avoid potential race condtion between pendsv and saccleration timer by settin gthem...

[clinton/Smoothieware.git] / src / libs / Kernel.cpp

diff --git a/src/libs/Kernel.cpp b/src/libs/Kernel.cpp
index 31bb5fd..3167582 100644 (file)
--- a/src/libs/Kernel.cpp
+++ b/src/libs/Kernel.cpp
@@ -34,6 +34,7 @@
 
 #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;
 
@@ -46,7 +47,7 @@ Kernel::Kernel(){
     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();
@@ -55,7 +56,7 @@ Kernel::Kernel(){
     delete this->serial;
     this->serial= NULL;
 
-    this->streams        = new StreamOutputPool();
+    this->streams = new StreamOutputPool();
 
     this->current_path   = "/";
 
@@ -88,52 +89,59 @@ Kernel::Kernel(){
     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->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();
 }