Merge pull request #1307 from wolfmanjm/upstreamedge

[clinton/Smoothieware.git] / src / libs / StepTicker.h

diff --git a/src/libs/StepTicker.h b/src/libs/StepTicker.h
index bf695fd..6b9cf62 100644 (file)
--- a/src/libs/StepTicker.h
+++ b/src/libs/StepTicker.h
@@ -7,56 +7,59 @@
 
 
 
-#ifndef STEPTICKER_H
-#define STEPTICKER_H
+#pragma once
 
 #include <stdint.h>
-#include <vector>
+#include <array>
 #include <bitset>
 #include <functional>
 #include <atomic>
 
+#include "ActuatorCoordinates.h"
+#include "TSRingBuffer.h"
+
 class StepperMotor;
+class Block;
+
+// handle 2.62 Fixed point
+#define STEPTICKER_FPSCALE (1LL<<62)
+#define STEPTICKER_FROMFP(x) ((float)(x)/STEPTICKER_FPSCALE)
 
 class StepTicker{
     public:
-        friend class StepperMotor;
-        static StepTicker* global_step_ticker;
-
         StepTicker();
         ~StepTicker();
         void set_frequency( float frequency );
-        void signal_a_move_finished();
-        void set_reset_delay( float seconds );
+        void set_unstep_time( float microseconds );
         int register_motor(StepperMotor* motor);
-        void add_motor_to_active_list(StepperMotor* motor);
-        void remove_motor_from_active_list(StepperMotor* motor);
-        void set_acceleration_ticks_per_second(uint32_t acceleration_ticks_per_second);
+        float get_frequency() const { return frequency; }
+        void unstep_tick();
+        const Block *get_current_block() const { return current_block; }
 
-        void reset_tick();
-        void TIMER0_IRQHandler (void);
-        void PendSV_IRQHandler (void);
+        void step_tick (void);
+        void handle_finish (void);
+        void start();
 
-        void register_acceleration_tick_handler(std::function<void(void)> cb){
-            acceleration_tick_handlers.push_back(cb);
-        }
+        // whatever setup the block should register this to know when it is done
+        std::function<void()> finished_fnc{nullptr};
+
+        static StepTicker *getInstance() { return instance; }
 
     private:
+        static StepTicker *instance;
+
+        bool start_next_block();
+
         float frequency;
-        uint32_t delay;
         uint32_t period;
-        uint32_t acceleration_tick_period;
-        uint32_t acceleration_tick_cnt;
-        std::vector<std::function<void(void)>> acceleration_tick_handlers;
-        std::vector<StepperMotor*> motor;
-        std::bitset<32> active_motor; // limit to 32 motors
-        std::atomic_uchar do_move_finished;
-        uint8_t num_motors:5;
-        volatile bool a_move_finished;
-        volatile bool do_acceleration_tick;
-        volatile bool reset_step_pins;
-};
+        std::array<StepperMotor*, k_max_actuators> motor;
+        std::bitset<k_max_actuators> unstep;
 
+        Block *current_block;
+        uint32_t current_tick{0};
 
-
-#endif
+        struct {
+            volatile bool running:1;
+            uint8_t num_motors:4;
+        };
+};