#ifndef STEPTICKER_H
#define STEPTICKER_H
-using namespace std;
-#include <vector>
-#include "libs/nuts_bolts.h"
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "libs/StepperMotor.h"
+#include <stdint.h>
+
+class StepperMotor;
class StepTicker{
public:
- StepTicker();
- void set_frequency( double frequency );
+ friend class StepperMotor;
+ static StepTicker* global_step_ticker;
+
+ StepTicker(int nmotors);
+ ~StepTicker();
+ void set_frequency( float frequency );
void tick();
- void signal_moves_finished();
- StepperMotor* add_stepper_motor(StepperMotor* stepper_motor);
- void set_reset_delay( double seconds );
+ void signal_a_move_finished();
+ void set_reset_delay( float seconds );
void reset_tick();
void add_motor_to_active_list(StepperMotor* motor);
void remove_motor_from_active_list(StepperMotor* motor);
+ void TIMER0_IRQHandler (void);
+ //uint32_t overruns;
- double frequency;
- vector<StepperMotor*> stepper_motors;
+ private:
+ float frequency;
uint32_t delay;
uint32_t period;
- uint32_t debug;
uint32_t last_duration;
- bool has_axes;
- bool moves_finished;
- bool reset_step_pins;
-
- StepperMotor* active_motors[12];
+ StepperMotor** active_motors;
uint32_t active_motor_bm;
+ struct {
+ uint8_t num_motors:8; // increase for more than 256 motors
+ bool a_move_finished:1;
+ bool reset_step_pins:1;
+ };
+
};