src/modules/tools/spindle/Spindle.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   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.
   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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #ifndef SPINDLE_MODULE_H
   9 #define SPINDLE_MODULE_H
  10
  11 #include "libs/Module.h"
  12 #include <stdint.h>
  13
  14 namespace mbed {
  15     class PwmOut;
  16     class InterruptIn;
  17 }
  18
  19 // This module implements closed loop PID control for spindle RPM.
  20 class Spindle: public Module {
  21     public:
  22         Spindle();
  23         virtual ~Spindle() {};
  24         void on_module_loaded();
  25
  26
  27     private:
  28         void on_pin_rise();
  29         void on_gcode_received(void *argument);
  30         uint32_t on_update_speed(uint32_t dummy);
  31
  32         mbed::PwmOut *spindle_pin; // PWM output for spindle speed control
  33         mbed::InterruptIn *feedback_pin; // Interrupt pin for measuring speed
  34         bool output_inverted;
  35
  36         // Current values, updated at runtime
  37         bool spindle_on;
  38         float current_rpm;
  39         float target_rpm;
  40         float current_I_value;
  41         float prev_error;
  42         float current_pwm_value;
  43         int time_since_update;
  44         uint32_t last_irq;
  45
  46         // Values from config
  47         float pulses_per_rev;
  48         float control_P_term;
  49         float control_I_term;
  50         float control_D_term;
  51         float smoothing_decay;
  52
  53         // These fields are updated by the interrupt
  54         uint32_t last_edge; // Timestamp of last edge
  55         volatile uint32_t last_time; // Time delay between last two edges
  56         volatile uint32_t irq_count;
  57 };
  58
  59 #endif
  60