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=0,0,0,0 ctrl_type=p,v,p,p
loadrt charge_pump

###############NEW#################
loadrt and2 count=2
loadrt xor3 count=2
loadrt or2 count=2
###################################
net charge-pump <= charge-pump.out

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf charge-pump base-thread
###############NEW##############
addf and2.0 servo-thread
addf and2.1 servo-thread
addf xor2.0 servo-thread
addf xor2.1 servo-thread
addf or2.0 servo-thread
addf or2.1 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

net estop-out <= iocontrol.0.user-enable-out
net estop-ext <= parport.0.pin-10-in
net estop-ext => iocontrol.0.emc-enable-in

net charge-pump => parport.0.pin-09-out

net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out

net zstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net zdir => parport.0.pin-05-out
net astep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net adir => parport.0.pin-07-out
setp parport.0.pin-17-out-invert 1
net xenable => parport.0.pin-17-out

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

addf scale.0 servo-thread
net spindle-cmd-rpm <= motion.spindle-speed-out => scale.1.in
setp scale.1.gain 0.01666667
net spindle-cmd-rps <= scale.1.out => stepgen.1.velocity-cmd
setp stepgen.1.position-scale 200
setp stepgen.1.maxvel 5
setp stepgen.1.maxaccel 2
##############NEW######################
net spindle-step <= stepgen.1.step => and2.0.in0
net spindle-dir <= stepgen.1.dir => and2.1.in0
#######################################



setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
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

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
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
#############NEW#####################
net astep <= stepgen.3.step => xor2.0.in0
net adir <= stepgen.3.dir => xor2.1.in0
#####################################
net aenable axis.3.amp-enable-out => stepgen.3.enable

#######NEW LOGIC STUFF##################
net spindle_on <= motion.spindle-on => stepgen.1.enable and2.0.in1 and2.1.in1 xor2.0.in1 xor2.1.in1
net masked-spindle-step and2.0.out => or2.0.in0
net masked-spindle-dir and2.1.out => or2.1.in0
net masked-astep xor2.0.out => or2.0in1
net masked-adir xor2.1.out => or2.1.in1
net chosen-step or2.0.out => parport.0.pin-14-out
net chosen-dir or2.1.out => parport.0.pin-16-out
###########################################

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