Commit | Line | Data |
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df27a6a3 | 1 | /* |
cd011f58 AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
cd011f58 AW |
6 | */ |
7 | ||
ded56b35 AW |
8 | using namespace std; |
9 | #include <vector> | |
ded56b35 AW |
10 | #include "libs/nuts_bolts.h" |
11 | #include "libs/Module.h" | |
12 | #include "libs/Kernel.h" | |
13 | #include "SlowTicker.h" | |
d9ebc974 | 14 | #include "libs/Hook.h" |
3c4f2dd8 | 15 | #include "modules/robot/Conveyor.h" |
61134a65 JM |
16 | #include "Pauser.h" |
17 | #include "Gcode.h" | |
ded56b35 | 18 | |
65fe0408 | 19 | #include <mri.h> |
ded56b35 | 20 | |
93694d6b AW |
21 | // This module uses a Timer to periodically call hooks |
22 | // Modules register with a function ( callback ) and a frequency, and we then call that function at the given frequency. | |
23 | ||
ded56b35 AW |
24 | SlowTicker* global_slow_ticker; |
25 | ||
26 | SlowTicker::SlowTicker(){ | |
1fcb3a2a | 27 | max_frequency = 0; |
ded56b35 | 28 | global_slow_ticker = this; |
93694d6b AW |
29 | |
30 | // Configure the actual timer | |
7dd8133c | 31 | LPC_SC->PCONP |= (1 << 22); // Power Ticker ON |
93694d6b | 32 | LPC_TIM2->MR0 = 10000; // Initial dummy value for Match Register |
7dd8133c AW |
33 | LPC_TIM2->MCR = 3; // Match on MR0, reset on MR0 |
34 | LPC_TIM2->TCR = 1; // Enable interrupt | |
35 | NVIC_EnableIRQ(TIMER2_IRQn); // Enable interrupt handler | |
65fe0408 | 36 | |
93694d6b | 37 | // ISP button |
65fe0408 | 38 | ispbtn.from_string("2.10")->as_input()->pull_up(); |
ab2a4410 | 39 | |
d337942a | 40 | // TODO: What is this ?? |
ab2a4410 | 41 | flag_1s_flag = 0; |
574d9897 | 42 | flag_1s_count = SystemCoreClock>>2; |
1fcb3a2a MM |
43 | |
44 | g4_ticks = 0; | |
45 | g4_pause = false; | |
ded56b35 AW |
46 | } |
47 | ||
0854d371 | 48 | void SlowTicker::on_module_loaded(){ |
4df07f88 | 49 | register_for_event(ON_IDLE); |
3c4f2dd8 | 50 | register_for_event(ON_GCODE_RECEIVED); |
1fcb3a2a | 51 | register_for_event(ON_GCODE_EXECUTE); |
4df07f88 MM |
52 | } |
53 | ||
93694d6b | 54 | // Set the base frequency we use for all sub-frequencies |
ded56b35 | 55 | void SlowTicker::set_frequency( int frequency ){ |
1fcb3a2a | 56 | this->interval = (SystemCoreClock >> 2) / frequency; // SystemCoreClock/4 = Timer increments in a second |
50b9ac30 | 57 | LPC_TIM2->MR0 = this->interval; |
7dd8133c AW |
58 | LPC_TIM2->TCR = 3; // Reset |
59 | LPC_TIM2->TCR = 1; // Reset | |
574d9897 | 60 | flag_1s_count= SystemCoreClock>>2; |
ded56b35 AW |
61 | } |
62 | ||
93694d6b | 63 | // The actual interrupt being called by the timer, this is where work is done |
0854d371 | 64 | void SlowTicker::tick(){ |
eaeca34b | 65 | |
93694d6b | 66 | // Call all hooks that need to be called ( bresenham ) |
1fcb3a2a | 67 | for (uint32_t i=0; i<this->hooks.size(); i++){ |
d9ebc974 | 68 | Hook* hook = this->hooks.at(i); |
50b9ac30 MM |
69 | hook->countdown -= this->interval; |
70 | if (hook->countdown < 0) | |
71 | { | |
72 | hook->countdown += hook->interval; | |
d9ebc974 | 73 | hook->call(); |
df27a6a3 | 74 | } |
ded56b35 | 75 | } |
2f7d3dba | 76 | |
eaeca34b | 77 | // deduct tick time from secound counter |
ab2a4410 | 78 | flag_1s_count -= this->interval; |
eaeca34b | 79 | // if a whole second has elapsed, |
ab2a4410 MM |
80 | if (flag_1s_count < 0) |
81 | { | |
eaeca34b | 82 | // add a second to our counter |
ab2a4410 | 83 | flag_1s_count += SystemCoreClock >> 2; |
eaeca34b | 84 | // and set a flag for idle event to pick up |
ab2a4410 MM |
85 | flag_1s_flag++; |
86 | } | |
87 | ||
eaeca34b | 88 | // if we're counting down a pause |
1fcb3a2a MM |
89 | if (g4_ticks > 0) |
90 | { | |
eaeca34b | 91 | // deduct tick time from timeout |
1fcb3a2a MM |
92 | if (g4_ticks > interval) |
93 | g4_ticks -= interval; | |
94 | else | |
95 | g4_ticks = 0; | |
