src/libs/StepTicker.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 STEPTICKER_H
  11 #define STEPTICKER_H
  12
  13 using namespace std;
  14 #include <vector>
  15 #include <stdint.h>
  16
  17 class StepperMotor;
  18
  19 class StepTicker{
  20     public:
  21         StepTicker();
  22         void set_frequency( float frequency );
  23         void tick();
  24         void signal_moves_finished();
  25         StepperMotor* add_stepper_motor(StepperMotor* stepper_motor);
  26         void set_reset_delay( float seconds );
  27         void reset_tick();
  28         void add_motor_to_active_list(StepperMotor* motor);
  29         void remove_motor_from_active_list(StepperMotor* motor);
  30
  31         float frequency;
  32         vector<StepperMotor*> stepper_motors;
  33         uint32_t delay;
  34         uint32_t period;
  35         uint32_t debug;
  36         uint32_t last_duration;
  37         bool has_axes;
  38
  39         bool moves_finished;
  40         bool reset_step_pins;
  41
  42         StepperMotor* active_motors[12];
  43         uint32_t active_motor_bm;
  44
  45 };
  46
  47
  48
  49 #endif