rlm@11: # Generated by stepconf at Sun Mar  8 21:32:59 2009
rlm@11: # If you make changes to this file, they will be
rlm@11: # overwritten when you run stepconf again
rlm@11: 
rlm@11: loadrt threads name1=mask-thread period1=100000
rlm@11: 
rlm@11: loadrt trivkins
rlm@11: 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
rlm@11: loadrt probe_parport
rlm@11: loadrt hal_parport cfg=0x378
rlm@11: setp parport.0.reset-time 100000
rlm@11: loadrt stepgen step_type=0,0,0,0
rlm@11: loadrt charge_pump
rlm@11: 
rlm@11: 
rlm@11: # Boring components that emc makes me load explicitly because it is a cunt
rlm@11: loadrt comp names=comp-mask-lte,comp-discrete-z
rlm@11: loadrt not names=not-mask-ffw,not-mask-not-empty
rlm@11: loadrt xor2 names=xor2-mask-test
rlm@11: loadrt and2 names=and2-mask-forward,and2-laser-mask,and2-laser-final
rlm@11: loadrt or2 names=or2-mask-command-done,or2-mask-not-ffw,or2-mask-read,or2-laser-gcode,or2-laser-fine
rlm@11: 
rlm@11: 
rlm@11: # Fast thread for generating signals
rlm@11: addf parport.0.read base-thread
rlm@11: addf stepgen.make-pulses base-thread
rlm@11: addf parport.0.write base-thread
rlm@11: addf parport.0.reset base-thread
rlm@11: addf charge-pump base-thread
rlm@11: 
rlm@11: # Slow thread for logic (more logic components are added further down)
rlm@11: addf stepgen.capture-position     servo-thread
rlm@11: addf motion-command-handler       servo-thread
rlm@11: addf motion-controller            servo-thread
rlm@11: addf stepgen.update-freq          servo-thread
rlm@11: 
rlm@11: 
rlm@11: ###################################################################################
rlm@11: # Raster Mask - stream in laser on/off commands behind AXIS's back
rlm@11: # Input stream format: reset beam xop xarg
rlm@11: #   reset:  0=mask command 1=reset (begin mask sequence with "1 0 0 0", every other command starts with 0)
rlm@11: #   beam:   0=off 1=on
rlm@11: #   xop:    X axis comparison operation 0=less-or-equal 1=greater
rlm@11: #   xarg:   X axis comparison operand
rlm@11: 
rlm@11: loadrt streamer depth=256 cfg="bbbf"
rlm@11: net mask-reset     <= streamer.0.pin.0
rlm@11: net mask-beam      <= streamer.0.pin.1
rlm@11: net mask-xop       <= streamer.0.pin.2
rlm@11: net mask-xarg      <= streamer.0.pin.3
rlm@11: net mask-empty     <= streamer.0.empty
rlm@11: net mask-read => streamer.0.enable
rlm@11: 
rlm@11: # hardware reported X axis position
rlm@11: net motion-xpos-fb <= axis.0.joint-pos-fb
rlm@11: 
rlm@11: # mask-lte <= motion-xpos-fb < mask-xarg
rlm@11: addf comp-mask-lte mask-thread
rlm@11: net motion-xpos-fb => comp-mask-lte.in0
rlm@11: net mask-xarg => comp-mask-lte.in1
rlm@11: net mask-lte <= comp-mask-lte.out
rlm@11: 
rlm@11: # mask-test <= mask-xop ^ mask-lte
rlm@11: addf xor2-mask-test mask-thread
rlm@11: net mask-xop => xor2-mask-test.in0
rlm@11: net mask-lte => xor2-mask-test.in1
rlm@11: net mask-test <= xor2-mask-test.out
rlm@11: 
rlm@11: # if job is running, read only if test is true or reset
rlm@11: # if job is not running, read until reset
rlm@11: # mask-read <= (laser-coarse && (mask-test || mask-reset)) || !(laser-coarse || mask-reset)
rlm@11: 
rlm@11: addf or2-mask-command-done mask-thread
rlm@11: net mask-test => or2-mask-command-done.in0
