#include "pid.h"

Data Structures
union	spindle_state_t

union	spindle_cap_t
	Bitmap flags for spindle capabilities. More...

struct	spindle_data_t
	Used when HAL driver supports spindle synchronization. More...

struct	pwm_piece_t

union	spindle_settings_flags_t

struct	spindle_settings_t

struct	spindle1_settings_t

union	spindle_pwm_flags_t

struct	spindle_pwm
	Precalculated values that may be set/used by HAL driver to speed up RPM to PWM conversions if variable spindle is supported. *‍/. More...

union	spindle_context_ptr_t

struct	spindle_ptrs
	Handlers and data for spindle support. More...

struct	spindle_css_data_t
	Data used for Constant Surface Speed (CSS) mode calculations. More...

struct	spindle_param
	Structure used for holding the current state of an enabled spindle. More...

struct	spindle_data_ptrs_t

struct	spindle_info_t
	Structure holding data passed to the callback function called by spindle_enumerate_spindles(). More...

Macros
#define	SPINDLE_ALL -1

#define	SPINDLE_NONE 0

#define	SPINDLE_HUANYANG1 1

#define	SPINDLE_HUANYANG2 2

#define	SPINDLE_GS20 3

#define	SPINDLE_YL620A 4

#define	SPINDLE_MODVFD 5

#define	SPINDLE_H100 6

#define	SPINDLE_ONOFF0 7

#define	SPINDLE_ONOFF0_DIR 8

#define	SPINDLE_ONOFF1 9

#define	SPINDLE_ONOFF1_DIR 10

#define	SPINDLE_PWM0 11

#define	SPINDLE_PWM0_NODIR 12

#define	SPINDLE_PWM1 13

#define	SPINDLE_PWM1_NODIR 14

#define	SPINDLE_PWM2 15

#define	SPINDLE_PWM2_NODIR 16

#define	SPINDLE_PWM0_CLONE 17

#define	SPINDLE_SOLENOID 18

#define	SPINDLE_STEPPER 19

#define	SPINDLE_NOWFOREVER 20

#define	SPINDLE_MY_SPINDLE 30

Typedefs
typedef int8_t	spindle_id_t

typedef int8_t	spindle_num_t

typedef bool(*	spindle_config_ptr) (struct spindle_ptrs *spindle)
	Pointer to function for configuring a spindle. More...

typedef void(*	spindle_set_state_ptr) (struct spindle_ptrs *spindle, spindle_state_t state, float rpm)
	Pointer to function for setting the spindle state. More...

typedef spindle_state_t(*	spindle_get_state_ptr) (struct spindle_ptrs *spindle)
	Pointer to function for getting the spindle state. More...

typedef uint_fast16_t(*	spindle_get_pwm_ptr) (struct spindle_ptrs *spindle, float rpm)
	Pointer to function for converting a RPM value to a PWM value. More...

typedef void(*	spindle_update_pwm_ptr) (struct spindle_ptrs *spindle, uint_fast16_t pwm)
	Pointer to function for updating spindle speed on the fly. More...

typedef void(*	spindle_update_rpm_ptr) (struct spindle_ptrs *spindle, float rpm)
	Pointer to function for updating spindle RPM. More...

typedef spindle_data_t (	spindle_get_data_ptr) (spindle_data_request_t request)
	Pointer to function for getting spindle data. More...

typedef void(*	spindle_reset_data_ptr) (void)
	Pointer to function for resetting spindle data. More...

typedef void(*	spindle_pulse_on_ptr) (uint_fast16_t pulse_length)
	Pointer to function for outputting a spindle on pulse. Used for Pulses Per Inch (PPI) laser mode. More...

typedef struct spindle_pwm	spindle_pwm_t
	Precalculated values that may be set/used by HAL driver to speed up RPM to PWM conversions if variable spindle is supported. *‍/. More...

typedef struct spindle_ptrs	spindle_ptrs_t

typedef struct spindle_param	spindle_param_t
	Structure used for holding the current state of an enabled spindle. More...

typedef void(*	spindle_enumerate_callback_ptr) (spindle_info_t spindle, void data)
	Pointer to callback function called by spindle_enumerate_spindles(). More...

