# 5i20 config file for Smithy 924 Lathe

# 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
# for the production 924 lathe use SVST2_4_7I47.BIT
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=2 num_pwmgens=1 num_stepgens=2"
# set up the watchdog
#setp hm2_5i20.0.watchdog.timeout_ns 10000000

# load kinematics
loadrt trivkins

# load 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

# classicladder for machine logic
# (load the realtime portion)
loadrt classicladder_rt
# invoke the user part of CL to silently load the program
loadusr -w classicladder --nogui 924.clp

# load charge pump
loadrt charge_pump

#the Enable signal is used to permanently enable things
newsig Enable bit
sets Enable TRUE

#configure the spindle encoder
setp hm2_5i20.0.encoder.00.scale 4800
net Spos hm2_5i20.0.encoder.00.position motion.spindle-revs
net Sidx hm2_5i20.0.encoder.00.index-enable => motion.spindle-index-enable

#configure the spindle speed PWM generator
net Scmd motion.spindle-speed-out hm2_5i20.0.pwmgen.00.value
setp hm2_5i20.0.pwmgen.00.scale 3000
setp hm2_5i20.0.pwmgen.00.output-type 1
setp hm2_5i20.0.pwmgen.pwm_frequency 100

# invert the step pulse polarity
setp hm2_5i20.0.gpio.000.invert_output TRUE
setp hm2_5i20.0.gpio.002.invert_output TRUE

# configure the stepgen parameters
setp hm2_5i20.0.stepgen.00.dirsetup        10000
setp hm2_5i20.0.stepgen.00.dirhold         2500
setp hm2_5i20.0.stepgen.00.steplen         2500
setp hm2_5i20.0.stepgen.00.stepspace       2500
setp hm2_5i20.0.stepgen.00.position-scale  [AXIS_0]SCALE
setp hm2_5i20.0.stepgen.00.maxaccel        [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i20.0.stepgen.00.maxvel          [AXIS_0]STEPGEN_MAXVEL
setp hm2_5i20.0.stepgen.01.dirsetup        10000
setp hm2_5i20.0.stepgen.01.dirhold         2500
setp hm2_5i20.0.stepgen.01.steplen         2500
setp hm2_5i20.0.stepgen.01.stepspace       2500
setp hm2_5i20.0.stepgen.01.position-scale  [AXIS_2]SCALE
setp hm2_5i20.0.stepgen.01.maxaccel        [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i20.0.stepgen.01.maxvel          [AXIS_2]STEPGEN_MAXVEL

# connect position commands from motion module to step generator
net Xpos-cmd axis.0.motor-pos-cmd => hm2_5i20.0.stepgen.00.position-cmd
net Zpos-cmd axis.2.motor-pos-cmd => hm2_5i20.0.stepgen.01.position-cmd

# connect position feedback from step generators to motion module
net Xpos-fb hm2_5i20.0.stepgen.00.position-fb => axis.0.motor-pos-fb
net Zpos-fb hm2_5i20.0.stepgen.01.position-fb => axis.2.motor-pos-fb

# connect enable signals for amplifiers and step generators
setp hm2_5i20.0.gpio.018.is_output TRUE
setp hm2_5i20.0.gpio.018.invert_output TRUE
setp hm2_5i20.0.gpio.019.is_output TRUE
setp hm2_5i20.0.gpio.019.invert_output TRUE
net Xen axis.0.amp-enable-out hm2_5i20.0.gpio.018.out hm2_5i20.0.stepgen.00.enable
net Zen axis.2.amp-enable-out hm2_5i20.0.gpio.019.out hm2_5i20.0.stepgen.01.enable

# enable velocity mode jogging
net Enable axis.0.jog-vel-mode
net Enable axis.2.jog-vel-mode

# enable the PWM generator
net Enable => hm2_5i20.0.pwmgen.00.enable

# enable the charge pump
net Enable => charge-pump.enable

# connect the charge pump signal to an output
setp hm2_5i20.0.gpio.022.is_output TRUE
net chargepump hm2_5i20.0.gpio.022.out => charge-pump.out

