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> |
7af0714f | 17 | #include "checksumm.h" |
8d54c34c | 18 | #include "ConfigValue.h" |
61134a65 JM |
19 | |
20 | #include "libs/StepTicker.h" | |
21 | #include "libs/PublicData.h" | |
4cff3ded AW |
22 | #include "modules/communication/SerialConsole.h" |
23 | #include "modules/communication/GcodeDispatch.h" | |
61134a65 | 24 | #include "modules/tools/toolsmanager/ToolsManager.h" |
4cff3ded AW |
25 | #include "modules/robot/Planner.h" |
26 | #include "modules/robot/Robot.h" | |
27 | #include "modules/robot/Stepper.h" | |
61134a65 JM |
28 | #include <array> |
29 | ||
30 | ||
31 | ||
3fceb8eb | 32 | #include "modules/robot/Conveyor.h" |
3857da41 | 33 | #include "modules/tools/endstops/Endstops.h" |
a39e1557 | 34 | #include <malloc.h> |
ded56b35 | 35 | |
d4f93cf4 AG |
36 | #define baud_rate_setting_checksum CHECKSUM("baud_rate") |
37 | #define uart0_checksum CHECKSUM("uart0") | |
4cff3ded | 38 | |
879341be JM |
39 | Kernel* Kernel::instance; |
40 | ||
7b49793d | 41 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls |
4cff3ded | 42 | Kernel::Kernel(){ |
879341be | 43 | instance= this; // setup the Singleton instance of the kernel |
d4ee6ee2 | 44 | |
577414f6 | 45 | // serial first at fixed baud rate (MRI_BAUD) so config can report errors to serial |
36463641 | 46 | // Set to UART0, this will be changed to use the same UART as MRI if it's enabled |
47 | this->serial = new SerialConsole(USBTX, USBRX, 115200); | |
577414f6 JM |
48 | |
49 | // Config next, but does not load cache yet | |
4cff3ded | 50 | this->config = new Config(); |
bcb96295 JM |
51 | |
52 | // Pre-load the config cache, do after setting up serial so we can report errors to serial | |
577414f6 JM |
53 | this->config->config_cache_load(); |
54 | ||
55 | // now config is loaded we can do normal setup for serial and the rest | |
56 | delete this->serial; | |
a39e1557 | 57 | |
38d375e7 | 58 | this->streams = new StreamOutputPool(); |
d4ee6ee2 | 59 | |
75f4581c JM |
60 | this->current_path = "/"; |
61 | ||
b2b0b56d | 62 | // Configure UART depending on MRI config |
bb3b7f09 | 63 | // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands. |
b2b0b56d | 64 | NVIC_SetPriorityGrouping(0); |
ae367dbb | 65 | if( MRI_ENABLE ) { |
66 | switch( __mriPlatform_CommUartIndex() ) { | |
67 | case 0: | |
68 | this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
69 | break; | |
70 | case 1: | |
71 | this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
72 | break; | |
73 | case 2: | |
74 | this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
75 | break; | |
76 | case 3: | |
77 | this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); | |
78 | break; | |
79 | } | |
80 | } | |
f5f88509 | 81 | |
93694d6b | 82 | this->add_module( this->config ); |
4cff3ded | 83 | this->add_module( this->serial ); |
38d375e7 | 84 | |
df27a6a3 | 85 | // HAL stuff |
4df07f88 | 86 | add_module( this->slow_ticker = new SlowTicker()); |
3c132bd0 AW |
87 | this->step_ticker = new StepTicker(); |
88 | this->adc = new Adc(); | |
650ed0a8 | 89 | |
d337942a | 90 | // TODO : These should go into platform-specific files |
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 | 114 | // Configure the step ticker |
af9072ee | 115 | int base_stepping_frequency = this->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number(); |
1ad23cd3 | 116 | float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number(); |
f5f88509 | 117 | |
d337942a | 118 | // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? ) |
feb204be AW |
119 | this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L ); |
120 | this->step_ticker->set_frequency( base_stepping_frequency ); | |
3c132bd0 | 121 | |
df27a6a3 | 122 | // Core modules |
81b547a1 AW |
123 | this->add_module( this->gcode_dispatch = new GcodeDispatch() ); |
124 | this->add_module( this->robot = new Robot() ); | |
125 | this->add_module( this->stepper = new Stepper() ); | |
126 | this->add_module( this->planner = new Planner() ); | |
663d7943 | 127 | this->add_module( this->conveyor = new Conveyor() ); |
81b547a1 | 128 | this->add_module( this->pauser = new Pauser() ); |
b19aa09d | 129 | this->add_module( this->public_data = new PublicData() ); |
14ecdbd7 | 130 | this->add_module( this->toolsmanager = new ToolsManager() ); |
3857da41 | 131 | |
4cff3ded AW |
132 | } |
133 | ||
93694d6b | 134 | // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is |
4cff3ded | 135 | void Kernel::add_module(Module* module){ |
4cff3ded AW |
136 | module->on_module_loaded(); |
137 | } | |
138 | ||
93694d6b | 139 | // Adds a hook for a given module and event |
af9072ee | 140 | void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){ |
44912e95 | 141 | this->hooks[id_event].push_back(module); |
4cff3ded AW |
142 | } |
143 | ||
93694d6b | 144 | // Call a specific event without arguments |
af9072ee | 145 | void Kernel::call_event(_EVENT_ENUM id_event){ |
44912e95 | 146 | for (Module* current : hooks[id_event]) { |
e6b5ae25 | 147 | (current->*kernel_callback_functions[id_event])(this); |
4cff3ded AW |
148 | } |
149 | } | |
150 | ||
93694d6b | 151 | // Call a specific event with an argument |
af9072ee | 152 | void Kernel::call_event(_EVENT_ENUM id_event, void * argument){ |
44912e95 | 153 | for (Module* current : hooks[id_event]) { |
e6b5ae25 | 154 | (current->*kernel_callback_functions[id_event])(argument); |
4cff3ded AW |
155 | } |
156 | } |