# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/2.9/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################


# ******************
# Core EMC/HAL Loads

# kinematics
loadrt [KINS]KINEMATICS

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadrt hal_parport cfg=0x378

# hostmot2 driver
loadrt hostmot2

# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)


# Torch Height Control
loadrt thc
addf thc servo-thread

# THREADS
addf hm2_[HOSTMOT2](BOARD).0.read         servo-thread
addf motion-command-handler               servo-thread
addf motion-controller                    servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write        servo-thread
addf parport.0.read servo-thread
addf parport.0.write servo-thread

# #############################################
# Axis-of-motion Specific Configs (not the GUI)

# **********
# X [0] Axis

# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE

net emcmot.00.enable <= joint.0.amp-enable-out 
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable


# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd

net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold         [JOINT_0]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace       [JOINT_0]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale  [JOINT_0]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel          0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel        [JOINT_0]STEPGEN_MAXACCEL

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type       0

net both-home-x <= parport.0.pin-10-in-not
net both-home-x => joint.0.home-sw-in
net both-home-x => joint.0.neg-lim-sw-in
net both-home-x => joint.0.pos-lim-sw-in

# ################
# Y [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE

net emcmot.01.enable <= joint.1.amp-enable-out 
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable


# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd

net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold         [JOINT_1]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace       [JOINT_1]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale  [JOINT_1]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel          0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel        [JOINT_1]STEPGEN_MAXACCEL

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type       0

net both-home-y <= parport.0.pin-11-in-not
net both-home-y => joint.1.home-sw-in
net both-home-y => joint.1.neg-lim-sw-in
net both-home-y => joint.1.pos-lim-sw-in

# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE

net emcmot.02.enable <= joint.2.amp-enable-out 
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable


# position command and feedback
# hijack position command and feed through thc
net emcmot.02.pos-cmd thc.z-pos-in <= joint.2.motor-pos-cmd
net thc-pos-cmd thc.z-pos-out => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
net motor.02.pos-fb joint.2.motor-pos-fb <= thc.z-fb-out

net both-home-z => joint.2.home-sw-in
net both-home-z => joint.2.neg-lim-sw-in
net both-home-z => joint.2.pos-lim-sw-in

# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold         [JOINT_2]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace       [JOINT_2]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale  [JOINT_2]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel          0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel        [JOINT_2]STEPGEN_MAXACCEL

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type       0

net both-home-z <= parport.0.pin-12-in-not
net both-home-z => joint.2.home-sw-in
net both-home-z => joint.2.neg-lim-sw-in
net both-home-z => joint.2.pos-lim-sw-in

#######################
# Standard I/O Block - EStop, Etc
# ############################### 

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

# Touch Off
net torch-probe motion.probe-input <= parport.0.pin-13-in-not

# Set up the Encoder for the THC
setp hm2_5i20.0.encoder.00.counter-mode 1
net thc-vel-in hm2_5i20.0.encoder.00.velocity => thc.encoder-vel
setp thc.scale-offset 119000
setp thc.vel-scale 0.00037866834

# this might need to be increased
setp thc.correction-vel 0.0001

# spindle on starts the arc
net spindle-on spindle.0.on => parport.0.pin-16-out

net spindle-on thc.torch-on

# starts the motion when the plasma arc has transferred to the work
net start-motion-input thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in

# ******
#  For Joypad, the rest are in postgui.hal
loadusr hal_input -W -KRAL Dual


