loadrt trivkins
loadrt hostmot2
loadrt hm2_pci config="num_pwmgens=1 num_stepgens=3 num_dplls=1 num_encoders=0"
loadrt hal_parport cfg="0x378 out"
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt edge count=4
loadrt not count=1

#Set edge detector 0-3 rising edges, 4 falling
setp edge.0.in-edge FALSE
setp edge.1.in-edge FALSE
setp edge.2.in-edge FALSE
setp edge.3.in-edge TRUE

#Half second pulses
setp edge.0.out-width-ns 620000000
setp edge.1.out-width-ns 620000000
setp edge.2.out-width-ns 620000000
setp edge.3.out-width-ns 620000000

#Connect motion module's speed out to pwmgen's speed in. PWM goes into a low pass filter to drive 0-10V input
net spindle-cmd <= motion.spindle-speed-out => hm2_6i25.0.pwmgen.00.value

#Connect motion.spindle-on to the on and off edge detectors. This will drive pin 6 on the relay board
net spindle-on <= motion.spindle-on => edge.0.in
net spindle-on => edge.3.in
net spindle-on => hm2_6i25.0.pwmgen.00.enable

#Connect forward to one detector and reverse to the other. Forward goes to 4, reverse to 5 on relay board.
net spindle-forward <= motion.spindle-forward => edge.1.in
net spindle-reverse <= motion.spindle-reverse => edge.2.in

#Net inverted edge outputs to pins
net on-pulse <= edge.0.out-invert => parport.0.pin-01-out
net fw-pulse <= edge.1.out-invert => parport.0.pin-02-out
net rv-pulse <= edge.2.out-invert => parport.0.pin-03-out
net off-pulse <= edge.3.out-invert => parport.0.pin-04-out


#Set the scale of the spindle pwm
setp hm2_6i25.0.pwmgen.00.scale [SPINDLE]SCALE

#Invert the pwm output because it drives a PNP transistor
setp hm2_6i25.0.gpio.001.invert_output 1

#Configure dpll timer
#setp hm2_6i25.0.dpll.00.timer-us -120


#Set step timing a little more aggressively
#setp hm2_6i25.0.stepgen.00.stepspace 120000
#setp hm2_6i25.0.stepgen.00.steplen 120000 

#Set the length of the step sequence table to 8. Also sets to table mode.
setp hm2_6i25.0.stepgen.00.step_type 8
setp hm2_6i25.0.stepgen.01.step_type 8
setp hm2_6i25.0.stepgen.02.step_type 8

#Set control-type for all three axes to position
setp hm2_6i25.0.stepgen.00.control-type 0
setp hm2_6i25.0.stepgen.01.control-type 0
setp hm2_6i25.0.stepgen.02.control-type 0

#Point the table data values to the table data in the .ini files
setp hm2_6i25.0.stepgen.00.table-data-0 [STEP_DATA]DATA0
setp hm2_6i25.0.stepgen.00.table-data-1 [STEP_DATA]DATA1
setp hm2_6i25.0.stepgen.01.table-data-0 [STEP_DATA]DATA0
setp hm2_6i25.0.stepgen.01.table-data-1 [STEP_DATA]DATA1
setp hm2_6i25.0.stepgen.02.table-data-0 [STEP_DATA]DATA0
setp hm2_6i25.0.stepgen.02.table-data-1 [STEP_DATA]DATA1

#Point all the axis variables to the .ini file
setp hm2_6i25.0.stepgen.00.position-scale [AXIS_0]SCALE
setp hm2_6i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_6i25.0.stepgen.00.maxvel [AXIS_0]MAX_VELOCITY

setp hm2_6i25.0.stepgen.01.position-scale [AXIS_1]SCALE
setp hm2_6i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_6i25.0.stepgen.01.maxvel [AXIS_1]MAX_VELOCITY

setp hm2_6i25.0.stepgen.02.position-scale [AXIS_2]SCALE
setp hm2_6i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_6i25.0.stepgen.02.maxvel [AXIS_2]MAX_VELOCITY

#Connect position commands and feedbacks
net xpos-cmd axis.0.motor-pos-cmd => hm2_6i25.0.stepgen.00.position-cmd
net ypos-cmd axis.1.motor-pos-cmd => hm2_6i25.0.stepgen.01.position-cmd
net zpos-cmd axis.2.motor-pos-cmd => hm2_6i25.0.stepgen.02.position-cmd
net xpos-fb hm2_6i25.0.stepgen.00.position-fb => axis.0.motor-pos-fb
net ypos-fb hm2_6i25.0.stepgen.01.position-fb => axis.1.motor-pos-fb
net zpos-fb hm2_6i25.0.stepgen.02.position-fb => axis.2.motor-pos-fb

#Connect stepgen enables to axis enables in gui
net xenable axis.0.amp-enable-out => hm2_6i25.0.stepgen.00.enable
net yenable axis.1.amp-enable-out => hm2_6i25.0.stepgen.01.enable
net zenable axis.2.amp-enable-out => hm2_6i25.0.stepgen.02.enable

#Copy paste code, lets me undo the estop in axis gui.
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
#When estop is not out, push pin 4, our hardware axis enables, high for disable.
net estop-out => not.0.in
net estop-inv <= not.0.out => parport.0.pin-05-out

addf motion-command-handler servo-thread
addf motion-controller servo-thread

#Add edge functions to servo-thread
addf edge.0 servo-thread
addf edge.1 servo-thread
addf edge.2 servo-thread
addf edge.3 servo-thread
addf not.0 servo-thread

addf parport.0.read base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf hm2_6i25.0.read servo-thread
addf hm2_6i25.0.write servo-thread
addf hm2_6i25.0.pet_watchdog base-thread