Commit | Line | Data |
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df27a6a3 | 1 | /* |
cd011f58 AW |
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/>. |
cd011f58 AW |
6 | */ |
7 | ||
ded56b35 AW |
8 | using namespace std; |
9 | #include <vector> | |
ded56b35 AW |
10 | #include "libs/nuts_bolts.h" |
11 | #include "libs/Module.h" | |
12 | #include "libs/Kernel.h" | |
13 | #include "SlowTicker.h" | |
d9ebc974 | 14 | #include "libs/Hook.h" |
ded56b35 | 15 | |
65fe0408 | 16 | #include <mri.h> |
ded56b35 AW |
17 | |
18 | SlowTicker* global_slow_ticker; | |
19 | ||
20 | SlowTicker::SlowTicker(){ | |
50b9ac30 | 21 | this->max_frequency = 0; |
ded56b35 | 22 | global_slow_ticker = this; |
7dd8133c | 23 | LPC_SC->PCONP |= (1 << 22); // Power Ticker ON |
d9ebc974 | 24 | LPC_TIM2->MR0 = 10000; // Initial dummy value for Match Register |
7dd8133c AW |
25 | LPC_TIM2->MCR = 3; // Match on MR0, reset on MR0 |
26 | LPC_TIM2->TCR = 1; // Enable interrupt | |
27 | NVIC_EnableIRQ(TIMER2_IRQn); // Enable interrupt handler | |
65fe0408 MM |
28 | |
29 | ispbtn.from_string("2.10")->as_input()->pull_up(); | |
ab2a4410 MM |
30 | |
31 | flag_1s_flag = 0; | |
32 | flag_1s_count = SystemCoreClock; | |
ded56b35 AW |
33 | } |
34 | ||
4df07f88 MM |
35 | void SlowTicker::on_module_loaded() |
36 | { | |
37 | register_for_event(ON_IDLE); | |
38 | } | |
39 | ||
ded56b35 | 40 | void SlowTicker::set_frequency( int frequency ){ |
ab2a4410 | 41 | this->interval = int(floor((SystemCoreClock >> 2)/frequency)); // SystemCoreClock/4 = Timer increments in a second |
50b9ac30 | 42 | LPC_TIM2->MR0 = this->interval; |
7dd8133c AW |
43 | LPC_TIM2->TCR = 3; // Reset |
44 | LPC_TIM2->TCR = 1; // Reset | |
ded56b35 AW |
45 | } |
46 | ||
ab2a4410 MM |
47 | void SlowTicker::tick() |
48 | { | |
4df07f88 MM |
49 | _isr_context = true; |
50 | ||
2f7d3dba AW |
51 | LPC_GPIO1->FIODIR |= 1<<20; |
52 | LPC_GPIO1->FIOSET = 1<<20; | |
53 | ||
df27a6a3 | 54 | for (unsigned int i=0; i<this->hooks.size(); i++){ |
d9ebc974 | 55 | Hook* hook = this->hooks.at(i); |
50b9ac30 MM |
56 | hook->countdown -= this->interval; |
57 | if (hook->countdown < 0) | |
58 | { | |
59 | hook->countdown += hook->interval; | |
d9ebc974 | 60 | hook->call(); |
df27a6a3 | 61 | } |
ded56b35 | 62 | } |
2f7d3dba | 63 | |
ab2a4410 MM |
64 | flag_1s_count -= this->interval; |
65 | if (flag_1s_count < 0) | |
66 | { | |
67 | flag_1s_count += SystemCoreClock >> 2; | |
68 | flag_1s_flag++; | |
69 | } | |
70 | ||
2f7d3dba AW |
71 | LPC_GPIO1->FIOCLR = 1<<20; |
72 | ||
65fe0408 MM |
73 | if (ispbtn.get() == 0) |
74 | __debugbreak(); | |
4df07f88 MM |
75 | |
76 | _isr_context = false; | |
ded56b35 AW |
77 | } |
78 | ||
ab2a4410 MM |
79 | bool SlowTicker::flag_1s(){ |
80 | __disable_irq(); | |
81 | if (flag_1s_flag) | |
82 | { | |
83 | flag_1s_flag--; | |
84 | __enable_irq(); | |
85 | return true; | |
86 | } | |
87 | __enable_irq(); | |
88 | return false; | |
89 | } | |
90 | ||
4df07f88 MM |
91 | void SlowTicker::on_idle(void*) |
92 | { | |
93 | if (flag_1s()) | |
94 | kernel->call_event(ON_SECOND_TICK); | |
95 | } | |
96 | ||
ded56b35 | 97 | extern "C" void TIMER2_IRQHandler (void){ |
7dd8133c | 98 | if((LPC_TIM2->IR >> 0) & 1){ // If interrupt register set for MR0 |
df27a6a3 | 99 | LPC_TIM2->IR |= 1 << 0; // Reset it |
ded56b35 | 100 | } |
df27a6a3 | 101 | global_slow_ticker->tick(); |
ded56b35 AW |
102 | } |
103 |