Michael Spencer / Smoothie

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

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

libs/Kernel.cpp@3:f151d08d335c, 2014-03-02 (annotated)

Committer:
Bigcheese
Date:
Sun Mar 02 06:33:08 2014 +0000
Revision:
3:f151d08d335c
Parent:
2:1df0b61d3b5a 
Bunch of stuff. Need to locally merge in updated USB changes.

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/Pauser.h"
Michael J. Spencer 2:1df0b61d3b5a 14 #include "libs/StreamOutputPool.h"
scachat 0:31e91bb0ef3c 15
scachat 0:31e91bb0ef3c 16 #include "modules/communication/SerialConsole.h"
scachat 0:31e91bb0ef3c 17 #include "modules/communication/GcodeDispatch.h"
scachat 0:31e91bb0ef3c 18 #include "modules/robot/Planner.h"
scachat 0:31e91bb0ef3c 19 #include "modules/robot/Robot.h"
scachat 0:31e91bb0ef3c 20 #include "modules/robot/Stepper.h"
Michael J. Spencer 2:1df0b61d3b5a 21 #include "modules/robot/Conveyor.h"
Michael J. Spencer 2:1df0b61d3b5a 22 #include "modules/tools/endstops/Endstops.h"
scachat 0:31e91bb0ef3c 23
Michael J. Spencer 2:1df0b61d3b5a 24 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
Michael J. Spencer 2:1df0b61d3b5a 25 #define uart0_checksum CHECKSUM("uart0")
scachat 0:31e91bb0ef3c 26
Michael J. Spencer 2:1df0b61d3b5a 27 Kernel* Kernel::instance;
scachat 0:31e91bb0ef3c 28
Michael J. Spencer 2:1df0b61d3b5a 29 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
Michael J. Spencer 2:1df0b61d3b5a 30 Kernel::Kernel(){
Michael J. Spencer 2:1df0b61d3b5a 31 instance= this; // setup the Singleton instance of the kernel
scachat 0:31e91bb0ef3c 32
Michael J. Spencer 2:1df0b61d3b5a 33 // Config first, because we need the baud_rate setting before we start serial
scachat 0:31e91bb0ef3c 34 this->config = new Config();
scachat 0:31e91bb0ef3c 35
scachat 0:31e91bb0ef3c 36 // Serial second, because the other modules might want to say something
Michael J. Spencer 2:1df0b61d3b5a 37 this->streams = new StreamOutputPool();
Michael J. Spencer 2:1df0b61d3b5a 38
Michael J. Spencer 2:1df0b61d3b5a 39 this->current_path = "/";
Michael J. Spencer 2:1df0b61d3b5a 40
scachat 0:31e91bb0ef3c 41 this->add_module( this->config );
scachat 0:31e91bb0ef3c 42 this->add_module( this->serial );
Michael J. Spencer 2:1df0b61d3b5a 43
Michael J. Spencer 2:1df0b61d3b5a 44 // HAL stuff
Michael J. Spencer 2:1df0b61d3b5a 45 add_module( this->slow_ticker = new SlowTicker());
scachat 0:31e91bb0ef3c 46 this->step_ticker = new StepTicker();
Bigcheese 3:f151d08d335c 47 // this->adc = new Adc();
scachat 0:31e91bb0ef3c 48
Michael J. Spencer 2:1df0b61d3b5a 49 // Configure the step ticker
Michael J. Spencer 2:1df0b61d3b5a 50 int base_stepping_frequency = this->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number();
Michael J. Spencer 2:1df0b61d3b5a 51 float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number();
Michael J. Spencer 2:1df0b61d3b5a 52
Michael J. Spencer 2:1df0b61d3b5a 53 // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
Michael J. Spencer 2:1df0b61d3b5a 54 this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
Michael J. Spencer 2:1df0b61d3b5a 55 this->step_ticker->set_frequency( base_stepping_frequency );
Michael J. Spencer 2:1df0b61d3b5a 56
Michael J. Spencer 2:1df0b61d3b5a 57 // Core modules
scachat 0:31e91bb0ef3c 58 this->add_module( this->gcode_dispatch = new GcodeDispatch() );
scachat 0:31e91bb0ef3c 59 this->add_module( this->robot = new Robot() );
scachat 0:31e91bb0ef3c 60 this->add_module( this->stepper = new Stepper() );
scachat 0:31e91bb0ef3c 61 this->add_module( this->planner = new Planner() );
Michael J. Spencer 2:1df0b61d3b5a 62 this->add_module( this->conveyor = new Conveyor() );
scachat 0:31e91bb0ef3c 63 this->add_module( this->pauser = new Pauser() );
Michael J. Spencer 2:1df0b61d3b5a 64 this->add_module( this->public_data = new PublicData() );
Michael J. Spencer 2:1df0b61d3b5a 65 this->add_module( this->toolsmanager = new ToolsManager() );
Michael J. Spencer 2:1df0b61d3b5a 66
scachat 0:31e91bb0ef3c 67 }
scachat 0:31e91bb0ef3c 68
Michael J. Spencer 2:1df0b61d3b5a 69 // Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
scachat 0:31e91bb0ef3c 70 void Kernel::add_module(Module* module){
scachat 0:31e91bb0ef3c 71 module->on_module_loaded();
scachat 0:31e91bb0ef3c 72 }
scachat 0:31e91bb0ef3c 73
Michael J. Spencer 2:1df0b61d3b5a 74 // Adds a hook for a given module and event
Michael J. Spencer 2:1df0b61d3b5a 75 void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
scachat 0:31e91bb0ef3c 76 this->hooks[id_event].push_back(module);
scachat 0:31e91bb0ef3c 77 }
scachat 0:31e91bb0ef3c 78
Michael J. Spencer 2:1df0b61d3b5a 79 // Call a specific event without arguments
Michael J. Spencer 2:1df0b61d3b5a 80 void Kernel::call_event(_EVENT_ENUM id_event){
Michael J. Spencer 2:1df0b61d3b5a 81 for (Module* current : hooks[id_event]) {
Michael J. Spencer 2:1df0b61d3b5a 82 (current->*kernel_callback_functions[id_event])(this);
scachat 0:31e91bb0ef3c 83 }
scachat 0:31e91bb0ef3c 84 }
scachat 0:31e91bb0ef3c 85
Michael J. Spencer 2:1df0b61d3b5a 86 // Call a specific event with an argument
Michael J. Spencer 2:1df0b61d3b5a 87 void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
Michael J. Spencer 2:1df0b61d3b5a 88 for (Module* current : hooks[id_event]) {
Michael J. Spencer 2:1df0b61d3b5a 89 (current->*kernel_callback_functions[id_event])(argument);
scachat 0:31e91bb0ef3c 90 }
scachat 0:31e91bb0ef3c 91 }