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" | |
3fceb8eb | 25 | #include "modules/robot/Conveyor.h" |
dcc91612 | 26 | #include "StepperMotor.h" |
a395f085 | 27 | #include "BaseSolution.h" |
07186543 | 28 | #include "EndstopsPublicAccess.h" |
3e54c9fc JM |
29 | #include "Configurator.h" |
30 | #include "SimpleShell.h" | |
14557969 | 31 | #include "TemperatureControlPublicAccess.h" |
56ce2b5a | 32 | |
ee1da330 JM |
33 | #ifndef NO_TOOLS_LASER |
34 | #include "Laser.h" | |
35 | #endif | |
36 | ||
2317ea09 JM |
37 | #include "platform_memory.h" |
38 | ||
a39e1557 | 39 | #include <malloc.h> |
56ce2b5a | 40 | #include <array> |
dcc91612 | 41 | #include <string> |
ded56b35 | 42 | |
ee1da330 | 43 | #define laser_checksum CHECKSUM("laser") |
d4f93cf4 AG |
44 | #define baud_rate_setting_checksum CHECKSUM("baud_rate") |
45 | #define uart0_checksum CHECKSUM("uart0") | |
4cff3ded | 46 | |
38bf9a1c JM |
47 | #define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency") |
48 | #define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse") | |
73706276 | 49 | #define disable_leds_checksum CHECKSUM("leds_disable") |
6c0193b3 | 50 | #define grbl_mode_checksum CHECKSUM("grbl_mode") |
4b7cd602 | 51 | #define feed_hold_enable_checksum CHECKSUM("enable_feed_hold") |
7d04f42d | 52 | #define ok_per_line_checksum CHECKSUM("ok_per_line") |
38bf9a1c | 53 | |
879341be JM |
54 | Kernel* Kernel::instance; |
55 | ||
7b49793d | 56 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls |
7e0ca38f JM |
57 | Kernel::Kernel() |
58 | { | |
59 | halted = false; | |
60 | feed_hold = false; | |
61 | enable_feed_hold = false; | |
73706276 | 62 | |
7e0ca38f | 63 | instance = this; // setup the Singleton instance of the kernel |
d4ee6ee2 | 64 | |
2ee2ad19 | 65 | // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial |
7e0ca38f | 66 | // Set to UART0, this will be changed to use the same UART as MRI if it's enabled |
2ee2ad19 | 67 | this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE); |
577414f6 JM |
68 | |
69 | // Config next, but does not load cache yet | |
a157d099 | 70 | this->config = new Config(); |
a39e1557 | 71 | |
bcb96295 | 72 | // Pre-load the config cache, do after setting up serial so we can report errors to serial |
577414f6 JM |
73 | this->config->config_cache_load(); |
74 | ||
2ee2ad19 | 75 | // now config is loaded we can do normal setup for serial based on config |
577414f6 | 76 | delete this->serial; |
7e0ca38f | 77 | this->serial = NULL; |
a39e1557 | 78 | |
a157d099 | 79 | this->streams = new StreamOutputPool(); |
d4ee6ee2 | 80 | |
75f4581c JM |
81 | this->current_path = "/"; |
82 | ||
b2b0b56d | 83 | // Configure UART depending on MRI config |
bb3b7f09 | 84 | // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands. |
b2b0b56d | 85 | NVIC_SetPriorityGrouping(0); |
f5f88509 | 86 | |
2ee2ad19 | 87 | #if MRI_ENABLE != 0 |
bb3b7f09 SK |
88 | switch( __mriPlatform_CommUartIndex() ) { |
89 | case 0: | |
7e0ca38f | 90 | this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
91 | break; |
92 | case 1: | |
7e0ca38f | 93 | this->serial = new(AHB0) SerialConsole( p13, p14, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
94 | break; |
95 | case 2: | |
7e0ca38f | 96 | this->serial = new(AHB0) SerialConsole( p28, p27, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 SK |
97 | break; |
98 | case 3: | |
7e0ca38f | 99 | this->serial = new(AHB0) SerialConsole( p9, p10, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
bb3b7f09 | 100 | break; |
4c4a372a | 101 | } |
2ee2ad19 JM |
102 | #endif |
103 | // default | |
9326040b | 104 | if(this->serial == NULL) { |
