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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 | ||
8 | ||
9 | ||
ded56b35 AW |
10 | #ifndef SLOWTICKER_H |
11 | #define SLOWTICKER_H | |
12 | ||
8d54c34c | 13 | #include "Module.h" |
bf9e8a8f | 14 | #include "libs/Hook.h" |
65fe0408 MM |
15 | #include "libs/Pin.h" |
16 | ||
50b9ac30 MM |
17 | #include "system_LPC17xx.h" // for SystemCoreClock |
18 | #include <math.h> | |
19 | ||
d9ebc974 | 20 | class SlowTicker : public Module{ |
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21 | public: |
22 | SlowTicker(); | |
4df07f88 MM |
23 | |
24 | void on_module_loaded(void); | |
25 | void on_idle(void*); | |
b772a11c | 26 | void start(); |
ded56b35 AW |
27 | void set_frequency( int frequency ); |
28 | void tick(); | |
29 | // For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221 | |
62675f96 | 30 | // TODO replace this with std::function() |
1fcb3a2a | 31 | template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ |
df27a6a3 | 32 | Hook* hook = new Hook(); |
c8f4ee77 | 33 | hook->interval = floorf((SystemCoreClock/4)/frequency); |
ded56b35 | 34 | hook->attach(optr, fptr); |
50b9ac30 | 35 | hook->countdown = hook->interval; |
62675f96 JM |
36 | |
37 | // to avoid race conditions we must stop the interupts before updating this non thread safe vector | |
38 | __disable_irq(); | |
df27a6a3 MM |
39 | if( frequency > this->max_frequency ){ |
40 | this->max_frequency = frequency; | |
50b9ac30 | 41 | this->set_frequency(frequency); |
df27a6a3 | 42 | } |
ded56b35 | 43 | this->hooks.push_back(hook); |
62675f96 | 44 | __enable_irq(); |
2f7d3dba | 45 | return hook; |
ded56b35 AW |
46 | } |
47 | ||
62675f96 | 48 | private: |
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49 | bool flag_1s(); |
50 | ||
49de9017 | 51 | std::vector<Hook*> hooks; |
1fcb3a2a MM |
52 | uint32_t max_frequency; |
53 | uint32_t interval; | |
54 | ||
65fe0408 | 55 | Pin ispbtn; |
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56 | protected: |
57 | int flag_1s_count; | |
58 | volatile int flag_1s_flag; | |
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59 | }; |
60 | ||
61 | ||
62 | ||
63 | ||
64 | ||
ded56b35 | 65 | #endif |