hal file

# #######################################
#
# HAL file for HostMot2 with 3 steppers
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################


# ###################################
# Core EMC/HAL Loads
# ###################################

# kinematics
loadrt trivkins

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# only the 7i43 needs this, but it doesnt hurt the others
#loadrt probe_parport

# hostmot2 driver
loadrt hostmot2

# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)

setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000

# Load Classic ladder module that runs in real time
loadrt classicladder_rt numPhysInputs=32 numPhysOutputs=20 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10

loadrt not count=1


# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read         servo-thread
addf motion-command-handler               servo-thread
addf motion-controller                    servo-thread
# revel in the free time here from not having to run PID
addf hm2_[HOSTMOT2](BOARD).0.write        servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
addf not.0                                  servo-thread
addf classicladder.0.refresh              servo-thread


# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################


# ################
# X [0] Axis
# ################

# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE

net emcmot.00.enable <= axis.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable


# position command and feedback
net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd

net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => axis.0.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold         [AXIS_0]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace       [AXIS_0]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale  [AXIS_0]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel          0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel        0

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type       0


# ################
# Y [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE

net emcmot.01.enable <= axis.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable


# position command and feedback
net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd

net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => axis.1.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup        [AXIS_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold         [AXIS_1]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen         [AXIS_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace       [AXIS_1]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale  [AXIS_1]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel          0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel        0

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type       0


# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE

net emcmot.02.enable <= axis.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable


# position command and feedback
net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd

net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
net motor.02.pos-fb => axis.2.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup        [AXIS_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold         [AXIS_2]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen         [AXIS_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace       [AXIS_2]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale  [AXIS_2]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel          0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel        0

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type       0

#
# The Mesa AnyIO output pins can be in open-drain mode (drive low, float
# high) or push/pull mode (drive low, drive high).
#
# When a logical output is 1 in open-drain mode, the FPGA lets the pin
# float and it gets pulled high to +5V via a 10K resistor.
#
# When a logical output is 1 in push/pull mode, the FPGA pushes the pin
# high but only to +3.3V.  This is problematic on some kinds of inputs.
#
#setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1


# hm2 pins 40-47 are outputs
# hm2 pin 24-39 are inputs

# external output signals
# --- DOUT-00 ---  Slitter knife down
    setp hm2_5i20.0.gpio.040.is_output true
net dout-00     <=  motion.digital-out-00
net dout-00     =>  hm2_5i20.0.gpio.040.out

# --- DOUT-01 --- Cutter knife down
    setp hm2_5i20.0.gpio.041.is_output true
net dout-01     <=  motion.digital-out-01
net dout-01     =>  hm2_5i20.0.gpio.041.out  => classicladder.0.in-03
# net dout-01

# --- DOUT-02 --- In cycle light (auto mode?)
    setp hm2_5i20.0.gpio.042.is_output true

net dout-02     =>  hm2_5i20.0.gpio.042.out

# --- DOUT-03 ---  System ready ??
    setp hm2_5i20.0.gpio.043.is_output true

net dout-03     =>  hm2_5i20.0.gpio.043.out

# --- DOUT-04 ---
    setp hm2_5i20.0.gpio.044.is_output true

net dout-04     =>  hm2_5i20.0.gpio.044.out
# --- DOUT-05 ---
    setp hm2_5i20.0.gpio.045.is_output true

net dout-05     =>  hm2_5i20.0.gpio.045.out
# --- DOUT-06 ---
    setp hm2_5i20.0.gpio.046.is_output true

net dout-06     =>  hm2_5i20.0.gpio.046.out

# ----DOUT-07---
    setp hm2_5i20.0.gpio.047.is_output true

net enable     =>  hm2_5i20.0.gpio.047.out

# **** Setup for external estop ladder program -START ****

net estop-out <= iocontrol.0.user-enable-out
net estop-out => classicladder.0.in-00
net estop-ext  hm2_5i20.0.gpio.024.in => classicladder.0.in-01
# When the operator clicks on the Estop button when the system is in Estop, the user-request-enable bit flashes on
net estop-strobe classicladder.0.in-02 <= iocontrol.0.user-request-enable
net estop-outcl classicladder.0.out-00 => iocontrol.0.emc-enable-in

# **** Setup for external estop ladder program -END ****

# --- DIN-01 --- Cutter knife down switch
net din-01     <=  hm2_5i20.0.gpio.025.in
net din-01     =>  motion.digital-in-00
# => classicladder.0.in-03


# --- DIN-02 --- Cutter knife up switch
net din-02     <=  hm2_5i20.0.gpio.026.in
#net din-02     =>  motion.digital-in-01 => classicladder.0.in-04

# --- DIN-03 --- Slitter knife down switch
net din-03     <=  hm2_5i20.0.gpio.027.in
net din-03                              => classicladder.0.in-05

# --- DIN-04 --- Sliter knife up switch
net din-04     <=  hm2_5i20.0.gpio.028.in
net din-04                             =>  classicladder.0.in-06

#  --- DIN-05 ---
# --- JOG-X-POS ---
net jog-x-pos     <=  hm2_5i20.0.gpio.029.in
net jog-x-pos      =>      halui.jog.0.plus

# --- DIN-06 ---
# --- JOG-X-NEG ---
net jog-x-neg     <=  hm2_5i20.0.gpio.030.in
net jog-x-neg            halui.jog.0.minus

# --- DIN-07 ---
# --- JOG-Y-POS ---
net jog-y-pos     <=  hm2_5i20.0.gpio.031.in
net jog-y-pos            halui.jog.1.plus

# --- DIN-08 ---
# --- JOG-Y-NEG ---
net jog-y-neg     <=  hm2_5i20.0.gpio.032.in
net jog-y-neg            halui.jog.1.minus

# --- DIN-09 ---
# --- JOG-Z-POS ---
net jog-z-pos     <=  hm2_5i20.0.gpio.033.in
net jog-z-pos            halui.jog.2.plus

# --- DIN-10 ---
# --- JOG-Z-NEG ---
net jog-z-neg     <=  hm2_5i20.0.gpio.034.in
net jog-z-neg            halui.jog.2.minus

# --- DIN-11 ---

# --- DIN-12 ---

# --- DIN-13 ---

# --- DIN-14 ---
net din-14     <=  hm2_5i20.0.gpio.038.in
net din-14     =>  motion.digital-in-02

# --- DIN-15 ---
net din-15     <=  hm2_5i20.0.gpio.039.in
net din-15     =>  motion.digital-in-03

# COUNTER RESET BIT FROM GCODE TO LADDER COUNTER
net count_rst motion.digital-out-02 =>  classicladder.0.in-07


net enable        =>  motion.motion-enabled

# create signals for tool loading loopback
#net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
#net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

### Added with Classic ladder interface


# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
# without classic ladder gui
#loadusr classicladder --nogui custom.clp
# with classic ladder gui
loadusr classicladder custom.clp