Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

libs/SlowTicker.h@3:f151d08d335c, 2014-03-02 (annotated)

Committer:
Bigcheese
Date:
Sun Mar 02 06:33:08 2014 +0000
Revision:
3:f151d08d335c
Parent:
2:1df0b61d3b5a 
Bunch of stuff. Need to locally merge in updated USB changes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Michael J. Spencer 2:1df0b61d3b5a 1 /*
Michael J. Spencer 2:1df0b61d3b5a 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
Michael J. Spencer 2:1df0b61d3b5a 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.
Michael J. Spencer 2:1df0b61d3b5a 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.
Michael J. Spencer 2:1df0b61d3b5a 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
Michael J. Spencer 2:1df0b61d3b5a 6 */
Michael J. Spencer 2:1df0b61d3b5a 7
Michael J. Spencer 2:1df0b61d3b5a 8
Michael J. Spencer 2:1df0b61d3b5a 9
Michael J. Spencer 2:1df0b61d3b5a 10 #ifndef SLOWTICKER_H
Michael J. Spencer 2:1df0b61d3b5a 11 #define SLOWTICKER_H
Michael J. Spencer 2:1df0b61d3b5a 12
Michael J. Spencer 2:1df0b61d3b5a 13 using namespace std;
Michael J. Spencer 2:1df0b61d3b5a 14 #include <vector>
Michael J. Spencer 2:1df0b61d3b5a 15 #include "libs/nuts_bolts.h"
Michael J. Spencer 2:1df0b61d3b5a 16 #include "libs/Module.h"
Michael J. Spencer 2:1df0b61d3b5a 17 #include "libs/Kernel.h"
Michael J. Spencer 2:1df0b61d3b5a 18 #include "libs/Hook.h"
Michael J. Spencer 2:1df0b61d3b5a 19
Michael J. Spencer 2:1df0b61d3b5a 20 #include "libs/Pin.h"
Michael J. Spencer 2:1df0b61d3b5a 21
Michael J. Spencer 2:1df0b61d3b5a 22 #include <math.h>
Michael J. Spencer 2:1df0b61d3b5a 23
Michael J. Spencer 2:1df0b61d3b5a 24 class SlowTicker : public Module{
Michael J. Spencer 2:1df0b61d3b5a 25 public:
Michael J. Spencer 2:1df0b61d3b5a 26 SlowTicker();
Michael J. Spencer 2:1df0b61d3b5a 27
Michael J. Spencer 2:1df0b61d3b5a 28 void on_module_loaded(void);
Michael J. Spencer 2:1df0b61d3b5a 29 void on_idle(void*);
Michael J. Spencer 2:1df0b61d3b5a 30 void on_gcode_received(void*);
Michael J. Spencer 2:1df0b61d3b5a 31 void on_gcode_execute(void*);
Michael J. Spencer 2:1df0b61d3b5a 32
Michael J. Spencer 2:1df0b61d3b5a 33 void set_frequency( int frequency );
Michael J. Spencer 2:1df0b61d3b5a 34 void tick();
Michael J. Spencer 2:1df0b61d3b5a 35 // For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
Michael J. Spencer 2:1df0b61d3b5a 36 template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
Michael J. Spencer 2:1df0b61d3b5a 37 Hook* hook = new Hook();
Michael J. Spencer 2:1df0b61d3b5a 38 hook->interval = int(floor((SystemCoreClock/4)/frequency));
Michael J. Spencer 2:1df0b61d3b5a 39 hook->attach(optr, fptr);
Michael J. Spencer 2:1df0b61d3b5a 40 hook->countdown = hook->interval;
Michael J. Spencer 2:1df0b61d3b5a 41 if( frequency > this->max_frequency ){
Michael J. Spencer 2:1df0b61d3b5a 42 this->max_frequency = frequency;
Michael J. Spencer 2:1df0b61d3b5a 43 this->set_frequency(frequency);
Michael J. Spencer 2:1df0b61d3b5a 44 }
Michael J. Spencer 2:1df0b61d3b5a 45 this->hooks.push_back(hook);
Michael J. Spencer 2:1df0b61d3b5a 46 return hook;
Michael J. Spencer 2:1df0b61d3b5a 47 }
Michael J. Spencer 2:1df0b61d3b5a 48
Michael J. Spencer 2:1df0b61d3b5a 49 bool flag_1s();
Michael J. Spencer 2:1df0b61d3b5a 50
Michael J. Spencer 2:1df0b61d3b5a 51 vector<Hook*> hooks;
Michael J. Spencer 2:1df0b61d3b5a 52 uint32_t max_frequency;
Michael J. Spencer 2:1df0b61d3b5a 53 uint32_t interval;
Michael J. Spencer 2:1df0b61d3b5a 54
Michael J. Spencer 2:1df0b61d3b5a 55 uint32_t g4_ticks;
Michael J. Spencer 2:1df0b61d3b5a 56 bool g4_pause;
Michael J. Spencer 2:1df0b61d3b5a 57
Michael J. Spencer 2:1df0b61d3b5a 58 Pin ispbtn;
Michael J. Spencer 2:1df0b61d3b5a 59 protected:
Michael J. Spencer 2:1df0b61d3b5a 60 int flag_1s_count;
Michael J. Spencer 2:1df0b61d3b5a 61 volatile int flag_1s_flag;
Bigcheese 3:f151d08d335c 62 Ticker ticker;
Michael J. Spencer 2:1df0b61d3b5a 63 };
Michael J. Spencer 2:1df0b61d3b5a 64
Michael J. Spencer 2:1df0b61d3b5a 65
Michael J. Spencer 2:1df0b61d3b5a 66
Michael J. Spencer 2:1df0b61d3b5a 67
Michael J. Spencer 2:1df0b61d3b5a 68
Michael J. Spencer 2:1df0b61d3b5a 69 #endif