OG sample.hal

1.	# standard pinout config file for 3-axis steppers
2.	# with encoders using a parport for I/O
3.	#
4.	# first load the parport driver
5.	loadrt hal_parport cfg="0x0378"
6.	loadrt encoder num_chan=1
7.	#
8.	# next connect the parport functions to threads
9.	# read inputs first
10.	addf parport.0.read base-thread 1
11.	addf encoder.update-counters   base-thread
12.	# write outputs last
13.	addf parport.0.write base-thread -1
14.	addf encoder.capture-position  servo-thread
15.	#
16.	# hook stuff together
17.	newsig Zpos-fb float
18.
19.	setp encoder.0.position-scale [AXIS_0]INPUT_SCALE
20.
21.	linkpp encoder.0.phase-A <= parport.0.pin-12-in
22.	linkpp encoder.0.phase-B <= parport.0.pin-15-in
23.
24.	linksp Zpos-fb <= encoder.0.position
25.
26.	# finally connect physical pins to the signals
27.	linksp Xstep => parport.0.pin-03-out
28.	linksp Xdir  => parport.0.pin-02-out
29.	linksp Ystep => parport.0.pin-05-out
30.	linksp Ydir  => parport.0.pin-04-out
31.	linksp Zstep => parport.0.pin-07-out
32.	linksp Zdir  => parport.0.pin-06-out
33.
34.	# create a signal for the estop loopback
35.	## linkpp parport.0.pin-10-in iocontrol.0.emc-enable-in
36.
37.	# create signal for external estop
38.	newsig ext-estop bit
39.	linksp ext-estop parport.0.pin-10-in
40.	linksp ext-estop iocontrol.0.emc-enable-in
41.
42.
43.	# create signals for tool loading loopback
44.	linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
45.	linkpp iocontrol.0.tool-change iocontrol.0.tool-changed
46.
47.
48.	# create a signal for "spindle on"
49.	newsig spindle-on bit
50.	# connect the controller to it
51.	linkps motion.spindle-on => spindle-on
52.	# connect it to a physical pin
53.	linksp spindle-on => parport.0.pin-09-out
54.
55.
56.	# spindle signals "spindle forw,rev"
57.	# spindle status has not been resolved
58.	# a simple loop through is set here
59.	linkpp motion.spindle-forward  parport.0.pin-16-out
60.	# linkpp motion.spindle-reverse  parport.0.pin-17-out
61.
62.
63.
64.	# Home/Limit Shared Switch on Same Pin
65.
66.	newsig Xswitches bit
67.	linkps parport.0.pin-11-in-not => Xswitches
68.	linksp Xswitches => axis.0.home-sw-in
69.	linksp Xswitches => axis.0.neg-lim-sw-in
70.	linksp Xswitches => axis.0.pos-lim-sw-in
71.
72.	#newsig Yswitches bit
73.	#linkps parport.0.pin-12-in-not => Yswitches
74.	#linksp Yswitches => axis.1.home-sw-in
75.	#linksp Yswitches => axis.1.neg-lim-sw-in
76.	#linksp Yswitches => axis.1.pos-lim-sw-in
77.
78.	newsig Zswitches bit
79.	linkps parport.0.pin-13-in-not => Zswitches
80.	linksp Zswitches => axis.2.home-sw-in
81.	linksp Zswitches => axis.2.neg-lim-sw-in
82.	linksp Zswitches => axis.2.pos-lim-sw-in
83.
84.
85.	# coolant signals
86.	# note that these do NOT represent proper IO signals from iocontrol
87.	# should separate command and status for production versions
88.	# and run these through CL to test conditions
89.	linkpp  iocontrol.0.coolant-flood  parport.0.pin-08-out
90.	# linkpp  iocontrol.0.coolant-mist  parport.0.pin-09-out
91.
92.	loadrt pwmgen output_type=1
93.	addf pwmgen.update servo-thread
94.	addf pwmgen.make-pulses base-thread
95.	net spindle-speed-cmd motion.spindle-speed-out => pwmgen.0.value
96.	net spindle-on motion.spindle-on => pwmgen.0.enable
97.	net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out
98.	setp pwmgen.0.scale 2000 # Change to your spindle & # 8217;s top speed in RPM