src/libs/SlowTicker.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 SLOWTICKER_H
  11 #define SLOWTICKER_H
  12
  13 #include "Module.h"
  14 #include "libs/Hook.h"
  15 #include "libs/Pin.h"
  16
  17 #include "system_LPC17xx.h" // for SystemCoreClock
  18 #include <math.h>
  19
  20 class SlowTicker : public Module{
  21     public:
  22         SlowTicker();
  23
  24         void on_module_loaded(void);
  25         void on_idle(void*);
  26         void start();
  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
  30         // TODO replace this with std::function()
  31         template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  32             Hook* hook = new Hook();
  33             hook->interval = floorf((SystemCoreClock/4)/frequency);
  34             hook->attach(optr, fptr);
  35             hook->countdown = hook->interval;
  36
  37             // to avoid race conditions we must stop the interupts before updating this non thread safe vector
  38             __disable_irq();
  39             if( frequency > this->max_frequency ){
  40                 this->max_frequency = frequency;
  41                 this->set_frequency(frequency);
  42             }
  43             this->hooks.push_back(hook);
  44             __enable_irq();
  45             return hook;
  46         }
  47
  48     private:
  49         bool flag_1s();
  50
  51         std::vector<Hook*> hooks;
  52         uint32_t max_frequency;
  53         uint32_t interval;
  54
  55         Pin ispbtn;
  56 protected:
  57     int flag_1s_count;
  58     volatile int flag_1s_flag;
  59 };
  60
  61
  62
  63
  64
  65 #endif