rlm@11: net mask-reset => or2-mask-command-done.in1
rlm@11: net mask-command-done <= or2-mask-command-done.out
rlm@11: 
rlm@11: addf and2-mask-forward mask-thread
rlm@11: net laser-coarse => and2-mask-forward.in0
rlm@11: net mask-command-done => and2-mask-forward.in1
rlm@11: net mask-forward <= and2-mask-forward.out
rlm@11: 
rlm@11: addf or2-mask-not-ffw mask-thread
rlm@11: net laser-coarse => or2-mask-not-ffw.in0
rlm@11: net mask-reset => or2-mask-not-ffw.in1
rlm@11: net mask-not-ffw <= or2-mask-not-ffw.out
rlm@11: 
rlm@11: addf not-mask-ffw mask-thread
rlm@11: net mask-not-ffw => not-mask-ffw.in
rlm@11: net mask-ffw <= not-mask-ffw.out
rlm@11: 
rlm@11: addf or2-mask-read mask-thread
rlm@11: net mask-forward => or2-mask-read.in0
rlm@11: net mask-ffw => or2-mask-read.in1
rlm@11: net mask-read <= or2-mask-read.out
rlm@11: 
rlm@11: # laser-mask <=  mask-not-empty && mask-beam
rlm@11: addf not-mask-not-empty mask-thread
rlm@11: net mask-empty => not-mask-not-empty.in
rlm@11: net mask-not-empty <= not-mask-not-empty.out
rlm@11: 
rlm@11: addf and2-laser-mask mask-thread
rlm@11: net mask-beam => and2-laser-mask.in0
rlm@11: net mask-not-empty => and2-laser-mask.in1
rlm@11: net laser-mask <= and2-laser-mask.out
rlm@11: 
rlm@11: addf streamer.0 mask-thread
rlm@11: 
rlm@11: # Raster Mask - end
rlm@11: #######################################################################
rlm@11: 
rlm@11: # coarse laser control, wired to spindle on/off (M3/M5), not realtime
rlm@11: net laser-coarse <= motion.spindle-on
rlm@11: 
rlm@11: # fine laser control, wired to digital output 0 (M62 P0/M63 P0), realtime
rlm@11: net laser-gate <= motion.digital-out-00
rlm@11: 
rlm@11: # legacy laser control, wired to Z < 0, can be used instead of M62/M63
rlm@11: addf comp-discrete-z servo-thread
rlm@11: net motion-zpos-fb <= axis.2.joint-pos-fb
rlm@11: net motion-zpos-fb => comp-discrete-z.in0
rlm@11: setp comp-discrete-z.in1 0
rlm@11: net discrete-z <= comp-discrete-z.out
rlm@11: 
rlm@11: # laser-final <= laser-coarse & (laser-gate | discrete-z | laser-mask)
rlm@11: addf or2-laser-gcode mask-thread
rlm@11: net laser-gate => or2-laser-gcode.in0
rlm@11: net discrete-z => or2-laser-gcode.in1
rlm@11: net laser-gcode <= or2-laser-gcode.out
rlm@11: 
rlm@11: addf or2-laser-fine mask-thread
rlm@11: net laser-gcode => or2-laser-fine.in0
rlm@11: net laser-mask => or2-laser-fine.in1
rlm@11: net laser-fine <= or2-laser-fine.out
rlm@11: 
rlm@11: addf and2-laser-final mask-thread
rlm@11: net laser-fine => and2-laser-final.in0
rlm@11: net laser-coarse => and2-laser-final.in1
rlm@11: net laser-final <= and2-laser-final.out
rlm@11: 
rlm@11: # laser-final => hardware
rlm@11: net laser-final => parport.0.pin-01-out
rlm@11: 
rlm@11: # make Z and W axes always homed
rlm@11: #setp axis.2.homed 1   # Z
rlm@11: #setp axis.8.homed 1   # W
rlm@11: 
rlm@11: net xdir => parport.0.pin-02-out
rlm@11: net xstep => parport.0.pin-03-out
rlm@11: setp parport.0.pin-03-out-reset 1
rlm@11: net ydir => parport.0.pin-04-out
rlm@11: net ystep => parport.0.pin-05-out
rlm@11: setp parport.0.pin-05-out-reset 1
rlm@11: net wdir => parport.0.pin-06-out
rlm@11: net wstep => parport.0.pin-07-out
rlm@11: setp parport.0.pin-07-out-reset 1
