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/Pauser.h"
  15 #include "libs/StreamOutputPool.h"
  16 #include <mri.h>
  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"
  23 #include "modules/robot/Conveyor.h"
  24 #include "modules/tools/endstops/Endstops.h"
  25 #include <malloc.h>
  26
  27 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  28 #define uart0_checksum             CHECKSUM("uart0")
  29
  30 Kernel* Kernel::instance;
  31
  32 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  33 Kernel::Kernel(){
  34     instance= this; // setup the Singleton instance of the kernel
  35
  36     // Config first, because we need the baud_rate setting before we start serial
  37     this->config         = new Config();
  38
  39     // Serial second, because the other modules might want to say something
  40     this->streams        = new StreamOutputPool();
  41
  42     this->current_path   = "/";
  43
  44     // Configure UART depending on MRI config
  45     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  46     NVIC_SetPriorityGrouping(0);
  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;
  60     }
  61
  62     this->add_module( this->config );
  63     this->add_module( this->serial );
  64
  65     // HAL stuff
  66     add_module( this->slow_ticker          = new SlowTicker());
  67     this->step_ticker          = new StepTicker();
  68     this->adc                  = new Adc();
  69
  70     // TODO : These should go into platform-specific files
  71     // LPC17xx-specific
  72     NVIC_SetPriorityGrouping(0);
  73     NVIC_SetPriority(TIMER0_IRQn, 2);
  74     NVIC_SetPriority(TIMER1_IRQn, 1);
  75     NVIC_SetPriority(TIMER2_IRQn, 3);
  76
  77     // Set other priorities lower than the timers
  78     NVIC_SetPriority(ADC_IRQn, 4);
  79     NVIC_SetPriority(USB_IRQn, 4);
  80
  81     // If MRI is enabled
  82     if( MRI_ENABLE ){
  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); }
  87     }else{
  88         NVIC_SetPriority(UART0_IRQn, 4);
  89         NVIC_SetPriority(UART1_IRQn, 4);
  90         NVIC_SetPriority(UART2_IRQn, 4);
  91         NVIC_SetPriority(UART3_IRQn, 4);
  92     }
  93
  94     // Configure the step ticker
  95     int base_stepping_frequency          =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
  96     float microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();
  97
  98     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
  99     this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
 100     this->step_ticker->set_frequency(   base_stepping_frequency );
 101
 102     // Core modules
 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()       );
 107     this->add_module( this->conveyor       = new Conveyor()      );
 108     this->add_module( this->pauser         = new Pauser()        );
 109     this->add_module( this->public_data    = new PublicData()    );
 110     this->add_module( this->toolsmanager   = new ToolsManager()    );
 111
 112 }
 113
 114 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
 115 void Kernel::add_module(Module* module){
 116     module->on_module_loaded();
 117 }
 118
 119 // Adds a hook for a given module and event
 120 void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
 121     this->hooks[id_event].push_back(module);
 122 }
 123
 124 // Call a specific event without arguments
 125 void Kernel::call_event(_EVENT_ENUM id_event){
 126     for (Module* current : hooks[id_event]) {
 127         (current->*kernel_callback_functions[id_event])(this);
 128     }
 129 }
 130
 131 // Call a specific event with an argument
 132 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 133     for (Module* current : hooks[id_event]) {
 134         (current->*kernel_callback_functions[id_event])(argument);
 135     }
 136 }