spindle_stepgen.hal

# ################
# Spindle
# ################
newsig spindle-on bit
newsig spindle-speed float
newsig spindle-speedl float
newsig spindle-speeds float

net spindle-on <= motion.spindle-on
net spindle-on => hpg.stepgen.06.enable
net Spindle_Dir <= motion.spindle-reverse

#   Initialize the stepgen for the spindle
setp hpg.stepgen.06.position-scale  1
setp hpg.stepgen.06.maxvel          [SPINDLE]STEPGEN_MAX_VEL
setp hpg.stepgen.06.maxaccel        [SPINDLE]STEPGEN_MAX_ACC
setp hpg.stepgen.03.minvel          [SPINDLE]STEPGEN_MIN_VEL
setp hpg.stepgen.06.steplen         [SPINDLE]STEPLEN
setp hpg.stepgen.06.stepspace       [SPINDLE]STEPSPACE
setp hpg.stepgen.06.control-type    1

net spindle-speeds  => limit1.spindle-speed.in
net spindle-speedl <= limit1.spindle-speed.out

net spindle-speeds <= scale.spindle-speed.out
net spindle-speed => scale.spindle-speed.in

net spindle-speed <= motion.spindle-speed-out
net spindle-speedl => hpg.stepgen.06.velocity-cmd

# limit to a range from 0 to 1
setp limit1.spindle-speed.min 0
setp limit1.spindle-speed.max [SPINDLE]STEPGEN_MAX_VEL

# set spindle-speed scale
setp scale.spindle-speed.gain [SPINDLE]SCALE

#sets Spindle    # P8.13
setp hpg.stepgen.06.steppin 813