# Generated by stepconf at Sat Nov 10 19:45:20 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 lut5
loadrt thcud


#main is 378
loadrt hal_parport cfg="0x378 out 0xdf30 out "
setp parport.0.reset-time 1000
loadrt stepgen step_type=0,0,0
loadrt charge_pump
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net charge-pump <= charge-pump.out


#Base Threads
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf parport.0.read base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.read base-thread
addf parport.1.write base-thread
addf parport.1.reset base-thread

#Servo Threads
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf lut5.0 servo-thread
addf thcud servo-thread

#setp lut5.0.function 0x1000
#net all-limit-home => lut5.0.in-4
#net all-limit <= lut5.0.out
#net homing-x <= axis.0.homing => lut5.0.in-0
#net homing-y <= axis.1.homing => lut5.0.in-1
#net homing-z <= axis.2.homing => lut5.0.in-2

net spindle-cmd <= motion.spindle-speed-out
net spindle-cw <= motion.spindle-forward

net probe-in => motion.probe-input

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
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
net zdir => parport.0.pin-07-out
net xstep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net xdir => parport.0.pin-09-out
net spindle-cw => parport.0.pin-14-out
net charge-pump => parport.0.pin-16-out



#net all-limit-home <= parport.0.pin-10-in-not
net probe-in <= parport.0.pin-11-in-not


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 15200
setp stepgen.0.dirsetup 15200
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-limit-home => axis.0.home-sw-in
#net all-limit => axis.0.neg-lim-sw-in
#net all-limit => 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 15200
setp stepgen.1.dirsetup 15200
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-limit-home => axis.1.home-sw-in
#net all-limit => axis.1.neg-lim-sw-in
#net all-limit => axis.1.pos-lim-sw-in

# Z Axis
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL

net emcmot.02.pos-cmd thcud.z-pos-in <= axis.2.motor-pos-cmd
net thcud-pos-cmd thcud.z-pos-out => stepgen.2.position-cmd
net motor.02.pos-fb axis.2.motor-pos-fb <= thcud.z-fb-out


net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable

#Z home and limit
#net all-limit-home => axis.2.home-sw-in
#net all-limit => axis.2.neg-lim-sw-in
#net all-limit => axis.2.pos-lim-sw-in




#MISC
net estop-out <= iocontrol.0.user-enable-out
net estop-out => 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


#Custom Commands
net spindle-on motion.spindle-on => parport.0.pin-17-out
net spindle-on thcud.torch-on
net start-motion-input thcud.arc-ok <= motion.digital-in-00 <= parport.0.pin-12-in-not
thcud.torch-up <= parport.1.pin-12-in
thcud.torch-down <= parport.1.pin-13-in
thcud.requested-vel <= motion.requested-vel
thcud.current-vel <= motion.current-vel