test check in

spindle_sync.h

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+/*
+  spindle_sync.h - An embedded CNC Controller with rs274/ngc (g-code) support
+
+  Spindle sync data strucures
+
+  NOTE: not referenced in the core grbl code
+
+  Part of grblHAL
+
+  Copyright (c) 2020-2021 Terje Io
+
+  Grbl 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.
+
+  Grbl 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.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef _SPINDLE_SYNC_H_
+#define _SPINDLE_SYNC_H_
+
+#include "pid.h"
+
+// Free running timer log data.
+// The free running timer is used to timestamp pulse events from the encoder.
+typedef struct {
+    volatile uint32_t last_index;   // Timer value at last encoder index pulse
+    volatile uint32_t last_pulse;   // Timer value at last encoder pulse
+    volatile uint32_t pulse_length; // Last timer tics between spindle encoder pulse interrupts.
+} spindle_encoder_timer_t;
+
+// Pulse counter timer log data.
+// This counter is used to "prescale" the encoder pulses in order to
+// reduce pulse interrupt frequency. This allows the use of high PPR encoders
+// without overloading the MCU while still making use of the better resolution.
+// NOTE: if a 16bit counter is used then it is important than proper casting
+//       is performed in order to handle counter overflow correctly.
+typedef struct {
+    volatile uint32_t last_count;   // Counter value at last encoder pulse interrupt
+    volatile uint32_t last_index;   // Counter value at last encoder index interrupt
+    volatile uint32_t index_count;
+    volatile uint32_t pulse_count;
+} spindle_encoder_counter_t;
+
+typedef struct {
+    uint32_t ppr;                       // Encoder pulses per revolution
+    float rpm_factor;                   // Inverse of event timer tics per RPM
+    float pulse_distance;               // Encoder pulse distance in fraction of one revolution
+    uint32_t maximum_tt;                // Maximum timer tics since last spindle encoder pulse before RPM = 0 is returned
+    spindle_encoder_timer_t timer;      // Event timestamps
+    spindle_encoder_counter_t counter;  // Encoder event counts
+    uint32_t error_count;               // Incremented when actual PPR count differs from ppr setting
+    uint32_t tics_per_irq;              // Counts per interrupt generated (prescaler value)
+    volatile bool spin_lock;
+} spindle_encoder_t;
+
+typedef struct {
+    float prev_pos;                 // Target position of previous segment
+    float steps_per_mm;             // Steps per mm for current block
+    float programmed_rate;          // Programmed feed in mm/rev for current block
+    int32_t min_cycles_per_tick;    // Minimum cycles per tick for PID loop
+    uint_fast8_t segment_id;        // Used for detecing start of new segment
+    pidf_t pid;                     // PID data for position
+    stepper_pulse_start_ptr stepper_pulse_start_normal; // Driver pulse function to restore after spindle sync move is completed
+#ifdef PID_LOG
+    int32_t log[PID_LOG];
+    int32_t pos[PID_LOG];
+#endif
+} spindle_sync_t;
+
+#endif