# Generated by stepconf 1.1 at Sat May 16 17:04:48 2020
# 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 hal_parport cfg="0xD100 out"
setp parport.0.reset-time 5000
loadrt scale count=1

loadrt stepgen step_type=0,0,0,0,0 ctrl_type=p,p,p,p,v


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

net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir            => parport.0.pin-03-out

net zstep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir            => parport.0.pin-07-out

# setp parport.0.pin-05-out-invert 1
setp parport.0.pin-14-out-invert 1


#   Use a scale module for offset and scaling of the stepgen
#   Offset and scale are determined by first calculating and testing
#

setp scale.0.in 0
setp scale.0.gain 0.44  # gives true at 1000
setp scale.0.offset 0.0
addf scale.0 servo-thread

setp stepgen.4.position-scale 1
setp stepgen.4.maxvel 2200
setp stepgen.4.steplen 1
setp stepgen.4.stepspace 0
setp stepgen.4.dirhold 35000
setp stepgen.4.dirsetup 35000
setp stepgen.4.maxaccel 200

net spindle-on motion.spindle-on => stepgen.4.enable
net spindle-cmd motion.spindle-speed-out => scale.0.in
net spindle-freq <= scale.0.out => stepgen.4.velocity-cmd
net spindle-out <= stepgen.4.step => parport.0.pin-04-out
net spindle-cw <= stepgen.4.dir => parport.0.pin-05-out
# net spindle-ccw <= stepgen.4.dir => parport.0.pin-05-out
net spindle-on => parport.0.pin-14-out
net spindle-index   <= parport.0.pin-15-in

# This produces an absolutely accurate RPM reading - Not implemented yet

# setp encoder.0.position-scale 1
# setp encoder.0.counter-mode 1
# net spindle-position encoder.0.position-interpolated => motion.spindle-revs
# net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
# net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
# net spindle-index parport.0.pin-15-in =>  encoder.0.phase-Z encoder.0.phase-A

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
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_2]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable axis.2.amp-enable-out => stepgen.1.enable

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