custom.hal

# Generated by stepconf at Sun Aug 28 12:50:09 2011
# If you make changes to this file, they will be
# overwritten when you run stepconf again

loadrt threads name1=base-thread period1=[EMCMOT]BASE_PERIOD fp1=0 name2=charge-pump-thread period2=100000 fp2=0

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out"
# setp parport.0.reset-time 1200
loadrt stepgen step_type=0,0,0
loadrt pwmgen output_type=0
loadrt charge_pump
loadrt laserraster linear_units=[TRAJ]LINEAR_UNITS axis_scale=[AXIS_0]SCALE axis_min_limit=[AXIS_0]MIN_LIMIT axis_max_limit=[AXIS_0]MAX_LIMIT
loadrt laserfreq

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf laserraster.0.make-pulses base-thread
addf laserfreq.0.make-pulses 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 motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf laserraster.0.update servo-thread
addf laserfreq.0.update servo-thread
addf pwmgen.update servo-thread

addf charge-pump charge-pump-thread

net laser-power-cmd <= motion.analog-out-00 => pwmgen.0.value
net laser-pwm <= pwmgen.0.pwm
# or tie pwmgen.0.enable to dout-00??
setp pwmgen.0.enable 1
# pwm-freq 0 means PDM (pulse density modulation)
setp pwmgen.0.pwm-freq 0
# scale 0%=0.1 100%=0.6
setp pwmgen.0.max-dc 0.7
setp pwmgen.0.scale 200
setp pwmgen.0.offset 0.1
setp pwmgen.0.dither-pwm true

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

#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 0
net ystep => parport.0.pin-04-out
# setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
setp parport.0.pin-05-out-invert 1
net wstep => parport.0.pin-06-out
# setp parport.0.pin-06-out-reset 1
net wdir => parport.0.pin-07-out
setp parport.0.pin-07-out-invert 1
net xenable => parport.0.pin-08-out
setp parport.0.pin-08-out-invert 1

net laser-exhaust => parport.0.pin-01-out
net laser-pwm => parport.0.pin-14-out
net coolant-mist => parport.0.pin-16-out
net laser-final => parport.0.pin-17-out

net both-w <= parport.0.pin-12-in-not
net max-home-y <= parport.0.pin-13-in-not
net min-home-x <= parport.0.pin-15-in-not

# charge pump output on pin 9
net charge-pump-out-09 charge-pump.out => parport.0.pin-09-out

# Keling 4030 driver 1.2us step, 5us dir setup
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1200
setp stepgen.0.stepspace 1200
setp stepgen.0.dirhold 1000
setp stepgen.0.dirsetup 5000
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 min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1200
setp stepgen.1.stepspace 1200
setp stepgen.1.dirhold 1000
setp stepgen.1.dirsetup 5000
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 max-home-y => axis.1.home-sw-in
net max-home-y => axis.1.pos-lim-sw-in

setp stepgen.2.position-scale [AXIS_8]SCALE
setp stepgen.2.steplen 1200
setp stepgen.2.stepspace 1200
setp stepgen.2.dirhold 1000
setp stepgen.2.dirsetup 5000
setp stepgen.2.maxaccel [AXIS_8]STEPGEN_MAXACCEL
net wpos-cmd axis.8.motor-pos-cmd => stepgen.2.position-cmd
net wpos-fb stepgen.2.position-fb => axis.8.motor-pos-fb
net wstep <= stepgen.2.step
net wdir <= stepgen.2.dir
net wenable axis.8.amp-enable-out => stepgen.2.enable
#net both-w => axis.8.neg-lim-sw-in
#net both-w => axis.8.pos-lim-sw-in

net zpos-cmd-fb <= axis.2.motor-pos-cmd => axis.2.motor-pos-fb

net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

########################

# M3/M5, not realtime/coordinated but master on/off:
net laser-master <= motion.spindle-on

# M62/M63 coordinated or M64/M65 immediate firing:
net laser-dout <= motion.digital-out-00

########################

setp laserraster.0.enable 1
setp laserraster.0.laser-on-delay [LASER]TRIGGER_DELAY
net raster-data-index <= motion.analog-out-01 => laserraster.0.data-index
net raster-data-1 <= motion.analog-out-02 => laserraster.0.data-1
net xstep => laserraster.0.stepgen-step
net xdir => laserraster.0.stepgen-dir
net laser-raster <= laserraster.0.laser-on

########################

setp laserfreq.0.duration [LASER]PULSED_CUT_DURATION
net current-vel motion.current-vel => laserfreq.0.velocity
net laser-freq-speed motion.spindle-speed-out => laserfreq.0.pulse-per-unit
net laser-freq-trick-axis-rev motion.spindle-reverse
#net laser-dout => laserfreq.0.enable
setp laserfreq.0.enable 1
net laser-pulsed <= laserfreq.0.pulse

########################

loadrt comp names=laser-magic-z-comp
addf laser-magic-z-comp servo-thread
net zpos-fb <= axis.2.joint-pos-fb => laser-magic-z-comp.in0
setp laser-magic-z-comp.in1 -0.0001
net laser-magic-z <= laser-magic-z-comp.out

########################

# Final laser equation:  When laser-master is enabled (M3) fire for
# raster or at pulse rate when cutting:
#
# laser-final <= laser-master &
#                    (laser-raster |
#                   ((laser-magic-z | laser-dout) & laser-pulsed))

loadrt lut5 names=laser-final-lut
addf laser-final-lut base-thread
setp laser-final-lut.function 0xfeaa0000
net  laser-raster      => laser-final-lut.in-0
net  laser-dout        => laser-final-lut.in-1
net  laser-magic-z     => laser-final-lut.in-2
net  laser-pulsed      => laser-final-lut.in-3
net  laser-master      => laser-final-lut.in-4
net laser-final <= laser-final-lut.out

########################
# exhaust/assist-air control

loadrt oneshot names=laser-exhaust-oneshot
loadrt or2 names=laser-exhaust-or
addf laser-exhaust-oneshot servo-thread
addf laser-exhaust-or servo-thread

net laser-master        => laser-exhaust-oneshot.in
net laser-exhaust-extra <= laser-exhaust-oneshot.out
setp laser-exhaust-oneshot.retriggerable 1
setp laser-exhaust-oneshot.width [LASER]EXTRA_EXHAUST_TIME
setp laser-exhaust-oneshot.rising 0
setp laser-exhaust-oneshot.falling 1

net laser-master        => laser-exhaust-or.in0
net laser-exhaust-extra => laser-exhaust-or.in1
net laser-exhaust       <= laser-exhaust-or.out