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 #include <atomic>
  18
  19 class StepperMotor;
  20
  21 class StepTicker{
  22     public:
  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         float get_frequency() const { return frequency; }
  35         void unstep_tick();
  36         uint32_t get_tick_cnt() const { return tick_cnt; }
  37         uint32_t ticks_since(uint32_t last) const { return (tick_cnt>=last) ? tick_cnt-last : (UINT32_MAX-last) + tick_cnt + 1; }
  38
  39         void TIMER0_IRQHandler (void);
  40         void PendSV_IRQHandler (void);
  41         void register_acceleration_tick_handler(std::function<void(void)> cb){
  42             acceleration_tick_handlers.push_back(cb);
  43         }
  44         void acceleration_tick();
  45         void synchronize_acceleration(bool fire_now);
  46
  47         void start();
  48
  49         friend class StepperMotor;
  50
  51     private:
  52         float frequency;
  53         uint32_t period;
  54         volatile uint32_t tick_cnt;
  55         std::vector<std::function<void(void)>> acceleration_tick_handlers;
  56         std::vector<StepperMotor*> motor;
  57         std::bitset<32> active_motor; // limit to 32 motors
  58         std::bitset<32> unstep;       // limit to 32 motors
  59         std::atomic_uchar do_move_finished;
  60         uint8_t num_motors;
  61         volatile bool a_move_finished;
  62 };
  63
  64
  65
  66 #endif