# #########################################
# .hal file for Boxford 240F
#  THIS IS HACKED TO RUN IN SIMULATION - DO NOT USE WITH A REAL MACHINE
############################################

loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x278 out 0x5c00 in"

setp parport.0.reset-time 1500
addf parport.0.read base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf parport.1.read base-thread
addf parport.1.write base-thread

####################################################################
# should the encoder be on the base thread for both addf statements?
####################################################################
loadrt encoder num_chan=2
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread

#################################################################
#   5th stepgen for controlling the spindle.
#   Type must be set to velocity
#   Stepgens must be declared to match the ini declarations
#   even if not used, hence there is
#   one for Y even though it does not exist
#################################################################

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

loadrt abs count=2
loadrt scale count=2
loadrt charge_pump
loadrt debounce cfg=2

loadusr -W redisclient
##################################################################


addf stepgen.make-pulses base-thread
#&&&&&&&&&&&&& addf charge-pump base-thread

#############################################
# debounce for X Home switch
############################################
addf debounce.0 base-thread

#If necessary, you can
#to change the amount of debounce; the default is apparently 5, which
#means the switch input to emc has to be stable for 5 servo periods
#before the debounce output changes.

setp debounce.0.delay 100

###############################################

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

####################################################################
#	This section enables the DIYCNC Spindle2 board to produce
#	0-10v scaled upon steps from axis4 and direction of 
#	rotation from Dir signal
####################################################################

#   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 1.26  # GIVES TRUE 600 RPM in M4
setp scale.0.offset 0
addf scale.0 servo-thread
#
#   Initialise the stepgen for the spindle
#
setp stepgen.4.position-scale 1
setp stepgen.4.maxvel 2400
setp stepgen.4.steplen 1
setp stepgen.4.stepspace 0
setp stepgen.4.dirhold 20000
setp stepgen.4.dirsetup 20000
setp stepgen.4.maxaccel 200

#   Enable it

net spindle-enable <= motion.spindle-on => stepgen.4.enable 

#   Connect spindle speed to scaler

net spindle-cmd motion.spindle-speed-out => scale.0.in

#   Connect scaler output to stepgen velocity

net spindle-freq <= scale.0.out => stepgen.4.velocity-cmd 

#   Connect output to the pin for the analog voltage of cnc4pc board
#
net spindle-out <= stepgen.4.step => parport.0.pin-09-out #

#   Activate relay to power spindle GEC controller

net spindle-enable => parport.0.pin-16-out

##  Connect DIR pin to inverted DIR signal from stepgen.4 which gives correct relay switching for CCW and CW

setp parport.0.pin-08-out-invert 1 

# Some problems setting up logic to match the reversing contactor
##   This works, connecting CCW to stepgen DIR to Spindle2 DIR

net spindle-ccw <= stepgen.4.dir => parport.0.pin-08-out

##########################################################################
# Had several tries to get proper index for threading
# Eventually used a 120mm PCD 60 hole disc, with optical sensor through
# comparator, for clean on/off
# spindle index is still provided by a single rare earth magnet via a hall-effect.
# At first test, cut a perfect 1.5mm pitch thread using a tool steel cutter
# presented at 90deg to the billet!
# Optimal pulses appears to be around 120, try another disc some time later
############################################################################

setp encoder.0.position-scale 120
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-11-in-not => encoder.0.phase-Z
net spindle-pulse parport.1.pin-10-in => encoder.0.phase-A


#############################################
# Axis step and dir pins
#############################################

net xdir => parport.0.pin-02-out
net xstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net adir => parport.0.pin-04-out
net astep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net zdir => parport.0.pin-06-out
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1

##############################################
# Limit and Home switches
# HACKED
###############################################

#&&&&&&&&&&&&& net xhome-raw <= parport.0.pin-13-in-not => debounce.0.0.in
#&&&&&&&&&&&&& net xhome-filtered debounce.0.0.out => axis.0.home-sw-in
#&&&&&&&&&&&&& net home-z <= parport.0.pin-15-in-not
#&&&&&&&&&&&&& net all-limit <= parport.0.pin-12-in

###############################################################################
# Activate coolant mist relay
##############################################

net coolant-mist <= iocontrol.0.coolant-mist
net coolant-mist => parport.0.pin-17-out

#####################
#	X AXIS
#####################

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 16000
setp stepgen.0.dirsetup 31000
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
#&&&&&&&&&&&&& net all-limit => axis.0.neg-lim-sw-in
#&&&&&&&&&&&&& net all-limit => axis.0.pos-lim-sw-in
#&&&&&&&&&&&&& net home-x => axis.0.home-sw-in

#################
## Z AXIS
#################

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 16000
setp stepgen.2.dirsetup 31000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
#&&&&&&&&&&&&& net all-limit => axis.2.neg-lim-sw-in
#&&&&&&&&&&&&& net all-limit => axis.2.pos-lim-sw-in
#&&&&&&&&&&&&& net home-z => axis.2.home-sw-in

#################
#  ATC
#################

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 16000
setp stepgen.3.dirsetup 31000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
#net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
#net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable

################################################################################
# Hardware estop button
# This is only setup that ensures external ESTOP works and also enables charge pump

#net estop-out <= iocontrol.0.user-enable-out => charge-pump.enable
#net estop.ext => charge-pump.enable
# is what stepconf gives you and it doesn't work
#################################################################################

#&&&&&&&&&&&&& net charge-pump => parport.0.pin-01-out
#&&&&&&&&&&&&& net charge-pump <= charge-pump.out

#&&&&&&&&&&&&& net estop-out iocontrol.0.user-enable-out
#&&&&&&&&&&&&& net estop-ext <= parport.0.pin-10-in-not
net estop-out <= iocontrol.0.user-enable-out
#&&&&&&&&&&&&& net estop-ext => iocontrol.0.emc-enable-in

####  HACK TO FORCE ON TO ALLOW SIMULATION
setp iocontrol.0.emc-enable-in true  

############################
#  LOAD THE TOOLCHANGER
#############################################################################
# purpose of the sim is to allow testing beyond initial loading and setting
# of the existing tool
#############################################################################
loadrt oracchanger
addf oracchanger servo-thread

loadrt timedelay count=1
addf timedelay.0 servo-thread
setp timedelay.0.on-delay 5

net tool-change iocontrol.0.tool-change => oracchanger.toolchange
net tool-changed iocontrol.0.tool-changed <= oracchanger.toolchanged
net tool-number iocontrol.0.tool-prep-number => oracchanger.toolnumber
net tool-oldnumber iocontrol.0.tool-number => oracchanger.currenttoolnumber
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

net xhomed axis.0.homed => oracchanger.ishomedX
net zhomed axis.2.homed => oracchanger.ishomedZ

net delaystart timedelay.0.in <= oracchanger.delaystart
net delaydone timedelay.0.out => oracchanger.delaydone

net ontool oracchanger.starttool => iocontrol.0.currenttool

#setp oracchanger.hometool 1


###########################################################################################
# testing redisclient

net tool-change => redisclient.B0 
net tool-changed => redisclient.B1
net tool-number => redisclient.D0 
net tool-oldnumber => redisclient.D1 

net xhomed => redisclient.B2
net zhomed => redisclient.B3

net delaystart => redisclient.B4
net delaydone => redisclient.B5

net ontool => => redisclient.D2