refactor G4 out of slowtickerinto robot,and to not use pauser. Just drain queue and...
[clinton/Smoothieware.git] / src / libs / SlowTicker.h
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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
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13#include "Module.h"
14
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15using namespace std;
16#include <vector>
ded56b35 17
bf9e8a8f 18#include "libs/Hook.h"
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19#include "libs/Pin.h"
20
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21#include "system_LPC17xx.h" // for SystemCoreClock
22#include <math.h>
23
d9ebc974 24class SlowTicker : public Module{
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25 public:
26 SlowTicker();
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27
28 void on_module_loaded(void);
29 void on_idle(void*);
30
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31 void set_frequency( int frequency );
32 void tick();
33 // For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
62675f96 34 // TODO replace this with std::function()
1fcb3a2a 35 template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
df27a6a3 36 Hook* hook = new Hook();
c8f4ee77 37 hook->interval = floorf((SystemCoreClock/4)/frequency);
ded56b35 38 hook->attach(optr, fptr);
50b9ac30 39 hook->countdown = hook->interval;
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40
41 // to avoid race conditions we must stop the interupts before updating this non thread safe vector
42 __disable_irq();
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43 if( frequency > this->max_frequency ){
44 this->max_frequency = frequency;
50b9ac30 45 this->set_frequency(frequency);
df27a6a3 46 }
ded56b35 47 this->hooks.push_back(hook);
62675f96 48 __enable_irq();
2f7d3dba 49 return hook;
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50 }
51
62675f96 52 private:
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53 bool flag_1s();
54
df27a6a3 55 vector<Hook*> hooks;
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56 uint32_t max_frequency;
57 uint32_t interval;
58
65fe0408 59 Pin ispbtn;
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60protected:
61 int flag_1s_count;
62 volatile int flag_1s_flag;
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63};
64
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68
ded56b35 69#endif