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/Conveyor.h"
  26 #include "StepperMotor.h"
  27 #include "BaseSolution.h"
  28 #include "EndstopsPublicAccess.h"
  29 #include "Configurator.h"
  30 #include "SimpleShell.h"
  31
  32 #include "platform_memory.h"
  33
  34 #include <malloc.h>
  35 #include <array>
  36 #include <string>
  37
  38 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  39 #define uart0_checksum             CHECKSUM("uart0")
  40
  41 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  42 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  43 #define disable_leds_checksum                       CHECKSUM("leds_disable")
  44 #define grbl_mode_checksum                          CHECKSUM("grbl_mode")
  45 #define ok_per_line_checksum                        CHECKSUM("ok_per_line")
  46
  47 Kernel* Kernel::instance;
  48
  49 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  50 Kernel::Kernel(){
  51     halted= false;
  52     feed_hold= false;
  53
  54     instance= this; // setup the Singleton instance of the kernel
  55
  56     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  57         // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
  58     this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
  59
  60     // Config next, but does not load cache yet
  61     this->config = new Config();
  62
  63     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  64     this->config->config_cache_load();
  65
  66     // now config is loaded we can do normal setup for serial based on config
  67     delete this->serial;
  68     this->serial= NULL;
  69
  70     this->streams = new StreamOutputPool();
  71
  72     this->current_path   = "/";
  73
  74     // Configure UART depending on MRI config
  75     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  76     NVIC_SetPriorityGrouping(0);
  77
  78 #if MRI_ENABLE != 0
  79     switch( __mriPlatform_CommUartIndex() ) {
  80         case 0:
  81             this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  82             break;
  83         case 1:
  84             this->serial = new(AHB0) SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  85             break;
  86         case 2:
  87             this->serial = new(AHB0) SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  88             break;
  89         case 3:
  90             this->serial = new(AHB0) SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  91             break;
  92     }
  93 #endif
  94     // default
  95     if(this->serial == NULL) {
  96         this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  97     }
  98
  99     //some boards don't have leds.. TOO BAD!
 100     this->use_leds= !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 101
 102     #ifdef CNC
 103     this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(true)->as_bool();
 104     #else
 105     this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
 106     #endif
 107
 108     // we exepct ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code
 109     this->ok_per_line= this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
 110
 111     this->add_module( this->serial );
 112
 113     // HAL stuff
 114     add_module( this->slow_ticker = new SlowTicker());
 115
 116     this->step_ticker = new StepTicker();
 117     this->adc = new Adc();
 118
 119     // TODO : These should go into platform-specific files
 120     // LPC17xx-specific
 121     NVIC_SetPriorityGrouping(0);
 122     NVIC_SetPriority(TIMER0_IRQn, 2);
 123     NVIC_SetPriority(TIMER1_IRQn, 1);
 124     NVIC_SetPriority(TIMER2_IRQn, 4);
 125     NVIC_SetPriority(PendSV_IRQn, 3);
 126
 127     // Set other priorities lower than the timers
 128     NVIC_SetPriority(ADC_IRQn, 5);
 129     NVIC_SetPriority(USB_IRQn, 5);
 130
 131     // If MRI is enabled
 132     if( MRI_ENABLE ){
 133         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 5); }
 134         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 5); }
 135         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 5); }
 136         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 5); }
 137     }else{
 138         NVIC_SetPriority(UART0_IRQn, 5);
 139         NVIC_SetPriority(UART1_IRQn, 5);
 140         NVIC_SetPriority(UART2_IRQn, 5);
 141         NVIC_SetPriority(UART3_IRQn, 5);
 142     }
 143
 144     // Configure the step ticker
 145     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 146     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number();
 147
 148     // Configure the step ticker
 149     this->step_ticker->set_frequency( this->base_stepping_frequency );
 150     this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
 151
 152     // Core modules
 153     this->add_module( this->conveyor       = new Conveyor()      );
 154     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 155     this->add_module( this->robot          = new Robot()         );
 156     this->add_module( this->simpleshell    = new SimpleShell()   );
 157
 158     this->planner = new Planner();
 159     this->configurator = new Configurator();
 160 }
 161
 162 // return a GRBL-like query string for serial ?
 163 std::string Kernel::get_query_string()
 164 {
 165     std::string str;
 166     bool homing;
 167     bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
 168     if(!ok) homing= false;
 169     bool running= false;
 170
 171     str.append("<");
 172     if(halted) {
 173         str.append("Alarm,");
 174     }else if(homing) {
 175         str.append("Home,");
 176     }else if(feed_hold) {
 177         str.append("Hold,");
 178     }else if(this->conveyor->is_idle()) {
 179         str.append("Idle,");
 180     }else{
 181         running= true;
 182         str.append("Run,");
 183     }
 184
 185     if(running) {
 186         float mpos[3];
 187         robot->get_current_machine_position(mpos);
 188         // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
 189         if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform
 190
 191         char buf[128];
 192         // machine position
 193         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]));
 194         str.append("MPos:").append(buf, n);
 195
 196         // work space position
 197         Robot::wcs_t pos= robot->mcs2wcs(mpos);
 198         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)));
 199         str.append("WPos:").append(buf, n);
 200         str.append(">\r\n");
 201
 202     }else{
 203         // return the last milestone if idle
 204         char buf[128];
 205         // machine position
 206         Robot::wcs_t mpos= robot->get_axis_position();
 207         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)));
 208         str.append("MPos:").append(buf, n);
 209
 210         // work space position
 211         Robot::wcs_t pos= robot->mcs2wcs(mpos);
 212         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)));
 213         str.append("WPos:").append(buf, n);
 214         str.append(">\r\n");
 215
 216     }
 217     return str;
 218 }
 219
 220 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 221 void Kernel::add_module(Module* module){
 222     module->on_module_loaded();
 223 }
 224
 225 // Adds a hook for a given module and event
 226 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
 227     this->hooks[id_event].push_back(mod);
 228 }
 229
 230 // Call a specific event with an argument
 231 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 232     bool was_idle= true;
 233     if(id_event == ON_HALT) {
 234         this->halted= (argument == nullptr);
 235         was_idle= conveyor->is_idle(); // see if we were doing anything like printing
 236     }
 237
 238     // send to all registered modules
 239     for (auto m : hooks[id_event]) {
 240         (m->*kernel_callback_functions[id_event])(argument);
 241     }
 242
 243     if(id_event == ON_HALT && this->halted && !was_idle) {
 244         // we need to try to correct current positions if we were running
 245         this->robot->reset_position_from_current_actuator_position();
 246     }
 247 }
 248
 249 // These are used by tests to test for various things. basically mocks
 250 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 251 {
 252     for (auto m : hooks[id_event]) {
 253         if(m == mod) return true;
 254     }
 255     return false;
 256 }
 257
 258 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 259 {
 260     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 261         if(*i == mod) {
 262             hooks[id_event].erase(i);
 263             return;
 264         }
 265     }
 266 }
 267