# create a signal for the estop loopback
#net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
net estop-enable hm2_5i20.0.gpio.037.in_not => iocontrol.0.emc-enable-in
net machine-on hm2_5i20.0.gpio.039.in => halui.machine.off
net machine-off hm2_5i20.0.gpio.039.in_not => halui.machine.on

#connect limit/home switches
#Brown Wire - Was Zhome, now Xpos
net Xpos_lim hm2_5i20.0.gpio.024.in_not axis.0.pos-lim-sw-in axis.0.home-sw-in
#Brown/White Wire - Was Xhome, now Xneg
net Xneg_lim hm2_5i20.0.gpio.026.in_not axis.0.neg-lim-sw-in
#Green Wire - Was XZpos, now Zpos
net Zpos_lim hm2_5i20.0.gpio.028.in_not axis.2.pos-lim-sw-in axis.2.home-sw-in
#Green/White Wire - Was XZneg, now Zneg
net Zneg_lim hm2_5i20.0.gpio.030.in_not axis.2.neg-lim-sw-in

#Tool Post Control Inputs
net PrepNo iocontrol.0.tool-prep-number => classicladder.0.s32in-00
net TC iocontrol.0.tool-change => classicladder.0.in-00
net T1 hm2_5i20.0.gpio.032.in => classicladder.0.in-01
net T2 hm2_5i20.0.gpio.034.in => classicladder.0.in-02
net T3 hm2_5i20.0.gpio.036.in => classicladder.0.in-03
net T4 hm2_5i20.0.gpio.038.in => classicladder.0.in-04
net TP iocontrol.0.tool-prepare => classicladder.0.in-05

#Door Sensor
net SS hm2_5i20.0.gpio.029.in

#Output Bits
#AIN
#setp hm2_5i20.0.gpio.041.is_output TRUE
#setp hm2_5i20.0.gpio.041.invert_output TRUE
#KA1
setp hm2_5i20.0.gpio.040.is_output TRUE
setp hm2_5i20.0.gpio.040.invert_output TRUE
net KA1 motion.spindle-forward => hm2_5i20.0.gpio.040.out
#KA2
setp hm2_5i20.0.gpio.042.is_output TRUE
setp hm2_5i20.0.gpio.042.invert_output TRUE
net KA2 motion.spindle-reverse => hm2_5i20.0.gpio.042.out
#Tool Post Control Outputs
net TD classicladder.0.out-00 => iocontrol.0.tool-changed
net TQ classicladder.0.out-03 => iocontrol.0.tool-prepared
#KA3
setp hm2_5i20.0.gpio.044.is_output TRUE
setp hm2_5i20.0.gpio.044.invert_output TRUE
net KA3 hm2_5i20.0.gpio.044.out => classicladder.0.out-01
#KA4
setp hm2_5i20.0.gpio.046.is_output TRUE
setp hm2_5i20.0.gpio.046.invert_output TRUE
net KA4 hm2_5i20.0.gpio.046.out => classicladder.0.out-02
#Spindle Enable
setp hm2_5i20.0.gpio.041.is_output TRUE
setp hm2_5i20.0.gpio.041.invert_output TRUE
net Enable => hm2_5i20.0.gpio.041.out
#Flood Coolant
setp hm2_5i20.0.gpio.043.is_output TRUE
setp hm2_5i20.0.gpio.043.invert_output TRUE
net M8 hm2_5i20.0.gpio.043.out => iocontrol.0.coolant-flood
# Mist Coolant
setp hm2_5i20.0.gpio.045.is_output TRUE
setp hm2_5i20.0.gpio.045.invert_output TRUE
net M7 hm2_5i20.0.gpio.045.out => iocontrol.0.coolant-mist

# hook the functions to threads
# read inputs
addf hm2_5i20.0.read servo-thread
addf hm2_5i20.0.read_gpio servo-thread
# handle motion commands
addf motion-command-handler servo-thread
# run the motion controller
addf motion-controller servo-thread
# refresh classicladder
addf classicladder.0.refresh servo-thread
# write outputs
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.write_gpio servo-thread
# pet the watchdog so he won't bite us!
addf hm2_5i20.0.pet_watchdog servo-thread
# toggle the charge pump
addf charge-pump servo-thread