xhc-hb04 (usb wireless mpg) sim configs

Use Frederick Rible's xhc-hb04 component to make simulator configs for two known button layouts. A new halfile (xhc-hb04.tcl) and component (xhc_hb04_util.comp) make it possible to add the pendant with minor edits to a user ini file since no glue-logic hal components are involved. It is assumed/required that a thread named servo-thread exists. Ini file entries: [XHC_HB04_BUTTONS]name=pin define button connections for the buttons defined in the layout cfg file [XHC_HB04_CONFIG]layout=2 (required: 1|2 2 is most common) [XHC_HB04_CONFIG]coords= x y z a (optional, default = x y z a) [XHC_HB04_CONFIG]coefs= 1 1 1 1 (optional filter coefs, not usually required) [XHC_HB04_CONFIG]scales= 1 1 1 1 (optional) layout specifies one of two button layouts. coords specifies the axes for the jogwheel selector. coefs specifies filter coeficient terms to slow response. scales specifies plus/minus scale factors for each axis. Two additional jogwheel selections provide spindle and feedrate control.
author: Dewey Garrett <dgarrett@panix.com> 2014-01-31 16:57:30 -0700
committer: Dewey Garrett <dgarrett@panix.com> 2014-02-01 19:11:23 -0700
commit: 3f5702a20c99f0f5e5fa8281499a91b1eb1ebe70 (patch)
tree: 459bb74455996878e65fc57b204ee90f622ba6c5
parent: d91abc0dc107b18497cae05296fd717f5eac3a88 (diff)
download: linuxcnc-3f5702a20c99f0f5e5fa8281499a91b1eb1ebe70.tar.gz
linuxcnc-3f5702a20c99f0f5e5fa8281499a91b1eb1ebe70.zip
14 files changed, 1127 insertions, 0 deletions
diff --git a/configs/sim/axis/xhc-hb04/README b/configs/sim/axis/xhc-hb04/README
new file mode 100755
index 000000000..97b75445c
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/README
@@ -0,0 +1,40 @@
+These sim configurations demonstrate use of an XHC-HB04 wireless MPG pendant in LinuxCNC using a HAL module created by Frederic Rible (frible@teaser.fr) (Copyright (C) 2013).  Ref:
+
+http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Using_A_XHC-HB04_Wireless_MPG_Pendant
+
+The HAL module is designed for the XHC-HB04 V3.0 identified as USB device 10CE:EB70.
+Most of the pendant features are handled:
+- buttons converted to hal pins
+- jog wheel with variable scale (use STEP button to select scale)
+- LCD screen
+
+Sim configurations are provided for several know button configurations:
+
+layout1 -- 16 buttons
+layout2 -- 18 buttons (more common)
+
+A working and connected xhc-hb04 device is required for the demonstration.  If not connected, the sim configs will start anyway.
+
+A udev rules file:
+  /etc/udev/rules.d/90-xhc.rules
+must be added to the system:
+SYSFS{idProduct}=="eb70", SYSFS{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
+
+Or for later operating systems (like ubuntu12.x):
+ATTR{idProduct}=="eb70", ATTR{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
+
+The sim configurations use a single halfile: xhc-hb04.tcl.  This halfile uses a custom comp file (xhc_hb04_util.comp) and can be added to existing configurations by adding an ini file entry for:
+  [HAL]HALFILE=xhc-hb04.tcl
+
+Typically, this HALFILE entry should follow other entries.  A thread named servo-thread is assumed and required.
+
+Other ini file entries used are:
+[XHC_HB04_CONFIG]layout=2        (1|2)
+[XHC_HB04_CONFIG]coords= x y z a (typ)
+[XHC_HB04_CONFIG]coefs=  1 1 1 1 (optional, not usually needed since xhc-hb04 smooths)
+[XHC_HB04_CONFIG]scales= 1 1 1 1 (optional, rotaries may require bigger scale)
+
+[XHC_HB04_BUTTONS]name=pin define button connections for the buttons defined in the layout file
+[HALUI]MDI_COMMAND=...     define pins useful for connection to the buttons
+
+See the ini files for more detailed examples.
