Diff: libs/Kernel.cpp

Revision:

2:1df0b61d3b5a

Parent:

0:31e91bb0ef3c

Child:

3:f151d08d335c

diff -r ab59fc9af055 -r 1df0b61d3b5a libs/Kernel.cpp
--- a/libs/Kernel.cpp	Sat Mar 01 02:37:29 2014 +0000
+++ b/libs/Kernel.cpp	Fri Feb 28 18:52:52 2014 -0800
@@ -1,97 +1,136 @@
-/*  
+/*
       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/>. 
+      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 "libs/StreamOutputPool.h"
+#include <mri.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"
+#include "modules/robot/Conveyor.h"
+#include "modules/tools/endstops/Endstops.h"
+#include <malloc.h>
 
+#define baud_rate_setting_checksum CHECKSUM("baud_rate")
+#define uart0_checksum             CHECKSUM("uart0")
 
-// 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
-};
+Kernel* Kernel::instance;
 
-#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(){
+    instance= this; // setup the Singleton instance of the kernel
 
-// 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 
+    // 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->streams        = new StreamOutputPool();
+
+    this->current_path   = "/";
+
+    // Configure UART depending on MRI config
+    // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
+    NVIC_SetPriorityGrouping(0);
+    switch( __mriPlatform_CommUartIndex() ) {
+        case 0:
+            this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
+            break;
+        case 1:
+            this->serial = new SerialConsole(  p13,   p14, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
+            break;
+        case 2:
+            this->serial = new SerialConsole(  p28,   p27, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
+            break;
+        case 3:
+            this->serial = new SerialConsole(   p9,   p10, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
+            break;
+    }
 
     this->add_module( this->config );
     this->add_module( this->serial );
-  
-    // HAL stuff 
-    this->slow_ticker          = new SlowTicker();
+
+    // HAL stuff
+    add_module( this->slow_ticker          = new SlowTicker());
     this->step_ticker          = new StepTicker();
     this->adc                  = new Adc();
-    this->digipot              = new Digipot();
+
+    // TODO : These should go into platform-specific files
+    // LPC17xx-specific
+    NVIC_SetPriorityGrouping(0);
+    NVIC_SetPriority(TIMER0_IRQn, 2);
+    NVIC_SetPriority(TIMER1_IRQn, 1);
+    NVIC_SetPriority(TIMER2_IRQn, 3);
+
+    // Set other priorities lower than the timers
+    NVIC_SetPriority(ADC_IRQn, 4);
+    NVIC_SetPriority(USB_IRQn, 4);
 
-    // LPC17xx-specific 
-    NVIC_SetPriority(TIMER0_IRQn, 1); 
-    NVIC_SetPriority(TIMER2_IRQn, 2); 
+    // If MRI is enabled
+    if( MRI_ENABLE ){
+        if( NVIC_GetPriority(UART0_IRQn) > 0 ){ NVIC_SetPriority(UART0_IRQn, 4); }
+        if( NVIC_GetPriority(UART1_IRQn) > 0 ){ NVIC_SetPriority(UART1_IRQn, 4); }
+        if( NVIC_GetPriority(UART2_IRQn) > 0 ){ NVIC_SetPriority(UART2_IRQn, 4); }
+        if( NVIC_GetPriority(UART3_IRQn) > 0 ){ NVIC_SetPriority(UART3_IRQn, 4); }
+    }else{
+        NVIC_SetPriority(UART0_IRQn, 4);
+        NVIC_SetPriority(UART1_IRQn, 4);
+        NVIC_SetPriority(UART2_IRQn, 4);
+        NVIC_SetPriority(UART3_IRQn, 4);
+    }
 
-    // Core modules 
+    // Configure the step ticker
+    int 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();
+
+    // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
+    this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
+    this->step_ticker->set_frequency(   base_stepping_frequency );
+
+    // 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->conveyor       = new Conveyor()      );
     this->add_module( this->pauser         = new Pauser()        );
+    this->add_module( this->public_data    = new PublicData()    );
+    this->add_module( this->toolsmanager   = new ToolsManager()    );
+
 }
 
+// Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
 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){
+// Adds a hook for a given module and event
+void Kernel::register_for_event(_EVENT_ENUM 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);
+// Call a specific event without arguments
+void Kernel::call_event(_EVENT_ENUM id_event){
+    for (Module* current : hooks[id_event]) {
+        (current->*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);
+// Call a specific event with an argument
+void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
+    for (Module* current : hooks[id_event]) {
+        (current->*kernel_callback_functions[id_event])(argument);
     }
 }