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 "mbed.h"
  11 #include "libs/nuts_bolts.h"
  12 #include "libs/Module.h"
  13 #include "libs/Kernel.h"
  14 #include "SlowTicker.h"
  15 #include "libs/Hook.h"
  16
  17
  18 SlowTicker* global_slow_ticker;
  19
  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
  28 }
  29
  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
  34 }
  35
  36 void SlowTicker::tick(){
  37     if( this->max_frequency < 0.1 ){
  38         this->kernel->serial->printf("empty\r\n");
  39     }
  40     for (int i=0; i<this->hooks.size(); i++){
  41         Hook* hook = this->hooks.at(i);
  42         hook->counter += ( hook->frequency / this->max_frequency );
  43         if( hook->counter > 0 ){
  44             hook->counter-=1;
  45             hook->call();
  46         }
  47     }
  48 }
  49
  50 extern "C" void TIMER2_IRQHandler (void){
  51     if((LPC_TIM2->IR >> 0) & 1){  // If interrupt register set for MR0
  52         LPC_TIM2->IR |= 1 << 0;   // Reset it
  53         global_slow_ticker->tick();
  54     }
  55 }
  56