StepTicker.cpp

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 using namespace std;
00011 #include <vector>
00012 #include "libs/nuts_bolts.h"
00013 #include "libs/Module.h"
00014 #include "libs/Kernel.h"
00015 #include "StepTicker.h"
00016 #include "system_LPC17xx.h" // mbed.h lib
00017 
00018 
00019 StepTicker* global_step_ticker;
00020 
00021 StepTicker::StepTicker(){
00022     global_step_ticker = this;
00023     LPC_TIM0->MR0 = 1000000;        // Initial dummy value for Match Register
00024     LPC_TIM0->MCR = 11;              // Match on MR0, reset on MR0, match on MR1
00025     LPC_TIM0->TCR = 1;              // Enable interrupt
00026     NVIC_EnableIRQ(TIMER0_IRQn);    // Enable interrupt handler
00027 }
00028 
00029 void StepTicker::set_frequency( double frequency ){
00030     this->frequency = frequency;
00031     LPC_TIM0->MR0 = int(floor((SystemCoreClock/4)/frequency));  // SystemCoreClock/4 = Timer increments in a second
00032     if( LPC_TIM0->TC > LPC_TIM0->MR0 ){
00033         LPC_TIM0->TCR = 3;  // Reset
00034         LPC_TIM0->TCR = 1;  // Reset
00035     }
00036 }
00037 
00038 void StepTicker::set_reset_delay( double seconds ){
00039     LPC_TIM0->MR1 = int(floor(double(SystemCoreClock/4)*( seconds )));  // SystemCoreClock/4 = Timer increments in a second
00040 }
00041 
00042 void StepTicker::tick(){
00043     for (int i=0; i<this->hooks.size(); i++){ 
00044         this->hooks.at(i)->call();
00045     }
00046 }
00047 
00048 void StepTicker::reset_tick(){
00049     for (int i=0; i<this->reset_hooks.size(); i++){ 
00050         this->reset_hooks.at(i)->call();
00051     }
00052 }
00053 
00054 extern "C" void TIMER0_IRQHandler (void){
00055     if((LPC_TIM0->IR >> 0) & 1){  // If interrupt register set for MR0
00056         LPC_TIM0->IR |= 1 << 0;   // Reset it 
00057         global_step_ticker->tick(); 
00058     }
00059     if((LPC_TIM0->IR >> 1) & 1){  // If interrupt register set for MR1
00060         LPC_TIM0->IR |= 1 << 1;   // Reset it
00061         global_step_ticker->reset_tick();
00062     }
00063 }
00064 
00065