diff --git a/configs/sim/axis/xhc-hb04/axis_manualtoolchange.hal b/configs/sim/axis/xhc-hb04/axis_manualtoolchange.hal
new file mode 120000
index 000000000..397c8934a
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/axis_manualtoolchange.hal
@@ -0,0 +1 @@
+../../axis_manualtoolchange.hal
+\ No newline at end of file
diff --git a/configs/sim/axis/xhc-hb04/core_sim9.hal b/configs/sim/axis/xhc-hb04/core_sim9.hal
new file mode 120000
index 000000000..32979d06f
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/core_sim9.hal
@@ -0,0 +1 @@
+../../core_sim9.hal
+\ No newline at end of file
diff --git a/configs/sim/axis/xhc-hb04/sim.tbl b/configs/sim/axis/xhc-hb04/sim.tbl
new file mode 120000
index 000000000..1dccf4afb
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/sim.tbl
@@ -0,0 +1 @@
+../../sim.tbl
+\ No newline at end of file
diff --git a/configs/sim/axis/xhc-hb04/sim_spindle_encoder.hal b/configs/sim/axis/xhc-hb04/sim_spindle_encoder.hal
new file mode 120000
index 000000000..e83032b1e
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/sim_spindle_encoder.hal
@@ -0,0 +1 @@
+../../sim_spindle_encoder.hal
+\ No newline at end of file
diff --git a/configs/sim/axis/xhc-hb04/simulated_home.hal b/configs/sim/axis/xhc-hb04/simulated_home.hal
new file mode 120000
index 000000000..a0e8e5601
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/simulated_home.hal
@@ -0,0 +1 @@
+../../simulated_home.hal
+\ No newline at end of file
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.cfg b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.cfg
new file mode 100644
index 000000000..6a7741576
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.cfg
@@ -0,0 +1,17 @@
+[XHC-HB04]
+BUTTON=01:button-stop
+BUTTON=02:button-start-pause
+BUTTON=03:button-rewind
+BUTTON=04:button-safe-z
+BUTTON=05:button-home
+BUTTON=06:button-x2
+BUTTON=07:button-y2
+BUTTON=08:button-probe-z
+BUTTON=09:button-x0
+BUTTON=0A:button-y0
+BUTTON=0B:button-z0
+BUTTON=0C:button-goto-zero
+BUTTON=0D:button-step
+BUTTON=0E:button-mode
+BUTTON=0F:button-spindle
+BUTTON=17:button-reset
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini
new file mode 100644
index 000000000..7f7201d1a
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini
@@ -0,0 +1,304 @@
+# adapted from axis_9axis.ini for xhc-hb04 demo
+
+[XHC_HB04_CONFIG]
+# specify layout = n for xhc-hb04-layout{n}.cfg files
+layout = 1
+# coords: specify 4 letters
+# coords: switch labels are xyza but any unique 4 letters
+#         from the set {xyxabcuvw) can be used (if the coord exists)
+coords = x y z c
+# lowpass settings:
+# coef: slows rate of change of output,  range: 0 < coef < 1
+coefs = 1 1 1 1
+# scale plus or minus, rotaries may require larger scale factor:
+scales = 1 -1 1 1
+
+[XHC_HB04_BUTTONS]
+# use button names according to layout file xhc-hb04-layout{n}.cfg
+# note: "start-pause" is reserved because it is connected for
+#        controlling halui.pause/halui.resume/halui.run
+# note: "step" is used by xhc-hb04.cc to change the wheel scale but
+#             can also connected to a pin
+# these are examples, edit as required:
+stop        = halui.program.stop
+start-pause = RESERVED
+rewind      = halui.program.step
+safe-z      = halui.mdi-command-01
+# in this sim, home-all only works first time, hold down till finished:
+home        = halui.home-all
+x2          = halui.mdi-command-02
+y2          = halui.mdi-command-03
+# probe-input for simulating a probe:
+probe-z     = motion.probe-input
+x0          = halui.mdi-command-04
+y0          = halui.mdi-command-05
+z0          = halui.mdi-command-06
+goto-zero   = halui.mdi-command-00
+step        = CAUTION
+mode        = ""
+spindle     = ""
+reset       = halui.estop.activate
+
+[HALUI]
+# these are examples, edit as required:
+# a halui hal pin is created for each MDI_COMMAND below
+# halui.mdi-command-00, halui.mdi-command-01,... etc
+MDI_COMMAND=G0 X0 Y0 Z0
+MDI_COMMAND=(debug, example: mdi-01)
+MDI_COMMAND=(debug, example: mdi-02)
+#03 M110: clears notifications
+MDI_COMMAND=M110
+MDI_COMMAND=(debug, example: mdi-04)
+MDI_COMMAND=(debug, example: mdi-05)
+MDI_COMMAND=(debug, example: mdi-06)
+#07 M101: example print to stdout
+MDI_COMMAND=M101
+MDI_COMMAND=(debug, example: mdi-08)
+MDI_COMMAND=(debug, example: mdi-09)
+MDI_COMMAND=(debug, example: mdi-10)
+MDI_COMMAND=(debug, example: mdi-11)
+MDI_COMMAND=(debug, example: mdi-12)
+MDI_COMMAND=(debug, example: mdi-13)
+MDI_COMMAND=(debug, example: mdi-14)
+MDI_COMMAND=(debug, example: mdi-15)
+
+[EMC]
+MACHINE =  xhc-hb04 layout1 demo
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY =               axis
+CYCLE_TIME =            0.100
+POSITION_OFFSET =       RELATIVE
+POSITION_FEEDBACK =     ACTUAL