96 | } | |
97 | ||
d337942a MM |
98 | // Enter MRI mode if the ISP button is pressed |
99 | // TODO: This should have it's own module | |
65fe0408 MM |
100 | if (ispbtn.get() == 0) |
101 | __debugbreak(); | |
4df07f88 | 102 | |
ded56b35 AW |
103 | } |
104 | ||
ab2a4410 | 105 | bool SlowTicker::flag_1s(){ |
eaeca34b MM |
106 | // atomic flag check routine |
107 | // first disable interrupts | |
ab2a4410 | 108 | __disable_irq(); |
eaeca34b | 109 | // then check for a flag |
ab2a4410 MM |
110 | if (flag_1s_flag) |
111 | { | |
eaeca34b | 112 | // if we have a flag, decrement the counter |
ab2a4410 | 113 | flag_1s_flag--; |
eaeca34b | 114 | // re-enable interrupts |
ab2a4410 | 115 | __enable_irq(); |
eaeca34b | 116 | // and tell caller that we consumed a flag |
ab2a4410 MM |
117 | return true; |
118 | } | |
eaeca34b | 119 | // if no flag, re-enable interrupts and return false |
ab2a4410 MM |
120 | __enable_irq(); |
121 | return false; | |
122 | } | |
123 | ||
82d1ceb3 JM |
124 | #include "gpio.h" |
125 | extern GPIO leds[]; | |
4df07f88 MM |
126 | void SlowTicker::on_idle(void*) |
127 | { | |
82d1ceb3 | 128 | static uint16_t ledcnt= 0; |
347854ff | 129 | if(THEKERNEL->use_leds) { |
21320fc6 JM |
130 | // flash led 3 to show we are alive |
131 | leds[2]= (ledcnt++ & 0x1000) ? 1 : 0; | |
132 | } | |
82d1ceb3 | 133 | |
eaeca34b | 134 | // if interrupt has set the 1 second flag |
4df07f88 | 135 | if (flag_1s()) |
eaeca34b | 136 | // fire the on_second_tick event |
347854ff | 137 | THEKERNEL->call_event(ON_SECOND_TICK); |
1fcb3a2a MM |
138 | |
139 | // if G4 has finished, release our pause | |
140 | if (g4_pause && (g4_ticks == 0)) | |
141 | { | |
142 | g4_pause = false; | |
347854ff | 143 | THEKERNEL->pauser->release(); |
1fcb3a2a MM |
144 | } |
145 | } | |
146 | ||
93694d6b | 147 | // When a G4-type gcode is received, add it to the queue so we can execute it in time |
3c4f2dd8 AW |
148 | void SlowTicker::on_gcode_received(void* argument){ |
149 | Gcode* gcode = static_cast<Gcode*>(argument); | |
150 | // Add the gcode to the queue ourselves if we need it | |
151 | if( gcode->has_g && gcode->g == 4 ){ | |
e0ee24ed | 152 | THEKERNEL->conveyor->append_gcode(gcode); |
76f3ee6f MM |
153 | // ensure that no subsequent gcodes get executed along with our G4 |
154 | THEKERNEL->conveyor->queue_head_block(); | |
3c4f2dd8 | 155 | } |
eaeca34b MM |
156 | } |
157 | ||
93694d6b | 158 | // When a G4-type gcode is executed, start the pause |
3c4f2dd8 | 159 | void SlowTicker::on_gcode_execute(void* argument){ |
1fcb3a2a MM |
160 | Gcode* gcode = static_cast<Gcode*>(argument); |
161 | ||
93694d6b AW |
162 | if (gcode->has_g){ |
163 | if (gcode->g == 4){ | |
74b6303c | 164 | gcode->mark_as_taken(); |
58d980f8 MM |
165 | bool updated = false; |
166 | if (gcode->has_letter('P')) { | |
167 | updated = true; | |
168 | g4_ticks += gcode->get_int('P') * ((SystemCoreClock >> 2) / 1000UL); | |
169 | } | |
170 | if (gcode->has_letter('S')) { | |
171 | updated = true; | |
172 | g4_ticks += gcode->get_int('S') * (SystemCoreClock >> 2); | |
173 | } | |
93694d6b | 174 | if (updated){ |
58d980f8 | 175 | // G4 Smm Pnn should pause for mm seconds + nn milliseconds |
1fcb3a2a | 176 | // at 120MHz core clock, the longest possible delay is (2^32 / (120MHz / 4)) = 143 seconds |
93694d6b | 177 | if (!g4_pause){ |
1fcb3a2a | 178 | g4_pause = true; |
347854ff | 179 | THEKERNEL->pauser->take(); |
1fcb3a2a MM |
180 | } |
181 | } | |
182 | } | |
183 | } | |
4df07f88 MM |
184 | } |
185 | ||
ded56b35 | 186 | extern "C" void TIMER2_IRQHandler (void){ |
7dd8133c | 187 | if((LPC_TIM2->IR >> 0) & 1){ // If interrupt register set for MR0 |
df27a6a3 | 188 | LPC_TIM2->IR |= 1 << 0; // Reset it |
ded56b35 | 189 | } |
df27a6a3 | 190 | global_slow_ticker->tick(); |
ded56b35 AW |
191 | } |
192 |