rlm@11: 
rlm@11: # invert ydir
rlm@11: #setp parport.0.pin-04-out-invert 1
rlm@11: 
rlm@11: 
rlm@11: net xenable => parport.0.pin-14-out
rlm@11: 
rlm@11: net home-x <= parport.0.pin-10-in
rlm@11: net home-y <= parport.0.pin-12-in
rlm@11: net estop-ext <= parport.0.pin-15-in
rlm@11: 
rlm@11: setp stepgen.0.position-scale [AXIS_0]SCALE
rlm@11: setp stepgen.0.steplen 15200
rlm@11: setp stepgen.0.stepspace 15200
rlm@11: setp stepgen.0.dirhold 15200
rlm@11: setp stepgen.0.dirsetup 15200
rlm@11: setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
rlm@11: net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
rlm@11: net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
rlm@11: net xstep <= stepgen.0.step
rlm@11: net xdir <= stepgen.0.dir
rlm@11: net xenable axis.0.amp-enable-out => stepgen.0.enable
rlm@11: net home-x => axis.0.home-sw-in
rlm@11: 
rlm@11: setp stepgen.1.position-scale [AXIS_1]SCALE
rlm@11: setp stepgen.1.steplen 15200
rlm@11: setp stepgen.1.stepspace 15200
rlm@11: setp stepgen.1.dirhold 15200
rlm@11: setp stepgen.1.dirsetup 15200
rlm@11: setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
rlm@11: net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
rlm@11: net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
rlm@11: net ystep <= stepgen.1.step
rlm@11: net ydir <= stepgen.1.dir
rlm@11: net yenable axis.1.amp-enable-out => stepgen.1.enable
rlm@11: net home-y => axis.1.home-sw-in
rlm@11: 
rlm@11: setp stepgen.2.position-scale [AXIS_2]SCALE
rlm@11: setp stepgen.2.steplen 1
rlm@11: setp stepgen.2.stepspace 0
rlm@11: setp stepgen.2.dirhold 15200
rlm@11: setp stepgen.2.dirsetup 15200
rlm@11: setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
rlm@11: net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
rlm@11: net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
rlm@11: net zstep <= stepgen.2.step
rlm@11: net zdir <= stepgen.2.dir
rlm@11: net zenable axis.2.amp-enable-out => stepgen.2.enable
rlm@11: net home-z => axis.2.home-sw-in
rlm@11: 
rlm@11: setp stepgen.3.position-scale [AXIS_8]SCALE
rlm@11: setp stepgen.3.steplen 1
rlm@11: setp stepgen.3.stepspace 0
rlm@11: setp stepgen.3.dirhold 15200
rlm@11: setp stepgen.3.dirsetup 15200
rlm@11: setp stepgen.3.maxaccel [AXIS_8]STEPGEN_MAXACCEL
rlm@11: net wpos-cmd axis.8.motor-pos-cmd => stepgen.3.position-cmd
rlm@11: net wpos-fb stepgen.3.position-fb => axis.8.motor-pos-fb
rlm@11: net wstep <= stepgen.3.step
rlm@11: net wdir <= stepgen.3.dir
rlm@11: net wenable axis.8.amp-enable-out => stepgen.3.enable
rlm@11: net home-w => axis.8.home-sw-in
rlm@11: 
rlm@11: net estop-out <= iocontrol.0.user-enable-out
rlm@11: net estop-ext => iocontrol.0.emc-enable-in
rlm@11: 
rlm@11: loadusr -W hal_manualtoolchange
rlm@11: net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
rlm@11: net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
rlm@11: net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
rlm@11: net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
rlm@11: 
rlm@11: # connect the charge pump signal to an output
rlm@11: net charge-pump <= charge-pump.out
rlm@11: setp parport.0.pin-17-out-reset 1
rlm@11: net charge-pump => parport.0.pin-17-out 
rlm@11: setp charge-pump.enable 1