Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
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); } }