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/>.
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 #include "system_LPC17xx.h" // mbed.h lib
18 SlowTicker
* global_slow_ticker
;
20 SlowTicker::SlowTicker(){
21 this->max_frequency
= 1;
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
30 void SlowTicker::set_frequency( int frequency
){
31 LPC_TIM2
->MR0
= int(floor((SystemCoreClock
/4)/frequency
)); // SystemCoreClock/4 = Timer increments in a second
32 LPC_TIM2
->TCR
= 3; // Reset
33 LPC_TIM2
->TCR
= 1; // Reset
36 void SlowTicker::tick(){
38 LPC_GPIO1
->FIODIR
|= 1<<20;
39 LPC_GPIO1
->FIOSET
= 1<<20;
41 for (unsigned int i
=0; i
<this->hooks
.size(); i
++){
42 Hook
* hook
= this->hooks
.at(i
);
43 hook
->counter
+= ( hook
->frequency
/ this->max_frequency
);
44 if( hook
->counter
> 0 ){
50 LPC_GPIO1
->FIOCLR
= 1<<20;
54 extern "C" void TIMER2_IRQHandler (void){
55 if((LPC_TIM2
->IR
>> 0) & 1){ // If interrupt register set for MR0
56 LPC_TIM2
->IR
|= 1 << 0; // Reset it
58 global_slow_ticker
->tick();