smoothie port to mbed online compiler (smoothieware.org)
For documentation, license, ..., please check http://smoothieware.org/
This version has been tested with a 3 axis machine
libs/StepTicker.cpp
- Committer:
- scachat
- Date:
- 2012-07-31
- Revision:
- 0:31e91bb0ef3c
File content as of revision 0:31e91bb0ef3c:
/* 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/>. */ using namespace std; #include <vector> #include "libs/nuts_bolts.h" #include "libs/Module.h" #include "libs/Kernel.h" #include "StepTicker.h" #include "system_LPC17xx.h" // mbed.h lib StepTicker* global_step_ticker; StepTicker::StepTicker(){ global_step_ticker = this; LPC_TIM0->MR0 = 1000000; // Initial dummy value for Match Register LPC_TIM0->MCR = 11; // Match on MR0, reset on MR0, match on MR1 LPC_TIM0->TCR = 1; // Enable interrupt NVIC_EnableIRQ(TIMER0_IRQn); // Enable interrupt handler } void StepTicker::set_frequency( double frequency ){ this->frequency = frequency; LPC_TIM0->MR0 = int(floor((SystemCoreClock/4)/frequency)); // SystemCoreClock/4 = Timer increments in a second if( LPC_TIM0->TC > LPC_TIM0->MR0 ){ LPC_TIM0->TCR = 3; // Reset LPC_TIM0->TCR = 1; // Reset } } void StepTicker::set_reset_delay( double seconds ){ LPC_TIM0->MR1 = int(floor(double(SystemCoreClock/4)*( seconds ))); // SystemCoreClock/4 = Timer increments in a second } void StepTicker::tick(){ for (int i=0; i<this->hooks.size(); i++){ this->hooks.at(i)->call(); } } void StepTicker::reset_tick(){ for (int i=0; i<this->reset_hooks.size(); i++){ this->reset_hooks.at(i)->call(); } } extern "C" void TIMER0_IRQHandler (void){ if((LPC_TIM0->IR >> 0) & 1){ // If interrupt register set for MR0 LPC_TIM0->IR |= 1 << 0; // Reset it global_step_ticker->tick(); } if((LPC_TIM0->IR >> 1) & 1){ // If interrupt register set for MR1 LPC_TIM0->IR |= 1 << 1; // Reset it global_step_ticker->reset_tick(); } }