Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
libs/Kernel.cpp
- Committer:
- scachat
- Date:
- 2012-07-31
- Revision:
- 0:31e91bb0ef3c
- Child:
- 2:1df0b61d3b5a
File content as of revision 0:31e91bb0ef3c:
/* This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). 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. 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. You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. */ using namespace std; #include <vector> #include "libs/Kernel.h" #include "libs/Module.h" #include "libs/Config.h" #include "libs/nuts_bolts.h" #include "libs/SlowTicker.h" #include "libs/Adc.h" #include "libs/Digipot.h" #include "libs/Pauser.h" #include "modules/communication/SerialConsole.h" #include "modules/communication/GcodeDispatch.h" #include "modules/robot/Planner.h" #include "modules/robot/Robot.h" #include "modules/robot/Stepper.h" #include "modules/robot/Player.h" // List of callback functions, ordered as their corresponding events const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = { &Module::on_main_loop, &Module::on_console_line_received, &Module::on_gcode_received, &Module::on_stepper_wake_up, &Module::on_gcode_execute, &Module::on_speed_change, &Module::on_block_begin, &Module::on_block_end, &Module::on_config_reload, &Module::on_play, &Module::on_pause, &Module::on_idle }; #define baud_rate_setting_checksum 10922 #define uart0_checksum 16877 // The kernel is the central point in Smoothie : it stores modules, and handles event calls Kernel::Kernel(){ // Config first, because we need the baud_rate setting before we start serial this->config = new Config(); // Serial second, because the other modules might want to say something this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number()); this->add_module( this->config ); this->add_module( this->serial ); // HAL stuff this->slow_ticker = new SlowTicker(); this->step_ticker = new StepTicker(); this->adc = new Adc(); this->digipot = new Digipot(); // LPC17xx-specific NVIC_SetPriority(TIMER0_IRQn, 1); NVIC_SetPriority(TIMER2_IRQn, 2); // Core modules this->add_module( this->gcode_dispatch = 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->player = new Player() ); this->add_module( this->pauser = new Pauser() ); } void Kernel::add_module(Module* module){ module->kernel = this; module->on_module_loaded(); module->register_for_event(ON_CONFIG_RELOAD); } void Kernel::register_for_event(unsigned int id_event, Module* module){ this->hooks[id_event].push_back(module); } void Kernel::call_event(unsigned int id_event){ for(unsigned int i=0; i < this->hooks[id_event].size(); i++){ (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this); } } void Kernel::call_event(unsigned int id_event, void * argument){ for(unsigned int i=0; i < this->hooks[id_event].size(); i++){ (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument); } }