#include "libs/nuts_bolts.h"
#include "libs/SlowTicker.h"
#include "libs/Adc.h"
-#include "libs/Pauser.h"
#include "libs/StreamOutputPool.h"
#include <mri.h>
#include "checksumm.h"
#include "libs/PublicData.h"
#include "modules/communication/SerialConsole.h"
#include "modules/communication/GcodeDispatch.h"
-#include "modules/tools/toolsmanager/ToolsManager.h"
#include "modules/robot/Planner.h"
#include "modules/robot/Robot.h"
#include "modules/robot/Stepper.h"
-#include <array>
-
-
-
#include "modules/robot/Conveyor.h"
-#include "modules/tools/endstops/Endstops.h"
+#include "modules/robot/Pauser.h"
+
#include <malloc.h>
+#include <array>
#define baud_rate_setting_checksum CHECKSUM("baud_rate")
#define uart0_checksum CHECKSUM("uart0")
+#define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency")
+#define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse")
+#define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second")
+
Kernel* Kernel::instance;
// The kernel is the central point in Smoothie : it stores modules, and handles event calls
Kernel::Kernel(){
instance= this; // setup the Singleton instance of the kernel
- // serial first at fixed baud rate (MRI_BAUD) so config can report errors to serial
+ // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
// Set to UART0, this will be changed to use the same UART as MRI if it's enabled
- this->serial = new SerialConsole(USBTX, USBRX, 115200);
+ this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
// Config next, but does not load cache yet
- this->config = new Config();
+ this->config = new Config();
// Pre-load the config cache, do after setting up serial so we can report errors to serial
this->config->config_cache_load();
- // now config is loaded we can do normal setup for serial and the rest
+ // now config is loaded we can do normal setup for serial based on config
delete this->serial;
+ this->serial= NULL;
- this->streams = new StreamOutputPool();
+ this->streams = new StreamOutputPool();
this->current_path = "/";
// Configure UART depending on MRI config
// Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
NVIC_SetPriorityGrouping(0);
- if( MRI_ENABLE ) {
- switch( __mriPlatform_CommUartIndex() ) {
- case 0:
- this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
- break;
- case 1:
- this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
- break;
- case 2:
- this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
- break;
- case 3:
- this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
- break;
- }
- }
+
+#if MRI_ENABLE != 0
+ switch( __mriPlatform_CommUartIndex() ) {
+ case 0:
+ this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ break;
+ case 1:
+ this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ break;
+ case 2:
+ this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ break;
+ case 3:
+ this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ break;
+ }
+#endif
+ // default
+ if(this->serial == NULL) {
+ this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ }
this->add_module( this->config );
this->add_module( this->serial );
// HAL stuff
- add_module( this->slow_ticker = new SlowTicker());
- this->step_ticker = new StepTicker();
- this->adc = new Adc();
+ add_module( this->slow_ticker = new SlowTicker());
+
+ this->step_ticker = new StepTicker();
+ this->adc = new Adc();
// TODO : These should go into platform-specific files
// LPC17xx-specific
NVIC_SetPriorityGrouping(0);
NVIC_SetPriority(TIMER0_IRQn, 2);
NVIC_SetPriority(TIMER1_IRQn, 1);
- NVIC_SetPriority(TIMER2_IRQn, 3);
+ NVIC_SetPriority(TIMER2_IRQn, 4);
+ NVIC_SetPriority(PendSV_IRQn, 3);
+ 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
// Set other priorities lower than the timers
- NVIC_SetPriority(ADC_IRQn, 4);
- NVIC_SetPriority(USB_IRQn, 4);
+ NVIC_SetPriority(ADC_IRQn, 5);
+ NVIC_SetPriority(USB_IRQn, 5);
// If MRI is enabled
if( MRI_ENABLE ){
- if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
- if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
- if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
- if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
+ if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 5); }
+ if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 5); }
+ if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 5); }
+ if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 5); }
}else{
- NVIC_SetPriority(UART0_IRQn, 4);
- NVIC_SetPriority(UART1_IRQn, 4);
- NVIC_SetPriority(UART2_IRQn, 4);
- NVIC_SetPriority(UART3_IRQn, 4);
+ NVIC_SetPriority(UART0_IRQn, 5);
+ NVIC_SetPriority(UART1_IRQn, 5);
+ NVIC_SetPriority(UART2_IRQn, 5);
+ NVIC_SetPriority(UART3_IRQn, 5);
}
// Configure the step ticker
- int base_stepping_frequency = this->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number();
- float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number();
+ this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
+ float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number();
+ this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
// Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
- this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
- this->step_ticker->set_frequency( base_stepping_frequency );
+ this->step_ticker->set_reset_delay( microseconds_per_step_pulse );
+ this->step_ticker->set_frequency( this->base_stepping_frequency );
+ this->step_ticker->set_acceleration_ticks_per_second(acceleration_ticks_per_second); // must be set after set_frequency
// Core modules
- this->add_module( this->gcode_dispatch = new GcodeDispatch() );
+ this->add_module( new GcodeDispatch() );
this->add_module( this->robot = new Robot() );
this->add_module( this->stepper = new Stepper() );
- this->add_module( this->planner = new Planner() );
this->add_module( this->conveyor = new Conveyor() );
this->add_module( this->pauser = new Pauser() );
- this->add_module( this->public_data = new PublicData() );
- this->add_module( this->toolsmanager = new ToolsManager() );
+
+ this->planner = new Planner();
}
-// Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
+// Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
void Kernel::add_module(Module* module){
module->on_module_loaded();
}
// Adds a hook for a given module and event
-void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
- this->hooks[id_event].push_back(module);
+void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod){
+ this->hooks[id_event].push_back(mod);
}
// Call a specific event without arguments
void Kernel::call_event(_EVENT_ENUM id_event){
- for (Module* current : hooks[id_event]) {
- (current->*kernel_callback_functions[id_event])(this);
+ for (auto m : hooks[id_event]) {
+ (m->*kernel_callback_functions[id_event])(this);
}
}
// Call a specific event with an argument
void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
- for (Module* current : hooks[id_event]) {
- (current->*kernel_callback_functions[id_event])(argument);
+ for (auto m : hooks[id_event]) {
+ (m->*kernel_callback_functions[id_event])(argument);
}
}
HCoop / clinton / Smoothieware.git / blobdiff