Stéphane Cachat / Mbed 2 deprecated Smoothie

smoothie port to mbed online compiler (smoothieware.org)

Dependencies:   mbed

For documentation, license, ..., please check http://smoothieware.org/

This version has been tested with a 3 axis machine

libs/SlowTicker.cpp@0:31e91bb0ef3c, 2012-07-31 (annotated)

Committer:
scachat
Date:
Tue Jul 31 21:11:18 2012 +0000
Revision:
0:31e91bb0ef3c
smoothie port to mbed online compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scachat 0:31e91bb0ef3c 1 /*
scachat 0:31e91bb0ef3c 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
scachat 0:31e91bb0ef3c 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.
scachat 0:31e91bb0ef3c 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.
scachat 0:31e91bb0ef3c 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8 using namespace std;
scachat 0:31e91bb0ef3c 9 #include <vector>
scachat 0:31e91bb0ef3c 10 #include "libs/nuts_bolts.h"
scachat 0:31e91bb0ef3c 11 #include "libs/Module.h"
scachat 0:31e91bb0ef3c 12 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 13 #include "SlowTicker.h"
scachat 0:31e91bb0ef3c 14 #include "libs/Hook.h"
scachat 0:31e91bb0ef3c 15 #include "system_LPC17xx.h" // mbed.h lib
scachat 0:31e91bb0ef3c 16
scachat 0:31e91bb0ef3c 17
scachat 0:31e91bb0ef3c 18 SlowTicker* global_slow_ticker;
scachat 0:31e91bb0ef3c 19
scachat 0:31e91bb0ef3c 20 SlowTicker::SlowTicker(){
scachat 0:31e91bb0ef3c 21 this->max_frequency = 1;
scachat 0:31e91bb0ef3c 22 global_slow_ticker = this;
scachat 0:31e91bb0ef3c 23 LPC_SC->PCONP |= (1 << 22); // Power Ticker ON
scachat 0:31e91bb0ef3c 24 LPC_TIM2->MR0 = 10000; // Initial dummy value for Match Register
scachat 0:31e91bb0ef3c 25 LPC_TIM2->MCR = 3; // Match on MR0, reset on MR0
scachat 0:31e91bb0ef3c 26 LPC_TIM2->TCR = 1; // Enable interrupt
scachat 0:31e91bb0ef3c 27 NVIC_EnableIRQ(TIMER2_IRQn); // Enable interrupt handler
scachat 0:31e91bb0ef3c 28 }
scachat 0:31e91bb0ef3c 29
scachat 0:31e91bb0ef3c 30 void SlowTicker::set_frequency( int frequency ){
scachat 0:31e91bb0ef3c 31 LPC_TIM2->MR0 = (SystemCoreClock/4)/frequency; // SystemCoreClock/4 = Timer increments in a second
scachat 0:31e91bb0ef3c 32 LPC_TIM2->TCR = 3; // Reset
scachat 0:31e91bb0ef3c 33 LPC_TIM2->TCR = 1; // Reset
scachat 0:31e91bb0ef3c 34 }
scachat 0:31e91bb0ef3c 35
scachat 0:31e91bb0ef3c 36 void SlowTicker::tick(){
scachat 0:31e91bb0ef3c 37 for (int i=0; i<this->hooks.size(); i++){
scachat 0:31e91bb0ef3c 38 Hook* hook = this->hooks.at(i);
scachat 0:31e91bb0ef3c 39 hook->counter += ( hook->frequency / this->max_frequency );
scachat 0:31e91bb0ef3c 40 if( hook->counter > 0 ){
scachat 0:31e91bb0ef3c 41 hook->counter-=1;
scachat 0:31e91bb0ef3c 42 hook->call();
scachat 0:31e91bb0ef3c 43 }
scachat 0:31e91bb0ef3c 44 }
scachat 0:31e91bb0ef3c 45 }
scachat 0:31e91bb0ef3c 46
scachat 0:31e91bb0ef3c 47 extern "C" void TIMER2_IRQHandler (void){
scachat 0:31e91bb0ef3c 48 if((LPC_TIM2->IR >> 0) & 1){ // If interrupt register set for MR0
scachat 0:31e91bb0ef3c 49 LPC_TIM2->IR |= 1 << 0; // Reset it
scachat 0:31e91bb0ef3c 50 global_slow_ticker->tick();
scachat 0:31e91bb0ef3c 51 }
scachat 0:31e91bb0ef3c 52 }
scachat 0:31e91bb0ef3c 53