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+PROGRAM_PREFIX =        ../../nc_files/
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+EDITOR =                gedit
+GEOMETRY =              XYZABCUVW
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim-9axis.var
+SUBROUTINE_PATH   = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
+# for demo of M110:
+USER_M_PATH       = ../../nc_files/ngcgui_lib/mfiles
+
+[EMCMOT]
+EMCMOT =                motmod
+COMM_TIMEOUT =          1.0
+COMM_WAIT =             0.010
+SERVO_PERIOD =          1000000
+
+[HAL]
+HALFILE = core_sim9.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = xhc-hb04.tcl
+HALUI =   halui
+
+[TRAJ]
+NO_FORCE_HOMING =       1
+AXES =                  9
+COORDINATES =           X Y Z A B C U V W
+HOME =                  0 0 0 0 0 0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      1.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+POSITION_FILE = position9.txt
+MAX_LINEAR_VELOCITY =   1.2
+MAX_ANGULAR_VELOCITY =  90.0
+
+[AXIS_0]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       5.0
+HOME_LATCH_VEL =        1.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+HOME_IS_SHARED =        1
+
+[AXIS_1]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       5.0
+HOME_LATCH_VEL =        1.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_2]
+TYPE =                  LINEAR
+HOME =                  0.0
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -2.0
+MAX_LIMIT =             4.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           1.0
+HOME_SEARCH_VEL =       5.0
+HOME_LATCH_VEL =        1.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        1
+
+[AXIS_3]
+TYPE =                  ANGULAR
+HOME =                  0.0
+MAX_VELOCITY =          90.0
+MAX_ACCELERATION =      1200.0
+BACKLASH =              0.000
+INPUT_SCALE =           40
+OUTPUT_SCALE =          1.000
+FERROR =                5.0
+MIN_FERROR =            1.0
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_4]
+TYPE =                  ANGULAR
+HOME =                  0.0
+MAX_VELOCITY =          90.0
+MAX_ACCELERATION =      1200.0
+BACKLASH =              0.000
+INPUT_SCALE =           40
+OUTPUT_SCALE =          1.000
+FERROR =                5.0
+MIN_FERROR =            1.0
+HOME_OFFSET =           45.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_5]
+TYPE =                  ANGULAR
+HOME =                  0.0
+MAX_VELOCITY =          90.0
+MAX_ACCELERATION =      1200.0
+BACKLASH =              0.000
+INPUT_SCALE =           40
+OUTPUT_SCALE =          1.000
+FERROR =                5.0
+MIN_FERROR =            1.0
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_6]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        0
+
+[AXIS_7]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        0
+
+[AXIS_8]
+TYPE =                  LINEAR
+HOME =                  0.0
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -2.0
+MAX_LIMIT =             4.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        0
+
+[EMCIO]
+EMCIO =                io
+CYCLE_TIME =           0.100
+TOOL_TABLE =           sim.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.txt b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.txt
new file mode 100644
index 000000000..c2fb63ef5
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.txt
@@ -0,0 +1,35 @@
+xhc-hb04-layout1
+
+16 buttons:
+
+---------------------------------------
+|RESET   |                            |
+---------------------------------------
+|Stop    |Start/Pause|Rewind |Probe-Z |
+---------------------------------------
+|GotoZero|   X2      |  Y2   |Safe-Z  |
+---------------------------------------
+|  X=0   |   Y=0     |  Z=0  |  Home  |
+---------------------------------------
+|STEP    | Mode      |Spindle|        |
+---------------------------------------
+|                                Off  |
+|                                  X  |
+|                                  Y  |
+|                 Rotary ------->  Z  |
+|                 Switch           A  |
+|                             Spindle |
+|                                Feed |
+---------------------------------------
+
+Button codes defined in xhc-hb04-layout1.cfg
+
+The STEP button isused to change the wheel multiplier and can also be connected to a pin.
+
+The Start/Pause button is reserved to control halui.program.run,pause,resume.
+
+The other buttons can be connected to hal pins -- typically halui provided pins.  MDI commands can be executed using halui.mdi-command-nn pins defined in the ini file with [HALUI]MDI_COMMAND= entries.
+
+The rotary switch selects the axis, spindle, or feedoverride for control by the jogwheel.
+
+The switch positions (xyza) can be defined to any available axis (xyzc for instance).
