Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
Diff: libs/SlowTicker.cpp
- Revision:
- 2:1df0b61d3b5a
- Parent:
- 0:31e91bb0ef3c
- Child:
- 3:f151d08d335c
diff -r ab59fc9af055 -r 1df0b61d3b5a libs/SlowTicker.cpp --- a/libs/SlowTicker.cpp Sat Mar 01 02:37:29 2014 +0000 +++ b/libs/SlowTicker.cpp Fri Feb 28 18:52:52 2014 -0800 @@ -1,8 +1,8 @@ -/* +/* 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/>. + 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; @@ -12,42 +12,179 @@ #include "libs/Kernel.h" #include "SlowTicker.h" #include "libs/Hook.h" -#include "system_LPC17xx.h" // mbed.h lib +#include "modules/robot/Conveyor.h" +#include <mri.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(){ - this->max_frequency = 1; + max_frequency = 0; global_slow_ticker = this; + + // Configure the actual timer LPC_SC->PCONP |= (1 << 22); // Power Ticker ON - LPC_TIM2->MR0 = 10000; // Initial dummy value for Match Register + LPC_TIM2->MR0 = 10000; // Initial dummy value for Match Register LPC_TIM2->MCR = 3; // Match on MR0, reset on MR0 LPC_TIM2->TCR = 1; // Enable interrupt NVIC_EnableIRQ(TIMER2_IRQn); // Enable interrupt handler + + // ISP button + ispbtn.from_string("2.10")->as_input()->pull_up(); + + // 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 + LPC_TIM2->MR0 = this->interval; + LPC_TIM2->TCR = 3; // Reset + LPC_TIM2->TCR = 1; // Reset + flag_1s_count= SystemCoreClock>>2; } -void SlowTicker::set_frequency( int frequency ){ - LPC_TIM2->MR0 = (SystemCoreClock/4)/frequency; // SystemCoreClock/4 = Timer increments in a second - LPC_TIM2->TCR = 3; // Reset - LPC_TIM2->TCR = 1; // Reset +// 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; + } + + // Enter MRI mode if the ISP button is pressed + // TODO: This should have it's own module + if (ispbtn.get() == 0) + __debugbreak(); + } -void SlowTicker::tick(){ - for (int i=0; i<this->hooks.size(); i++){ - Hook* hook = this->hooks.at(i); - hook->counter += ( hook->frequency / this->max_frequency ); - if( hook->counter > 0 ){ - hook->counter-=1; - hook->call(); - } +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){ if((LPC_TIM2->IR >> 0) & 1){ // If interrupt register set for MR0 - LPC_TIM2->IR |= 1 << 0; // Reset it - global_slow_ticker->tick(); + LPC_TIM2->IR |= 1 << 0; // Reset it } + global_slow_ticker->tick(); }