Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
libs/SlowTicker.cpp@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 | using namespace std; |
scachat | 0:31e91bb0ef3c | 9 | #include <vector> |
scachat | 0:31e91bb0ef3c | 10 | #include "libs/nuts_bolts.h" |
scachat | 0:31e91bb0ef3c | 11 | #include "libs/Module.h" |
scachat | 0:31e91bb0ef3c | 12 | #include "libs/Kernel.h" |
scachat | 0:31e91bb0ef3c | 13 | #include "SlowTicker.h" |
scachat | 0:31e91bb0ef3c | 14 | #include "libs/Hook.h" |
scachat | 0:31e91bb0ef3c | 15 | #include "system_LPC17xx.h" // mbed.h lib |
scachat | 0:31e91bb0ef3c | 16 | |
scachat | 0:31e91bb0ef3c | 17 | |
scachat | 0:31e91bb0ef3c | 18 | SlowTicker* global_slow_ticker; |
scachat | 0:31e91bb0ef3c | 19 | |
scachat | 0:31e91bb0ef3c | 20 | SlowTicker::SlowTicker(){ |
scachat | 0:31e91bb0ef3c | 21 | this->max_frequency = 1; |
scachat | 0:31e91bb0ef3c | 22 | global_slow_ticker = this; |
scachat | 0:31e91bb0ef3c | 23 | LPC_SC->PCONP |= (1 << 22); // Power Ticker ON |
scachat | 0:31e91bb0ef3c | 24 | LPC_TIM2->MR0 = 10000; // Initial dummy value for Match Register |
scachat | 0:31e91bb0ef3c | 25 | LPC_TIM2->MCR = 3; // Match on MR0, reset on MR0 |
scachat | 0:31e91bb0ef3c | 26 | LPC_TIM2->TCR = 1; // Enable interrupt |
scachat | 0:31e91bb0ef3c | 27 | NVIC_EnableIRQ(TIMER2_IRQn); // Enable interrupt handler |
scachat | 0:31e91bb0ef3c | 28 | } |
scachat | 0:31e91bb0ef3c | 29 | |
scachat | 0:31e91bb0ef3c | 30 | void SlowTicker::set_frequency( int frequency ){ |
scachat | 0:31e91bb0ef3c | 31 | LPC_TIM2->MR0 = (SystemCoreClock/4)/frequency; // SystemCoreClock/4 = Timer increments in a second |
scachat | 0:31e91bb0ef3c | 32 | LPC_TIM2->TCR = 3; // Reset |
scachat | 0:31e91bb0ef3c | 33 | LPC_TIM2->TCR = 1; // Reset |
scachat | 0:31e91bb0ef3c | 34 | } |
scachat | 0:31e91bb0ef3c | 35 | |
scachat | 0:31e91bb0ef3c | 36 | void SlowTicker::tick(){ |
scachat | 0:31e91bb0ef3c | 37 | for (int i=0; i<this->hooks.size(); i++){ |
scachat | 0:31e91bb0ef3c | 38 | Hook* hook = this->hooks.at(i); |
scachat | 0:31e91bb0ef3c | 39 | hook->counter += ( hook->frequency / this->max_frequency ); |
scachat | 0:31e91bb0ef3c | 40 | if( hook->counter > 0 ){ |
scachat | 0:31e91bb0ef3c | 41 | hook->counter-=1; |
scachat | 0:31e91bb0ef3c | 42 | hook->call(); |
scachat | 0:31e91bb0ef3c | 43 | } |
scachat | 0:31e91bb0ef3c | 44 | } |
scachat | 0:31e91bb0ef3c | 45 | } |
scachat | 0:31e91bb0ef3c | 46 | |
scachat | 0:31e91bb0ef3c | 47 | extern "C" void TIMER2_IRQHandler (void){ |
scachat | 0:31e91bb0ef3c | 48 | if((LPC_TIM2->IR >> 0) & 1){ // If interrupt register set for MR0 |
scachat | 0:31e91bb0ef3c | 49 | LPC_TIM2->IR |= 1 << 0; // Reset it |
scachat | 0:31e91bb0ef3c | 50 | global_slow_ticker->tick(); |
scachat | 0:31e91bb0ef3c | 51 | } |
scachat | 0:31e91bb0ef3c | 52 | } |
scachat | 0:31e91bb0ef3c | 53 |