attachement.
--- /dev/null
+/*
+Copyright (c) 2011 Andy Kirkham
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#ifndef AJK_FPOINTER_H
+#define AJK_FPOINTER_H
+#ifndef NULL
+#define NULL 0
+#endif
+namespace AjK {
+
+class FPointerDummy;
+
+/** FPointer - Adds callbacks that take and return a 32bit uint32_t data type.
+*
+* The Mbed library supplies a callback using the FunctionPointer object as
+* defined in FunctionPointer.h However, this callback system does not allow
+* the caller to pass a value to the callback. Likewise, the callback itself
+* cannot return a value.
+*
+* FPointer operates in the same way but allows the callback function to be
+* passed one arg, a uint32_t value. Additionally, the callback can return
+* a single uint32_t value. The reason for using uint32_t is that the Mbed
+* and the microcontroller (LPC1768) have a natural data size of 32bits and
+* this means we can use the uint32_t as a pointer. See example1.h for more
+* information. This example passes an "int" by passing a pointer to that
+* int as a 32bit value. Using this technique you can pass any value you like.
+* All you have to do is pass a pointer to your value cast to (uint32_t). Your
+* callback can the deference it to get the original value.
+*
+* example2.h shows how to do the same thing but demostrates how to specify
+* the callback into a class object/method.
+*
+* Finally, example3.h shows how to pass multiple values. In this example we
+* define a data structure and in the callback we pass a pointer to that
+* data structure thus allowing the callback to again get the values.
+*
+* Note, when passing pointers to variables to the callback, if the callback
+* function/method changes that variable's value then it will also change the
+* value the caller sees. If C pointers are new to you, you are strongly
+* advised to read up on the subject. It's pointers that often get beginners
+* into trouble when mis-used.
+*
+* @see example1.h
+* @see example2.h
+* @see example3.h
+* @see http://mbed.org/handbook/C-Data-Types
+* @see http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h
+*/
+class FPointer {
+
+protected:
+
+ //! C callback function pointer.
+ uint32_t (*c_callback)(uint32_t);
+
+ //! C++ callback object/method pointer (the object part).
+ FPointerDummy *obj_callback;
+
+ //! C++ callback object/method pointer (the method part).
+ uint32_t (FPointerDummy::*method_callback)(uint32_t);
+
+public:
+
+ /** Constructor
+*/
+ FPointer() {
+ c_callback = NULL;
+ obj_callback = NULL;
+ method_callback = NULL;
+ }
+
+ /** attach - Overloaded attachment function.
+*
+* Attach a C type function pointer as the callback.
+*
+* Note, the callback function prototype must be:-
+* @code
+* uint32_t myCallbackFunction(uint32_t);
+* @endcode
+* @param A C function pointer to call.
+*/
+ void attach(uint32_t (*function)(uint32_t) = 0) { c_callback = function; }
+
+ /** attach - Overloaded attachment function.
+*
+* Attach a C++ type object/method pointer as the callback.
+*
+* Note, the callback method prototype must be:-
+* @code
+* public:
+* uint32_t myCallbackFunction(uint32_t);
+* @endcode
+* @param A C++ object pointer.
+* @param A C++ method within the object to call.
+*/
+ template<class T>
+ void attach(T* item, uint32_t (T::*method)(uint32_t)) {
+ obj_callback = (FPointerDummy *)item;
+ method_callback = (uint32_t (FPointerDummy::*)(uint32_t))method;
+ }
+
+ /** call - Overloaded callback initiator.
+*
+* call the callback function.
+*
+* @param uint32_t The value to pass to the callback.
+* @return uint32_t The value the callback returns.
+*/
+ uint32_t call(uint32_t arg) {
+ if (c_callback != NULL) {
+ return (*c_callback)(arg);
+ }
+ else {
+ if (obj_callback != NULL && method_callback != NULL) {
+ return (obj_callback->*method_callback)(arg);
+ }
+ }
+ return (uint32_t)NULL;
+ }
+
+ /** call - Overloaded callback initiator.
+*
+* Call the callback function without passing an argument.
+* The callback itself is passed NULL. Note, the callback
+* prototype should still be <b>uint32_t callback(uint32_t)</b>.
