# Generated by stepconf at Mon May 21 18:43:24 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0
loadrt encoder num_chan=1
loadrt pwmgen output_type=0
#lowpass for spindle velocity
loadrt lowpass count=1
#scale for rpm
loadrt scale count=1
loadrt debounce cfg=3

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
addf lowpass.0 servo-thread
addf scale.0 servo-thread
addf debounce.0 base-thread

net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-enable <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 10000.0
setp pwmgen.0.scale 1166.66666667
setp pwmgen.0.offset 0.114285714286
setp pwmgen.0.dither-pwm true
net spindle-cw <= motion.spindle-forward
setp debounce.0.delay 20


#Smoothing of spindle rps factor.
setp lowpass.0.gain 0.01

#scale rps to rpm
setp scale.0.gain 60

setp encoder.0.position-scale 1.000000
setp encoder.0.counter-mode 1

# use interpolated postion because of 1 ppr
net spindle-position encoder.0.position-interpolated => motion.spindle-revs

#hooking the low pass in for spindle velocity smoothing (remarked out original line)
# net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-velocity encoder.0.velocity lowpass.0.in
net spindle-velfiltered lowpass.0.out scale.0.in motion.spindle-speed-in
#pin for rpm to pyvcp panel
net spindle-rpm-filtered scale.0.out

net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable

#hook index to a also..
net spindle-index <= parport.0.pin-11-in
net spindle-index encoder.0.phase-A
#net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z

net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
setp parport.0.pin-03-out-invert 1
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir => parport.0.pin-07-out
net astep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net adir => parport.0.pin-09-out
net spindle-cw => parport.0.pin-14-out
net spindle-pwm => parport.0.pin-16-out
net xenable => parport.0.pin-17-out
net spindle-index-raw <= parport.0.pin-11-in => debounce.0.0.in
net spindle-index-filtered <= debounce.0.0.out => spindle-index encoder.0.phase-Z

net estop-ext <= parport.0.pin-10-in
# net spindle-phase-a <= parport.0.pin-12-in


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_2]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable axis.2.amp-enable-out => stepgen.1.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared