src/libs/SlowTicker.cpp

   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 using namespace std;
   9 #include <vector>
  10 #include "libs/nuts_bolts.h"
  11 #include "libs/Module.h"
  12 #include "libs/Kernel.h"
  13 #include "SlowTicker.h"
  14 #include "libs/Hook.h"
  15
  16 #include <mri.h>
  17
  18 SlowTicker* global_slow_ticker;
  19
  20 SlowTicker::SlowTicker(){
  21     this->max_frequency = 0;
  22     global_slow_ticker = this;
  23     LPC_SC->PCONP |= (1 << 22);     // Power Ticker ON
  24     LPC_TIM2->MR0 = 10000;        // Initial dummy value for Match Register
  25     LPC_TIM2->MCR = 3;              // Match on MR0, reset on MR0
  26     LPC_TIM2->TCR = 1;              // Enable interrupt
  27     NVIC_EnableIRQ(TIMER2_IRQn);    // Enable interrupt handler
  28
  29     ispbtn.from_string("2.10")->as_input()->pull_up();
  30 }
  31
  32 void SlowTicker::set_frequency( int frequency ){
  33     this->interval = int(floor((SystemCoreClock/4)/frequency));   // SystemCoreClock/4 = Timer increments in a second
  34     LPC_TIM2->MR0 = this->interval;
  35     LPC_TIM2->TCR = 3;  // Reset
  36     LPC_TIM2->TCR = 1;  // Reset
  37 }
  38
  39 void SlowTicker::tick(){
  40
  41     LPC_GPIO1->FIODIR |= 1<<20;
  42     LPC_GPIO1->FIOSET = 1<<20;
  43
  44     for (unsigned int i=0; i<this->hooks.size(); i++){
  45         Hook* hook = this->hooks.at(i);
  46         hook->countdown -= this->interval;
  47         if (hook->countdown < 0)
  48         {
  49             hook->countdown += hook->interval;
  50             hook->call();
  51         }
  52     }
  53
  54     LPC_GPIO1->FIOCLR = 1<<20;
  55
  56     if (ispbtn.get() == 0)
  57         __debugbreak();
  58 }
  59
  60 extern "C" void TIMER2_IRQHandler (void){
  61     if((LPC_TIM2->IR >> 0) & 1){  // If interrupt register set for MR0
  62         LPC_TIM2->IR |= 1 << 0;   // Reset it
  63     }
  64     global_slow_ticker->tick();
  65 }
  66