+*
+* @return uint32_t The value the callback returns.
+*/
+ uint32_t call(void) {
+ if (c_callback != NULL) {
+ return (*c_callback)((uint32_t)NULL);
+ }
+ else {
+ if (obj_callback != NULL && method_callback != NULL) {
+ return (obj_callback->*method_callback)((uint32_t)NULL);
+ }
+ }
+ return (uint32_t)NULL;
+ }
+};
+
+}; // namespace AjK ends
+
+using namespace AjK;
+
+#endif
+extern "C"{
+ #include <stdint.h>
+}
#include "Hook.h"
Hook::Hook(){}
#ifndef HOOK_H
#define HOOK_H
+#include "libs/FPointer.h"
-#include "mbed.h"
-// TODO : switch to Fpointer
-class Hook : public FunctionPointer {
+class Hook : public FPointer {
public:
Hook();
double frequency;
void set_frequency( int frequency );
void tick();
// For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
- template<typename T> void attach( double frequency, T *optr, void ( T::*fptr )( void ) ){
+ template<typename T> void attach( double frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
Hook* hook = new Hook();
hook->frequency = frequency;
hook->attach(optr, fptr);
void reset_tick();
// For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
- template<typename T> void attach( T *optr, void ( T::*fptr )( void ) ){
- FunctionPointer* hook = new FunctionPointer();
+ template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
+ FPointer* hook = new FPointer();
hook->attach(optr, fptr);
this->hooks.push_back(hook);
}
- template<typename T> void reset_attach( T *optr, void ( T::*fptr )( void ) ){
- FunctionPointer* reset_hook = new FunctionPointer();
+ template<typename T> void reset_attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
+ FPointer* reset_hook = new FPointer();
reset_hook->attach(optr, fptr);
this->reset_hooks.push_back(reset_hook);
}
- vector<FunctionPointer*> hooks;
- vector<FunctionPointer*> reset_hooks;
+ vector<FPointer*> hooks;
+ vector<FPointer*> reset_hooks;
double frequency;
};
#include "Gcode.h"
#include "libs/StreamOutput.h"
-
#include <stdlib.h>
+
Gcode::Gcode(){}
// Whether or not a Gcode has a letter
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Smoothie. It is executed at the rate set with
// config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
-inline void Stepper::main_interrupt(){
- if( this->paused ){ return; }
+inline uint32_t Stepper::main_interrupt(uint32_t dummy){
+ if( this->paused ){ return 0; }
// Step dir pins first, then step pinse, stepper drivers like to know the direction before the step signal comes in
this->alpha_dir_pin->set( ( this->out_bits >> 0 ) & 1 );
// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
// interrupt. It can be assumed that the trapezoid-generator-parameters and the
// current_block stays untouched by outside handlers for the duration of this function call.
-void Stepper::trapezoid_generator_tick() {
+uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) {
if(this->current_block && !this->trapezoid_generator_busy && !this->paused ) {
if(this->step_events_completed < this->current_block->accelerate_until<<16) {
this->trapezoid_adjusted_rate += this->current_block->rate_delta;
}
-void Stepper::reset_step_pins(){
+uint32_t Stepper::reset_step_pins(uint32_t dummy){
this->alpha_step_pin->set(0);
this->beta_step_pin->set(0);
this->gamma_step_pin->set(0);
void on_block_end(void* argument);
void on_play(void* argument);
void on_pause(void* argument);
- void main_interrupt();
+ uint32_t main_interrupt(uint32_t dummy);
void trapezoid_generator_reset();
void set_step_events_per_minute(double steps_per_minute);
- void trapezoid_generator_tick();
- void reset_step_pins();
+ uint32_t trapezoid_generator_tick(uint32_t dummy);
+ uint32_t reset_step_pins(uint32_t dummy);
void update_offsets();
int config_step_timer( int cycles );
this->start_position = this->target_position;
this->target_position = this->start_position + ( this->current_block->millimeters * this->travel_ratio );
if( this->target_position > this->current_position ){ this->direction = 1; }else if( this->target_position < this->current_position ){ this->direction = -1; }
- this->acceleration_tick();
+ this->acceleration_tick(0);
}
}
}
// Called periodically to change the speed to match acceleration or to match the speed of the robot
-void Extruder::acceleration_tick(){
+uint32_t Extruder::acceleration_tick(uint32_t dummy){
// Avoid trying to work when we really shouldn't ( between blocks or re-entry )
- if( this->current_block == NULL || this->acceleration_lock || this->paused ){ return; }
+ if( this->current_block == NULL || this->acceleration_lock || this->paused ){ return 0; }
this->acceleration_lock = true;
// In solo mode, we mode independently from the robot
next_relative_position += ( advance );
// TODO : all of those "if->return" is very hacky, we should do the math in a way where most of those don't happen, but that requires doing tons of drawing ...
