uint32_t Spindle::on_update_speed(uint32_t dummy)
{
// If we don't get any interrupts for 1 second, set current RPM to 0
uint32_t new_irq = irq_count;
if (last_irq != new_irq)
time_since_update = 0;
else
time_since_update++;
last_irq = new_irq;
if (time_since_update > UPDATE_FREQ)
last_time = 0;
// Calculate current RPM
uint32_t t = last_time;
if (t == 0) {
current_rpm = 0;
} else {
float new_rpm = 1000000 * 60.0f / (t * pulses_per_rev);
current_rpm = smoothing_decay * new_rpm + (1.0f - smoothing_decay) * current_rpm;
}
if (spindle_on) {
float error = target_rpm - current_rpm;
current_I_value += control_I_term * error * 1.0f / UPDATE_FREQ;
current_I_value = confine(current_I_value, -1.0f, 1.0f);
float new_pwm = 0.5f;
new_pwm += control_P_term * error;
new_pwm += current_I_value;
new_pwm += control_D_term * UPDATE_FREQ * (error - prev_error);
new_pwm = confine(new_pwm, 0.0f, 1.0f);
prev_error = error;
current_pwm_value = new_pwm;
} else {
current_I_value = 0;
current_pwm_value = 0;
}
if (output_inverted)
spindle_pin->write(1.0f - current_pwm_value);
else
spindle_pin->write(current_pwm_value);
return 0;
}
static void
forkcmd(char *cmd, char *p, int reqfd, int datafd, int want_reply)
{
char *q;
switch (fork()) {
case 0:
if (restdir && chdir(restdir) < 0) {
syslog(0, "ssh", "can't chdir(%s): %r", restdir);
exits("can't chdir");
}
if (!prevent || (q = getenv("sshsession")) &&
strcmp(q, "allow") == 0)
get_string(p+1, cmd);
else
confine(p+1, cmd);
syslog(0, "ssh", "server running `%s' for %s", cmd, uname);
/* runcmd doesn't return */
runcmd(reqfd, datafd, "rx", "/bin/rc", "-lc", cmd);
case -1:
REPLY("failure");
syslog(0, "ssh", "server can't fork: %r");
exits("fork");
}
}
