# Benutzerdefinierte HAL-Anweisungen können nachfolgend angegeben werden
# Diese Datei wird überschrieben, wenn stepconf erneut ausgeführt wird.
#loadusr -W arduino /dev/ttyUSB0 0
loadusr -W arduino /dev/ttyACM0 0

loadrt or2 count=1
loadrt and2 count=2
loadrt toggle count=2
loadrt toggle2nist count=1


addf and2.0 servo-thread
addf and2.1 servo-thread
addf or2.0 servo-thread
addf toggle.0 servo-thread
addf toggle2nist.0 servo-thread

addf toggle.1 servo-thread

loadrt encoder num_chan=4
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
setp encoder.1.position-scale 5000
setp encoder.0.x4-mode 1
setp encoder.1.x4-mode 1

net feedenca encoder.0.phase-A <= arduino.digital-in-09
net feedencb encoder.0.phase-B <= arduino.digital-in-08
net spindlenca encoder.1.phase-A <= arduino.digital-in-10
net spindlencb encoder.1.phase-B <= arduino.digital-in-11

#MODULE

# External Program Pause/Resume Button
net pause-resume-btn and2.0.in0 and2.1.in0 <= parport.0.pin-10-in
net pause-on toggle2nist.0.is-on and2.0.in1 <= halui.program.is-paused
net run-on and2.1.in1 <= halui.program.is-running
net pause-sig or2.0.in0 <= and2.0.out
net resume-sig or2.0.in1 <= and2.1.out
net toggle-ok toggle.0.in <= or2.0.out
net togglesig toggle2nist.0.in <= toggle.0.out
net toggleon halui.program.pause <= toggle2nist.0.on
net toggleoff halui.program.resume <= toggle2nist.0.off