gearchange hal config

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="0xd000 0xd400"
setp parport.0.reset-time 1500
setp parport.1.reset-time 1500
loadrt stepgen step_type=0,0,0,0,0 ctrl_type=p,p,p,p,v
loadrt scale count=1
addf stepgen.make-pulses base-thread

addf parport.0.read base-thread
addf parport.1.read base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread
addf parport.1.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

# add debounce component
loadrt debounce cfg=3
# set delay (number of iterations of base thread )
setp debounce.0.delay 50
addf debounce.0 servo-thread




	setp scale.0.in 0
	setp scale.0.gain 0.65
	setp scale.0.offset 0
	addf scale.0 servo-thread


loadrt toggle count=4
loadrt not count=4
loadrt gearchange count=1
addf toggle.0 servo-thread
addf not.0 servo-thread
addf gearchange.0 servo-thread

setp toggle.0.debounce 0
setp gearchange.0.min1 10
setp gearchange.0.max1 299
setp gearchange.0.min2 300
setp gearchange.0.max2 3000
setp gearchange.0.scale2 8


setp stepgen.4.position-scale 1
setp stepgen.4.maxvel 18000
setp stepgen.4.steplen 10000
setp stepgen.4.stepspace 0
setp stepgen.4.dirhold 20000
setp stepgen.4.dirsetup 20000
setp stepgen.4.maxaccel 2000
net spindle-enable <= motion.spindle-on => stepgen.4.enable
net spindle-cmd motion.spindle-speed-out => scale.0.in

net gearchange.0.speed-in <= scale.0.out
net spindle-speed-scaled gearchange.0.speed-out
net spindle-freq <= spindle-speed-scaled => stepgen.4.velocity-cmd

setp parport.1.pin-16-out-invert 1
net spindle-out <= stepgen.4.step => parport.1.pin-16-out

net spindle-enable => parport.1.pin-14-out
net spindle-at-speed => motion.spindle-at-speed

net spindle-cw <= stepgen.4.dir => parport.1.pin-17-out

net coolant-flood <= iocontrol.0.coolant-flood
net spindle-cw => parport.1.pin-17-out
net probe-in <= parport.1.pin-10-in
net probe-in => motion.probe-input

net xenable => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net ydir => parport.0.pin-03-out
net adir => parport.0.pin-05-out
net astep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
setp parport.0.pin-08-out-invert 1
net zdir => parport.0.pin-08-out
setp parport.0.pin-14-out-invert 1
net xdir => parport.0.pin-14-out
net ystep => parport.0.pin-16-out
setp parport.0.pin-16-out-reset 1

net coolant-flood => parport.1.pin-05-out

net both-x <= parport.0.pin-10-in-not
net both-y <= parport.0.pin-11-in-not
net both-z <= parport.0.pin-12-in-not
#net all-home <= parport.0.pin-13-in
net estop-ext <= parport.0.pin-15-in


net debounce-all-home debounce.0.0.in <= parport.0.pin-13-in
net all-home debounce.0.0.out

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 27000
setp stepgen.0.dirsetup 24000
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
net all-home => axis.0.home-sw-in
net both-x => axis.0.neg-lim-sw-in
net both-x => axis.0.pos-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 27000
setp stepgen.1.dirsetup 24000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net all-home => axis.1.home-sw-in
net both-y => axis.1.neg-lim-sw-in
net both-y => axis.1.pos-lim-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 27000
setp stepgen.2.dirsetup 24000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net all-home => axis.2.home-sw-in
net both-z => axis.2.neg-lim-sw-in
net both-z => axis.2.pos-lim-sw-in

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 27000
setp stepgen.3.dirsetup 24000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable
net all-home => axis.3.home-sw-in

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