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.cfg b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.cfg
new file mode 100644
index 000000000..d84465856
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.cfg
@@ -0,0 +1,19 @@
+[XHC-HB04]
+BUTTON=01:button-goto-zero
+BUTTON=02:button-start-pause
+BUTTON=03:button-rewind
+BUTTON=04:button-probe-z
+BUTTON=05:button-macro-3
+BUTTON=06:button-half
+BUTTON=07:button-zero
+BUTTON=08:button-safe-z
+BUTTON=09:button-home
+BUTTON=0A:button-macro-1
+BUTTON=0B:button-macro-2
+BUTTON=0C:button-spindle
+BUTTON=0D:button-step
+BUTTON=0E:button-mode
+BUTTON=0F:button-macro-6
+BUTTON=10:button-macro-7
+BUTTON=16:button-stop
+BUTTON=17:button-reset
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini
new file mode 100644
index 000000000..f65780303
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini
@@ -0,0 +1,306 @@
+# adapted from axis_9axis.ini for xhc-hb04 demo
+
+[XHC_HB04_CONFIG]
+# specify layout = n for xhc-hb04-layout{n}.cfg files
+layout = 2
+# coords: specify 4 letters
+# coords: switch labels are xyza but any unique 4 letters
+#         from the set {xyxabcuvw) can be used (if the coord exists)
+coords = x y z c
+# lowpass settings:
+# coef: slows rate of change of output,  range: 0 < coef < 1
+coefs = 1 1 1 1
+# scale plus or minus, rotaries may require larger scale factor:
+scales = 1 -1 1 1
+
+[XHC_HB04_BUTTONS]
+# use button names according to layout file xhc-hb04-layout{n}.cfg
+# note: "start-pause" is reserved because it is connected for
+#        controlling halui.pause/halui.resume/halui.run
+# note: "step" is used by xhc-hb04.cc to change the wheel scale but
+#             can also connected to a pin
+# these are examples, edit as required:
+goto-zero   = halui.mdi-command-00
+start-pause = RESERVED
+rewind      = halui.program.step
+# probe-input for simulating a probe:
+probe-z     = motion.probe-input
+macro-3     = halui.mdi-command-03
+half        = halui.spindle.stop
+zero        = ""
+safe-z      = halui.mdi-command-10
+# in this sim, home-all only works first time, hold down till finished:
+home        = halui.home-all
+macro-1     = halui.mdi-command-01
+macro-2     = halui.mdi-command-02
+spindle     = halui.spindle.start
+step        = CAUTION
+mode        = ""
+macro-6     = halui.mdi-command-06
+macro-7     = halui.mdi-command-07
+stop        = halui.program.stop
+reset       = halui.estop.activate
+
+[HALUI]
+# these are examples, edit as required:
+# a halui hal pin is created for each MDI_COMMAND below
+# halui.mdi-command-00, halui.mdi-command-01,... etc
+MDI_COMMAND=G0 X0 Y0 Z0
+MDI_COMMAND=(debug, example: mdi-01)
+MDI_COMMAND=(debug, example: mdi-02)
+#03 M110: clears notifications
+MDI_COMMAND=M110
+MDI_COMMAND=(debug, example: mdi-04)
+MDI_COMMAND=(debug, example: mdi-05)
+MDI_COMMAND=(debug, example: mdi-06)
+#07 M101: example print to stdout
+MDI_COMMAND=M101
+MDI_COMMAND=(debug, example: mdi-08)
+MDI_COMMAND=(debug, example: mdi-09)
+MDI_COMMAND=(debug, example: mdi-10)
+MDI_COMMAND=(debug, example: mdi-11)
+MDI_COMMAND=(debug, example: mdi-12)
+MDI_COMMAND=(debug, example: mdi-13)
+MDI_COMMAND=(debug, example: mdi-14)
+MDI_COMMAND=(debug, example: mdi-15)
+
+[EMC]
+MACHINE =  xhc-hb04 layout2 demo
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY =               axis
+CYCLE_TIME =            0.100
+POSITION_OFFSET =       RELATIVE
+POSITION_FEEDBACK =     ACTUAL
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+PROGRAM_PREFIX =        ../../nc_files/
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+EDITOR =                gedit
+GEOMETRY =              XYZABCUVW
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim-9axis.var
+SUBROUTINE_PATH   = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
+# for demo of M110:
+USER_M_PATH       = ../../nc_files/ngcgui_lib/mfiles
+
+[EMCMOT]
+EMCMOT =                motmod
+COMM_TIMEOUT =          1.0
+COMM_WAIT =             0.010
+SERVO_PERIOD =          1000000
+
+[HAL]
+HALFILE = core_sim9.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = xhc-hb04.tcl
+HALUI =   halui
+
+[TRAJ]
+NO_FORCE_HOMING =       1
+AXES =                  9
+COORDINATES =           X Y Z A B C U V W
+HOME =                  0 0 0 0 0 0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      1.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+POSITION_FILE = position9.txt
+MAX_LINEAR_VELOCITY =   1.2
+MAX_ANGULAR_VELOCITY =  90.0
+
