Commit | Line | Data |
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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" |
81b547a1 | 14 | #include "libs/Pauser.h" |
38d375e7 | 15 | #include "libs/StreamOutputPool.h" |
4c4a372a | 16 | #include <mri.h> |
4cff3ded AW |
17 | |
18 | #include "modules/communication/SerialConsole.h" | |
19 | #include "modules/communication/GcodeDispatch.h" | |
20 | #include "modules/robot/Planner.h" | |
21 | #include "modules/robot/Robot.h" | |
22 | #include "modules/robot/Stepper.h" | |
3fceb8eb | 23 | #include "modules/robot/Conveyor.h" |
3857da41 | 24 | #include "modules/tools/endstops/Endstops.h" |
a39e1557 | 25 | #include <malloc.h> |
ded56b35 | 26 | |
4464301d AW |
27 | |
28 | ||
d4f93cf4 AG |
29 | #define baud_rate_setting_checksum CHECKSUM("baud_rate") |
30 | #define uart0_checksum CHECKSUM("uart0") | |
4cff3ded | 31 | |
879341be JM |
32 | Kernel* Kernel::instance; |
33 | ||
7b49793d | 34 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls |
4cff3ded | 35 | Kernel::Kernel(){ |
879341be | 36 | instance= this; // setup the Singleton instance of the kernel |
d4ee6ee2 | 37 | |
df27a6a3 | 38 | // Config first, because we need the baud_rate setting before we start serial |
4cff3ded | 39 | this->config = new Config(); |
a39e1557 | 40 | |
4cff3ded | 41 | // Serial second, because the other modules might want to say something |
38d375e7 | 42 | this->streams = new StreamOutputPool(); |
d4ee6ee2 | 43 | |
b2b0b56d | 44 | // Configure UART depending on MRI config |
bb3b7f09 | 45 | // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands. |
b2b0b56d | 46 | NVIC_SetPriorityGrouping(0); |
bb3b7f09 SK |
47 | switch( __mriPlatform_CommUartIndex() ) { |
48 | case 0: | |
49 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
50 | break; | |
51 | case 1: | |
52 | this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
53 | break; | |
54 | case 2: | |
55 | this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
56 | break; | |
57 | case 3: | |
58 | this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
59 | break; | |
4c4a372a | 60 | } |
f5f88509 | 61 | |
93694d6b | 62 | this->add_module( this->config ); |
4cff3ded | 63 | this->add_module( this->serial ); |
38d375e7 | 64 | |
df27a6a3 | 65 | // HAL stuff |
4df07f88 | 66 | add_module( this->slow_ticker = new SlowTicker()); |
3c132bd0 AW |
67 | this->step_ticker = new StepTicker(); |
68 | this->adc = new Adc(); | |
650ed0a8 | 69 | |
d337942a | 70 | // TODO : These should go into platform-specific files |
df27a6a3 | 71 | // LPC17xx-specific |
813727fb | 72 | NVIC_SetPriorityGrouping(0); |
df27a6a3 MM |
73 | NVIC_SetPriority(TIMER0_IRQn, 2); |
74 | NVIC_SetPriority(TIMER1_IRQn, 1); | |
75 | NVIC_SetPriority(TIMER2_IRQn, 3); | |
feb204be | 76 | |
b2b0b56d | 77 | // Set other priorities lower than the timers |
df27a6a3 MM |
78 | NVIC_SetPriority(ADC_IRQn, 4); |
79 | NVIC_SetPriority(USB_IRQn, 4); | |
f5f88509 | 80 | |
df27a6a3 | 81 | // If MRI is enabled |
b2b0b56d | 82 | if( MRI_ENABLE ){ |
df27a6a3 MM |
83 | if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); } |
84 | if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); } | |
85 | if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); } | |
86 | if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); } | |
b2b0b56d | 87 | }else{ |
df27a6a3 MM |
88 | NVIC_SetPriority(UART0_IRQn, 4); |
89 | NVIC_SetPriority(UART1_IRQn, 4); | |
90 | NVIC_SetPriority(UART2_IRQn, 4); | |
91 | NVIC_SetPriority(UART3_IRQn, 4); | |
b2b0b56d AW |
92 | } |
93 | ||
feb204be | 94 | // Configure the step ticker |
af9072ee | 95 | int base_stepping_frequency = this->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number(); |
1ad23cd3 | 96 | float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number(); |
f5f88509 | 97 | |
d337942a | 98 | // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? ) |
feb204be AW |
99 | this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L ); |
100 | this->step_ticker->set_frequency( base_stepping_frequency ); | |
3c132bd0 | 101 | |
df27a6a3 | 102 | // Core modules |
81b547a1 AW |
103 | this->add_module( this->gcode_dispatch = new GcodeDispatch() ); |
104 | this->add_module( this->robot = new Robot() ); | |
105 | this->add_module( this->stepper = new Stepper() ); | |
106 | this->add_module( this->planner = new Planner() ); | |
663d7943 | 107 | this->add_module( this->conveyor = new Conveyor() ); |
81b547a1 | 108 | this->add_module( this->pauser = new Pauser() ); |
b19aa09d | 109 | this->add_module( this->public_data = new PublicData() ); |
14ecdbd7 | 110 | this->add_module( this->toolsmanager = new ToolsManager() ); |
3857da41 | 111 | |
4cff3ded AW |
112 | } |
113 | ||
93694d6b | 114 | // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is |
4cff3ded | 115 | void Kernel::add_module(Module* module){ |
4cff3ded AW |
116 | module->on_module_loaded(); |
117 | } | |
118 | ||
93694d6b | 119 | // Adds a hook for a given module and event |
af9072ee | 120 | void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){ |
44912e95 | 121 | this->hooks[id_event].push_back(module); |
4cff3ded AW |
122 | } |
123 | ||
93694d6b | 124 | // Call a specific event without arguments |
af9072ee | 125 | void Kernel::call_event(_EVENT_ENUM id_event){ |
44912e95 | 126 | for (Module* current : hooks[id_event]) { |
e6b5ae25 | 127 | (current->*kernel_callback_functions[id_event])(this); |
4cff3ded AW |
128 | } |
129 | } | |
130 | ||
93694d6b | 131 | // Call a specific event with an argument |
af9072ee | 132 | void Kernel::call_event(_EVENT_ENUM id_event, void * argument){ |
44912e95 | 133 | for (Module* current : hooks[id_event]) { |
e6b5ae25 | 134 | (current->*kernel_callback_functions[id_event])(argument); |
4cff3ded AW |
135 | } |
136 | } |