7e0ca38f | 105 | this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number()); |
9326040b | 106 | } |
f5f88509 | 107 | |
73706276 | 108 | //some boards don't have leds.. TOO BAD! |
7e0ca38f | 109 | this->use_leds = !this->config->value( disable_leds_checksum )->by_default(false)->as_bool(); |
12e6e7b3 | 110 | |
7e0ca38f JM |
111 | #ifdef CNC |
112 | this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(true)->as_bool(); | |
113 | #else | |
114 | this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(false)->as_bool(); | |
115 | #endif | |
12e6e7b3 | 116 | |
7e0ca38f | 117 | this->enable_feed_hold = this->config->value( feed_hold_enable_checksum )->by_default(this->grbl_mode)->as_bool(); |
4b7cd602 | 118 | |
c9d966bc | 119 | // we expect ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code |
7e0ca38f | 120 | this->ok_per_line = this->config->value( ok_per_line_checksum )->by_default(true)->as_bool(); |
73706276 | 121 | |
4cff3ded | 122 | this->add_module( this->serial ); |
38d375e7 | 123 | |
df27a6a3 | 124 | // HAL stuff |
a157d099 | 125 | add_module( this->slow_ticker = new SlowTicker()); |
3eadcfee | 126 | |
a157d099 | 127 | this->step_ticker = new StepTicker(); |
8a9f9313 | 128 | this->adc = new Adc(); |
650ed0a8 | 129 | |
d337942a | 130 | // TODO : These should go into platform-specific files |
df27a6a3 | 131 | // LPC17xx-specific |
813727fb | 132 | NVIC_SetPriorityGrouping(0); |
df27a6a3 MM |
133 | NVIC_SetPriority(TIMER0_IRQn, 2); |
134 | NVIC_SetPriority(TIMER1_IRQn, 1); | |
16220afe JM |
135 | NVIC_SetPriority(TIMER2_IRQn, 4); |
136 | NVIC_SetPriority(PendSV_IRQn, 3); | |
feb204be | 137 | |
b2b0b56d | 138 | // Set other priorities lower than the timers |
16220afe JM |
139 | NVIC_SetPriority(ADC_IRQn, 5); |
140 | NVIC_SetPriority(USB_IRQn, 5); | |
f5f88509 | 141 | |
df27a6a3 | 142 | // If MRI is enabled |
7e0ca38f JM |
143 | if( MRI_ENABLE ) { |
144 | if( NVIC_GetPriority(UART0_IRQn) > 0 ) { NVIC_SetPriority(UART0_IRQn, 5); } | |
145 | if( NVIC_GetPriority(UART1_IRQn) > 0 ) { NVIC_SetPriority(UART1_IRQn, 5); } | |
146 | if( NVIC_GetPriority(UART2_IRQn) > 0 ) { NVIC_SetPriority(UART2_IRQn, 5); } | |
147 | if( NVIC_GetPriority(UART3_IRQn) > 0 ) { NVIC_SetPriority(UART3_IRQn, 5); } | |
148 | } else { | |
16220afe JM |
149 | NVIC_SetPriority(UART0_IRQn, 5); |
150 | NVIC_SetPriority(UART1_IRQn, 5); | |
151 | NVIC_SetPriority(UART2_IRQn, 5); | |
152 | NVIC_SetPriority(UART3_IRQn, 5); | |
b2b0b56d AW |
153 | } |
154 | ||
feb204be | 155 | // Configure the step ticker |
a157d099 | 156 | this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number(); |
12ae3902 | 157 | float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number(); |
f5f88509 | 158 | |
12ae3902 | 159 | // Configure the step ticker |
dd0a7cfa | 160 | this->step_ticker->set_frequency( this->base_stepping_frequency ); |
12ae3902 | 161 | this->step_ticker->set_unstep_time( microseconds_per_step_pulse ); |
3c132bd0 | 162 | |
df27a6a3 | 163 | // Core modules |
6c0d8cf7 | 164 | this->add_module( this->conveyor = new Conveyor() ); |
40843ebc | 165 | this->add_module( this->gcode_dispatch = new GcodeDispatch() ); |
81b547a1 | 166 | this->add_module( this->robot = new Robot() ); |
3e54c9fc | 167 | this->add_module( this->simpleshell = new SimpleShell() ); |
558e170c | 168 | |
8a9f9313 JM |
169 | this->planner = new Planner(); |
170 | this->configurator = new Configurator(); | |
4cff3ded AW |
171 | } |
172 | ||
dcc91612 JM |
173 | // return a GRBL-like query string for serial ? |
174 | std::string Kernel::get_query_string() | |
175 | { | |
176 | std::string str; | |
