1BPpinout.hal

# standard pinout config file for 3-axis steppers
# using a parport for I/O
#
# first load the parport driver
loadrt hal_parport cfg="0x0378 0xdff0 0xdfa8"
#loadrt hal_parport cfg="0x0378 0xdfa8 0xdff0"

#
# next connect the parport functions to threads
# read inputs first
addf parport.0.read base-thread 1
addf parport.1.read base-thread 1
addf parport.2.read base-thread 1

# write outputs last
addf parport.0.write base-thread -1
addf parport.1.write base-thread -1
addf parport.2.write base-thread -1
#
# finally connect physical pins to the signals
# using parport.1 for X Axis
# using parport.2 for Y Axis
# using parport.0 for Z Axis
# as folows:

linksp X_phaseA => parport.1.pin-07-out
linksp X_phaseA => parport.1.pin-08-out
setp parport.1.pin-08-out-invert TRUE
linksp X_phaseB => parport.1.pin-05-out
linksp X_phaseB => parport.1.pin-06-out
setp parport.1.pin-06-out-invert TRUE
linksp Y_phaseA => parport.2.pin-07-out
linksp Y_phaseA => parport.2.pin-08-out
setp parport.2.pin-08-out-invert TRUE
linksp Y_phaseB => parport.2.pin-05-out
linksp Y_phaseB => parport.2.pin-06-out
setp parport.2.pin-06-out-invert TRUE
linksp Z_phaseA => parport.0.pin-07-out
linksp Z_phaseA => parport.0.pin-08-out
setp parport.0.pin-08-out-invert TRUE
linksp Z_phaseB => parport.0.pin-05-out
linksp Z_phaseB => parport.0.pin-06-out
setp parport.0.pin-06-out-invert TRUE

# create a signal for the estop loopback
# linkpp iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
net enable iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool loading loopback
# linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
# linkpp iocontrol.0.tool-change iocontrol.0.tool-changed
# I disabled the following 2 lines to enable hal_manualtoolchange I just setup below
#net tool-prepared iocontrol.0.tool-prepare iocontrol.0.tool-prepared
#net tool-changed iocontrol.0.tool-change iocontrol.0.tool-changed

#Setup hal manual tool change
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

# create a signal for "spindle on"
newsig spindle-on bit
# connect the controller to it
linkps motion.spindle-on => spindle-on
# connect it to a physical pin
linksp spindle-on => parport.2.pin-17-out

#create a signal and connect to parport pin for estop activated for Estop-on (red) ind
net estopactivated halui.estop.is-activated parport.1.pin-03-out

# now create a signal for estop not activated for Estop-off ind (grn) & motor control
linksp estopactivated => parport.1.pin-04-out
setp parport.1.pin-04-out-invert true

#create a signal for machine on ind
net machineon halui.machine.is-on parport.2.pin-02-out

#create signals to show which axis is selected     DON'T need this!
#net xisselected axisui.jog.x parport.1.pin-02-out


###
### You might use something like this to enable chopper drives when machine ON
### the En1 signal is defined in 1BPstepper.hal
###


linksp En1 => parport.0.pin-09-out
setp parport.0.pin-09-out-invert true
linksp En1 => parport.1.pin-09-out
setp parport.1.pin-09-out-invert true
linksp En1 => parport.2.pin-09-out
setp parport.2.pin-09-out-invert true
###


### If you want active low for this pin, invert it like this:
###

# setp parport.0.pin-01-out-invert true
# or
# setp parport.0.pin-01-out-invert 1

#To create a +5v pull up on pin 17
#newsig pu bit
#linksp pu parport.0.pin-17-out
#linksp pu parport.1.pin-17-out
#linksp pu parport.2.pin-17-out
#sets pu true

#Create



# create signals and link them between the appropriate
# parport pins and axis limit pins
newsig X-neg-limit bit
linkps parport.1.pin-10-in => X-neg-limit
linksp X-neg-limit => axis.0.neg-lim-sw-in
linksp X-neg-limit => axis.0.home-sw-in
### See note pertaining to above statement below at ###

newsig X-pos-limit bit
linkps parport.1.pin-11-in => X-pos-limit
linksp X-pos-limit => axis.0.pos-lim-sw-in
#linksp X-pos-limit => axis.0.home-sw-in
### See note pertaining to above statement below at ###

newsig Y-neg-limit bit
linkps parport.2.pin-10-in => Y-neg-limit
linksp Y-neg-limit => axis.1.neg-lim-sw-in

newsig Y-pos-limit bit
linkps parport.2.pin-11-in => Y-pos-limit
linksp Y-pos-limit => axis.1.pos-lim-sw-in
linksp Y-pos-limit => axis.1.home-sw-in

newsig Z-neg-limit bit
linkps parport.0.pin-10-in => Z-neg-limit
linksp Z-neg-limit => axis.2.neg-lim-sw-in

newsig Z-pos-limit bit
linkps parport.0.pin-11-in => Z-pos-limit
linksp Z-pos-limit => axis.2.pos-lim-sw-in
linksp Z-pos-limit => axis.2.home-sw-in

### Using a limit switch to home to you must link the limit switch to the
### appropriate axis home switch input pin. Note - You can't connect two
### or more different signals to a one pin.  You may connect a signal
### to as many pins as you wish.

# Try this for external jog inputs

net jog0minus halui.jog.2.minus parport.0.pin-12-in-not
net jog0plus  halui.jog.2.plus  parport.0.pin-13-in-not
setp halui.jog-speed .05

# Wa-la! It looks like it worked!!

#Setup for creating all homed signal
#load 3 input "and" gate
loadrt logic personality=259
addf logic.0 servo-thread
#Connect Sig name - pin - pin
net xhomed logic.0.in-00 halui.joint.0.is-homed
net yhomed logic.0.in-01 halui.joint.1.is-homed
net zhomed logic.0.in-02 halui.joint.2.is-homed
net allhomed logic.0.and parport.2.pin-03-out
setp parport.2.pin-03-out-invert true