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         void on_gcode_received(void*);
  31         void on_gcode_execute(void*);
  32
  33         void set_frequency( int frequency );
  34         void tick();
  35         // For some reason this can't go in the .cpp, see :  http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
  36         // TODO replace this with std::function()
  37         template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  38             Hook* hook = new Hook();
  39             hook->interval = int(floor((SystemCoreClock/4)/frequency));
  40             hook->attach(optr, fptr);
  41             hook->countdown = hook->interval;
  42
  43             // to avoid race conditions we must stop the interupts before updating this non thread safe vector
  44             __disable_irq();
  45             if( frequency > this->max_frequency ){
  46                 this->max_frequency = frequency;
  47                 this->set_frequency(frequency);
  48             }
  49             this->hooks.push_back(hook);
  50             __enable_irq();
  51             return hook;
  52         }
  53
  54     private:
  55         bool flag_1s();
  56
  57         vector<Hook*> hooks;
  58         uint32_t max_frequency;
  59         uint32_t interval;
  60
  61         uint32_t g4_ticks;
  62         bool     g4_pause;
  63
  64         Pin ispbtn;
  65 protected:
  66     int flag_1s_count;
  67     volatile int flag_1s_flag;
  68 };
  69
  70
  71
  72
  73
  74 #endif