src/libs/SlowTicker.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 SLOWTICKER_H
  11 #define SLOWTICKER_H
  12
  13 #include "Module.h"
  14
  15 using namespace std;
  16 #include <vector>
  17
  18 #include "libs/Hook.h"
  19 #include "libs/Pin.h"
  20
  21 #include "system_LPC17xx.h" // for SystemCoreClock
  22 #include <math.h>
  23
  24 class SlowTicker : public Module{
  25     public:
  26         SlowTicker();
  27
  28         void on_module_loaded(void);
  29         void on_idle(void*);
  30
  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
  34         // TODO replace this with std::function()
  35         template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  36             Hook* hook = new Hook();
  37             hook->interval = floorf((SystemCoreClock/4)/frequency);
  38             hook->attach(optr, fptr);
  39             hook->countdown = hook->interval;
  40
  41             // to avoid race conditions we must stop the interupts before updating this non thread safe vector
  42             __disable_irq();
  43             if( frequency > this->max_frequency ){
  44                 this->max_frequency = frequency;
  45                 this->set_frequency(frequency);
  46             }
  47             this->hooks.push_back(hook);
  48             __enable_irq();
  49             return hook;
  50         }
  51
  52     private:
  53         bool flag_1s();
  54
  55         vector<Hook*> hooks;
  56         uint32_t max_frequency;
  57         uint32_t interval;
  58
  59         Pin ispbtn;
  60 protected:
  61     int flag_1s_count;
  62     volatile int flag_1s_flag;
  63 };
  64
  65
  66
  67
  68
  69 #endif