Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
libs/SlowTicker.cpp
- Committer:
- Bigcheese
- Date:
- 2014-03-02
- Revision:
- 3:f151d08d335c
- Parent:
- 2:1df0b61d3b5a
File content as of revision 3:f151d08d335c:
/* 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/>. */ using namespace std; #include <vector> #include "libs/nuts_bolts.h" #include "libs/Module.h" #include "libs/Kernel.h" #include "SlowTicker.h" #include "libs/Hook.h" #include "modules/robot/Conveyor.h" // This module uses a Timer to periodically call hooks // Modules register with a function ( callback ) and a frequency, and we then call that function at the given frequency. SlowTicker* global_slow_ticker; SlowTicker::SlowTicker(){ max_frequency = 0; global_slow_ticker = this; // TODO: What is this ?? flag_1s_flag = 0; flag_1s_count = SystemCoreClock>>2; g4_ticks = 0; g4_pause = false; } void SlowTicker::on_module_loaded(){ register_for_event(ON_IDLE); register_for_event(ON_GCODE_RECEIVED); register_for_event(ON_GCODE_EXECUTE); } // Set the base frequency we use for all sub-frequencies void SlowTicker::set_frequency( int frequency ){ this->interval = (SystemCoreClock >> 2) / frequency; // SystemCoreClock/4 = Timer increments in a second flag_1s_count= SystemCoreClock>>2; } // The actual interrupt being called by the timer, this is where work is done void SlowTicker::tick(){ // Call all hooks that need to be called ( bresenham ) for (uint32_t i=0; i<this->hooks.size(); i++){ Hook* hook = this->hooks.at(i); hook->countdown -= this->interval; if (hook->countdown < 0) { hook->countdown += hook->interval; hook->call(); } } // deduct tick time from secound counter flag_1s_count -= this->interval; // if a whole second has elapsed, if (flag_1s_count < 0) { // add a second to our counter flag_1s_count += SystemCoreClock >> 2; // and set a flag for idle event to pick up flag_1s_flag++; } // if we're counting down a pause if (g4_ticks > 0) { // deduct tick time from timeout if (g4_ticks > interval) g4_ticks -= interval; else g4_ticks = 0; } } bool SlowTicker::flag_1s(){ // atomic flag check routine // first disable interrupts __disable_irq(); // then check for a flag if (flag_1s_flag) { // if we have a flag, decrement the counter flag_1s_flag--; // re-enable interrupts __enable_irq(); // and tell caller that we consumed a flag return true; } // if no flag, re-enable interrupts and return false __enable_irq(); return false; } #include "gpio.h" extern GPIO leds[]; void SlowTicker::on_idle(void*) { static uint16_t ledcnt= 0; if(THEKERNEL->use_leds) { // flash led 3 to show we are alive leds[2]= (ledcnt++ & 0x1000) ? 1 : 0; } // if interrupt has set the 1 second flag if (flag_1s()) // fire the on_second_tick event THEKERNEL->call_event(ON_SECOND_TICK); // if G4 has finished, release our pause if (g4_pause && (g4_ticks == 0)) { g4_pause = false; THEKERNEL->pauser->release(); } } // When a G4-type gcode is received, add it to the queue so we can execute it in time void SlowTicker::on_gcode_received(void* argument){ Gcode* gcode = static_cast<Gcode*>(argument); // Add the gcode to the queue ourselves if we need it if( gcode->has_g && gcode->g == 4 ){ THEKERNEL->conveyor->append_gcode(gcode); // ensure that no subsequent gcodes get executed along with our G4 THEKERNEL->conveyor->queue_head_block(); } } // When a G4-type gcode is executed, start the pause void SlowTicker::on_gcode_execute(void* argument){ Gcode* gcode = static_cast<Gcode*>(argument); if (gcode->has_g){ if (gcode->g == 4){ gcode->mark_as_taken(); bool updated = false; if (gcode->has_letter('P')) { updated = true; g4_ticks += gcode->get_int('P') * ((SystemCoreClock >> 2) / 1000UL); } if (gcode->has_letter('S')) { updated = true; g4_ticks += gcode->get_int('S') * (SystemCoreClock >> 2); } if (updated){ // G4 Smm Pnn should pause for mm seconds + nn milliseconds // at 120MHz core clock, the longest possible delay is (2^32 / (120MHz / 4)) = 143 seconds if (!g4_pause){ g4_pause = true; THEKERNEL->pauser->take(); } } } } } extern "C" void TIMER2_IRQHandler (void){ global_slow_ticker->tick(); }