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rlm@11
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1 # Generated by stepconf at Sun Mar 8 21:32:59 2009
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rlm@11
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2 # If you make changes to this file, they will be
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3 # overwritten when you run stepconf again
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rlm@11
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4
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rlm@11
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5 loadrt threads name1=mask-thread period1=100000
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rlm@11
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6
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rlm@11
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7 loadrt trivkins
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8 loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
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rlm@11
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9 loadrt probe_parport
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rlm@11
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10 loadrt hal_parport cfg=0x378
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rlm@11
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11 setp parport.0.reset-time 100000
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rlm@11
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12 loadrt stepgen step_type=0,0,0,0
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rlm@11
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13 loadrt charge_pump
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14
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15
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rlm@11
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16 # Boring components that emc makes me load explicitly because it is a cunt
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rlm@11
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17 loadrt comp names=comp-mask-lte,comp-discrete-z
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rlm@11
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18 loadrt not names=not-mask-ffw,not-mask-not-empty
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rlm@11
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19 loadrt xor2 names=xor2-mask-test
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rlm@11
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20 loadrt and2 names=and2-mask-forward,and2-laser-mask,and2-laser-final
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21 loadrt or2 names=or2-mask-command-done,or2-mask-not-ffw,or2-mask-read,or2-laser-gcode,or2-laser-fine
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22
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23
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rlm@11
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24 # Fast thread for generating signals
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rlm@11
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25 addf parport.0.read base-thread
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rlm@11
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26 addf stepgen.make-pulses base-thread
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rlm@11
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27 addf parport.0.write base-thread
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rlm@11
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28 addf parport.0.reset base-thread
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rlm@11
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29 addf charge-pump base-thread
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30
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rlm@11
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31 # Slow thread for logic (more logic components are added further down)
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rlm@11
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32 addf stepgen.capture-position servo-thread
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rlm@11
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33 addf motion-command-handler servo-thread
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rlm@11
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34 addf motion-controller servo-thread
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rlm@11
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35 addf stepgen.update-freq servo-thread
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36
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37
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rlm@11
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38 ###################################################################################
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rlm@11
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39 # Raster Mask - stream in laser on/off commands behind AXIS's back
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rlm@11
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40 # Input stream format: reset beam xop xarg
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rlm@11
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41 # reset: 0=mask command 1=reset (begin mask sequence with "1 0 0 0", every other command starts with 0)
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rlm@11
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42 # beam: 0=off 1=on
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rlm@11
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43 # xop: X axis comparison operation 0=less-or-equal 1=greater
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rlm@11
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44 # xarg: X axis comparison operand
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45
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46 loadrt streamer depth=256 cfg="bbbf"
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rlm@11
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47 net mask-reset <= streamer.0.pin.0
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rlm@11
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48 net mask-beam <= streamer.0.pin.1
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rlm@11
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49 net mask-xop <= streamer.0.pin.2
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rlm@11
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50 net mask-xarg <= streamer.0.pin.3
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rlm@11
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51 net mask-empty <= streamer.0.empty
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rlm@11
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52 net mask-read => streamer.0.enable
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53
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rlm@11
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54 # hardware reported X axis position
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rlm@11
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55 net motion-xpos-fb <= axis.0.joint-pos-fb
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56
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rlm@11
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57 # mask-lte <= motion-xpos-fb < mask-xarg
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rlm@11
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58 addf comp-mask-lte mask-thread
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rlm@11
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59 net motion-xpos-fb => comp-mask-lte.in0
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rlm@11
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60 net mask-xarg => comp-mask-lte.in1
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rlm@11
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61 net mask-lte <= comp-mask-lte.out
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62
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63 # mask-test <= mask-xop ^ mask-lte
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rlm@11
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64 addf xor2-mask-test mask-thread
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rlm@11
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65 net mask-xop => xor2-mask-test.in0
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rlm@11
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66 net mask-lte => xor2-mask-test.in1
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rlm@11
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67 net mask-test <= xor2-mask-test.out
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68
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rlm@11
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69 # if job is running, read only if test is true or reset
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rlm@11
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70 # if job is not running, read until reset
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rlm@11
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71 # mask-read <= (laser-coarse && (mask-test || mask-reset)) || !(laser-coarse || mask-reset)
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72
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73 addf or2-mask-command-done mask-thread
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rlm@11
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74 net mask-test => or2-mask-command-done.in0
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rlm@11
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75 net mask-reset => or2-mask-command-done.in1
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rlm@11
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76 net mask-command-done <= or2-mask-command-done.out
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77
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rlm@11
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78 addf and2-mask-forward mask-thread
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rlm@11
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79 net laser-coarse => and2-mask-forward.in0
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rlm@11
