#*******************
#  SPINDLE S
#*******************
setp   pid.s.Pgain     [SPINDLE_9]P
setp   pid.s.Igain     [SPINDLE_9]I
setp   pid.s.Dgain     [SPINDLE_9]D
setp   pid.s.bias      [SPINDLE_9]BIAS
setp   pid.s.FF0       [SPINDLE_9]FF0
setp   pid.s.FF1       [SPINDLE_9]FF1
setp   pid.s.FF2       [SPINDLE_9]FF2
setp   pid.s.deadband  [SPINDLE_9]DEADBAND
#setp  pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---PWM Generator signals/setup---

setp   hm2_5i24.0.pwmgen.04.output-type 1
setp   hm2_5i24.0.gpio.043.invert_output true   
setp   hm2_5i24.0.pwmgen.04.scale [SPINDLE_9]OUTPUT_SCALE

net spindle-output      => hm2_5i24.0.pwmgen.04.value
net spindle-enable      => hm2_5i24.0.pwmgen.04.enable

# ---Encoder feedback signals/setup---

setp    hm2_5i24.0.encoder.04.counter-mode 0
setp    hm2_5i24.0.encoder.04.filter 1
setp    hm2_5i24.0.encoder.04.index-invert 0
setp    hm2_5i24.0.encoder.04.index-mask 0
setp    hm2_5i24.0.encoder.04.index-mask-invert 0
setp    hm2_5i24.0.encoder.04.scale [SPINDLE_9]ENCODER_SCALE


# connect the HAL encoder inputs to the real encoder.
net spindle-phase-a  <=  hm2_5i24.0.encoder.04.input-a
net spindle-phase-b  <=  hm2_5i24.0.encoder.04.input-b


net spindle-revs             <=   hm2_5i24.0.encoder.04.position
net spindle-vel-fb-rps       <=   hm2_5i24.0.encoder.04.velocity
#net spindle-index-enable     <=>  hm2_5i24.0.encoder.04.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
net spindle-enable             <=  motion.spindle-on
net spindle-cw                 <=  motion.spindle-forward
net spindle-ccw                <=  motion.spindle-reverse
net spindle-brake              <=  motion.spindle-brake
net spindle-revs               =>  motion.spindle-revs
net spindle-at-speed           =>  motion.spindle-at-speed
net spindle-vel-fb-rps         =>  motion.spindle-speed-in
net spindle-index-enable      <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

net spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb         =>  near.0.in2
net spindle-at-speed       <=  near.0.out   
setp near.0.scale 1.000000
setp near.0.difference 3.333333

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

#setp     scale.spindle.gain 60
#setp     lowpass.spindle.gain 1.000000
#net spindle-vel-fb        =>   lowpass.spindle.in
#net spindle-fb-filtered-rps    lowpass.spindle.out      =>   abs.spindle.in
#net spindle-fb-filtered-abs-rps    abs.spindle.out      =>   scale.spindle.in
#net spindle-fb-filtered-abs-rpm    scale.spindle.out