Merge pull request #492 from blazini36/patch-1

Create Spindle_monitor.comp

Spindle_monitor.comp

@@ -0,0 +1,47 @@
+component spindle_monitor "spindle at-speed and underspeed detection";
+pin in bit spindle-is-on;
+pin in float spindle-command;
+pin in float spindle-feedback;
+
+pin out bit spindle-at-speed;
+pin out bit spindle-underspeed;
+
+param rw unsigned level "state machine state";
+param rw float threshold;
+
+function _;
+license "gpl v2 or higher";
+
+;;
+
+#include <rtapi_math.h>
+
+FUNCTION(_) {
+
+switch (level){
+    case 0:  // idle
+        spindle_at_speed = 0;
+        spindle_underspeed = 0;
+        if (spindle_is_on) level = 1;
+        break;
+    case 1: // waiting for spindle-at-speed
+        if ( ! spindle_is_on ) {
+            level = 0;
+            return; }
+        if (fabs(spindle_command - spindle_feedback) < threshold) {
+            level = 2;
+            spindle_at_speed = 1;
+            return; }
+        break;
+    case 2: // monitoring speed
+        if ( ! spindle_is_on ) {
+            level = 0;
+            return; }
+        if  ((spindle_command - spindle_feedback) > threshold) {
+            spindle_underspeed = 1; }
+        break;
+    default:
+        // not sure how we got here, but fix the situation
+        level = 0;
+    }
+}