# core HAL config file for simulation - 6 axis

# load RT modules
loadrt genhexkins
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
loadrt ddt count=9

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
addf ddt.4 servo-thread
addf ddt.5 servo-thread
addf ddt.6 servo-thread
addf ddt.7 servo-thread
addf ddt.8 servo-thread

# create HAL signals for position commands from motion module
newsig Xpos float
linksp Xpos <= axis.0.motor-pos-cmd
newsig Ypos float
linksp Ypos <= axis.1.motor-pos-cmd
newsig Zpos float
linksp Zpos <= axis.2.motor-pos-cmd
newsig Apos float
linksp Apos <= axis.3.motor-pos-cmd
newsig Bpos float
linksp Bpos <= axis.4.motor-pos-cmd
newsig Cpos float
linksp Cpos <= axis.5.motor-pos-cmd


# loop position commands back to motion module feedback
linksp Xpos => axis.0.motor-pos-fb
linksp Ypos => axis.1.motor-pos-fb
linksp Zpos => axis.2.motor-pos-fb
linksp Apos => axis.3.motor-pos-fb
linksp Bpos => axis.4.motor-pos-fb
linksp Cpos => axis.5.motor-pos-fb

# send the position commands thru differentiators to
# generate velocity and accel signals
# define the signals, and hook them up
newsig Xvel float
newsig Xacc float
newsig Xjerk float
linksp Xpos => ddt.0.in
linkps ddt.0.out => Xvel
linksp Xvel => ddt.1.in
linkps ddt.1.out => Xacc
linksp Xacc => ddt.2.in
linkps ddt.2.out => Xjerk
newsig Yvel float
newsig Yacc float
newsig Yjerk float
linksp Ypos => ddt.3.in
linkps ddt.3.out => Yvel
linksp Yvel => ddt.4.in
linkps ddt.4.out => Yacc
linksp Yacc => ddt.5.in
linkps ddt.5.out => Yjerk
newsig Zvel float
newsig Zacc float
newsig Zjerk float
linksp Zpos => ddt.6.in
linkps ddt.6.out => Zvel
linksp Zvel => ddt.7.in
linkps ddt.7.out => Zacc
linksp Zacc => ddt.8.in
linkps ddt.8.out => Zjerk

# 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

# amp control
newsig xena bit
linksp xena axis.0.amp-enable-out
newsig yena bit
linksp yena axis.1.amp-enable-out
newsig zena bit
linksp zena axis.2.amp-enable-out
newsig aena bit
linksp aena axis.3.amp-enable-out
newsig bena bit
linksp bena axis.4.amp-enable-out
newsig cena bit
linksp cena axis.5.amp-enable-out

newsig xflt bit
linksp xflt axis.0.amp-fault-in
newsig yflt bit
linksp yflt axis.1.amp-fault-in
newsig zflt bit
linksp zflt axis.2.amp-fault-in
newsig aflt bit
linksp aflt axis.3.amp-fault-in
newsig bflt bit
linksp bflt axis.4.amp-fault-in
newsig cflt bit
linksp cflt axis.5.amp-fault-in