src/libs/Kernel.cpp

   1 /*
   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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "libs/Kernel.h"
   9 #include "libs/Module.h"
  10 #include "libs/Config.h"
  11 #include "libs/nuts_bolts.h"
  12 #include "libs/SlowTicker.h"
  13 #include "libs/Adc.h"
  14 #include "libs/Digipot.h"
  15 #include "libs/Pauser.h"
  16 #include "libs/StreamOutputPool.h"
  17 #include <mri.h>
  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"
  24 #include "modules/robot/Player.h"
  25 #include <malloc.h>
  26
  27
  28
  29 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  30 #define uart0_checksum             CHECKSUM("uart0")
  31
  32 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  33 Kernel::Kernel(){
  34     // Config first, because we need the baud_rate setting before we start serial
  35     this->config         = new Config();
  36
  37     // Serial second, because the other modules might want to say something
  38     this->streams        = new StreamOutputPool();
  39
  40     // Configure UART depending on MRI config
  41     NVIC_SetPriorityGrouping(0);
  42     /*
  43     if (strstr(MRI_UART, "MRI_UART_MBED_USB")){
  44         if (strstr(MRI_UART, "MRI_UART_SHARED")){
  45             this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  46         }else{
  47             this->serial         = new SerialConsole(p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  48         }
  49     }else{
  50         this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  51     }
  52     */
  53     if( NVIC_GetPriority(UART0_IRQn) > 0 ){
  54         this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  55     }else{
  56         this->serial         = new SerialConsole(p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
  57     }
  58     this->add_module( this->config );
  59
  60     this->add_module( this->serial );
  61
  62     // HAL stuff
  63     add_module( this->slow_ticker          = new SlowTicker());
  64     this->step_ticker          = new StepTicker();
  65     this->adc                  = new Adc();
  66     this->digipot              = new Digipot();
  67
  68     // LPC17xx-specific
  69     NVIC_SetPriorityGrouping(0);
  70     NVIC_SetPriority(TIMER0_IRQn, 2);
  71     NVIC_SetPriority(TIMER1_IRQn, 1);
  72     NVIC_SetPriority(TIMER2_IRQn, 3);
  73
  74     // Set other priorities lower than the timers
  75     NVIC_SetPriority(ADC_IRQn, 4);
  76     NVIC_SetPriority(USB_IRQn, 4);
  77
  78     // If MRI is enabled
  79     if( MRI_ENABLE ){
  80         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
  81         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
  82         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
  83         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
  84     }else{
  85         NVIC_SetPriority(UART0_IRQn, 4);
  86         NVIC_SetPriority(UART1_IRQn, 4);
  87         NVIC_SetPriority(UART2_IRQn, 4);
  88         NVIC_SetPriority(UART3_IRQn, 4);
  89     }
  90
  91     // Configure the step ticker
  92     int base_stepping_frequency          =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
  93     double microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();
  94
  95     this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
  96
  97     this->step_ticker->set_frequency(   base_stepping_frequency );
  98
  99     // Core modules
 100     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 101     this->add_module( this->robot          = new Robot()         );
 102     this->add_module( this->stepper        = new Stepper()       );
 103     this->add_module( this->planner        = new Planner()       );
 104     this->add_module( this->player         = new Player()        );
 105     this->add_module( this->pauser         = new Pauser()        );
 106 }
 107
 108 void Kernel::add_module(Module* module){
 109     module->kernel = this;
 110     module->on_module_loaded();
 111 }
 112
 113 void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
 114     this->hooks[id_event].push_back(module);
 115 }
 116
 117 void Kernel::call_event(_EVENT_ENUM id_event){
 118     for (Module* current : hooks[id_event]) {
 119         (current->*kernel_callback_functions[id_event])(this);
 120     }
 121 }
 122
 123 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 124     for (Module* current : hooks[id_event]) {
 125         (current->*kernel_callback_functions[id_event])(argument);
 126     }
 127 }