Enumerations
enum	spindle_data_request_t { SpindleData_Counters , SpindleData_RPM , SpindleData_AngularPosition , SpindleData_AtSpeed }

enum	spindle_type_t { SpindleType_PWM , SpindleType_Basic , SpindleType_VFD , SpindleType_Solenoid , SpindleType_Stepper , SpindleType_Null }

enum	spindle_hal_t { SpindleHAL_Raw , SpindleHAL_Configured , SpindleHAL_Active }

Functions
void	spindle_set_override (spindle_ptrs_t *spindle, override_t speed_override)
	Set spindle speed 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_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...

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

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

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

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

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

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

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...

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

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

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

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

Macro Definition Documentation

◆ SPINDLE_ALL

#define SPINDLE_ALL -1

◆ SPINDLE_GS20

#define SPINDLE_GS20 3

◆ SPINDLE_H100

#define SPINDLE_H100 6

◆ SPINDLE_HUANYANG1

#define SPINDLE_HUANYANG1 1

◆ SPINDLE_HUANYANG2

#define SPINDLE_HUANYANG2 2

◆ SPINDLE_MODVFD

#define SPINDLE_MODVFD 5

◆ SPINDLE_MY_SPINDLE

#define SPINDLE_MY_SPINDLE 30

◆ SPINDLE_NONE

#define SPINDLE_NONE 0

◆ SPINDLE_NOWFOREVER

#define SPINDLE_NOWFOREVER 20

◆ SPINDLE_ONOFF0

#define SPINDLE_ONOFF0 7

◆ SPINDLE_ONOFF0_DIR

#define SPINDLE_ONOFF0_DIR 8

◆ SPINDLE_ONOFF1

#define SPINDLE_ONOFF1 9

◆ SPINDLE_ONOFF1_DIR

#define SPINDLE_ONOFF1_DIR 10

◆ SPINDLE_PWM0

#define SPINDLE_PWM0 11

◆ SPINDLE_PWM0_CLONE

#define SPINDLE_PWM0_CLONE 17

◆ SPINDLE_PWM0_NODIR

#define SPINDLE_PWM0_NODIR 12

◆ SPINDLE_PWM1

#define SPINDLE_PWM1 13

◆ SPINDLE_PWM1_NODIR

#define SPINDLE_PWM1_NODIR 14

◆ SPINDLE_PWM2

#define SPINDLE_PWM2 15

◆ SPINDLE_PWM2_NODIR

#define SPINDLE_PWM2_NODIR 16

◆ SPINDLE_SOLENOID

#define SPINDLE_SOLENOID 18

◆ SPINDLE_STEPPER

#define SPINDLE_STEPPER 19

◆ SPINDLE_YL620A

#define SPINDLE_YL620A 4

Typedef Documentation

◆ spindle_config_ptr

typedef bool(* spindle_config_ptr) (struct spindle_ptrs *spindle)

Pointer to function for configuring a spindle.

Parameters

spindle a pointer to a spindle_struct.

Returns: true if successful, \false if not.

◆ spindle_enumerate_callback_ptr

typedef void(* spindle_enumerate_callback_ptr) (spindle_info_t *spindle, void *data)

Pointer to callback function called by spindle_enumerate_spindles().

Parameters

spindle prointer to a spindle_info_t struct.

◆ spindle_get_data_ptr

typedef spindle_data_t*(* spindle_get_data_ptr) (spindle_data_request_t request)

Pointer to function for getting spindle data.

Parameters

request request type as a spindle_data_request_t enum.

Returns: pointer to the requested information in a spindle_data_t structure.

NOTE: this function requires input from a spindle encoder.

◆ spindle_get_pwm_ptr

typedef uint_fast16_t(* spindle_get_pwm_ptr) (struct spindle_ptrs *spindle, float rpm)

Pointer to function for converting a RPM value to a PWM value.

Typically this is a wrapper for the spindle_compute_pwm_value() function provided by the core.

Parameters

rpm	spindle RPM.

Returns: the corresponding PWM value.

◆ spindle_get_state_ptr

typedef spindle_state_t(* spindle_get_state_ptr) (struct spindle_ptrs *spindle)

Pointer to function for getting the spindle state.

Returns: state in a spindle_state_t union variable.

◆ spindle_id_t

typedef int8_t spindle_id_t

◆ spindle_num_t

typedef int8_t spindle_num_t

◆ spindle_param_t

typedef struct spindle_param spindle_param_t

Structure used for holding the current state of an enabled spindle.