- if( last_ratio == next_ratio ){ this->acceleration_lock = false; return; }else{ last_ratio = next_ratio; }
- if( next_ratio == 0 || next_ratio > 1 ){ this->acceleration_lock = false; return; }
- if( ticks_forward > 1000 ){ this->acceleration_lock = false; return; } // This is very ugly
+ if( last_ratio == next_ratio ){ this->acceleration_lock = false; return 0; }else{ last_ratio = next_ratio; }
+ if( next_ratio == 0 || next_ratio > 1 ){ this->acceleration_lock = false; return 0; }
+ if( ticks_forward > 1000 ){ this->acceleration_lock = false; return 0; } // This is very ugly
// Hack : We have not looked far enough, we compute how far ahead we must look to get a relevant value
if( position > next_relative_position ){
double ticks_to_equilibrium = ceil(far_back_ratio / ratio_per_tick) + 1;
ticks_forward += ticks_to_equilibrium;
// Because this is a loop, and we can be interrupted by the stepping interrupt, if that interrupt changes block, the new block may not be solo, and we may get trapped into an infinite loop
- if( this->mode != FOLLOW ){ this->acceleration_lock = false; return; }
+ if( this->mode != FOLLOW ){ this->acceleration_lock = false; return 0; }
continue;
}
this->set_speed( speed_to_next_tick );
this->acceleration_lock = false;
- return;
+ return 0;
}
}
}
-inline void Extruder::stepping_tick(){
- if( this->paused ){ return; }
+inline uint32_t Extruder::stepping_tick(uint32_t dummy){
+ if( this->paused ){ return 0; }
this->step_counter += this->counter_increment;
if( this->step_counter > 1<<16 ){
}
}
-void Extruder::reset_step_pin(){
+uint32_t Extruder::reset_step_pin(uint32_t dummy){
this->step_pin = 0;
}
void on_play(void* argument);
void on_pause(void* argument);
void set_speed(int steps_per_second);
- void acceleration_tick();
- void stepping_tick();
- void reset_step_pin();
+ uint32_t acceleration_tick(uint32_t dummy);
+ uint32_t stepping_tick(uint32_t dummy);
+ uint32_t reset_step_pin(uint32_t dummy);
DigitalOut step_pin; // Step pin for the stepper driver
DigitalOut dir_pin; // Dir pin for the stepper driver
return v / this->vadc * 1.00000; // The ADC reading
}
-void TemperatureControl::thermistor_read_tick(){
+uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
if( this->desired_adc_value != UNDEFINED ){
if( this->new_thermistor_reading() > this->desired_adc_value ){
this->heater_pin->set(1);
double get_temperature();
double adc_value_to_temperature(double adc_value);
double temperature_to_adc_value(double temperature);
- void thermistor_read_tick();
+ uint32_t thermistor_read_tick(uint32_t dummy);
double new_thermistor_reading();
double average_adc_reading();
//TODO: Make this use InterruptIn
//Check the state of the button and act accordingly
-void PauseButton::button_tick(){
+uint32_t PauseButton::button_tick(uint32_t dummy){
// If button changed
if(this->button_state != this->button->get()){
this->button_state = this->button->get();
PauseButton();
void on_module_loaded();
- void button_tick();
+ uint32_t button_tick(uint32_t dummy);
void on_play( void* argument );
void on_pause( void* argument );
HCoop / clinton / Smoothieware.git / commitdiff