Stéphane Cachat / Mbed 2 deprecated Smoothie

smoothie port to mbed online compiler (smoothieware.org)

Dependencies:   mbed

For documentation, license, ..., please check http://smoothieware.org/

This version has been tested with a 3 axis machine

libs/Kernel.cpp@0:31e91bb0ef3c, 2012-07-31 (annotated)

Committer:
scachat
Date:
Tue Jul 31 21:11:18 2012 +0000
Revision:
0:31e91bb0ef3c
smoothie port to mbed online compiler

Who changed what in which revision?

UserRevisionLine numberNew 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 using namespace std;
scachat 0:31e91bb0ef3c 9 #include <vector>
scachat 0:31e91bb0ef3c 10 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 11 #include "libs/Module.h"
scachat 0:31e91bb0ef3c 12 #include "libs/Config.h"
scachat 0:31e91bb0ef3c 13 #include "libs/nuts_bolts.h"
scachat 0:31e91bb0ef3c 14 #include "libs/SlowTicker.h"
scachat 0:31e91bb0ef3c 15 #include "libs/Adc.h"
scachat 0:31e91bb0ef3c 16 #include "libs/Digipot.h"
scachat 0:31e91bb0ef3c 17 #include "libs/Pauser.h"
scachat 0:31e91bb0ef3c 18
scachat 0:31e91bb0ef3c 19 #include "modules/communication/SerialConsole.h"
scachat 0:31e91bb0ef3c 20 #include "modules/communication/GcodeDispatch.h"
scachat 0:31e91bb0ef3c 21 #include "modules/robot/Planner.h"
scachat 0:31e91bb0ef3c 22 #include "modules/robot/Robot.h"
scachat 0:31e91bb0ef3c 23 #include "modules/robot/Stepper.h"
scachat 0:31e91bb0ef3c 24 #include "modules/robot/Player.h"
scachat 0:31e91bb0ef3c 25
scachat 0:31e91bb0ef3c 26
scachat 0:31e91bb0ef3c 27 // List of callback functions, ordered as their corresponding events
scachat 0:31e91bb0ef3c 28 const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = {
scachat 0:31e91bb0ef3c 29 &Module::on_main_loop,
scachat 0:31e91bb0ef3c 30 &Module::on_console_line_received,
scachat 0:31e91bb0ef3c 31 &Module::on_gcode_received,
scachat 0:31e91bb0ef3c 32 &Module::on_stepper_wake_up,
scachat 0:31e91bb0ef3c 33 &Module::on_gcode_execute,
scachat 0:31e91bb0ef3c 34 &Module::on_speed_change,
scachat 0:31e91bb0ef3c 35 &Module::on_block_begin,
scachat 0:31e91bb0ef3c 36 &Module::on_block_end,
scachat 0:31e91bb0ef3c 37 &Module::on_config_reload,
scachat 0:31e91bb0ef3c 38 &Module::on_play,
scachat 0:31e91bb0ef3c 39 &Module::on_pause,
scachat 0:31e91bb0ef3c 40 &Module::on_idle
scachat 0:31e91bb0ef3c 41 };
scachat 0:31e91bb0ef3c 42
scachat 0:31e91bb0ef3c 43 #define baud_rate_setting_checksum 10922
scachat 0:31e91bb0ef3c 44 #define uart0_checksum 16877
scachat 0:31e91bb0ef3c 45
scachat 0:31e91bb0ef3c 46 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
scachat 0:31e91bb0ef3c 47 Kernel::Kernel(){
scachat 0:31e91bb0ef3c 48
scachat 0:31e91bb0ef3c 49 // Config first, because we need the baud_rate setting before we start serial
scachat 0:31e91bb0ef3c 50 this->config = new Config();
scachat 0:31e91bb0ef3c 51
scachat 0:31e91bb0ef3c 52 // Serial second, because the other modules might want to say something
scachat 0:31e91bb0ef3c 53 this->serial = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
scachat 0:31e91bb0ef3c 54
scachat 0:31e91bb0ef3c 55 this->add_module( this->config );
scachat 0:31e91bb0ef3c 56 this->add_module( this->serial );
scachat 0:31e91bb0ef3c 57
scachat 0:31e91bb0ef3c 58 // HAL stuff
scachat 0:31e91bb0ef3c 59 this->slow_ticker = new SlowTicker();
scachat 0:31e91bb0ef3c 60 this->step_ticker = new StepTicker();
scachat 0:31e91bb0ef3c 61 this->adc = new Adc();
scachat 0:31e91bb0ef3c 62 this->digipot = new Digipot();
scachat 0:31e91bb0ef3c 63
scachat 0:31e91bb0ef3c 64 // LPC17xx-specific
scachat 0:31e91bb0ef3c 65 NVIC_SetPriority(TIMER0_IRQn, 1);
scachat 0:31e91bb0ef3c 66 NVIC_SetPriority(TIMER2_IRQn, 2);
scachat 0:31e91bb0ef3c 67
scachat 0:31e91bb0ef3c 68 // Core modules
scachat 0:31e91bb0ef3c 69 this->add_module( this->gcode_dispatch = new GcodeDispatch() );
scachat 0:31e91bb0ef3c 70 this->add_module( this->robot = new Robot() );
scachat 0:31e91bb0ef3c 71 this->add_module( this->stepper = new Stepper() );
scachat 0:31e91bb0ef3c 72 this->add_module( this->planner = new Planner() );
scachat 0:31e91bb0ef3c 73 this->add_module( this->player = new Player() );
scachat 0:31e91bb0ef3c 74 this->add_module( this->pauser = new Pauser() );
scachat 0:31e91bb0ef3c 75 }
scachat 0:31e91bb0ef3c 76
scachat 0:31e91bb0ef3c 77 void Kernel::add_module(Module* module){
scachat 0:31e91bb0ef3c 78 module->kernel = this;
scachat 0:31e91bb0ef3c 79 module->on_module_loaded();
scachat 0:31e91bb0ef3c 80 module->register_for_event(ON_CONFIG_RELOAD);
scachat 0:31e91bb0ef3c 81 }
scachat 0:31e91bb0ef3c 82
scachat 0:31e91bb0ef3c 83 void Kernel::register_for_event(unsigned int id_event, Module* module){
scachat 0:31e91bb0ef3c 84 this->hooks[id_event].push_back(module);
scachat 0:31e91bb0ef3c 85 }
scachat 0:31e91bb0ef3c 86
scachat 0:31e91bb0ef3c 87 void Kernel::call_event(unsigned int id_event){
scachat 0:31e91bb0ef3c 88 for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
scachat 0:31e91bb0ef3c 89 (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this);
scachat 0:31e91bb0ef3c 90 }
scachat 0:31e91bb0ef3c 91 }
scachat 0:31e91bb0ef3c 92
scachat 0:31e91bb0ef3c 93 void Kernel::call_event(unsigned int id_event, void * argument){
scachat 0:31e91bb0ef3c 94 for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
scachat 0:31e91bb0ef3c 95 (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument);
scachat 0:31e91bb0ef3c 96 }
scachat 0:31e91bb0ef3c 97 }