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cd011f58 AW |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
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. | |
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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | ||
9 | ||
ded56b35 AW |
10 | #ifndef SLOWTICKER_H |
11 | #define SLOWTICKER_H | |
12 | ||
13 | using namespace std; | |
14 | #include <vector> | |
ded56b35 AW |
15 | #include "libs/nuts_bolts.h" |
16 | #include "libs/Module.h" | |
17 | #include "libs/Kernel.h" | |
d9ebc974 | 18 | #include "libs/Hook.h" |
ded56b35 | 19 | |
d9ebc974 | 20 | class SlowTicker : public Module{ |
ded56b35 AW |
21 | public: |
22 | SlowTicker(); | |
23 | void set_frequency( int frequency ); | |
24 | void tick(); | |
25 | // For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221 | |
2f7d3dba | 26 | template<typename T> Hook* attach( double frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ |
d9ebc974 AW |
27 | Hook* hook = new Hook(); |
28 | hook->frequency = frequency; | |
ded56b35 | 29 | hook->attach(optr, fptr); |
813727fb | 30 | hook->counter = -1.5; |
d9ebc974 AW |
31 | if( frequency > this->max_frequency ){ |
32 | this->max_frequency = frequency; | |
33 | } | |
34 | this->set_frequency(this->max_frequency); | |
ded56b35 | 35 | this->hooks.push_back(hook); |
2f7d3dba | 36 | return hook; |
ded56b35 AW |
37 | } |
38 | ||
d9ebc974 AW |
39 | vector<Hook*> hooks; |
40 | double max_frequency; | |
ded56b35 AW |
41 | }; |
42 | ||
43 | ||
44 | ||
45 | ||
46 | ||
ded56b35 | 47 | #endif |