1BPstepper.hal

# core HAL config file for quadrature stepper

# first load the core RT modules that will be needed
# kinematics
loadrt trivkins

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY

# stepper module, three step generators, all three using quadrature
loadrt stepgen step_type=2,2,2

# hook functions to base thread (high speed thread for step generation)
addf stepgen.make-pulses base-thread

# hook functions to servo thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

# connect position commands from motion module to step generator
newsig Xpos-cmd float
linksp Xpos-cmd <= axis.0.motor-pos-cmd
linksp Xpos-cmd => stepgen.0.position-cmd
newsig Ypos-cmd float
linksp Ypos-cmd <= axis.1.motor-pos-cmd
linksp Ypos-cmd => stepgen.1.position-cmd
newsig Zpos-cmd float
linksp Zpos-cmd <= axis.2.motor-pos-cmd
linksp Zpos-cmd => stepgen.2.position-cmd

# connect position feedback from step generators
# to motion module
newsig Xpos-fb float
linksp Xpos-fb <= stepgen.0.position-fb
linksp Xpos-fb => axis.0.motor-pos-fb
newsig Ypos-fb float
linksp Ypos-fb <= stepgen.1.position-fb
linksp Ypos-fb => axis.1.motor-pos-fb
newsig Zpos-fb float
linksp Zpos-fb <= stepgen.2.position-fb
linksp Zpos-fb => axis.2.motor-pos-fb

# connect enable signals for step generators
newsig Xen bit
linksp Xen <= axis.0.amp-enable-out
linksp Xen => stepgen.0.enable
newsig Yen bit
linksp Yen <= axis.1.amp-enable-out
linksp Yen => stepgen.1.enable
newsig Zen bit
linksp Zen <= axis.2.amp-enable-out
linksp Zen => stepgen.2.enable

#connect axis driver enable to motion command
newsig En1 bit
#linksp En1 => motion.motion-inpos
linksp En1 => motion.in-position
#newsig Yen1 bit
#linksp Yen1 => motion.in-position
#newsig Zen1 bit
#linksp Zen1 => motion.in-position

# connect signals to step pulse generator outputs
newsig X_phaseA bit
newsig X_phaseB bit
newsig Y_phaseA bit
newsig Y_phaseB bit
newsig Z_phaseA bit
newsig Z_phaseB bit
linkps stepgen.0.phase-A X_phaseA
linkps stepgen.0.phase-B X_phaseB
linkps stepgen.1.phase-A Y_phaseA
linkps stepgen.1.phase-B Y_phaseB
linkps stepgen.2.phase-A Z_phaseA
linkps stepgen.2.phase-B Z_phaseB

# set stepgen module scaling - get values from ini file
setp stepgen.0.position-scale [AXIS_0]INPUT_SCALE
setp stepgen.1.position-scale [AXIS_1]INPUT_SCALE
setp stepgen.2.position-scale [AXIS_2]INPUT_SCALE

# set stepgen module velocity limits - get values from ini file
setp stepgen.0.maxvel [AXIS_0]STEPGEN_MAXVEL
setp stepgen.1.maxvel [AXIS_1]STEPGEN_MAXVEL
setp stepgen.2.maxvel [AXIS_2]STEPGEN_MAXVEL

# set stepgen module accel limits - get values from ini file
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL