src/libs/StepTicker.h

   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
  10 #ifndef STEPTICKER_H
  11 #define STEPTICKER_H
  12
  13 #include <stdint.h>
  14 #include <vector>
  15 #include <bitset>
  16 #include <functional>
  17
  18 class StepperMotor;
  19
  20 class StepTicker{
  21     public:
  22         friend class StepperMotor;
  23         static StepTicker* global_step_ticker;
  24
  25         StepTicker();
  26         ~StepTicker();
  27         void set_frequency( float frequency );
  28         void signal_a_move_finished();
  29         void set_reset_delay( float seconds );
  30         int register_motor(StepperMotor* motor);
  31         void add_motor_to_active_list(StepperMotor* motor);
  32         void remove_motor_from_active_list(StepperMotor* motor);
  33         void set_acceleration_ticks_per_second(uint32_t acceleration_ticks_per_second);
  34
  35         void reset_tick();
  36         void TIMER0_IRQHandler (void);
  37         void PendSV_IRQHandler (void);
  38
  39         void register_acceleration_tick_handler(std::function<void(void)> cb){
  40             acceleration_tick_handlers.push_back(cb);
  41         }
  42
  43     private:
  44         float frequency;
  45         uint32_t delay;
  46         uint32_t period;
  47         uint32_t last_duration;
  48         uint32_t acceleration_tick_period;
  49         uint32_t acceleration_tick_cnt;
  50         std::vector<std::function<void(void)>> acceleration_tick_handlers;
  51         std::vector<StepperMotor*> motor;
  52         std::bitset<32> active_motor; // limit to 32 motors
  53         struct {
  54             uint8_t num_motors:5;
  55             volatile bool a_move_finished:1;
  56             volatile bool pending_sv:1;
  57             volatile bool do_acceleration_tick:1;
  58             bool reset_step_pins:1;
  59         };
  60
  61 };
  62
  63
  64
  65 #endif