#######
#Spindle uses encoder.02 and pwmgen.02
#######

#spindle scales
addf scale.0 servo-thread
addf scale.1 servo-thread

#10v/6000rpm=0.001667
setp scale.0.gain -0.000201
# offset for spindle
#setp scale.0.offset 0.0001loadrt pwmgen output_type=0 # This creates a 1Hz signal

setp scale.1.gain 60

#load abs comp make spindle RPM pos
loadrt abs count=3
addf abs.0 servo-thread
addf abs.1 servo-thread
addf abs.2 servo-thread

#spindle speed out limits
loadrt limit1 count=1
addf limit1.0 servo-thread
setp limit1.0.min -6000
setp limit1.0.max 6000

#set scale and pwm
setp hm2_5i20.0.encoder.02.scale -4096
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1

net spindle-speed-limit motion.spindle-speed-out => limit1.0.in
net spindle-speed-limit-out limit1.0.out => scale.0.in
net spindle-speed-DAC scale.0.out => hm2_5i20.0.pwmgen.02.value
net spindle-rpm => abs.1.in
net spindle-speed-abs <= abs.1.out

#spindle enable
net spindle-enable-req motion.spindle-on => and2.1.in0
net spindle-brake-sensor hm2_5i20.0.gpio.051.in_not => and2.1.in1
net spindle-enable and2.1.out => hm2_5i20.0.pwmgen.02.enable

# enable spindle drive
net spindle-enable => hm2_5i20.0.gpio.065.out
# force spindle lock pin out
net spindle-enable => hm2_5i20.0.gpio.042.out

# release spindle brake
net spindle-brake-prg not.0.out => or2.2.in0
net spindle-brake-logic motion.spindle-brake => not.0.in
net spindle-brake hm2_5i20.0.gpio.040.out <= or2.2.out

#spindle sync
net spindle-index motion.spindle-index-enable <= hm2_5i20.0.encoder.02.index-enable
net spindle-velocity motion.spindle-speed-in <= hm2_5i20.0.encoder.02.velocity
net spindle-revs motion.spindle-revs <= hm2_5i20.0.encoder.02.position

net spindle-velocity => abs.0.in
net spindle-v-abs abs.0.out => scale.1.in
net spindle-v-abs-out <= scale.1.out

# spindle speed
net spindle-velocity mult2.0.in0
setp mult2.0.in1 60
net spindle-abs abs.2.in mult2.0.out
net spindle-rpm  abs.2.out

# spindle at speed
setp near.0.difference 0.15
net spindle-velocity near.0.in1
net com-spindle-vel near.0.in2 <= motion.spindle-speed-out-rps
net spindle-at-speed near.0.out <= motion.spindle-at-speed

# trick Axis
net trick-axis motion.spindle-reverse

#######
#end of spindle
######