Diff: libs/Kernel.cpp

Revision:

3:f151d08d335c

Parent:

2:1df0b61d3b5a

diff -r 1df0b61d3b5a -r f151d08d335c libs/Kernel.cpp
--- a/libs/Kernel.cpp	Fri Feb 28 18:52:52 2014 -0800
+++ b/libs/Kernel.cpp	Sun Mar 02 06:33:08 2014 +0000
@@ -10,10 +10,8 @@
 #include "libs/Config.h"
 #include "libs/nuts_bolts.h"
 #include "libs/SlowTicker.h"
-#include "libs/Adc.h"
 #include "libs/Pauser.h"
 #include "libs/StreamOutputPool.h"
-#include <mri.h>
 
 #include "modules/communication/SerialConsole.h"
 #include "modules/communication/GcodeDispatch.h"
@@ -22,7 +20,6 @@
 #include "modules/robot/Stepper.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")
@@ -41,55 +38,13 @@
 
     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
     add_module( this->slow_ticker          = new SlowTicker());
     this->step_ticker          = new StepTicker();
-    this->adc                  = new Adc();
-
-    // 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);
-
-    // 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);
-    }
+//    this->adc                  = new Adc();
 
     // Configure the step ticker
     int base_stepping_frequency          =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();