[Emc-commit] joints_axes3: add a spindle speed output which is in revolutions per second

[Jeff E. <gi...@gi...>]

add a spindle speed output which is in revolutions per second

revolutions per second is more sensible, because it lets the scale
(e.g., of a stepgen being used in velocity mode) be 1 = 1 revolution,
rather than 1 = 1/60 revolution


http://git.linuxcnc.org/?p=emc2.git;a=commitdiff;h=7058bc0

---
 docs/man/man9/motion.9    |    4 ++++
 src/emc/motion/control.c  |    2 ++
 src/emc/motion/mot_priv.h |    1 +
 src/emc/motion/motion.c   |    1 +
 4 files changed, 8 insertions(+), 0 deletions(-)

diff --git a/docs/man/man9/motion.9 b/docs/man/man9/motion.9
index 1dad603..ebdbb54 100644
--- a/docs/man/man9/motion.9
+++ b/docs/man/man9/motion.9
@@ -154,6 +154,10 @@ Actual spindle speed feedback in revolutions per second; used for G96 feed-per-r
 Desired spindle speed in rotations per minute
 
 .TP
+\fBmotion.spindle-speed-out-rps\fR OUT float
+Desired spindle speed in rotations per second
+
+.TP
 \fBmotion.spindle-at-speed\fR IN bit 
 Motion will pause until this pin is TRUE, under the following conditions: before the
 first feed move after each spindle start or speed change; before the start of every
diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c
index a31178a..1c63244 100644
--- a/src/emc/motion/control.c
+++ b/src/emc/motion/control.c
@@ -1768,8 +1768,10 @@ static void output_to_hal(void)
             speed = emcmotStatus->spindle.speed;
 
 	*(emcmot_hal_data->spindle_speed_out) = speed;
+	*(emcmot_hal_data->spindle_speed_out_rps) = speed/60.;
     } else {
 	*(emcmot_hal_data->spindle_speed_out) = emcmotStatus->spindle.speed * emcmotStatus->net_spindle_scale;
+	*(emcmot_hal_data->spindle_speed_out_rps) = emcmotStatus->spindle.speed * emcmotStatus->net_spindle_scale / 60.;
     }
     *(emcmot_hal_data->spindle_on) = ((emcmotStatus->spindle.speed * emcmotStatus->net_spindle_scale) != 0) ? 1 : 0;
     *(emcmot_hal_data->spindle_forward) = (*emcmot_hal_data->spindle_speed_out > 0) ? 1 : 0;
diff --git a/src/emc/motion/mot_priv.h b/src/emc/motion/mot_priv.h
index 91fd64a..29b19b2 100644
--- a/src/emc/motion/mot_priv.h
+++ b/src/emc/motion/mot_priv.h
@@ -132,6 +132,7 @@ typedef struct {
 
     // output of a prescribed speed (to hook-up to a velocity controller)
     hal_float_t *spindle_speed_out;	/* spindle speed output */
+    hal_float_t *spindle_speed_out_rps;	/* spindle speed output */
     hal_float_t *spindle_speed_in;	/* spindle speed measured */
     
     // FIXME - debug only, remove later
diff --git a/src/emc/motion/motion.c b/src/emc/motion/motion.c
index 748215a..b783998 100644
--- a/src/emc/motion/motion.c
+++ b/src/emc/motion/motion.c
@@ -297,6 +297,7 @@ static int init_hal_io(void)
     if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_reverse), mot_comp_id, "motion.spindle-reverse")) < 0) goto error;
     if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_brake), mot_comp_id, "motion.spindle-brake")) < 0) goto error;
     if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_out), mot_comp_id, "motion.spindle-speed-out")) < 0) goto error;
+    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_out_rps), mot_comp_id, "motion.spindle-speed-out-rps")) < 0) goto error;
 
 //    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->inpos_output), mot_comp_id, "motion.motion-inpos")) < 0) goto error;
     if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->spindle_revs), mot_comp_id, "motion.spindle-revs")) < 0) goto error;