+[AXIS_0]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       5.0
+HOME_LATCH_VEL =        1.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+HOME_IS_SHARED =        1
+
+[AXIS_1]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       5.0
+HOME_LATCH_VEL =        1.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_2]
+TYPE =                  LINEAR
+HOME =                  0.0
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -2.0
+MAX_LIMIT =             4.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           1.0
+HOME_SEARCH_VEL =       5.0
+HOME_LATCH_VEL =        1.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        1
+
+[AXIS_3]
+TYPE =                  ANGULAR
+HOME =                  0.0
+MAX_VELOCITY =          90.0
+MAX_ACCELERATION =      1200.0
+BACKLASH =              0.000
+INPUT_SCALE =           40
+OUTPUT_SCALE =          1.000
+FERROR =                5.0
+MIN_FERROR =            1.0
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_4]
+TYPE =                  ANGULAR
+HOME =                  0.0
+MAX_VELOCITY =          90.0
+MAX_ACCELERATION =      1200.0
+BACKLASH =              0.000
+INPUT_SCALE =           40
+OUTPUT_SCALE =          1.000
+FERROR =                5.0
+MIN_FERROR =            1.0
+HOME_OFFSET =           45.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_5]
+TYPE =                  ANGULAR
+HOME =                  0.0
+MAX_VELOCITY =          90.0
+MAX_ACCELERATION =      1200.0
+BACKLASH =              0.000
+INPUT_SCALE =           40
+OUTPUT_SCALE =          1.000
+FERROR =                5.0
+MIN_FERROR =            1.0
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         1
+
+[AXIS_6]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        0
+
+[AXIS_7]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        0
+
+[AXIS_8]
+TYPE =                  LINEAR
+HOME =                  0.0
+MAX_VELOCITY =          1.2
+MAX_ACCELERATION =      20.0
+BACKLASH =              0.000
+INPUT_SCALE =           4000
+OUTPUT_SCALE =          1.000
+MIN_LIMIT =             -2.0
+MAX_LIMIT =             4.0
+FERROR =                0.050
+MIN_FERROR =            0.010
+HOME_OFFSET =           0.0
+HOME_SEARCH_VEL =       0.0
+HOME_LATCH_VEL =        0.0
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    NO
+HOME_SEQUENCE =         0
+HOME_IS_SHARED =        0
+
+[EMCIO]
+EMCIO =                io
+CYCLE_TIME =           0.100
+TOOL_TABLE =           sim.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.txt b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.txt
new file mode 100644
index 000000000..8aba3bad8
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.txt
@@ -0,0 +1,35 @@
+xhc-hb04-layout2
+
+18 buttons:
+
+---------------------------------------
+|RESET   |Stop       |                |
+---------------------------------------
+|GotoZero|Start/Pause|Rewind |Probe-Z |
+---------------------------------------
+|Spindle |  =1/2     |  =0   |Safe-Z  |
+---------------------------------------
+|GotoHome|Macro-1    |Macro-2|Macro-3 |
+---------------------------------------
+|STEP    |Mode       |Macro-6|Macro-7 |
+---------------------------------------
+|                                Off  |
+|                                  X  |
+|                                  Y  |
+|                 Rotary ------->  Z  |
+|                 Switch           A  |
+|                             Spindle |
+|                                Feed |
+---------------------------------------
+
+Button codes defined in xhc-hb04-layout2.cfg
+
+The STEP button is used to change the wheel multiplier and can also be connected to a pin.
+
+The Start/Pause button is reserved to control halui.program.run,pause,resume.
+
+The other buttons can be connected to hal pins -- typically halui provided pins.  MDI commands can be executed using halui.mdi-command-nn pins defined in the ini file with [HALUI]MDI_COMMAND= entries.
+
+The rotary switch selects the axis, spindle, or feedoverride for control by the jogwheel.
+
+The switch positions (xyza) can be defined to any available axis (xyzc for instance).
diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04.tcl b/configs/sim/axis/xhc-hb04/xhc-hb04.tcl
new file mode 100644
index 000000000..3685047aa
--- /dev/null
+++ b/configs/sim/axis/xhc-hb04/xhc-hb04.tcl
@@ -0,0 +1,295 @@
+# xhc-hb04.tcl: HALFILE for xhc-hb04 pendant
+
+# Usage:
+# In ini file, include:
+#   [HAL]
+#   HALFILE = existing halfiles
+#   ...
