my-foam.hal

# core HAL config file for steppers

# first load the core RT modules that will be needed
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
# trajectory planner
loadrt tp
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES tp=tp kins=trivkins
# stepper module
loadrt stepgen step_type=0,0,0,0

#setp stepgen.0.steplen 100000
#setp stepgen.0.stepspace 100000



# hook its functions to realtime threads
addf stepgen.make-pulses 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

# connect position commands from motion module to step generator
net Xpos-cmd <= axis.0.motor-pos-cmd
net Xpos-cmd => stepgen.0.position-cmd
net Ypos-cmd <= axis.1.motor-pos-cmd
net Ypos-cmd => stepgen.1.position-cmd
net Upos-cmd <= axis.2.motor-pos-cmd
net Upos-cmd => stepgen.2.position-cmd
net Vpos-cmd <= axis.3.motor-pos-cmd
net Vpos-cmd => stepgen.3.position-cmd

# connect position feedback from step generators
# to motion module
net Xpos-fb <= stepgen.0.position-fb
net Xpos-fb => axis.0.motor-pos-fb
net Ypos-fb <= stepgen.1.position-fb
net Ypos-fb => axis.1.motor-pos-fb
net Upos-fb <= stepgen.2.position-fb
net Upos-fb => axis.2.motor-pos-fb
net Vpos-fb <= stepgen.3.position-fb
net Vpos-fb => axis.3.motor-pos-fb

# send the position commands thru differentiators to
# generate velocity and accel signals
# first 8 differentiators
loadrt ddt count=8
# link the differentiator functions into the code
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
addf ddt.4 servo-thread
addf ddt.5 servo-thread
addf ddt.6 servo-thread
addf ddt.7 servo-thread
# define the signals, and hook them up
net Xpos-cmd => ddt.0.in
net Xvel <= ddt.0.out
net Xvel => ddt.1.in
net Xacc <= ddt.1.out
net Ypos-cmd => ddt.2.in
net Yvel <= ddt.2.out
net Yvel => ddt.3.in
net Yacc <= ddt.3.out
net Upos-cmd => ddt.4.in
net Uvel <= ddt.4.out
net Uvel => ddt.5.in
net Uacc <= ddt.5.out
net Vpos-cmd => ddt.6.in
net Vvel <= ddt.6.out
net Vvel => ddt.7.in
net Vacc <= ddt.7.out

# connect enable signals for step generators
net Xen <= axis.0.amp-enable-out
net Xen => stepgen.0.enable
net Yen <= axis.1.amp-enable-out
net Yen => stepgen.1.enable
net Uen <= axis.2.amp-enable-out
net Uen => stepgen.2.enable
net Ven <= axis.3.amp-enable-out
net Ven => stepgen.3.enable

# connect signals to step pulse generator outputs
net Xstep stepgen.0.step
net Xdir stepgen.0.dir
net Ystep stepgen.1.step
net Ydir stepgen.1.dir
net Ustep stepgen.2.step
net Udir stepgen.2.dir
net Vstep stepgen.3.step
net Vdir stepgen.3.dir

# connect signals to X home and min limit
#net X-home => axis.0.home-sw-in axis.0.neg-lim-sw-in
#net Y-home => axis.1.home-sw-in axis.1.neg-lim-sw-in
#net U-home => axis.2.home-sw-in axis.2.pos-lim-sw-in
#net V-home => axis.3.home-sw-in axis.3.neg-lim-sw-in

# set stepgen module scaling - get values from ini file
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.2.position-scale [AXIS_6]SCALE
setp stepgen.3.position-scale [AXIS_7]SCALE

# set stepgen module accel limits - get values from ini file
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [AXIS_6]STEPGEN_MAXACCEL
setp stepgen.3.maxaccel [AXIS_7]STEPGEN_MAXACCEL