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80 net mask-command-done => and2-mask-forward.in1
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rlm@11
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81 net mask-forward <= and2-mask-forward.out
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82
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rlm@11
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83 addf or2-mask-not-ffw mask-thread
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rlm@11
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84 net laser-coarse => or2-mask-not-ffw.in0
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rlm@11
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85 net mask-reset => or2-mask-not-ffw.in1
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rlm@11
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86 net mask-not-ffw <= or2-mask-not-ffw.out
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87
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rlm@11
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88 addf not-mask-ffw mask-thread
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rlm@11
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89 net mask-not-ffw => not-mask-ffw.in
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rlm@11
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90 net mask-ffw <= not-mask-ffw.out
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91
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rlm@11
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92 addf or2-mask-read mask-thread
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rlm@11
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93 net mask-forward => or2-mask-read.in0
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rlm@11
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94 net mask-ffw => or2-mask-read.in1
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rlm@11
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95 net mask-read <= or2-mask-read.out
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96
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97 # laser-mask <= mask-not-empty && mask-beam
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rlm@11
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98 addf not-mask-not-empty mask-thread
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rlm@11
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99 net mask-empty => not-mask-not-empty.in
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rlm@11
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100 net mask-not-empty <= not-mask-not-empty.out
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101
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rlm@11
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102 addf and2-laser-mask mask-thread
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rlm@11
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103 net mask-beam => and2-laser-mask.in0
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rlm@11
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104 net mask-not-empty => and2-laser-mask.in1
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rlm@11
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105 net laser-mask <= and2-laser-mask.out
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rlm@11
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106
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107 addf streamer.0 mask-thread
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108
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rlm@11
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109 # Raster Mask - end
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rlm@11
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110 #######################################################################
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111
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112 # coarse laser control, wired to spindle on/off (M3/M5), not realtime
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rlm@11
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113 net laser-coarse <= motion.spindle-on
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114
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rlm@11
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115 # fine laser control, wired to digital output 0 (M62 P0/M63 P0), realtime
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rlm@11
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116 net laser-gate <= motion.digital-out-00
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117
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rlm@11
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118 # legacy laser control, wired to Z < 0, can be used instead of M62/M63
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rlm@11
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119 addf comp-discrete-z servo-thread
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rlm@11
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120 net motion-zpos-fb <= axis.2.joint-pos-fb
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rlm@11
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121 net motion-zpos-fb => comp-discrete-z.in0
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rlm@11
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122 setp comp-discrete-z.in1 0
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rlm@11
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123 net discrete-z <= comp-discrete-z.out
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124
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rlm@11
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125 # laser-final <= laser-coarse & (laser-gate | discrete-z | laser-mask)
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rlm@11
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126 addf or2-laser-gcode mask-thread
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rlm@11
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127 net laser-gate => or2-laser-gcode.in0
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rlm@11
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128 net discrete-z => or2-laser-gcode.in1
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rlm@11
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129 net laser-gcode <= or2-laser-gcode.out
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130
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rlm@11
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131 addf or2-laser-fine mask-thread
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rlm@11
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132 net laser-gcode => or2-laser-fine.in0
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rlm@11
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133 net laser-mask => or2-laser-fine.in1
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rlm@11
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134 net laser-fine <= or2-laser-fine.out
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135
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rlm@11
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136 addf and2-laser-final mask-thread
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rlm@11
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137 net laser-fine => and2-laser-final.in0
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rlm@11
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138 net laser-coarse => and2-laser-final.in1
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rlm@11
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139 net laser-final <= and2-laser-final.out
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140
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rlm@11
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141 # laser-final => hardware
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rlm@11
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142 net laser-final => parport.0.pin-01-out
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143
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rlm@11
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144 # make Z and W axes always homed
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rlm@11
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145 #setp axis.2.homed 1 # Z
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rlm@11
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146 #setp axis.8.homed 1 # W
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147
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rlm@11
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148 net xdir => parport.0.pin-02-out
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rlm@11
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149 net xstep => parport.0.pin-03-out
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rlm@11
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150 setp parport.0.pin-03-out-reset 1
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rlm@11
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151 net ydir => parport.0.pin-04-out
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rlm@11
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152 net ystep => parport.0.pin-05-out
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rlm@11
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153 setp parport.0.pin-05-out-reset 1
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rlm@11
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154 net wdir => parport.0.pin-06-out
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rlm@11
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155 net wstep => parport.0.pin-07-out
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rlm@11
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156 setp parport.0.pin-07-out-reset 1
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157
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rlm@11
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158 # invert ydir
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rlm@11
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159 #setp parport.0.pin-04-out-invert 1
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rlm@11
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160
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161
