Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

libs/Kernel.cpp@2:1df0b61d3b5a, 2014-02-28 (annotated)

Committer:
Michael J. Spencer
Date:
Fri Feb 28 18:52:52 2014 -0800
Revision:
2:1df0b61d3b5a
Parent:
0:31e91bb0ef3c
Child:
3:f151d08d335c
Update to latest Smoothie.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Michael J. Spencer 2:1df0b61d3b5a 1 /*
scachat 0:31e91bb0ef3c 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
scachat 0:31e91bb0ef3c 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.
scachat 0:31e91bb0ef3c 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.
Michael J. Spencer 2:1df0b61d3b5a 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 9 #include "libs/Module.h"
scachat 0:31e91bb0ef3c 10 #include "libs/Config.h"
scachat 0:31e91bb0ef3c 11 #include "libs/nuts_bolts.h"
scachat 0:31e91bb0ef3c 12 #include "libs/SlowTicker.h"
scachat 0:31e91bb0ef3c 13 #include "libs/Adc.h"
scachat 0:31e91bb0ef3c 14 #include "libs/Pauser.h"
Michael J. Spencer 2:1df0b61d3b5a 15 #include "libs/StreamOutputPool.h"
Michael J. Spencer 2:1df0b61d3b5a 16 #include <mri.h>
scachat 0:31e91bb0ef3c 17
scachat 0:31e91bb0ef3c 18 #include "modules/communication/SerialConsole.h"
scachat 0:31e91bb0ef3c 19 #include "modules/communication/GcodeDispatch.h"
scachat 0:31e91bb0ef3c 20 #include "modules/robot/Planner.h"
scachat 0:31e91bb0ef3c 21 #include "modules/robot/Robot.h"
scachat 0:31e91bb0ef3c 22 #include "modules/robot/Stepper.h"
Michael J. Spencer 2:1df0b61d3b5a 23 #include "modules/robot/Conveyor.h"
Michael J. Spencer 2:1df0b61d3b5a 24 #include "modules/tools/endstops/Endstops.h"
Michael J. Spencer 2:1df0b61d3b5a 25 #include <malloc.h>
scachat 0:31e91bb0ef3c 26
Michael J. Spencer 2:1df0b61d3b5a 27 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
Michael J. Spencer 2:1df0b61d3b5a 28 #define uart0_checksum CHECKSUM("uart0")
scachat 0:31e91bb0ef3c 29
Michael J. Spencer 2:1df0b61d3b5a 30 Kernel* Kernel::instance;
scachat 0:31e91bb0ef3c 31
Michael J. Spencer 2:1df0b61d3b5a 32 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
Michael J. Spencer 2:1df0b61d3b5a 33 Kernel::Kernel(){
Michael J. Spencer 2:1df0b61d3b5a 34 instance= this; // setup the Singleton instance of the kernel
scachat 0:31e91bb0ef3c 35
Michael J. Spencer 2:1df0b61d3b5a 36 // Config first, because we need the baud_rate setting before we start serial
scachat 0:31e91bb0ef3c 37 this->config = new Config();
scachat 0:31e91bb0ef3c 38
scachat 0:31e91bb0ef3c 39 // Serial second, because the other modules might want to say something
Michael J. Spencer 2:1df0b61d3b5a 40 this->streams = new StreamOutputPool();
Michael J. Spencer 2:1df0b61d3b5a 41
Michael J. Spencer 2:1df0b61d3b5a 42 this->current_path = "/";
Michael J. Spencer 2:1df0b61d3b5a 43
Michael J. Spencer 2:1df0b61d3b5a 44 // Configure UART depending on MRI config
Michael J. Spencer 2:1df0b61d3b5a 45 // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
Michael J. Spencer 2:1df0b61d3b5a 46 NVIC_SetPriorityGrouping(0);
Michael J. Spencer 2:1df0b61d3b5a 47 switch( __mriPlatform_CommUartIndex() ) {
Michael J. Spencer 2:1df0b61d3b5a 48 case 0:
Michael J. Spencer 2:1df0b61d3b5a 49 this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
Michael J. Spencer 2:1df0b61d3b5a 50 break;
Michael J. Spencer 2:1df0b61d3b5a 51 case 1:
Michael J. Spencer 2:1df0b61d3b5a 52 this->serial = new SerialConsole( p13, p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
Michael J. Spencer 2:1df0b61d3b5a 53 break;
Michael J. Spencer 2:1df0b61d3b5a 54 case 2:
Michael J. Spencer 2:1df0b61d3b5a 55 this->serial = new SerialConsole( p28, p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
Michael J. Spencer 2:1df0b61d3b5a 56 break;
Michael J. Spencer 2:1df0b61d3b5a 57 case 3:
Michael J. Spencer 2:1df0b61d3b5a 58 this->serial = new SerialConsole( p9, p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
Michael J. Spencer 2:1df0b61d3b5a 59 break;
Michael J. Spencer 2:1df0b61d3b5a 60 }
scachat 0:31e91bb0ef3c 61
scachat 0:31e91bb0ef3c 62 this->add_module( this->config );
scachat 0:31e91bb0ef3c 63 this->add_module( this->serial );
Michael J. Spencer 2:1df0b61d3b5a 64
Michael J. Spencer 2:1df0b61d3b5a 65 // HAL stuff
Michael J. Spencer 2:1df0b61d3b5a 66 add_module( this->slow_ticker = new SlowTicker());
scachat 0:31e91bb0ef3c 67 this->step_ticker = new StepTicker();
scachat 0:31e91bb0ef3c 68 this->adc = new Adc();
Michael J. Spencer 2:1df0b61d3b5a 69
