src/libs/SlowTicker.cpp

   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 using namespace std;
   9 #include <vector>
  10 #include "libs/nuts_bolts.h"
  11 #include "libs/Module.h"
  12 #include "libs/Kernel.h"
  13 #include "SlowTicker.h"
  14 #include "libs/Hook.h"
  15
  16 #include <mri.h>
  17
  18 SlowTicker* global_slow_ticker;
  19
  20 SlowTicker::SlowTicker(){
  21     this->max_frequency = 0;
  22     global_slow_ticker = this;
  23     LPC_SC->PCONP |= (1 << 22);     // Power Ticker ON
  24     LPC_TIM2->MR0 = 10000;        // Initial dummy value for Match Register
  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
  28
  29     ispbtn.from_string("2.10")->as_input()->pull_up();
  30
  31     flag_1s_flag = 0;
  32     flag_1s_count = SystemCoreClock;
  33 }
  34
  35 void SlowTicker::on_module_loaded()
  36 {
  37     register_for_event(ON_IDLE);
  38 }
  39
  40 void SlowTicker::set_frequency( int frequency ){
  41     this->interval = int(floor((SystemCoreClock >> 2)/frequency));   // SystemCoreClock/4 = Timer increments in a second
  42     LPC_TIM2->MR0 = this->interval;
  43     LPC_TIM2->TCR = 3;  // Reset
  44     LPC_TIM2->TCR = 1;  // Reset
  45 }
  46
  47 void SlowTicker::tick()
  48 {
  49     _isr_context = true;
  50
  51     LPC_GPIO1->FIODIR |= 1<<20;
  52     LPC_GPIO1->FIOSET = 1<<20;
  53
  54     for (unsigned int i=0; i<this->hooks.size(); i++){
  55         Hook* hook = this->hooks.at(i);
  56         hook->countdown -= this->interval;
  57         if (hook->countdown < 0)
  58         {
  59             hook->countdown += hook->interval;
  60             hook->call();
  61         }
  62     }
  63
  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
  71     LPC_GPIO1->FIOCLR = 1<<20;
  72
  73     if (ispbtn.get() == 0)
  74         __debugbreak();
  75
  76     _isr_context = false;
  77 }
  78
  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
  91 void SlowTicker::on_idle(void*)
  92 {
  93     if (flag_1s())
  94         kernel->call_event(ON_SECOND_TICK);
  95 }
  96
  97 extern "C" void TIMER2_IRQHandler (void){
  98     if((LPC_TIM2->IR >> 0) & 1){  // If interrupt register set for MR0
  99         LPC_TIM2->IR |= 1 << 0;   // Reset it
 100     }
 101     global_slow_ticker->tick();
 102 }
 103