07186543 JM |
177 | bool homing; |
178 | bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing); | |
7e0ca38f JM |
179 | if(!ok) homing = false; |
180 | bool running = false; | |
07186543 | 181 | |
dcc91612 JM |
182 | str.append("<"); |
183 | if(halted) { | |
ee1da330 | 184 | str.append("Alarm"); |
7e0ca38f JM |
185 | } else if(homing) { |
186 | running = true; | |
ee1da330 | 187 | str.append("Home"); |
7e0ca38f | 188 | } else if(feed_hold) { |
ee1da330 | 189 | str.append("Hold"); |
7e0ca38f | 190 | } else if(this->conveyor->is_idle()) { |
ee1da330 | 191 | str.append("Idle"); |
7e0ca38f JM |
192 | } else { |
193 | running = true; | |
ee1da330 | 194 | str.append("Run"); |
dcc91612 JM |
195 | } |
196 | ||
31c6c2c2 | 197 | if(running) { |
31c6c2c2 | 198 | float mpos[3]; |
fdfa00d2 | 199 | robot->get_current_machine_position(mpos); |
98728d3f JM |
200 | // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position |
201 | if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform | |
31c6c2c2 JM |
202 | |
203 | char buf[128]; | |
204 | // machine position | |
255219dc | 205 | 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])); |
5fe7262c | 206 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 | 207 | |
922f169d | 208 | str.append("|MPos:").append(buf, n); |
31c6c2c2 | 209 | |
7e0ca38f | 210 | #if MAX_ROBOT_ACTUATORS > 3 |
922f169d JM |
211 | // deal with the ABC axis (E will be A) |
212 | for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) { | |
213 | // current actuator position | |
214 | n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position())); | |
215 | if(n > sizeof(buf)) n= sizeof(buf); | |
216 | str.append(buf, n); | |
ee1da330 | 217 | } |
922f169d | 218 | #endif |
ee1da330 | 219 | |
31c6c2c2 | 220 | // work space position |
7e0ca38f | 221 | Robot::wcs_t pos = robot->mcs2wcs(mpos); |
255219dc | 222 | 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))); |
5fe7262c | 223 | if(n > sizeof(buf)) n= sizeof(buf); |
ee1da330 | 224 | |
922f169d JM |
225 | str.append("|WPos:").append(buf, n); |
226 | // current feedrate | |
227 | float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F); | |
228 | n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr); | |
229 | if(n > sizeof(buf)) n= sizeof(buf); | |
230 | str.append(buf, n); | |
231 | float sr= robot->get_s_value(); | |
232 | n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr); | |
233 | if(n > sizeof(buf)) n= sizeof(buf); | |
234 | str.append(buf, n); | |
235 | ||
236 | // current Laser power | |
237 | #ifndef NO_TOOLS_LASER | |
238 | Laser *plaser= nullptr; | |
239 | if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) { | |
240 | float lp= plaser->get_current_power(); | |
241 | n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp); | |
242 | if(n > sizeof(buf)) n= sizeof(buf); | |
243 | str.append(buf, n); | |
244 | } | |
245 | #endif | |
ee1da330 | 246 | |
7e0ca38f | 247 | } else { |
31c6c2c2 JM |
248 | // return the last milestone if idle |
249 | char buf[128]; | |
250 | // machine position | |
7e0ca38f | 251 | Robot::wcs_t mpos = robot->get_axis_position(); |
255219dc | 252 | 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))); |
5fe7262c | 253 | if(n > sizeof(buf)) n= sizeof(buf); |
31c6c2c2 | 254 | |
922f169d JM |
255 | str.append("|MPos:").append(buf, n); |
256 | ||
257 | #if MAX_ROBOT_ACTUATORS > 3 | |
258 | // deal with the ABC axis (E will be A) | |
259 | for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) { | |
260 | // current actuator position | |
261 | n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position())); | |
