# core HAL config file for steppers

# first load the core RT modules that will be needed
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
# stepper module, three step generators, all three using step/dir
loadrt stepgen step_type=0,0,0

# hook functions to base thread (high speed thread for step generation)
addf stepgen.make-pulses base-thread

# hook functions to servo thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

# connect position commands from motion module to step generator
newsig Xpos-cmd float
linksp Xpos-cmd <= axis.0.motor-pos-cmd
linksp Xpos-cmd => stepgen.0.position-cmd
newsig Ypos-cmd float
linksp Ypos-cmd <= axis.1.motor-pos-cmd
linksp Ypos-cmd => stepgen.1.position-cmd
newsig Zpos-cmd float
# Disabled to make THC work better
#linksp Zpos-cmd <= axis.2.motor-pos-cmd
# Disabled for THC to work
#linksp Zpos-cmd => stepgen.2.position-cmd

# connect position feedback from step generators
# to motion module
newsig Xpos-fb float
linksp Xpos-fb <= stepgen.0.position-fb
linksp Xpos-fb => axis.0.motor-pos-fb
newsig Ypos-fb float
linksp Ypos-fb <= stepgen.1.position-fb
linksp Ypos-fb => axis.1.motor-pos-fb
newsig Zpos-fb float
linksp Zpos-fb <= stepgen.2.position-fb
linksp Zpos-fb => axis.2.motor-pos-fb

# connect enable signals for step generators
newsig Xen bit
linksp Xen <= axis.0.amp-enable-out
linksp Xen => stepgen.0.enable
newsig Yen bit
linksp Yen <= axis.1.amp-enable-out
linksp Yen => stepgen.1.enable
newsig Zen bit
linksp Zen <= axis.2.amp-enable-out
linksp Zen => stepgen.2.enable


# connect signals to step pulse generator outputs
newsig Xstep bit
newsig Xdir  bit
newsig Ystep bit
newsig Ydir  bit
newsig Zstep bit
newsig Zdir  bit
linkps stepgen.0.step Xstep
linkps stepgen.0.dir  Xdir
linkps stepgen.1.step Ystep
linkps stepgen.1.dir  Ydir
linkps stepgen.2.step Zstep
linkps stepgen.2.dir  Zdir

# set stepgen module scaling - get values from ini file
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.2.position-scale [AXIS_2]SCALE

# set stepgen module accel limits - get values from ini file
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL