Mercurial > lasercutter

     1 # Generated by stepconf at Sun Mar  8 21:32:59 2009

     2 # If you make changes to this file, they will be

     3 # overwritten when you run stepconf again

     4 

     5 loadrt threads name1=mask-thread period1=100000

     6 

     7 loadrt trivkins

     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

     9 loadrt probe_parport

    10 loadrt hal_parport cfg=0x378

    11 setp parport.0.reset-time 100000

    12 loadrt stepgen step_type=0,0,0,0

    13 loadrt charge_pump

    14 

    15 

    16 # Boring components that emc makes me load explicitly because it is a cunt

    17 loadrt comp names=comp-mask-lte,comp-discrete-z

    18 loadrt not names=not-mask-ffw,not-mask-not-empty

    19 loadrt xor2 names=xor2-mask-test

    20 loadrt and2 names=and2-mask-forward,and2-laser-mask,and2-laser-final

    21 loadrt or2 names=or2-mask-command-done,or2-mask-not-ffw,or2-mask-read,or2-laser-gcode,or2-laser-fine

    22 

    23 

    24 # Fast thread for generating signals

    25 addf parport.0.read base-thread

    26 addf stepgen.make-pulses base-thread

    27 addf parport.0.write base-thread

    28 addf parport.0.reset base-thread

    29 addf charge-pump base-thread

    30 

    31 # Slow thread for logic (more logic components are added further down)

    32 addf stepgen.capture-position     servo-thread

    33 addf motion-command-handler       servo-thread

    34 addf motion-controller            servo-thread

    35 addf stepgen.update-freq          servo-thread

    36 

    37 

    38 ###################################################################################

    39 # Raster Mask - stream in laser on/off commands behind AXIS's back

    40 # Input stream format: reset beam xop xarg

    41 #   reset:  0=mask command 1=reset (begin mask sequence with "1 0 0 0", every other command starts with 0)

    42 #   beam:   0=off 1=on

    43 #   xop:    X axis comparison operation 0=less-or-equal 1=greater

    44 #   xarg:   X axis comparison operand

    45 

    46 loadrt streamer depth=256 cfg="bbbf"

    47 net mask-reset     <= streamer.0.pin.0

    48 net mask-beam      <= streamer.0.pin.1

    49 net mask-xop       <= streamer.0.pin.2

    50 net mask-xarg      <= streamer.0.pin.3

    51 net mask-empty     <= streamer.0.empty

    52 net mask-read => streamer.0.enable

    53 

    54 # hardware reported X axis position

    55 net motion-xpos-fb <= axis.0.joint-pos-fb

    56 

    57 # mask-lte <= motion-xpos-fb < mask-xarg

    58 addf comp-mask-lte mask-thread

    59 net motion-xpos-fb => comp-mask-lte.in0

    60 net mask-xarg => comp-mask-lte.in1

    61 net mask-lte <= comp-mask-lte.out

    62 

    63 # mask-test <= mask-xop ^ mask-lte

    64 addf xor2-mask-test mask-thread

    65 net mask-xop => xor2-mask-test.in0

    66 net mask-lte => xor2-mask-test.in1

    67 net mask-test <= xor2-mask-test.out

    68 

    69 # if job is running, read only if test is true or reset

    70 # if job is not running, read until reset

    71 # mask-read <= (laser-coarse && (mask-test || mask-reset)) || !(laser-coarse || mask-reset)

    72 

    73 addf or2-mask-command-done mask-thread

    74 net mask-test => or2-mask-command-done.in0

    75 net mask-reset => or2-mask-command-done.in1

    76 net mask-command-done <= or2-mask-command-done.out

    77 

    78 addf and2-mask-forward mask-thread

    79 net laser-coarse => and2-mask-forward.in0

    80 net mask-command-done => and2-mask-forward.in1

    81 net mask-forward <= and2-mask-forward.out

    82 

    83 addf or2-mask-not-ffw mask-thread

    84 net laser-coarse => or2-mask-not-ffw.in0

    85 net mask-reset => or2-mask-not-ffw.in1

    86 net mask-not-ffw <= or2-mask-not-ffw.out

    87 

    88 addf not-mask-ffw mask-thread

    89 net mask-not-ffw => not-mask-ffw.in

    90 net mask-ffw <= not-mask-ffw.out

    91 

    92 addf or2-mask-read mask-thread

    93 net mask-forward => or2-mask-read.in0

    94 net mask-ffw => or2-mask-read.in1

    95 net mask-read <= or2-mask-read.out

    96 

    97 # laser-mask <=  mask-not-empty && mask-beam

    98 addf not-mask-not-empty mask-thread

    99 net mask-empty => not-mask-not-empty.in

   100 net mask-not-empty <= not-mask-not-empty.out

   101 

   102 addf and2-laser-mask mask-thread

   103 net mask-beam => and2-laser-mask.in0

   104 net mask-not-empty => and2-laser-mask.in1

   105 net laser-mask <= and2-laser-mask.out

   106 

   107 addf streamer.0 mask-thread

   108 

   109 # Raster Mask - end

   110 #######################################################################

   111 

   112 # coarse laser control, wired to spindle on/off (M3/M5), not realtime

   113 net laser-coarse <= motion.spindle-on

   114 

   115 # fine laser control, wired to digital output 0 (M62 P0/M63 P0), realtime

   116 net laser-gate <= motion.digital-out-00

   117 

   118 # legacy laser control, wired to Z < 0, can be used instead of M62/M63

   119 addf comp-discrete-z servo-thread

   120 net motion-zpos-fb <= axis.2.joint-pos-fb

   121 net motion-zpos-fb => comp-discrete-z.in0

   122 setp comp-discrete-z.in1 0

   123 net discrete-z <= comp-discrete-z.out

   124 

   125 # laser-final <= laser-coarse & (laser-gate | discrete-z | laser-mask)

   126 addf or2-laser-gcode mask-thread

   127 net laser-gate => or2-laser-gcode.in0

   128 net discrete-z => or2-laser-gcode.in1

   129 net laser-gcode <= or2-laser-gcode.out

   130 

   131 addf or2-laser-fine mask-thread

   132 net laser-gcode => or2-laser-fine.in0

   133 net laser-mask => or2-laser-fine.in1

   134 net laser-fine <= or2-laser-fine.out

   135 

   136 addf and2-laser-final mask-thread

   137 net laser-fine => and2-laser-final.in0

   138 net laser-coarse => and2-laser-final.in1

   139 net laser-final <= and2-laser-final.out

   140 

   141 # laser-final => hardware

   142 net laser-final => parport.0.pin-01-out

   143 

   144 # make Z and W axes always homed

   145 #setp axis.2.homed 1   # Z

   146 #setp axis.8.homed 1   # W

   147 

   148 net xdir => parport.0.pin-02-out

   149 net xstep => parport.0.pin-03-out

   150 setp parport.0.pin-03-out-reset 1

   151 net ydir => parport.0.pin-04-out

   152 net ystep => parport.0.pin-05-out

   153 setp parport.0.pin-05-out-reset 1

   154 net wdir => parport.0.pin-06-out

   155 net wstep => parport.0.pin-07-out

   156 setp parport.0.pin-07-out-reset 1

   157 

   158 # invert ydir

   159 #setp parport.0.pin-04-out-invert 1

   160 

   161 

   162 net xenable => parport.0.pin-14-out

   163 

   164 net home-x <= parport.0.pin-10-in

   165 net home-y <= parport.0.pin-12-in

   166 net estop-ext <= parport.0.pin-15-in

   167 

   168 setp stepgen.0.position-scale [AXIS_0]SCALE

   169 setp stepgen.0.steplen 15200

   170 setp stepgen.0.stepspace 15200

   171 setp stepgen.0.dirhold 15200

   172 setp stepgen.0.dirsetup 15200

   173 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL

   174 net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd

   175 net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb

   176 net xstep <= stepgen.0.step

   177 net xdir <= stepgen.0.dir

   178 net xenable axis.0.amp-enable-out => stepgen.0.enable

   179 net home-x => axis.0.home-sw-in

   180 

   181 setp stepgen.1.position-scale [AXIS_1]SCALE

   182 setp stepgen.1.steplen 15200

   183 setp stepgen.1.stepspace 15200

   184 setp stepgen.1.dirhold 15200

   185 setp stepgen.1.dirsetup 15200

   186 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL

   187 net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd

   188 net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb

   189 net ystep <= stepgen.1.step

   190 net ydir <= stepgen.1.dir

   191 net yenable axis.1.amp-enable-out => stepgen.1.enable

   192 net home-y => axis.1.home-sw-in

   193 

   194 setp stepgen.2.position-scale [AXIS_2]SCALE

   195 setp stepgen.2.steplen 1

   196 setp stepgen.2.stepspace 0

   197 setp stepgen.2.dirhold 15200

   198 setp stepgen.2.dirsetup 15200

   199 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL

   200 net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd

   201 net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb

   202 net zstep <= stepgen.2.step

   203 net zdir <= stepgen.2.dir

   204 net zenable axis.2.amp-enable-out => stepgen.2.enable

   205 net home-z => axis.2.home-sw-in

   206 

   207 setp stepgen.3.position-scale [AXIS_8]SCALE

   208 setp stepgen.3.steplen 1

   209 setp stepgen.3.stepspace 0

   210 setp stepgen.3.dirhold 15200

   211 setp stepgen.3.dirsetup 15200

   212 setp stepgen.3.maxaccel [AXIS_8]STEPGEN_MAXACCEL

   213 net wpos-cmd axis.8.motor-pos-cmd => stepgen.3.position-cmd

   214 net wpos-fb stepgen.3.position-fb => axis.8.motor-pos-fb

   215 net wstep <= stepgen.3.step

   216 net wdir <= stepgen.3.dir

   217 net wenable axis.8.amp-enable-out => stepgen.3.enable

   218 net home-w => axis.8.home-sw-in

   219 

   220 net estop-out <= iocontrol.0.user-enable-out

   221 net estop-ext => iocontrol.0.emc-enable-in

   222 

   223 loadusr -W hal_manualtoolchange

   224 net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change

   225 net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed

   226 net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number

   227 net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

   228 

   229 # connect the charge pump signal to an output

   230 net charge-pump <= charge-pump.out

   231 setp parport.0.pin-17-out-reset 1

   232 net charge-pump => parport.0.pin-17-out 

   233 setp charge-pump.enable 1
author	Robert McIntyre <rlm@mit.edu>
date	Tue, 24 Aug 2010 19:06:45 -0400
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