Michael J. Spencer 2:1df0b61d3b5a 70 // TODO : These should go into platform-specific files
Michael J. Spencer 2:1df0b61d3b5a 71 // LPC17xx-specific
Michael J. Spencer 2:1df0b61d3b5a 72 NVIC_SetPriorityGrouping(0);
Michael J. Spencer 2:1df0b61d3b5a 73 NVIC_SetPriority(TIMER0_IRQn, 2);
Michael J. Spencer 2:1df0b61d3b5a 74 NVIC_SetPriority(TIMER1_IRQn, 1);
Michael J. Spencer 2:1df0b61d3b5a 75 NVIC_SetPriority(TIMER2_IRQn, 3);
Michael J. Spencer 2:1df0b61d3b5a 76
Michael J. Spencer 2:1df0b61d3b5a 77 // Set other priorities lower than the timers
Michael J. Spencer 2:1df0b61d3b5a 78 NVIC_SetPriority(ADC_IRQn, 4);
Michael J. Spencer 2:1df0b61d3b5a 79 NVIC_SetPriority(USB_IRQn, 4);
scachat 0:31e91bb0ef3c 80
Michael J. Spencer 2:1df0b61d3b5a 81 // If MRI is enabled
Michael J. Spencer 2:1df0b61d3b5a 82 if( MRI_ENABLE ){
Michael J. Spencer 2:1df0b61d3b5a 83 if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
Michael J. Spencer 2:1df0b61d3b5a 84 if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
Michael J. Spencer 2:1df0b61d3b5a 85 if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
Michael J. Spencer 2:1df0b61d3b5a 86 if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
Michael J. Spencer 2:1df0b61d3b5a 87 }else{
Michael J. Spencer 2:1df0b61d3b5a 88 NVIC_SetPriority(UART0_IRQn, 4);
Michael J. Spencer 2:1df0b61d3b5a 89 NVIC_SetPriority(UART1_IRQn, 4);
Michael J. Spencer 2:1df0b61d3b5a 90 NVIC_SetPriority(UART2_IRQn, 4);
Michael J. Spencer 2:1df0b61d3b5a 91 NVIC_SetPriority(UART3_IRQn, 4);
Michael J. Spencer 2:1df0b61d3b5a 92 }
scachat 0:31e91bb0ef3c 93
Michael J. Spencer 2:1df0b61d3b5a 94 // Configure the step ticker
Michael J. Spencer 2:1df0b61d3b5a 95 int base_stepping_frequency = this->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number();
Michael J. Spencer 2:1df0b61d3b5a 96 float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number();
Michael J. Spencer 2:1df0b61d3b5a 97
Michael J. Spencer 2:1df0b61d3b5a 98 // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
Michael J. Spencer 2:1df0b61d3b5a 99 this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
Michael J. Spencer 2:1df0b61d3b5a 100 this->step_ticker->set_frequency( base_stepping_frequency );
Michael J. Spencer 2:1df0b61d3b5a 101
Michael J. Spencer 2:1df0b61d3b5a 102 // Core modules
scachat 0:31e91bb0ef3c 103 this->add_module( this->gcode_dispatch = new GcodeDispatch() );
scachat 0:31e91bb0ef3c 104 this->add_module( this->robot = new Robot() );
scachat 0:31e91bb0ef3c 105 this->add_module( this->stepper = new Stepper() );
scachat 0:31e91bb0ef3c 106 this->add_module( this->planner = new Planner() );
Michael J. Spencer 2:1df0b61d3b5a 107 this->add_module( this->conveyor = new Conveyor() );
scachat 0:31e91bb0ef3c 108 this->add_module( this->pauser = new Pauser() );
Michael J. Spencer 2:1df0b61d3b5a 109 this->add_module( this->public_data = new PublicData() );
Michael J. Spencer 2:1df0b61d3b5a 110 this->add_module( this->toolsmanager = new ToolsManager() );
Michael J. Spencer 2:1df0b61d3b5a 111
scachat 0:31e91bb0ef3c 112 }
scachat 0:31e91bb0ef3c 113
Michael J. Spencer 2:1df0b61d3b5a 114 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
scachat 0:31e91bb0ef3c 115 void Kernel::add_module(Module* module){
scachat 0:31e91bb0ef3c 116 module->on_module_loaded();
scachat 0:31e91bb0ef3c 117 }
scachat 0:31e91bb0ef3c 118
Michael J. Spencer 2:1df0b61d3b5a 119 // Adds a hook for a given module and event
Michael J. Spencer 2:1df0b61d3b5a 120 void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
scachat 0:31e91bb0ef3c 121 this->hooks[id_event].push_back(module);
scachat 0:31e91bb0ef3c 122 }
scachat 0:31e91bb0ef3c 123
Michael J. Spencer 2:1df0b61d3b5a 124 // Call a specific event without arguments
Michael J. Spencer 2:1df0b61d3b5a 125 void Kernel::call_event(_EVENT_ENUM id_event){
Michael J. Spencer 2:1df0b61d3b5a 126 for (Module* current : hooks[id_event]) {
Michael J. Spencer 2:1df0b61d3b5a 127 (current->*kernel_callback_functions[id_event])(this);
scachat 0:31e91bb0ef3c 128 }
scachat 0:31e91bb0ef3c 129 }
scachat 0:31e91bb0ef3c 130
Michael J. Spencer 2:1df0b61d3b5a 131 // Call a specific event with an argument
Michael J. Spencer 2:1df0b61d3b5a 132 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
Michael J. Spencer 2:1df0b61d3b5a 133 for (Module* current : hooks[id_event]) {
Michael J. Spencer 2:1df0b61d3b5a 134 (current->*kernel_callback_functions[id_event])(argument);
scachat 0:31e91bb0ef3c 135 }
scachat 0:31e91bb0ef3c 136 }