# Generated by stepconf 1.1 at Tue May  4 20:43:05 2021
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez Stepconf

# gpio pins:
# 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1
# 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 (gpio0 not used )
# rpi pins:
# 1 3 2 1 1 1 4 3 3 1 1 3 1   3 3 2 1 2 2 2 3 2      
# 3 7 2 8 6 5 0 8 5 2 1 6 0 8 3 2 3 9 1 4 6 1 9 7 5 3
# serial connector pins with GPIO to Parallel Shield 1:
#                     1 1 1 1 1 1 1 1 
# 1                   7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2
# serial connector pins with GPIO to Parallel Shield 2:
#         1 1 1 1 1 1 
#     2 1 7 5 3 2 1 0
#
# 1 0 1 1 1 0 0 0 0 0 1 1 0 1 0 0 0 0 1 1 1 1 1 1 1 1 dir     mask (0 means in   1 means out)      dec 48287999
# 0 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1 0 0 1 1 0 0 exclude mask (0 means use  1 means dont use) dec 33046732

loadrt hal_pi_gpio dir=48287999 exclude=33046732

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt stepgen step_type=0,0
loadrt pwmgen output_type=1
#loadrt charge_pump

addf stepgen.make-pulses base-thread
addf pwmgen.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
addf pwmgen.update servo-thread

addf hal_pi_gpio.read  base-thread
addf hal_pi_gpio.write base-thread

##################################################################
#           Spindle Outputs
##################################################################
#net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
#setp pwmgen.0.pwm-freq 100.0
#setp pwmgen.0.scale 1166.66666667
#setp pwmgen.0.offset 0.114285714286
#setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm     <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps     <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed    => spindle.0.at-speed
#net spindle-cw <= spindle.0.forward

##################################################################
#           Stepper Outputs
##################################################################
#WARNING - Pin Numbers are RPI Numbers not GPIO Numbers
net xstep           => hal_pi_gpio.pin-03-out
net xdir            => hal_pi_gpio.pin-05-out
#net ystep           => hal_pi_gpio.pin-07-out
#net ydir            => hal_pi_gpio.pin-29-out
net zstep           => hal_pi_gpio.pin-31-out
net zdir            => hal_pi_gpio.pin-26-out
#net astep           => hal_pi_gpio.pin-24-out
#net adir            => hal_pi_gpio.pin-21-out
net xenable         => hal_pi_gpio.pin-08-out
#net ustep           => hal_pi_gpio.pin-36-out
##################################################################
#           Emergency Inputs
##################################################################
#net estop-ext       <= hal_pi_gpio.pin-10-in

##################################################################
#           Homing Inputs
##################################################################
net min-x           <= hal_pi_gpio.pin-19-in
net max-home-x      <= hal_pi_gpio.pin-23-in
net min-z           <= hal_pi_gpio.pin-32-in
net max-home-z      <= hal_pi_gpio.pin-33-in

##################################################################
#           Spindle Inputs
##################################################################
#net spindle-phase-a <= hal_pi_gpio.pin-12-in
#net spindle-phase-b <= hal_pi_gpio.pin-35-in
#net spindle-index   <= hal_pi_gpio.pin-38-in

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 1
setp stepgen.0.dirhold 50500
setp stepgen.0.dirsetup 50500
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net max-home-x => joint.0.home-sw-in
net min-x => joint.0.neg-lim-sw-in
net max-home-x => joint.0.pos-lim-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 1
setp stepgen.1.dirhold 50500
setp stepgen.1.dirsetup 50500
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable joint.1.amp-enable-out => stepgen.1.enable
net max-home-z => joint.1.home-sw-in
net min-z => joint.1.neg-lim-sw-in
net max-home-z => joint.1.pos-lim-sw-in

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