# core HAL config file for simulation

# first load all the RT modules that will be needed
# kinematics
loadrt gantrykins
setp gantrykins.joint-0 0
setp gantrykins.joint-1 1
setp gantrykins.joint-2 2
setp gantrykins.joint-3 1

# 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
# load 6 differentiators (for velocity and accel signals
loadrt ddt count=6
# load additional blocks
loadrt hypot count=2
loadrt comp count=4
loadrt or2 count=1

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
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 hypot.0 servo-thread
addf hypot.1 servo-thread

# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt.0.in
net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt.2.in
net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt.4.in
net Y1pos axis.3.motor-pos-cmd => axis.3.motor-pos-fb

# send the position commands thru differentiators to
# generate velocity and accel signals
# define the signals, and hook them up
net Xvel ddt.0.out => ddt.1.in hypot.0.in0
net Xacc <= ddt.1.out
net Yvel ddt.2.out => ddt.3.in hypot.0.in1
net Yacc <= ddt.3.out
net Zvel ddt.4.out => ddt.5.in hypot.1.in0
net Zacc <= ddt.5.out

net XYvel hypot.0.out => hypot.1.in0
net XYZvel <= hypot.1.out

# estop loopback
net enable iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prepare iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change iocontrol.0.tool-change => iocontrol.0.tool-changed

# amp control
net xena <= axis.0.amp-enable-out
net yena <= axis.1.amp-enable-out
net zena <= axis.2.amp-enable-out

net xflt => axis.0.amp-fault-in
net yflt => axis.1.amp-fault-in
net zflt => axis.2.amp-fault-in