# HAL config file for Pico Systems USC board
#
# Connect motion controller I/Os
#

# connect limit/home switch outputs to motion controller
net Xminlim <= ppmc.0.din.01.in
net Xminlim => axis.0.neg-lim-sw-in
net Xmaxlim <= ppmc.0.din.02.in
net Xmaxlim => axis.0.pos-lim-sw-in
net Xhome <= ppmc.0.din.00.in
net Xhome => axis.0.home-sw-in

net Yminlim <= ppmc.0.din.05.in
net Yminlim => axis.1.neg-lim-sw-in
net Ymaxlim <= ppmc.0.din.06.in
net Ymaxlim => axis.1.pos-lim-sw-in
net Yhome <= ppmc.0.din.04.in
net Yhome => axis.1.home-sw-in

net Zminlim <= ppmc.0.din.09.in
net Zminlim => axis.2.neg-lim-sw-in
net Zmaxlim <= ppmc.0.din.10.in
net Zmaxlim => axis.2.pos-lim-sw-in
net Zhome <= ppmc.0.din.08.in
net Zhome => axis.2.home-sw-in

net Aminlim <= ppmc.0.din.12.in
net Aminlim => axis.3.neg-lim-sw-in
net Amaxlim <= ppmc.0.din.13.in
net Amaxlim => axis.3.pos-lim-sw-in
net Ahome <= ppmc.0.din.11.in
net Ahome => axis.3.home-sw-in


# connect index pulses to motion controller
# uncomment these lines only if you have a Rev 2 USC board
#newsig Xindex bit
#newsig Yindex  bit
#newsig Zindex bit
#linksp Xindex <= ppmc.0.encoder.00.index-enable
#linksp Xindex => axis.0.index-enable
#linksp Yindex <= ppmc.0.encoder.01.index-enable
#linksp Yindex => axis.1.index-enable
#linksp Zindex <= ppmc.0.encoder.02.index-enable
#linksp Zindex => axis.2.index-enable

#
# Connect I/O controller I/Os
#

# connect e-stop write/sense to I/O controller
# and univstep's fault with estop's output, so  estop FF is reset, but
#      prevent continued estop signal from univstep from holding FF cleared
net ppmcEstop ppmc.0.din.15.in-not
net ppmcEstop and2.0.in0
net EstopOkIn estop-latch.0.fault-in
net EstopOkIn and2.0.out
net EstopOkOut <= ppmc.0.dout.07.out
net EstopOkOut iocontrol.0.emc-enable-in
net EstopOkOut estop-latch.0.ok-out
net EstopOkOut and2.0.in1
net emc-estop-out iocontrol.0.user-enable-out
net emc-estop-out estop-latch.0.ok-in
net emc-estop-reset iocontrol.0.user-request-enable
net emc-estop-reset estop-latch.0.reset

# connect spindle fwd/rev to I/O controller
net SpindleFwd <= ppmc.0.dout.00.out
net SpindleFwd => motion.spindle-forward
net SpindleRev <= ppmc.0.dout.01.out
net SpindleRev => motion.spindle-reverse

# connect spindle brake to I/O controller
net SpindleBrakeOn <= ppmc.0.dout.02.out
net SpindleBrakeOn => motion.spindle-brake

# connect mist/flood coolant to I/O controller
net MistOn <= ppmc.0.dout.03.out
net MistOn => iocontrol.0.coolant-mist
net FloodOn <= ppmc.0.dout.04.out
net FloodOn => iocontrol.0.coolant-flood