#include "EndstopsPublicAccess.h"
#include "Configurator.h"
#include "SimpleShell.h"
+#include "TemperatureControlPublicAccess.h"
+
+#ifndef NO_TOOLS_LASER
+#include "Laser.h"
+#endif
#include "platform_memory.h"
#include <array>
#include <string>
+#define laser_checksum CHECKSUM("laser")
#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")
#define disable_leds_checksum CHECKSUM("leds_disable")
#define grbl_mode_checksum CHECKSUM("grbl_mode")
+#define feed_hold_enable_checksum CHECKSUM("enable_feed_hold")
#define ok_per_line_checksum CHECKSUM("ok_per_line")
Kernel* Kernel::instance;
// The kernel is the central point in Smoothie : it stores modules, and handles event calls
-Kernel::Kernel(){
- halted= false;
- feed_hold= false;
+Kernel::Kernel()
+{
+ halted = false;
+ feed_hold = false;
+ enable_feed_hold = false;
- instance= this; // setup the Singleton instance of the kernel
+ instance = this; // setup the Singleton instance of the kernel
// 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
+ // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
// Config next, but does not load cache yet
// now config is loaded we can do normal setup for serial based on config
delete this->serial;
- this->serial= NULL;
+ this->serial = NULL;
this->streams = new StreamOutputPool();
#if MRI_ENABLE != 0
switch( __mriPlatform_CommUartIndex() ) {
case 0:
- this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) 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(AHB0) SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) 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(AHB0) SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) 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(AHB0) SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) 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(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
+ this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
}
//some boards don't have leds.. TOO BAD!
- this->use_leds= !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
+ this->use_leds = !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
- #ifdef CNC
- this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(true)->as_bool();
- #else
- this->grbl_mode= this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
- #endif
+#ifdef CNC
+ this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(true)->as_bool();
+#else
+ this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
+#endif
+
+ this->enable_feed_hold = this->config->value( feed_hold_enable_checksum )->by_default(this->grbl_mode)->as_bool();
- // 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
- this->ok_per_line= this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
+ // we expect ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code
+ this->ok_per_line = this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
this->add_module( this->serial );
NVIC_SetPriority(USB_IRQn, 5);
// If MRI is enabled
- if( MRI_ENABLE ){
- 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{
+ if( MRI_ENABLE ) {
+ 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, 5);
NVIC_SetPriority(UART1_IRQn, 5);
NVIC_SetPriority(UART2_IRQn, 5);
// Configure the step ticker
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();
+ float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number();
- // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
- this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
+ // Configure the step ticker
this->step_ticker->set_frequency( this->base_stepping_frequency );
+ this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
// Core modules
+ this->add_module( this->conveyor = new Conveyor() );
this->add_module( this->gcode_dispatch = new GcodeDispatch() );
this->add_module( this->robot = new Robot() );
- this->add_module( this->conveyor = new Conveyor() );
this->add_module( this->simpleshell = new SimpleShell() );
this->planner = new Planner();
std::string str;
bool homing;
bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
- if(!ok) homing= false;
- bool running= false;
+ if(!ok) homing = false;
+ bool running = false;
str.append("<");
if(halted) {
- str.append("Alarm,");
- }else if(homing) {
- str.append("Home,");
- }else if(feed_hold) {
- str.append("Hold,");
- }else if(this->conveyor->is_idle()) {
- str.append("Idle,");
- }else{
- running= true;
- str.append("Run,");
+ str.append("Alarm");
+ } else if(homing) {
+ running = true;
+ str.append("Home");
+ } else if(feed_hold) {
+ str.append("Hold");
+ } else if(this->conveyor->is_idle()) {
+ str.append("Idle");
+ } else {
+ running = true;
+ str.append("Run");
}
if(running) {
- // get real time current actuator position in mm
- ActuatorCoordinates current_position{
- robot->actuators[X_AXIS]->get_current_position(),
- robot->actuators[Y_AXIS]->get_current_position(),