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rlm@11
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162 net xenable => parport.0.pin-14-out
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163
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rlm@11
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164 net home-x <= parport.0.pin-10-in
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rlm@11
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165 net home-y <= parport.0.pin-12-in
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rlm@11
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166 net estop-ext <= parport.0.pin-15-in
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rlm@11
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167
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rlm@11
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168 setp stepgen.0.position-scale [AXIS_0]SCALE
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rlm@11
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169 setp stepgen.0.steplen 15200
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rlm@11
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170 setp stepgen.0.stepspace 15200
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rlm@11
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171 setp stepgen.0.dirhold 15200
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rlm@11
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172 setp stepgen.0.dirsetup 15200
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rlm@11
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173 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
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rlm@11
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174 net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
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rlm@11
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175 net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
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rlm@11
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176 net xstep <= stepgen.0.step
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rlm@11
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177 net xdir <= stepgen.0.dir
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rlm@11
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178 net xenable axis.0.amp-enable-out => stepgen.0.enable
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rlm@11
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179 net home-x => axis.0.home-sw-in
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180
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rlm@11
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181 setp stepgen.1.position-scale [AXIS_1]SCALE
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rlm@11
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182 setp stepgen.1.steplen 15200
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rlm@11
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183 setp stepgen.1.stepspace 15200
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rlm@11
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184 setp stepgen.1.dirhold 15200
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rlm@11
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185 setp stepgen.1.dirsetup 15200
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rlm@11
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186 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
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rlm@11
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187 net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
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rlm@11
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188 net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
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rlm@11
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189 net ystep <= stepgen.1.step
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rlm@11
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190 net ydir <= stepgen.1.dir
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rlm@11
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191 net yenable axis.1.amp-enable-out => stepgen.1.enable
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rlm@11
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192 net home-y => axis.1.home-sw-in
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rlm@11
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193
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rlm@11
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194 setp stepgen.2.position-scale [AXIS_2]SCALE
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rlm@11
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195 setp stepgen.2.steplen 1
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rlm@11
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196 setp stepgen.2.stepspace 0
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rlm@11
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197 setp stepgen.2.dirhold 15200
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rlm@11
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198 setp stepgen.2.dirsetup 15200
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rlm@11
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199 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
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rlm@11
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200 net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
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rlm@11
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201 net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
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rlm@11
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202 net zstep <= stepgen.2.step
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rlm@11
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203 net zdir <= stepgen.2.dir
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rlm@11
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204 net zenable axis.2.amp-enable-out => stepgen.2.enable
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rlm@11
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205 net home-z => axis.2.home-sw-in
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206
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rlm@11
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207 setp stepgen.3.position-scale [AXIS_8]SCALE
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rlm@11
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208 setp stepgen.3.steplen 1
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rlm@11
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209 setp stepgen.3.stepspace 0
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rlm@11
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210 setp stepgen.3.dirhold 15200
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rlm@11
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211 setp stepgen.3.dirsetup 15200
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rlm@11
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212 setp stepgen.3.maxaccel [AXIS_8]STEPGEN_MAXACCEL
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rlm@11
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213 net wpos-cmd axis.8.motor-pos-cmd => stepgen.3.position-cmd
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rlm@11
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214 net wpos-fb stepgen.3.position-fb => axis.8.motor-pos-fb
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rlm@11
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215 net wstep <= stepgen.3.step
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rlm@11
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216 net wdir <= stepgen.3.dir
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rlm@11
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217 net wenable axis.8.amp-enable-out => stepgen.3.enable
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rlm@11
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218 net home-w => axis.8.home-sw-in
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rlm@11
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219
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rlm@11
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220 net estop-out <= iocontrol.0.user-enable-out
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rlm@11
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221 net estop-ext => iocontrol.0.emc-enable-in
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222
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rlm@11
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223 loadusr -W hal_manualtoolchange
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224 net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
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rlm@11
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225 net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
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rlm@11
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226 net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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rlm@11
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227 net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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rlm@11
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228
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rlm@11
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229 # connect the charge pump signal to an output
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rlm@11
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230 net charge-pump <= charge-pump.out
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rlm@11
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231 setp parport.0.pin-17-out-reset 1
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rlm@11
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232 net charge-pump => parport.0.pin-17-out
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rlm@11
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233 setp charge-pump.enable 1
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