93ea6adb JM |
198 | // Call a specific event with an argument |
199 | void Kernel::call_event(_EVENT_ENUM id_event, void * argument){ | |
73706276 JM |
200 | if(id_event == ON_HALT) { |
201 | this->halted= (argument == nullptr); | |
202 | } | |
96f67b65 | 203 | for (auto m : hooks[id_event]) { |
93ea6adb | 204 | (m->*kernel_callback_functions[id_event])(argument); |
4cff3ded AW |
205 | } |
206 | } | |
207 | ||
93ea6adb JM |
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 | { | |
96f67b65 | 211 | for (auto m : hooks[id_event]) { |
93ea6adb | 212 | if(m == mod) return true; |
4cff3ded | 213 | } |
93ea6adb | 214 | return false; |
4cff3ded | 215 | } |
93ea6adb JM |
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 |