#include <math.h>
#include <string.h>
#include "hal.h"
#include "protocol.h"
#include "state_machine.h"
#include "settings.h"

Data Structures
struct	spindle_reg_t
	Structure for holding spindle registration data. More...

struct	spindle_sys_t
	Structure for holding data about an enabled spindle. More...

Functions
spindle_id_t	spindle_register (const spindle_ptrs_t spindle, const char name)
	Register a spindle with the core. More...

spindle_num_t	spindle_enable (spindle_id_t spindle_id)
	Enable a spindle and make it available for use by gcode. More...

bool	spindle_select (spindle_id_t spindle_id)
	Enables a spindle and sets it as default spindle (spindle number 0). More...

spindle_ptrs_t *	spindle_get_hal (spindle_id_t spindle_id, spindle_hal_t hal)
	Get the handlers (function pointers) etc. associated with the spindle. More...

spindle_id_t	spindle_get_default (void)
	Get the spindle id of the default spindle (spindle number 0). More...

spindle_cap_t	spindle_get_caps (bool active)
	Get the merged spindle capabilities of all registered spindles. More...

const char *	spindle_get_name (spindle_id_t spindle_id)
	Get the registered name of a spindle. More...

void	spindle_update_caps (spindle_ptrs_t spindle, spindle_pwm_t pwm_caps)
	Update the capabilities of a registered PWM spindle. May be used by the driver on spindle initialization or when spindle settings has been changed. More...

uint8_t	spindle_get_count (void)
	Get number of registered spindles. More...

void	spindle_bind_encoder (const spindle_data_ptrs_t *encoder_data)

bool	spindle_set_at_speed_range (spindle_ptrs_t spindle, spindle_data_t spindle_data, float rpm)

bool	spindle_enumerate_spindles (spindle_enumerate_callback_ptr callback, void *data)
	Enumerate registered spindles by calling a callback function for each of them. More...

bool	spindle_is_enabled (spindle_num_t spindle_num)
	Check if a spindle is enabled and available or not. More...

spindle_ptrs_t *	spindle_get (spindle_num_t spindle_num)
	Get the handlers (function pointers) etc. associated with an enabled spindle. More...

spindle_id_t	spindle_add_null (void)
	Register a null spindle that has no connection to the outside world. This is done automatically on startup if no spindle can be succesfully enabled. More...

void	spindle_set_override (spindle_ptrs_t *spindle, override_t speed_override)
	Set spindle speed override. More...

bool	spindle_set_state (spindle_ptrs_t *spindle, spindle_state_t state, float rpm)
	Immediately sets spindle running state with direction and spindle rpm, if enabled. Called by g-code parser spindle_sync(), parking retract and restore, g-code program end, sleep, and spindle stop override. More...

bool	spindle_sync (spindle_ptrs_t *spindle, spindle_state_t state, float rpm)
	G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails if an abort or check-mode is active. If the spindle supports at speed functionality it will wait for it to reach the speed and raise an alarm if the speed is not reached within the timeout period. More...

bool	spindle_restore (spindle_ptrs_t *spindle, spindle_state_t state, float rpm)
	Restore spindle running state with direction, enable, spindle RPM and appropriate delay. More...

float	spindle_set_rpm (spindle_ptrs_t *spindle, float rpm, override_t override_pct)
	Calculate and set programmed RPM according to override and max/min limits. More...

void	spindle_all_off (void)
	Turn off all enabled spindles. More...

bool	spindle_is_on (void)
	Check if any of the enabled spindles is running. More...

bool	spindle_precompute_pwm_values (spindle_ptrs_t spindle, spindle_pwm_t pwm_data, spindle_settings_t *settings, uint32_t clock_hz)
	Precompute PWM values for faster conversion. More...

Function Documentation

◆ spindle_add_null()

spindle_id_t spindle_add_null ( void )

Register a null spindle that has no connection to the outside world. This is done automatically on startup if no spindle can be succesfully enabled.

