# Jog Pendant
# load the hostmot2 driver, this doesnt do anything by itself,
# it just waits for low-level drivers to register boards
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1

# load the low-level driver for the board
# this will load the board's firmware and register it with the hostmot2
# driver loaded above, and it'll show up in HAL
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=1 num_pwmgens=0 num_stepgens=0"
# set up the watchdog
#setp hm2_5i20.0.watchdog.timeout_ns 10000000

loadusr -Wn naiky pyvcp -c naiky naiky.xml

# create realtime thread
loadrt threads name1=base-thread period1=50000 name2=servo-thread period2=1000000

loadrt encoder num_chan=1

# "times 4 mode" one count per full quadrature cycle, instead of the usual one count per edge.  
# mpg jog wheels often have a full quadrature cycle per "click". 0 for off and 1 for on.
setp encoder.0.x4-mode FALSE

#net X1 hm2_5i20.0.gpio.000.in_not naiky.x1
#net X10 hm2_5i20.0.gpio.002.in_not naiky.x10
#net X100 hm2_5i20.0.gpio.004.in_not naiky.x100
#net SEL-X hm2_5i20.0.gpio.006.in_not naiky.x
#net SEL-Y hm2_5i20.0.gpio.008.in_not naiky.y
#net SEL-Z hm2_5i20.0.gpio.010.in_not naiky.z
#net SEL-4 hm2_5i20.0.gpio.012.in_not naiky.4
#net SEL-OFF hm2_5i20.0.gpio.014.in_not naiky.off
#setp hm2_5i20.0.gpio.016.is_output TRUE
#setp hm2_5i20.0.gpio.016.invert_output TRUE
#net LED hm2_5i20.0.gpio.016.out naiky.led
#net MPG-A encoder.0.phase-A hm2_5i20.0.gpio.003.in_not naiky.a
#net MPG-B encoder.0.phase-B hm2_5i20.0.gpio.001.in_not naiky.b

#net X1 hm2_5i20.0.gpio.024.in_not naiky.x1
#net X10 hm2_5i20.0.gpio.026.in_not naiky.x10
#net X100 hm2_5i20.0.gpio.028.in_not naiky.x100
#net SEL-X hm2_5i20.0.gpio.030.in_not naiky.x
#net SEL-Y hm2_5i20.0.gpio.032.in_not naiky.y
#net SEL-Z hm2_5i20.0.gpio.034.in_not naiky.z
#net SEL-4 hm2_5i20.0.gpio.036.in_not naiky.4
#net SEL-OFF hm2_5i20.0.gpio.038.in_not naiky.off
#setp hm2_5i20.0.gpio.040.is_output TRUE
#setp hm2_5i20.0.gpio.040.invert_output TRUE
#net LED hm2_5i20.0.gpio.040.out naiky.led
#net MPG-A encoder.0.phase-A hm2_5i20.0.gpio.027.in_not naiky.a
#net MPG-B encoder.0.phase-B hm2_5i20.0.gpio.025.in_not naiky.b

net X1 hm2_5i20.0.gpio.048.in_not naiky.x1
net X10 hm2_5i20.0.gpio.050.in_not naiky.x10
net X100 hm2_5i20.0.gpio.052.in_not naiky.x100
net SEL-X hm2_5i20.0.gpio.054.in_not naiky.x
net SEL-Y hm2_5i20.0.gpio.056.in_not naiky.y
net SEL-Z hm2_5i20.0.gpio.058.in_not naiky.z
net SEL-4 hm2_5i20.0.gpio.060.in_not naiky.4
net SEL-OFF hm2_5i20.0.gpio.062.in_not naiky.off
setp hm2_5i20.0.gpio.064.is_output TRUE
setp hm2_5i20.0.gpio.064.invert_output TRUE
net LED hm2_5i20.0.gpio.064.out naiky.led
net MPG-A encoder.0.phase-A hm2_5i20.0.gpio.051.in_not naiky.a
net MPG-B encoder.0.phase-B hm2_5i20.0.gpio.049.in_not naiky.b


net COUNT encoder.0.position naiky.count
net RESET encoder.0.reset naiky.reset

# hook the functions to threads
# read inputs
addf hm2_5i20.0.read base-thread
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
# write outputs
addf hm2_5i20.0.write servo-thread
# pet the watchdog so he won't bite us!
addf hm2_5i20.0.pet_watchdog servo-thread

start
show pin
waitusr naiky