◆ spindle_ptrs_t

typedef struct spindle_ptrs spindle_ptrs_t

◆ spindle_pulse_on_ptr

typedef void(* spindle_pulse_on_ptr) (uint_fast16_t pulse_length)

Pointer to function for outputting a spindle on pulse. Used for Pulses Per Inch (PPI) laser mode.

Parameters

pulse_length spindle on length in microseconds.

◆ spindle_pwm_t

typedef struct spindle_pwm spindle_pwm_t

Precalculated values that may be set/used by HAL driver to speed up RPM to PWM conversions if variable spindle is supported. *‍/.

◆ spindle_reset_data_ptr

typedef void(* spindle_reset_data_ptr) (void)

Pointer to function for resetting spindle data.

◆ spindle_set_state_ptr

typedef void(* spindle_set_state_ptr) (struct spindle_ptrs *spindle, spindle_state_t state, float rpm)

Pointer to function for setting the spindle state.

Parameters

state	a spindle_state_t union variable.
rpm	spindle RPM.

◆ spindle_update_pwm_ptr

typedef void(* spindle_update_pwm_ptr) (struct spindle_ptrs *spindle, uint_fast16_t pwm)

Pointer to function for updating spindle speed on the fly.

Parameters

pwm	new spindle PWM value.

Returns: the actual PWM value used.

NOTE: this function will be called from an interrupt context.

◆ spindle_update_rpm_ptr

typedef void(* spindle_update_rpm_ptr) (struct spindle_ptrs *spindle, float rpm)

Pointer to function for updating spindle RPM.

Parameters

rpm	spindle RPM.

Enumeration Type Documentation

◆ spindle_data_request_t

enum spindle_data_request_t

Enumerator
SpindleData_Counters	0
SpindleData_RPM	1
SpindleData_AngularPosition	2
SpindleData_AtSpeed	3

◆ spindle_hal_t

enum spindle_hal_t

Enumerator
SpindleHAL_Raw	0 - NOTE: read-only
SpindleHAL_Configured	1
SpindleHAL_Active	2

◆ spindle_type_t

enum spindle_type_t

Enumerator
SpindleType_PWM	0
SpindleType_Basic	1 - on/off + optional direction
SpindleType_VFD	2
SpindleType_Solenoid	3
SpindleType_Stepper	4
SpindleType_Null	5

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_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_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

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ SPINDLE_ALL

◆ SPINDLE_GS20

◆ SPINDLE_H100

◆ SPINDLE_HUANYANG1

◆ SPINDLE_HUANYANG2

◆ SPINDLE_MODVFD

◆ SPINDLE_MY_SPINDLE

◆ SPINDLE_NONE

◆ SPINDLE_NOWFOREVER

◆ SPINDLE_ONOFF0

◆ SPINDLE_ONOFF0_DIR

◆ SPINDLE_ONOFF1

◆ SPINDLE_ONOFF1_DIR

◆ SPINDLE_PWM0

◆ SPINDLE_PWM0_CLONE

◆ SPINDLE_PWM0_NODIR

◆ SPINDLE_PWM1

◆ SPINDLE_PWM1_NODIR

◆ SPINDLE_PWM2

◆ SPINDLE_PWM2_NODIR

◆ SPINDLE_SOLENOID

◆ SPINDLE_STEPPER

◆ SPINDLE_YL620A

Typedef Documentation

◆ spindle_config_ptr

◆ spindle_enumerate_callback_ptr

◆ spindle_get_data_ptr

◆ spindle_get_pwm_ptr

◆ spindle_get_state_ptr

◆ spindle_id_t

◆ spindle_num_t

◆ spindle_param_t

◆ spindle_ptrs_t

◆ spindle_pulse_on_ptr

◆ spindle_pwm_t

◆ spindle_reset_data_ptr

◆ spindle_set_state_ptr

◆ spindle_update_pwm_ptr

◆ spindle_update_rpm_ptr

Enumeration Type Documentation

◆ spindle_data_request_t

◆ spindle_hal_t

◆ spindle_type_t

Function Documentation

◆ spindle_add_null()

◆ spindle_all_off()

◆ 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_override()

◆ spindle_set_rpm()

◆ spindle_set_state()

◆ spindle_sync()

◆ spindle_update_caps()