Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
libs/Kernel.h@0:31e91bb0ef3c, 2012-07-31 (annotated)
- Committer:
- scachat
- Date:
- Tue Jul 31 21:11:18 2012 +0000
- Revision:
- 0:31e91bb0ef3c
- Child:
- 2:1df0b61d3b5a
smoothie port to mbed online compiler
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
scachat | 0:31e91bb0ef3c | 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. |
scachat | 0:31e91bb0ef3c | 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 | #ifndef KERNEL_H |
scachat | 0:31e91bb0ef3c | 9 | #define KERNEL_H |
scachat | 0:31e91bb0ef3c | 10 | #include "libs/Module.h" |
scachat | 0:31e91bb0ef3c | 11 | #include "libs/Config.h" |
scachat | 0:31e91bb0ef3c | 12 | #include "libs/SlowTicker.h" |
scachat | 0:31e91bb0ef3c | 13 | #include "libs/StepTicker.h" |
scachat | 0:31e91bb0ef3c | 14 | #include "libs/Adc.h" |
scachat | 0:31e91bb0ef3c | 15 | #include "libs/Digipot.h" |
scachat | 0:31e91bb0ef3c | 16 | #include "libs/Pauser.h" |
scachat | 0:31e91bb0ef3c | 17 | #include "modules/communication/SerialConsole.h" |
scachat | 0:31e91bb0ef3c | 18 | #include "modules/communication/GcodeDispatch.h" |
scachat | 0:31e91bb0ef3c | 19 | #include "modules/robot/Planner.h" |
scachat | 0:31e91bb0ef3c | 20 | #include "modules/robot/Robot.h" |
scachat | 0:31e91bb0ef3c | 21 | #include "modules/robot/Stepper.h" |
scachat | 0:31e91bb0ef3c | 22 | |
scachat | 0:31e91bb0ef3c | 23 | // See : http://smoothieware.org/listofevents |
scachat | 0:31e91bb0ef3c | 24 | #define NUMBER_OF_DEFINED_EVENTS 12 |
scachat | 0:31e91bb0ef3c | 25 | #define ON_MAIN_LOOP 0 |
scachat | 0:31e91bb0ef3c | 26 | #define ON_CONSOLE_LINE_RECEIVED 1 |
scachat | 0:31e91bb0ef3c | 27 | #define ON_GCODE_RECEIVED 2 |
scachat | 0:31e91bb0ef3c | 28 | #define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly |
scachat | 0:31e91bb0ef3c | 29 | #define ON_GCODE_EXECUTE 4 |
scachat | 0:31e91bb0ef3c | 30 | #define ON_SPEED_CHANGE 5 |
scachat | 0:31e91bb0ef3c | 31 | #define ON_BLOCK_BEGIN 6 |
scachat | 0:31e91bb0ef3c | 32 | #define ON_BLOCK_END 7 |
scachat | 0:31e91bb0ef3c | 33 | #define ON_CONFIG_RELOAD 8 |
scachat | 0:31e91bb0ef3c | 34 | #define ON_PLAY 9 |
scachat | 0:31e91bb0ef3c | 35 | #define ON_PAUSE 10 |
scachat | 0:31e91bb0ef3c | 36 | #define ON_IDLE 11 |
scachat | 0:31e91bb0ef3c | 37 | |
scachat | 0:31e91bb0ef3c | 38 | |
scachat | 0:31e91bb0ef3c | 39 | using namespace std; |
scachat | 0:31e91bb0ef3c | 40 | #include <vector> |
scachat | 0:31e91bb0ef3c | 41 | |
scachat | 0:31e91bb0ef3c | 42 | typedef void (Module::*ModuleCallback)(void * argument); |
scachat | 0:31e91bb0ef3c | 43 | |
scachat | 0:31e91bb0ef3c | 44 | //Module manager |
scachat | 0:31e91bb0ef3c | 45 | class Module; |
scachat | 0:31e91bb0ef3c | 46 | class Player; |
scachat | 0:31e91bb0ef3c | 47 | class SlowTicker; |
scachat | 0:31e91bb0ef3c | 48 | class Kernel { |
scachat | 0:31e91bb0ef3c | 49 | public: |
scachat | 0:31e91bb0ef3c | 50 | Kernel(); |
scachat | 0:31e91bb0ef3c | 51 | void add_module(Module* module); |
scachat | 0:31e91bb0ef3c | 52 | void register_for_event(unsigned int id_event, Module* module); |
scachat | 0:31e91bb0ef3c | 53 | void call_event(unsigned int id_event); |
scachat | 0:31e91bb0ef3c | 54 | void call_event(unsigned int id_event, void * argument); |
scachat | 0:31e91bb0ef3c | 55 | |
scachat | 0:31e91bb0ef3c | 56 | // These modules are aviable to all other modules |
scachat | 0:31e91bb0ef3c | 57 | SerialConsole* serial; |
scachat | 0:31e91bb0ef3c | 58 | GcodeDispatch* gcode_dispatch; |
scachat | 0:31e91bb0ef3c | 59 | Robot* robot; |
scachat | 0:31e91bb0ef3c | 60 | Stepper* stepper; |
scachat | 0:31e91bb0ef3c | 61 | Planner* planner; |
scachat | 0:31e91bb0ef3c | 62 | Config* config; |
scachat | 0:31e91bb0ef3c | 63 | Player* player; |
scachat | 0:31e91bb0ef3c | 64 | Pauser* pauser; |
scachat | 0:31e91bb0ef3c | 65 | |
scachat | 0:31e91bb0ef3c | 66 | int debug; |
scachat | 0:31e91bb0ef3c | 67 | SlowTicker* slow_ticker; |
scachat | 0:31e91bb0ef3c | 68 | StepTicker* step_ticker; |
scachat | 0:31e91bb0ef3c | 69 | Adc* adc; |
scachat | 0:31e91bb0ef3c | 70 | Digipot* digipot; |
scachat | 0:31e91bb0ef3c | 71 | |
scachat | 0:31e91bb0ef3c | 72 | private: |
scachat | 0:31e91bb0ef3c | 73 | vector<Module*> hooks[NUMBER_OF_DEFINED_EVENTS]; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered |
scachat | 0:31e91bb0ef3c | 74 | |
scachat | 0:31e91bb0ef3c | 75 | }; |
scachat | 0:31e91bb0ef3c | 76 | |
scachat | 0:31e91bb0ef3c | 77 | #endif |