262 | if(n > sizeof(buf)) n= sizeof(buf); | |
263 | str.append(buf, n); | |
ee1da330 | 264 | } |
922f169d | 265 | #endif |
ee1da330 | 266 | |
31c6c2c2 | 267 | // work space position |
7e0ca38f | 268 | Robot::wcs_t pos = robot->mcs2wcs(mpos); |
255219dc | 269 | 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))); |
5fe7262c | 270 | if(n > sizeof(buf)) n= sizeof(buf); |
922f169d | 271 | str.append("|WPos:").append(buf, n); |
31c6c2c2 | 272 | |
922f169d JM |
273 | float fr= robot->from_millimeters(robot->get_feed_rate()); |
274 | n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr); | |
275 | if(n > sizeof(buf)) n= sizeof(buf); | |
276 | str.append(buf, n); | |
31c6c2c2 | 277 | } |
14557969 JM |
278 | |
279 | // if not grbl mode get temperatures | |
922f169d | 280 | if(!is_grbl_mode()) { |
14557969 JM |
281 | struct pad_temperature temp; |
282 | // scan all temperature controls | |
283 | std::vector<struct pad_temperature> controllers; | |
284 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
285 | if (ok) { | |
286 | char buf[32]; | |
287 | for (auto &c : controllers) { | |
288 | size_t n= snprintf(buf, sizeof(buf), "|%s:%1.1f,%1.1f", c.designator.c_str(), c.current_temperature, c.target_temperature); | |
289 | if(n > sizeof(buf)) n= sizeof(buf); | |
290 | str.append(buf, n); | |
291 | } | |
292 | } | |
293 | } | |
294 | ||
295 | str.append(">\n"); | |
dcc91612 JM |
296 | return str; |
297 | } | |
298 | ||
cb2e6bc6 | 299 | // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded |
7e0ca38f JM |
300 | void Kernel::add_module(Module* module) |
301 | { | |
4cff3ded AW |
302 | module->on_module_loaded(); |
303 | } | |
304 | ||
93694d6b | 305 | // Adds a hook for a given module and event |
7e0ca38f JM |
306 | void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod) |
307 | { | |
96f67b65 | 308 | this->hooks[id_event].push_back(mod); |
4cff3ded AW |
309 | } |
310 | ||
93ea6adb | 311 | // Call a specific event with an argument |
7e0ca38f JM |
312 | void Kernel::call_event(_EVENT_ENUM id_event, void * argument) |
313 | { | |
314 | bool was_idle = true; | |
73706276 | 315 | if(id_event == ON_HALT) { |
7e0ca38f JM |
316 | this->halted = (argument == nullptr); |
317 | was_idle = conveyor->is_idle(); // see if we were doing anything like printing | |
73706276 | 318 | } |
785da581 JM |
319 | |
320 | // send to all registered modules | |
96f67b65 | 321 | for (auto m : hooks[id_event]) { |
93ea6adb | 322 | (m->*kernel_callback_functions[id_event])(argument); |
4cff3ded | 323 | } |
785da581 | 324 | |
92485600 JM |
325 | if(id_event == ON_HALT) { |
326 | if(!this->halted || !was_idle) { | |
327 | // if we were running and this is a HALT | |
328 | // or if we are clearing the halt with $X or M999 | |
329 | // fix up the current positions in case they got out of sync due to backed up commands | |
330 | this->robot->reset_position_from_current_actuator_position(); | |
331 | } | |
785da581 | 332 | } |
4cff3ded AW |
333 | } |
334 | ||
93ea6adb JM |
335 | // These are used by tests to test for various things. basically mocks |
336 | bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod) | |
337 | { | |
96f67b65 | 338 | for (auto m : hooks[id_event]) { |
93ea6adb | 339 | if(m == mod) return true; |
4cff3ded | 340 | } |
93ea6adb | 341 | return false; |
4cff3ded | 342 | } |
93ea6adb JM |
343 | |
344 | void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod) | |
345 | { | |
346 | for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) { | |
347 | if(*i == mod) { | |
348 | hooks[id_event].erase(i); | |
349 | return; | |
350 | } | |
351 | } | |
352 | } | |
353 |