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df27a6a3 | 1 | /* |
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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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
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6 | */ |
7 | ||
8 | ||
9 | ||
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10 | #ifndef SLOWTICKER_H |
11 | #define SLOWTICKER_H | |
12 | ||
13 | using namespace std; | |
14 | #include <vector> | |
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15 | #include "libs/nuts_bolts.h" |
16 | #include "libs/Module.h" | |
17 | #include "libs/Kernel.h" | |
d9ebc974 | 18 | #include "libs/Hook.h" |
ded56b35 | 19 | |
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20 | #include "libs/Pin.h" |
21 | ||
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22 | #include "system_LPC17xx.h" // for SystemCoreClock |
23 | #include <math.h> | |
24 | ||
d9ebc974 | 25 | class SlowTicker : public Module{ |
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26 | public: |
27 | SlowTicker(); | |
28 | void set_frequency( int frequency ); | |
29 | void tick(); | |
30 | // For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221 | |
d55695fb | 31 | template<typename T> Hook* attach( int frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ |
df27a6a3 | 32 | Hook* hook = new Hook(); |
50b9ac30 | 33 | hook->interval = int(floor((SystemCoreClock/4)/frequency)); |
ded56b35 | 34 | hook->attach(optr, fptr); |
50b9ac30 | 35 | hook->countdown = hook->interval; |
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36 | if( frequency > this->max_frequency ){ |
37 | this->max_frequency = frequency; | |
50b9ac30 | 38 | this->set_frequency(frequency); |
df27a6a3 | 39 | } |
ded56b35 | 40 | this->hooks.push_back(hook); |
2f7d3dba | 41 | return hook; |
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42 | } |
43 | ||
df27a6a3 | 44 | vector<Hook*> hooks; |
d55695fb | 45 | int max_frequency; |
50b9ac30 | 46 | int interval; |
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47 | |
48 | Pin ispbtn; | |
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49 | }; |
50 | ||
51 | ||
52 | ||
53 | ||
54 | ||
ded56b35 | 55 | #endif |