+#   HALFILE = xhc-hb04.tcl
+#
+#   [XHC-HB04_CONFIG]
+#   layout = 2       (required: 1|2 are supported)
+#   coords = x y z a (any unique four of xyzabcuvw)
+#   coefs  = 1 1 1 1 (optional, filter coefs, 0 < coef < 1, not usually reqd)
+#   scales = 1 1 1 1 (optional)
+
+#   [XHC-HB04_BUTTONS]
+#   name = pin  (connect button to hal pin)
+#   name = ""   (no connect button)
+#   (see ini files for more exanples)
+
+# Notes:
+#    1) presumes an existing thread named servo-thread
+#    2) the 'start-pause' pin is RESERVED since it is connected herein
+#    3) the 'step' pin is used by xhc-hb04.cc to manage the jogwheel
+#       step sizes so use caution in connecting it for other purposes
+#    2) non-root access to the usb device requires an additional
+#       udev rule.  Typically, create /etc/udev/rules.d/90-xhc.rules:
+#       SYSFS{idProduct}=="eb70", SYSFS{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
+#       or (for ubuntu12 and up):
+#       ATTR{idProduct}=="eb70",  ATTR{idVendor}=="10ce",  MODE="666", OWNER="root", GROUP="users"
+
+#-----------------------------------------------------------------------
+# Copyright: 2014
+# Author:    Dewey Garrett <dgarrett@panix.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#-----------------------------------------------------------------------
+
+proc is_uniq {list_name} {  ;# make list unique
+  set tmp(xxxxxxxx) "" ;# make an array first
+  foreach item $list_name {
+    if {[array names tmp $item] == $item} {
+      return 0 ;# not unique
+    }
+    set tmp($item) $item
+  }
+  return 1 ;# unique
+} ;# is_uniq
+
+proc pin_exists {name} {
+  set line [lindex [split [show pin $name] \n] 2]
+  if {"$line" == ""} {
+    return 0 ;# fail
+  }
+  if [catch {scan $line "%d %s %s %s%s" owner type dir value pinname} msg] {
+     return 0 ;# fail
+  } else {
+     #puts stderr "OK:$owner $type $dir $value $pinname"
+     return 1 ;# ok
+  }
+} ;# pin_exists
+
+proc connect_pins {} {
+  foreach bname [lsort [array names ::XHC_HB04_BUTTONS]] {
+    set thepin $::XHC_HB04_BUTTONS($bname)
+    set thepin [lindex $thepin 0]
+
+    if {"$thepin" == "\"\""} {
+      #puts stderr "$::progname: no pin defined for <$bname>"
+      continue
+    }
+    # this pin is reserved for use with xhc-hb04-util
+    if {[string tolower $bname] == "start-pause"} {
+      puts stderr "$::progname: skipping button start-pause <$thepin>"
+      puts stderr "$::progname: the start-pause pin usage is builtin"
+      continue
+    }
+    # these are used in the ini file examples but aren't real pins
+    if {   [string tolower "$thepin"] == "reserved"
+        || [string tolower "$thepin"] == "caution"
+       } {
+      puts stderr "$::progname: skipping button $bname marked <$thepin>"
+      continue
+    }
+    set fullbname xhc-hb04.button-$bname
+    if ![pin_exists $fullbname] {
+      puts stderr "$::progname: !!! <$fullbname> pin does not exist, continuing"
+      continue
+    }
+    if ![pin_exists $thepin] {
+      puts stderr "$::progname: !!! <$thepin> target pin does not exist, continuing"
+      continue
+    }
+
+    net pendant:$bname $fullbname => $thepin
+  }
+} ;# connect_pins
+
+proc wheel_setup {} {
+  # defaults if not in inifile:
+  set ::XHC_HB04_CONFIG(coef,0) 1.0
+  set ::XHC_HB04_CONFIG(coef,1) 1.0
+  set ::XHC_HB04_CONFIG(coef,2) 1.0
+  set ::XHC_HB04_CONFIG(coef,3) 1.0
+  if [info exists ::XHC_HB04_CONFIG(coefs)] {
+    set ::XHC_HB04_CONFIG(coefs) [string trim $::XHC_HB04_CONFIG(coefs) "{}"]
+    set idx 0
+    foreach g $::XHC_HB04_CONFIG(coefs) {
+      set g1 $g
+      if {$g < 0} {
+         set g [expr -1 * $g]
+         puts stderr "$::progname: coef #$idx must be positive was:$g1, is:$g"
+      }
+      if {$g > 1} {
+         set g .5
+         puts stderr "$::progname: coef #$idx must < 1 coef was:$g1, is:$g"
+      }
+      set ::XHC_HB04_CONFIG(coef,$idx) $g
+      incr idx
+    }
+  }
+  # defaults if not in inifile:
+  set ::XHC_HB04_CONFIG(scale,0) 1.0
+  set ::XHC_HB04_CONFIG(scale,1) 1.0
+  set ::XHC_HB04_CONFIG(scale,2) 1.0
+  set ::XHC_HB04_CONFIG(scale,3) 1.0
+  if [info exists ::XHC_HB04_CONFIG(scales)] {
+    set ::XHC_HB04_CONFIG(scales) [string trim $::XHC_HB04_CONFIG(scales) "{}"]
+    set idx 0
+    foreach g $::XHC_HB04_CONFIG(scales) {
+      set ::XHC_HB04_CONFIG(scale,$idx) $g
+      incr idx
+    }
+  }
+
+  net pendant:jog-scale      <= xhc-hb04.jog.scale
+  net pendant:jog-counts     <= xhc-hb04.jog.counts
+  net pendant:jog-counts-neg <= xhc-hb04.jog.counts-neg
+
+  set anames {x y z a}
+  # xhc-hb04.cc hardcodes pin names as: x y z a
+  # herein: Use names in order of the [XHC_HB04_CONFIG]coords
+  #         specification in the inifile.
