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 #define acceleration_ticks_per_second_checksum      CHECKSUM("acceleration_ticks_per_second")
  38
  39 Kernel* Kernel::instance;
  40
  41 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  42 Kernel::Kernel(){
  43     instance= this; // setup the Singleton instance of the kernel
  44
  45     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  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, DEFAULT_SERIAL_BAUD_RATE);
  48
  49     // Config next, but does not load cache yet
  50     this->config = new Config();
  51
  52     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  53     this->config->config_cache_load();
  54
  55     // now config is loaded we can do normal setup for serial based on config
  56     delete this->serial;
  57     this->serial= NULL;
  58
  59     this->streams = new StreamOutputPool();
  60
  61     this->current_path   = "/";
  62
  63     // Configure UART depending on MRI config
  64     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  65     NVIC_SetPriorityGrouping(0);
  66
  67 #if MRI_ENABLE != 0
  68     switch( __mriPlatform_CommUartIndex() ) {
  69         case 0:
  70             this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  71             break;
  72         case 1:
  73             this->serial = new SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  74             break;
  75         case 2:
  76             this->serial = new SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  77             break;
  78         case 3:
  79             this->serial = new SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  80             break;
  81     }
  82 #endif
  83     // default
  84     if(this->serial == NULL) {
  85         this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  86     }
  87
  88     this->add_module( this->config );
  89     this->add_module( this->serial );
  90
  91     // HAL stuff
  92     add_module( this->slow_ticker = new SlowTicker());
  93
  94     this->step_ticker = new StepTicker();
  95     this->adc = new Adc();
  96
  97     // TODO : These should go into platform-specific files
  98     // LPC17xx-specific
  99     NVIC_SetPriorityGrouping(0);
 100     NVIC_SetPriority(TIMER0_IRQn, 2);
 101     NVIC_SetPriority(TIMER1_IRQn, 1);
 102     NVIC_SetPriority(TIMER2_IRQn, 4);
 103     NVIC_SetPriority(PendSV_IRQn, 3);
 104     NVIC_SetPriority(RIT_IRQn, 3); // we make acceleration tick the same prio as pendsv so it can't be pre-empted by end of block
 105
 106     // Set other priorities lower than the timers
 107     NVIC_SetPriority(ADC_IRQn, 5);
 108     NVIC_SetPriority(USB_IRQn, 5);
 109
 110     // If MRI is enabled
 111     if( MRI_ENABLE ){
 112         if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 5); }
 113         if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 5); }
 114         if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 5); }
 115         if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 5); }
 116     }else{
 117         NVIC_SetPriority(UART0_IRQn, 5);
 118         NVIC_SetPriority(UART1_IRQn, 5);
 119         NVIC_SetPriority(UART2_IRQn, 5);
 120         NVIC_SetPriority(UART3_IRQn, 5);
 121     }
 122
 123     // Configure the step ticker
 124     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 125     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number();
 126     this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
 127
 128     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
 129     this->step_ticker->set_reset_delay( microseconds_per_step_pulse );
 130     this->step_ticker->set_frequency( this->base_stepping_frequency );
 131     this->step_ticker->set_acceleration_ticks_per_second(acceleration_ticks_per_second); // must be set after set_frequency
 132
 133     // Core modules
 134     this->add_module( new GcodeDispatch() );
 135     this->add_module( this->robot          = new Robot()         );
 136     this->add_module( this->stepper        = new Stepper()       );
 137     this->add_module( this->conveyor       = new Conveyor()      );
 138     this->add_module( this->pauser         = new Pauser()        );
 139
 140     this->planner = new Planner();
 141
 142 }
 143
 144 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 145 void Kernel::add_module(Module* module){
 146     module->on_module_loaded();
 147 }
 148
 149 // Adds a hook for a given module and event
 150 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
 151     this->hooks[id_event].push_back(mod);
 152 }
 153
 154 // Call a specific event with an argument
 155 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
 156     for (auto m : hooks[id_event]) {
 157         (m->*kernel_callback_functions[id_event])(argument);
 158     }
 159 }
 160
 161 // These are used by tests to test for various things. basically mocks
 162 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 163 {
 164     for (auto m : hooks[id_event]) {
 165         if(m == mod) return true;
 166     }
 167     return false;
 168 }
 169
 170 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 171 {
 172     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 173         if(*i == mod) {
 174             hooks[id_event].erase(i);
 175             return;
 176         }
 177     }
 178 }
 179