clean up StepperMotor in StepTicker, the steppermotor array was unsued so removed...

[clinton/Smoothieware.git] / src / libs / StepTicker.h

diff --git a/src/libs/StepTicker.h b/src/libs/StepTicker.h
index 4170480..8856d18 100644 (file)
--- a/src/libs/StepTicker.h
+++ b/src/libs/StepTicker.h
@@ -1,8 +1,8 @@
-/*  
+/*
       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
       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.
       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.
-      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
 */
 
 
@@ -10,49 +10,43 @@
 #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 <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 set_reset_delay( double seconds );
+        void signal_a_move_finished();
+        void set_reset_delay( float seconds );
         void reset_tick();
-
-        // For some reason this can't go in the .cpp, see :  http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
-        template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
-            FPointer* hook = new FPointer(); 
-            hook->attach(optr, fptr);
-            this->hooks.push_back(hook);
-        }
-
-        template<typename T> void reset_attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
-            FPointer* reset_hook = new FPointer(); 
-            reset_hook->attach(optr, fptr);
-            this->reset_hooks.push_back(reset_hook);
-        }
-
-
-        vector<FPointer*> hooks; 
-        vector<FPointer*> reset_hooks; 
-        double frequency;
+        void add_motor_to_active_list(StepperMotor* motor);
+        void remove_motor_from_active_list(StepperMotor* motor);
+        void TIMER0_IRQHandler (void);
+        //uint32_t overruns;
+
+    private:
+        float frequency;
+        uint32_t delay;
+        uint32_t period;
+        uint32_t last_duration;
+
+        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;
+        };
 
 };
 
 
 
-
-
-
-
-
-
-
-
 #endif