+  #         These pin names will be a little confusing when
+  #         using alternate axis sequences but the signal
+  #         names will align correctly.
+  #         With this method, any coord (xyzabcuvw) can be
+  #         controlled by the wheel (providing it exists)
+  #
+  set idx 0
+  foreach coord $::XHC_HB04_CONFIG(coords) {
+    set coord [string trim [string tolower $coord] -] ;# strip -
+    set axno $::XHC_HB04_CONFIG($coord,axno)
+
+    setp pendant_util.coef$idx  $::XHC_HB04_CONFIG(coef,$idx)
+    setp pendant_util.scale$idx $::XHC_HB04_CONFIG(scale,$idx)
+
+    set acoord [lindex $anames $idx]
+    net pendant:pos-$coord    halui.axis.$axno.pos-feedback \
+                           => xhc-hb04.$acoord.pos-absolute
+    net pendant:pos-rel-$coord    halui.axis.$axno.pos-relative \
+                               => xhc-hb04.$acoord.pos-relative
+
+    net pendant:jog-$coord    xhc-hb04.jog.enable-$acoord \
+                           => axis.$axno.jog-enable
+    net pendant:jog-scale => axis.$axno.jog-scale
+
+    net pendant:jog-counts                 => pendant_util.in$idx
+    net pendant:jog-counts-$coord-filtered <= pendant_util.out$idx \
+                                           => axis.$axno.jog-counts
+    incr idx
+  }
+
+  setp halui.feed-override.scale 0.01
+  net pendant:jog-counts  => halui.feed-override.counts
+
+  setp halui.spindle-override.scale 0.01
+  net pendant:jog-counts  => halui.spindle-override.counts
+
+  net pendant:jog-speed      halui.jog-speed <= halui.max-velocity.value
+
+  net pendant:jog-feed      halui.feed-override.count-enable \
+                         <= xhc-hb04.jog.enable-feed-override
+  net pendant:jog-feed2     halui.feed-override.value \
+                         => xhc-hb04.feed-override
+
+  net pendant:jog-spindle   halui.spindle-override.count-enable
+  net pendant:jog-spindle   <= xhc-hb04.jog.enable-spindle-override
+  net pendant:jog-spindle2  halui.spindle-override.value \
+                         => xhc-hb04.spindle-override
+  net pendant:spindle-rps   motion.spindle-speed-cmd-rps \
+                         => xhc-hb04.spindle-rps
+} ;# wheel_setup
+
+proc start_pause_button {} {
+  # hardcoded setup for button-start-pause
+  loadrt xhc_hb04_util names=pendant_util
+  addf   pendant_util servo-thread ;# hardcoded thread name
+  net    pendant:start-or-pause <= xhc-hb04.button-start-pause \
+                                => pendant_util.start-or-pause
+
+  net    pendant:is-idle    <= halui.program.is-idle \
+                            => pendant_util.is-idle
+  net    pendant:is-paused  <= halui.program.is-paused \
+                            => pendant_util.is-paused
+  net    pendant:is-running <= halui.program.is-running \
+                            => pendant_util.is-running
+
+  net    pendant:program-resume pendant_util.resume => halui.program.resume
+  net    pendant:program-pause  pendant_util.pause => halui.program.pause
+  net    pendant:program-run    pendant_util.run => halui.program.run
+} ;# start_pause_button
+
+proc popup_msg {msg} {
+  puts stderr "$msg"
+  if [catch {package require Tk
+             wm withdraw .
+             tk_messageBox \
+                 -title "$::progname: loadusr fail" \
+                 -type ok \
+                 -message "$msg"
+             destroy .
