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# -------SPINDLE SOFT START --------------------------------------

# load the real time modules limit2 and near with names so it is easier to follow their connections
loadrt limit2 names=spindle-ramp
loadrt near names=spindle-at-speed,spindle-zero

# add the functions to a thread
addf spindle-ramp        servo-thread
addf spindle-at-speed    servo-thread

# spimdle-zero pin used for enabeling vfd and disabeling after decel is finished
addf spindle-zero        servo-thread

# set the parameter for max rate-of-change
# (max spindle accel/decel in units per second)
setp spindle-ramp.maxv 1100

# hijack the spindle speed out and send it to spindle ramp in
net spindle-cmd <= spindle.0.speed-out => spindle-ramp.in

# the output of spindle ramp is sent to the scale in
net spindle-ramped <= spindle-ramp.out => scale.0.in

# to know when to start the motion we send the near component
# (named spindle-at-speed) to the spindle commanded speed from
# the signal spindle-cmd and the actual spindle speed
# provided your spindle can accelerate at the maxv setting.
net spindle-cmd => spindle-at-speed.in1
net spindle-ramped => spindle-at-speed.in2

# setting first input of second near input to 0
setp spindle-zero.in1 0

# sending actual spindle speed to second input of second near module
net spindle-ramped => spindle-zero.in2

# the output from spindle-at-speed is sent to spindle.0.at-speed
# and when this is true motion will start
net spindle-ready <= spindle-at-speed.out => spindle.0.at-speed

# ---------- SPIDNLE OUT -----------

setp hm2_7i95.0.gpio.050.is_output 1

# spindle-zero.out is used for delaying VFD disable to wait spindle ramp down till stops spining
net sindle-enbl spindle-zero.out => hm2_7i95.0.gpio.050.out

setp hm2_7i95.0.pwmgen.00.out0.invert_output true
setp hm2_7i95.0.pwmgen.pwm_frequency 2000
setp hm2_7i95.0.pwmgen.00.scale 16500
net spindle-on <= spindle.0.on
net spindle-on => hm2_7i95.0.pwmgen.00.enable
net spindle-ramped => hm2_7i95.0.pwmgen.00.value