Returns: assigned spindle id as a spindle_id_t if successful, -1 if not.

◆ spindle_all_off()

void spindle_all_off ( void )

Turn off all enabled spindles.

◆ spindle_bind_encoder()

void spindle_bind_encoder ( const spindle_data_ptrs_t * encoder_data )

◆ spindle_enable()

spindle_num_t spindle_enable ( spindle_id_t spindle_id )

Enable a spindle and make it available for use by gcode.

Parameters

spindle_id spindle id as a spindle_id_t.

Returns: assigned spindle number as a spindle_num_t if successful -1 if not.

NOTE: up to N_SYS_SPINDLE spindles can be enabled at a time.

◆ spindle_enumerate_spindles()

bool spindle_enumerate_spindles	(	spindle_enumerate_callback_ptr	callback,
		void *	data
	)

Enumerate registered spindles by calling a callback function for each of them.

Parameters

callback	pointer to a spindle_enumerate_callback_ptr type function.
data	pointer to optional data to pass to the callback function.

Returns: true if spindles are registered and a callback function was provided, false otherwise.

◆ spindle_get()

spindle_ptrs_t* spindle_get ( spindle_num_t spindle_num )

Get the handlers (function pointers) etc. associated with an enabled spindle.

Parameters

spindle_num spindle number as a spindle_num_t.

Returns: pointer to a spindle_ptrs_t structure if successful, NULL if not.

NOTE: do not modify the returned structure!

◆ spindle_get_caps()

spindle_cap_t spindle_get_caps ( bool active )

Get the merged spindle capabilities of all registered spindles.

Parameters

active true to return active capabilities, false to return default capabilities.

Returns: capabilities in a spindle_cap_t structure.

◆ spindle_get_count()

uint8_t spindle_get_count ( void )

Get number of registered spindles.

Returns: number of registered spindles.

◆ spindle_get_default()

spindle_id_t spindle_get_default ( void )

Get the spindle id of the default spindle (spindle number 0).

Returns: spindle id as a spindle_id_t if successful, -2 if not (no spindle available).

◆ spindle_get_hal()

spindle_ptrs_t* spindle_get_hal	(	spindle_id_t	spindle_id,
		spindle_hal_t	hal
	)

Get the handlers (function pointers) etc. associated with the spindle.

Parameters

spindle_id	spindle id as a spindle_id_t.
hal	a spindle_hal_t enum value: SpindleHAL_Raw - get the read only version as supplied at registration SpindleHAL_Configured - get the version with run-time modifications applied by the spindle driver. SpindleHAL_Active - get the enabled version available from gcode. Can be overriden by event handlers prior to activation.

Returns: pointer to a spindle_ptrs_t structure if successful, NULL if not.

NOTE: do not modify the returned structure!

◆ spindle_get_name()

const char* spindle_get_name ( spindle_id_t spindle_id )

Get the registered name of a spindle.

Parameters

spindle_id spindle id as a spindle_id_t.

Returns: pointer to a null terminated string if succesful, NULL if not.

◆ spindle_is_enabled()

bool spindle_is_enabled ( spindle_num_t spindle_num )

Check if a spindle is enabled and available or not.

Parameters

spindle_num spindle number as a spindle_num_t.

Returns: true if the spindle is enabled, false otherwise.

◆ spindle_is_on()

bool spindle_is_on ( void )

Check if any of the enabled spindles is running.

Returns: true if a spindle is running, false otherwise.

◆ spindle_precompute_pwm_values()

bool spindle_precompute_pwm_values	(	spindle_ptrs_t *	spindle,
		spindle_pwm_t *	pwm_data,
		spindle_settings_t *	settings,
		uint32_t	clock_hz
	)

Precompute PWM values for faster conversion.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
pwm_data	pointer to a spindle_pwm_t structure, to hold the precomputed values.
clock_hz	timer clock frequency used for PWM generation.

Returns: true if successful, false if no PWM range possible - driver should then revert to simple on/off spindle control.