+            } msg] {
+     puts stderr "$msg"
+  }
+} ;# popup_msg
+
+proc err_exit {msg} {
+  puts stderr "\n$::progname: $msg\n"
+  exit 1
+} ;# err_exit
+
+# begin------------------------------------------------------------------------
+set ::progname "xhc-hb04.tcl"
+set cfg xhc-hb04-layout2.cfg ;# default
+
+if [info exists ::XHC_HB04_CONFIG(layout)] {
+  switch ${::XHC_HB04_CONFIG(layout)} {
+    1 {set cfg xhc-hb04-layout1.cfg}
+    2 {set cfg xhc-hb04-layout2.cfg}
+    default {
+      set msg "Unknown layout:<$::XHC_HB04_CONFIG(layout)>"
+      set msg "$msg\ntrying: $cfg"
+      popup_msg "$msg"
+      # keep going
+    }
+  }
+}
+
+if ![file exists $cfg] {
+  set msg "Cannot find file: <$cfg>\nCannot configure pendant\n"
+  set msg "$msg\nContinuing without xhc-hb04"
+  popup_msg "$msg"
+  return ;# not an exit
+}
+
+if [catch {loadusr -W xhc-hb04 -I $cfg -H} msg] {
+  set msg "\n$::progname: loadusr xhc-hb04:\n<$msg>\n\n"
+  set msg "$msg Is it plugged in?\n\n"
+  set msg "$msg Are permissions correct?\n\n"
+  set msg "$msg Continuing without xhc-hb04\n"
+  popup_msg "$msg"
+  return ;# not an exit
+}
+
+set ct 0; foreach coord {x y z a b c u v w} {
+  set ::XHC_HB04_CONFIG($coord,axno) $ct;  incr ct
+}
+
+if [info exists ::XHC_HB04_CONFIG(coords)] {
+  set ::XHC_HB04_CONFIG(coords) [string trim $::XHC_HB04_CONFIG(coords) "{}"]
+  if ![is_uniq $::XHC_HB04_CONFIG(coords)] {
+    err_exit "coords must be unique, not: <$::XHC_HB04_CONFIG(coords)>"
+  }
+} else {
+  set ::XHC_HB04_CONFIG(coords) {x y z a} ;# default
+}
+
+start_pause_button ;# special handling for this button
+connect_pins       ;# per ini file items: [XHC_HB04_BUTTONS]buttonname=pin
+wheel_setup        ;# jog wheel per ini file items:
+                    #     [XHC_HB04_CONFIG]coords,coefs,scales
+#parray ::XHC_HB04_CONFIG
diff --git a/src/hal/components/xhc_hb04_util.comp b/src/hal/components/xhc_hb04_util.comp
new file mode 100644
index 000000000..8f749beb4
--- /dev/null
+++ b/src/hal/components/xhc_hb04_util.comp
@@ -0,0 +1,71 @@
+component xhc_hb04_util "xhc-hb04 convenience utility";
+description """Provides logic for a start/pause button and an interface
+to halui.program.is_paused,is_idle,is_running to generate outputs for
+halui.program.pause,resume,run.
+
+Includes 4 simple lowpass filters with coef and scale pins.  The coef value should
+be 0 <= coef <=1, smaller coef values slow response.  Note: the xhc_hb04
+component includes smoothing so these values can usually be left at 1.0
+""";
+
+pin in bit start_or_pause;
+pin in bit is_paused;
+pin in bit is_idle;
+pin in bit is_running;
+pin out bit pause;
+pin out bit resume;
+pin out bit run;
+
+// integer low pass filters (see ilowpass.comp)
+pin in s32 in0;
+pin in s32 in1;
+pin in s32 in2;
+pin in s32 in3;
+pin out s32 out0;
+pin out s32 out1;
+pin out s32 out2;
+pin out s32 out3;
+pin in float scale0 = 1.0;
+pin in float scale1 = 1.0;
+pin in float scale2 = 1.0;
+pin in float scale3 = 1.0;
+pin in float coef0 = 1.0;
+pin in float coef1 = 1.0;
+pin in float coef2 = 1.0;
+pin in float coef3 = 1.0;
+
+option data xhc_data;
+
+variable double value0;
+variable double value1;
+variable double value2;
+variable double value3;
+
+function _;
+license "GPL";
+;;
+
+typedef struct { int old_start_or_pause; } xhc_data;
+
+FUNCTION(_) {
+    // protect so that 0 <= coef <= 1
+    value0 += (in0 - value0) * (fabs(coef0) < 1 ? fabs(coef0) : 1);
+    value1 += (in1 - value1) * (fabs(coef1) < 1 ? fabs(coef1) : 1);
+    value2 += (in2 - value2) * (fabs(coef2) < 1 ? fabs(coef2) : 1);
+    value3 += (in3 - value3) * (fabs(coef3) < 1 ? fabs(coef3) : 1);
+
+    out0 =  ceil(value0 - .5) * scale0;
+    out1 =  ceil(value1 - .5) * scale1;
+    out2 =  ceil(value2 - .5) * scale2;
+    out3 =  ceil(value3 - .5) * scale3;
+
+    if (data.old_start_or_pause == start_or_pause) return;
+    data.old_start_or_pause = start_or_pause;
+    if (!start_or_pause) {
+        pause = run = resume = 0;
+        return;
+    }
+    if (is_paused)  {pause = 0; run = 0; resume = 1; }
+    if (is_running) {pause = 1; run = 0; resume = 0; }
+    if (is_idle)    {pause = 0; run = 1; resume = 0; }
+}
author	Dewey Garrett <dgarrett@panix.com>	2014-01-31 16:57:30 -0700
committer	Dewey Garrett <dgarrett@panix.com>	2014-02-01 19:11:23 -0700
commit	3f5702a20c99f0f5e5fa8281499a91b1eb1ebe70 (patch)
tree	459bb74455996878e65fc57b204ee90f622ba6c5
parent	d91abc0dc107b18497cae05296fd717f5eac3a88 (diff)
download	linuxcnc-3f5702a20c99f0f5e5fa8281499a91b1eb1ebe70.tar.gz linuxcnc-3f5702a20c99f0f5e5fa8281499a91b1eb1ebe70.zip