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/StreamOutputPool.h"
  15 #include <mri.h>
  16 #include "checksumm.h"
  17 #include "ConfigValue.h"
  18
  19 #include "libs/StepTicker.h"
  20 #include "libs/PublicData.h"
  21 #include "modules/communication/SerialConsole.h"
  22 #include "modules/communication/GcodeDispatch.h"
  23 #include "modules/robot/Planner.h"
  24 #include "modules/robot/Robot.h"
  25 #include "modules/robot/Stepper.h"
  26 #include "modules/robot/Conveyor.h"
  27 #include "modules/robot/Pauser.h"
  28
  29 #include <malloc.h>
  30 #include <array>
  31
  32 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  33 #define uart0_checksum             CHECKSUM("uart0")
  34
  35 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  36 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  37
  38 Kernel* Kernel::instance;
  39
  40 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  41 Kernel::Kernel(){
  42     instance= this; // setup the Singleton instance of the kernel
  43
  44     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  45         // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
  46     this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
  47
  48     // Config next, but does not load cache yet
  49     this->config         = new Config();
  50
  51     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  52     this->config->config_cache_load();
  53
  54     // now config is loaded we can do normal setup for serial based on config
  55     delete this->serial;
  56     this->serial= NULL;
  57
  58     this->streams        = new StreamOutputPool();
  59
  60     this->current_path   = "/";
  61
  62     // Configure UART depending on MRI config
  63     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  64     NVIC_SetPriorityGrouping(0);
  65
  66 #if MRI_ENABLE != 0
  67     switch( __mriPlatform_CommUartIndex() ) {
  68         case 0:
  69             this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  70             break;
  71         case 1:
  72             this->serial = new SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  73             break;
  74         case 2:
  75             this->serial = new SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  76             break;
  77         case 3:
  78             this->serial = new SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  79             break;
  80     }
  81 #endif
  82     // default
  83     if(this->serial == NULL) {
  84         this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  85     }
  86
  87     this->add_module( this->config );
  88     this->add_module( this->serial );
  89
  90     // HAL stuff
  91     add_module( this->slow_ticker          = new SlowTicker());
  92     this->step_ticker          = new StepTicker();
  93     this->adc                  = new Adc();
  94
  95     // TODO : These should go into platform-specific files
  96     // LPC17xx-specific
  97     NVIC_SetPriorityGrouping(0);
  98     NVIC_SetPriority(TIMER0_IRQn, 2);
  99     NVIC_SetPriority(TIMER1_IRQn, 1);
 100     NVIC_SetPriority(TIMER2_IRQn, 3);
 101
 102     // Set other priorities lower than the timers
 103     NVIC_SetPriority(ADC_IRQn, 4);
 104     NVIC_SetPriority(USB_IRQn, 4);
 105
 106     // If MRI is enabled
 107     if( MRI_ENABLE ){
 108         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
 109         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
 110         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
 111         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
 112     }else{
 113         NVIC_SetPriority(UART0_IRQn, 4);
 114         NVIC_SetPriority(UART1_IRQn, 4);
 115         NVIC_SetPriority(UART2_IRQn, 4);
 116         NVIC_SetPriority(UART3_IRQn, 4);
 117     }
 118
 119     // Configure the step ticker
 120     this->base_stepping_frequency       =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
 121     float microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();
 122
 123     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
 124     this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
 125     this->step_ticker->set_frequency( this->base_stepping_frequency );
 126
 127     // Core modules
 128     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 129     this->add_module( this->robot          = new Robot()         );
 130     this->add_module( this->stepper        = new Stepper()       );
 131     this->add_module( this->planner        = new Planner()       );
 132     this->add_module( this->conveyor       = new Conveyor()      );
 133     this->add_module( this->pauser         = new Pauser()        );
 134 }
 135
 136 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
 137 void Kernel::add_module(Module* module){
 138     module->on_module_loaded();
 139 }
 140
 141 // Adds a hook for a given module and event
 142 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
 143     this->hooks[id_event].push_back(mod);
 144 }
 145
 146 // Call a specific event without arguments
 147 void Kernel::call_event(_EVENT_ENUM id_event){
 148     for (auto m : hooks[id_event]) {
 149         (m->*kernel_callback_functions[id_event])(this);
 150     }
 151 }
 152
 153 // Call a specific event with an argument
 154 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 155     for (auto m : hooks[id_event]) {
 156         (m->*kernel_callback_functions[id_event])(argument);
 157     }
 158 }