◆ spindle_register()

spindle_id_t spindle_register	(	const spindle_ptrs_t *	spindle,
		const char *	name
	)

Register a spindle with the core.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
name	pointer to a null terminated string.

Returns: assigned spindle id as a spindle_id_t if successful, -1 if not.

NOTE: The first spindle registered will become the default active spindle. NOTE: up to N_SPINDLE spindles can be registered at a time.

◆ spindle_restore()

bool spindle_restore	(	spindle_ptrs_t *	spindle,
		spindle_state_t	state,
		float	rpm
	)

Restore spindle running state with direction, enable, spindle RPM and appropriate delay.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
state	a spindle_state_t structure.
rpm	the spindle RPM to set.

Returns: true if successful, false if the current controller state is ABORTED.

◆ spindle_select()

bool spindle_select ( spindle_id_t spindle_id )

Enables a spindle and sets it as default spindle (spindle number 0).

Parameters

spindle_id spindle id as a spindle_id_t.

Returns: true if succsesful, false if not.

◆ spindle_set_at_speed_range()

bool spindle_set_at_speed_range	(	spindle_ptrs_t *	spindle,
		spindle_data_t *	spindle_data,
		float	rpm
	)

◆ spindle_set_override()

void spindle_set_override	(	spindle_ptrs_t *	spindle,
		override_t	speed_override
	)

Set spindle speed override.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
speed_override	override as a percentage of the programmed RPM.

NOTE: Unlike motion overrides, spindle overrides do not require a planner reinitialization.

◆ spindle_set_rpm()

float spindle_set_rpm	(	spindle_ptrs_t *	spindle,
		float	rpm,
		override_t	override_pct
	)

Calculate and set programmed RPM according to override and max/min limits.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
rpm	the programmed RPM.
override_pct	override value in percent.

Returns: the calulated RPM.

◆ spindle_set_state()

bool spindle_set_state	(	spindle_ptrs_t *	spindle,
		spindle_state_t	state,
		float	rpm
	)

Immediately sets spindle running state with direction and spindle rpm, if enabled. Called by g-code parser spindle_sync(), parking retract and restore, g-code program end, sleep, and spindle stop override.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
state	a spindle_state_t structure.
rpm	the spindle RPM to set.

Returns: true if successful, false if the current controller state is ABORTED.

◆ spindle_sync()

bool spindle_sync	(	spindle_ptrs_t *	spindle,
		spindle_state_t	state,
		float	rpm
	)

G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails if an abort or check-mode is active. If the spindle supports at speed functionality it will wait for it to reach the speed and raise an alarm if the speed is not reached within the timeout period.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
state	a spindle_state_t structure.
rpm	the spindle RPM to set.

Returns: true if successful, false if the current controller state is ABORTED.

◆ spindle_update_caps()

void spindle_update_caps	(	spindle_ptrs_t *	spindle,
		spindle_pwm_t *	pwm_caps
	)

Update the capabilities of a registered PWM spindle. May be used by the driver on spindle initialization or when spindle settings has been changed.

Parameters

spindle	pointer to a spindle_ptrs_t structure.
pwm_caps	pointer to a spindle_pwm_t structure.

Data Structures

Functions

Function Documentation

◆ spindle_add_null()

◆ spindle_all_off()

◆ spindle_bind_encoder()

◆ spindle_enable()

◆ spindle_enumerate_spindles()

◆ spindle_get()

◆ spindle_get_caps()

◆ spindle_get_count()

◆ spindle_get_default()

◆ spindle_get_hal()

◆ spindle_get_name()

◆ spindle_is_enabled()

◆ spindle_is_on()

◆ spindle_precompute_pwm_values()

◆ spindle_register()

◆ spindle_restore()

◆ spindle_select()

◆ spindle_set_at_speed_range()

◆ spindle_set_override()

◆ spindle_set_rpm()

◆ spindle_set_state()

◆ spindle_sync()

◆ spindle_update_caps()