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="0xdc00 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0,0
loadrt abs count=1

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 stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf abs.0 servo-thread
net spindle-cmd <= motion.spindle-speed-out
net spindle-at-speed => motion.spindle-at-speed

net xenable => parport.0.pin-01-out
setp parport.0.pin-02-out-invert 1
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 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 bdir => parport.0.pin-17-out
net bstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
net zdir => parport.0.pin-08-out
net xdir => parport.0.pin-14-out
net ystep => parport.0.pin-16-out
setp parport.0.pin-16-out-reset 1
net estop-ext <= parport.0.pin-15-in-not

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 1
setp stepgen.0.dirhold 50000
setp stepgen.0.dirsetup 50000
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

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 1
setp stepgen.1.dirhold 50000
setp stepgen.1.dirsetup 50000
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

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 1
setp stepgen.2.dirhold 50000
setp stepgen.2.dirsetup 50000
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 1
setp stepgen.3.dirhold 50000
setp stepgen.3.dirsetup 50000
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

setp stepgen.4.position-scale [AXIS_4]SCALE
setp stepgen.4.steplen 1
setp stepgen.4.stepspace 1
setp stepgen.4.dirhold 50000
setp stepgen.4.dirsetup 50000
setp stepgen.4.maxaccel [AXIS_4]STEPGEN_MAXACCEL
net bpos-cmd axis.4.motor-pos-cmd => stepgen.4.position-cmd
net bpos-fb stepgen.4.position-fb => axis.4.motor-pos-fb
net bstep <= stepgen.4.step
net bdir <= stepgen.4.dir
net benable axis.4.amp-enable-out => stepgen.4.enable

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