loadrt hostmot2
loadrt hm2_eth board_ip=10.10.10.10
loadrt threads name1=slow period1=1000000

loadrt abs
loadrt lincurve count=2 personality=19,16
loadrt limit2
loadrt lowpass
loadrt scale
loadrt or2
loadrt mux2 count=2
loadrt wcomp
loadrt and2
loadrt not
loadrt pid

addf hm2_7i97.0.read slow
addf lincurve.0 slow
addf lincurve.1 slow
addf lowpass.0 slow
addf scale.0 slow
addf or2.0 slow
addf abs.0 slow
addf mux2.0 slow
addf mux2.1 slow
addf wcomp.0 slow
addf and2.0 slow
addf not.0 slow
addf limit2.0 slow
addf pid.0.do-pid-calcs slow
addf hm2_7i97.0.write slow


setp hm2_7i97.0.pwmgen.pdm_frequency    75000
setp hm2_7i97.0.pwmgen.05.offset-mode   TRUE
setp hm2_7i97.0.pwmgen.05.output-type 1
setp hm2_7i97.0.pwmgen.04.output-type 1
setp hm2_7i97.0.pwmgen.04.offset-mode   TRUE

#setp hm2_7i97.0.pwmgen.00.enable true
#setp hm2_7i97.0.pwmgen.00.value .5


setp hm2_7i97.0.encoder.00.scale 4096

setp lincurve.0.x-val-00 0
setp lincurve.0.x-val-01 75
setp lincurve.0.x-val-02 216
setp lincurve.0.x-val-03 365
setp lincurve.0.x-val-04 514
setp lincurve.0.x-val-05 638
setp lincurve.0.x-val-06 745
setp lincurve.0.x-val-07 837
setp lincurve.0.x-val-08 925
setp lincurve.0.x-val-09 1000
setp lincurve.0.x-val-10 1054
setp lincurve.0.x-val-11 1005
setp lincurve.0.x-val-12 1100
setp lincurve.0.x-val-13 1200
setp lincurve.0.x-val-14 1325
setp lincurve.0.x-val-15 2500

setp lincurve.0.y-val-00 0
setp lincurve.0.y-val-01 .1
setp lincurve.0.y-val-02 .2
setp lincurve.0.y-val-03 .3
setp lincurve.0.y-val-04 .4
setp lincurve.0.y-val-05 .5
setp lincurve.0.y-val-06 .6
setp lincurve.0.y-val-07 .7
setp lincurve.0.y-val-08 .8
setp lincurve.0.y-val-09 .9
setp lincurve.0.y-val-10 1
setp lincurve.0.y-val-11 1
setp lincurve.0.y-val-12 1
setp lincurve.0.y-val-13 1
setp lincurve.0.y-val-14 1
setp lincurve.0.y-val-15 1


setp lincurve.1.x-val-00 0
setp lincurve.1.x-val-01 75
setp lincurve.1.x-val-02 216
setp lincurve.1.x-val-03 365
setp lincurve.1.x-val-04 514
setp lincurve.1.x-val-05 638
setp lincurve.1.x-val-06 745
setp lincurve.1.x-val-07 1054
setp lincurve.1.x-val-08 1122
setp lincurve.1.x-val-09 1204
setp lincurve.1.x-val-10 1312
setp lincurve.1.x-val-11 1465
setp lincurve.1.x-val-12 1696
setp lincurve.1.x-val-13 2044
setp lincurve.1.x-val-14 2668
setp lincurve.1.x-val-15 2900

setp lincurve.1.y-val-00 1
setp lincurve.1.y-val-01 1
setp lincurve.1.y-val-02 1
setp lincurve.1.y-val-03 1
setp lincurve.1.y-val-04 1
setp lincurve.1.y-val-05 1
setp lincurve.1.y-val-06 1
setp lincurve.1.y-val-07 .9
setp lincurve.1.y-val-08 .8
setp lincurve.1.y-val-09 .7
setp lincurve.1.y-val-10 .6
setp lincurve.1.y-val-11 .5
setp lincurve.1.y-val-12 .4
setp lincurve.1.y-val-13 .3
setp lincurve.1.y-val-14 .2
setp lincurve.1.y-val-15 .1





net armline lincurve.0.out scale.0.in
net armlineout scale.0.out hm2_7i97.0.pwmgen.04.value

net fieldline lincurve.1.out hm2_7i97.0.pwmgen.05.value
net rpmin lincurve.0.in lincurve.1.in

net lowpassin lowpass.0.in hm2_7i97.0.encoder.00.velocity-rpm
setp lowpass.0.gain .01


loadusr halmeter  pin lowpass.0.out
#net scaled scale.0.in lowpass.0.out
#setp scale.0.gain .947
loadusr halmeter  pin scale.0.out

net enabledhighvolt hm2_7i97.0.pwmgen.04.enable or2.0.out
net forward hm2_7i97.0.inmux.00.input-08 or2.0.in0
net reverse hm2_7i97.0.inmux.00.input-09 or2.0.in1

setp mux2.0.in0 1
setp mux2.0.in1 -1
net rpm mux2.1.in1
net enabledhighvolt mux2.1.sel


net reverse mux2.0.sel
net reverseval scale.0.gain mux2.0.out

net lowpassin abs.0.in
net absout abs.0.out wcomp.0.in
setp wcomp.0.min 10
setp wcomp.0.max 5000

net enabledhighvolt not.0.in
net brakeresistor1 not.0.out and2.0.in0
net brakeresistor2 wcomp.0.out and2.0.in1
net brakeresout and2.0.out hm2_7i97.0.ssr.00.out-01



setp hm2_7i97.0.pwmgen.05.enable true

net rpmin limit2.0.out
#net brakeresout limit2.0.load
setp limit2.0.maxv 600
net rpmsel mux2.1.out limit2.0.in

start