- robot->actuators[Z_AXIS]->get_current_position()
- };
-
- // get machine position from the actuator position using FK
float mpos[3];
- robot->arm_solution->actuator_to_cartesian(current_position, mpos);
+ robot->get_current_machine_position(mpos);
+ // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
+ if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform
char buf[128];
// machine position
- 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]));
- str.append("MPos:").append(buf, n);
+ 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]));
+ if(n > sizeof(buf)) n= sizeof(buf);
+
+ str.append("|MPos:").append(buf, n);
+
+#if MAX_ROBOT_ACTUATORS > 3
+ // deal with the ABC axis (E will be A)
+ for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
+ // current actuator position
+ n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+ }
+#endif
// work space position
- Robot::wcs_t pos= robot->mcs2wcs(mpos);
- 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)));
- str.append("WPos:").append(buf, n);
- str.append(">\r\n");
-
- }else{
+ Robot::wcs_t pos = robot->mcs2wcs(mpos);
+ 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)));
+ if(n > sizeof(buf)) n= sizeof(buf);
+
+ str.append("|WPos:").append(buf, n);
+ // current feedrate
+ float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F);
+ n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+ float sr= robot->get_s_value();
+ n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr);
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+
+ // current Laser power
+ #ifndef NO_TOOLS_LASER
+ Laser *plaser= nullptr;
+ if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) {
+ float lp= plaser->get_current_power();
+ n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp);
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+ }
+ #endif
+
+ } else {
// return the last milestone if idle
char buf[128];
// machine position
- Robot::wcs_t mpos= robot->get_axis_position();
- 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)));
- str.append("MPos:").append(buf, n);
+ Robot::wcs_t mpos = robot->get_axis_position();
+ 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)));
+ if(n > sizeof(buf)) n= sizeof(buf);
+
+ str.append("|MPos:").append(buf, n);
+
+#if MAX_ROBOT_ACTUATORS > 3
+ // deal with the ABC axis (E will be A)
+ for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
+ // current actuator position
+ n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+ }
+#endif
// work space position
- Robot::wcs_t pos= robot->mcs2wcs(mpos);
- 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)));
- str.append("WPos:").append(buf, n);
- str.append(">\r\n");
+ Robot::wcs_t pos = robot->mcs2wcs(mpos);
+ 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)));
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append("|WPos:").append(buf, n);
+
+ float fr= robot->from_millimeters(robot->get_feed_rate());
+ n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+ }
+ // if not grbl mode get temperatures
+ if(!is_grbl_mode()) {
+ struct pad_temperature temp;
+ // scan all temperature controls
+ std::vector<struct pad_temperature> controllers;
+ bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
+ if (ok) {
+ char buf[32];
+ for (auto &c : controllers) {
+ size_t n= snprintf(buf, sizeof(buf), "|%s:%1.1f,%1.1f", c.designator.c_str(), c.current_temperature, c.target_temperature);
+ if(n > sizeof(buf)) n= sizeof(buf);
+ str.append(buf, n);
+ }
+ }
}
+
+ str.append(">\n");
return str;
}
// 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){
+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 *mod){
+void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod)
+{
this->hooks[id_event].push_back(mod);
}
// Call a specific event with an argument
-void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
- bool was_idle= true;
+void Kernel::call_event(_EVENT_ENUM id_event, void * argument)
+{
+ bool was_idle = true;
if(id_event == ON_HALT) {
- this->halted= (argument == nullptr);
- was_idle= conveyor->is_idle(); // see if we were doing anything like printing
+ this->halted = (argument == nullptr);
+ was_idle = conveyor->is_idle(); // see if we were doing anything like printing
}
// send to all registered modules
(m->*kernel_callback_functions[id_event])(argument);
}
- if(id_event == ON_HALT && this->halted && !was_idle) {
- // we need to try to correct current positions if we were running
- this->robot->reset_position_from_current_actuator_position();
+ if(id_event == ON_HALT) {
+ if(!this->halted || !was_idle) {
+ // if we were running and this is a HALT
+ // or if we are clearing the halt with $X or M999
+ // fix up the current positions in case they got out of sync due to backed up commands
+ this->robot->reset_position_from_current_actuator_position();
+ }
}
}
HCoop / clinton / Smoothieware.git / blobdiff