SlowTicker.h

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 
00009 
00010 #ifndef SLOWTICKER_H
00011 #define SLOWTICKER_H
00012 
00013 using namespace std;
00014 #include <vector>
00015 #include "libs/nuts_bolts.h"
00016 #include "libs/Module.h"
00017 #include "libs/Kernel.h"
00018 #include "libs/Hook.h"
00019 
00020 #include "libs/Pin.h"
00021 
00022 #include <math.h>
00023 
00024 class SlowTicker : public Module{
00025     public:
00026         SlowTicker();
00027 
00028         void on_module_loaded(void);
00029         void on_idle(void*);
00030         void on_gcode_received(void*);
00031         void on_gcode_execute(void*);
00032 
00033         void set_frequency( int frequency );
00034         void tick();
00035         // For some reason this can't go in the .cpp, see :  http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
00036         template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
00037             Hook* hook = new Hook();
00038             hook->interval = int(floor((SystemCoreClock/4)/frequency));
00039             hook->attach(optr, fptr);
00040             hook->countdown = hook->interval;
00041             if( frequency > this->max_frequency ){
00042                 this->max_frequency = frequency;
00043                 this->set_frequency(frequency);
00044             }
00045             this->hooks.push_back(hook);
00046             return hook;
00047         }
00048 
00049         bool flag_1s();
00050 
00051         vector<Hook*> hooks;
00052         uint32_t max_frequency;
00053         uint32_t interval;
00054 
00055         uint32_t g4_ticks;
00056         bool     g4_pause;
00057 
00058         Pin ispbtn;
00059 protected:
00060     int flag_1s_count;
00061     volatile int flag_1s_flag;
00062     Ticker ticker;
00063 };
00064 
00065 
00066 
00067 
00068 
00069 #endif