# HAL config file for Pico Systems USC board

# set sane pulse timing - these are basically Gecko numbers
# both pulse width and space are set to 3.5 uS, to prevent
# problems if the outputs are inverted externally
setp ppmc.0.stepgen.00-03.pulse-width-ns 3500
setp ppmc.0.stepgen.00-03.pulse-space-min-ns 3500
# setup time is set to 1 uS
setp ppmc.0.stepgen.00-03.setup-time-ns 1000

# connect position feedback signals to encoders
linksp Xpos-fb <= ppmc.0.encoder.00.position
linksp Ypos-fb <= ppmc.0.encoder.01.position
linksp Zpos-fb <= ppmc.0.encoder.02.position
linksp Apos-fb <= ppmc.0.encoder.03.position

# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [AXIS_0]SCALE
setp ppmc.0.encoder.01.scale [AXIS_1]SCALE
setp ppmc.0.encoder.02.scale [AXIS_2]SCALE
setp ppmc.0.encoder.03.scale [AXIS_3]SCALE

# connect PID output signals to step generators
linksp Xoutput => ppmc.0.stepgen.00.velocity
linksp Youtput => ppmc.0.stepgen.01.velocity
linksp Zoutput => ppmc.0.stepgen.02.velocity
linksp Aoutput => ppmc.0.stepgen.03.velocity

# connect axis enables to step generators
linksp Xenable => ppmc.0.stepgen.00.enable
linksp Yenable => ppmc.0.stepgen.01.enable
linksp Zenable => ppmc.0.stepgen.02.enable
linksp Aenable => ppmc.0.stepgen.03.enable

# set output scaling from ini file
# input and output scales should (normally) be the same for a USC
setp ppmc.0.stepgen.00.scale [AXIS_0]SCALE
setp ppmc.0.stepgen.01.scale [AXIS_1]SCALE
setp ppmc.0.stepgen.02.scale [AXIS_2]SCALE
setp ppmc.0.stepgen.03.scale [AXIS_3]SCALE

# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
linkps ddt.0.in Xoutput
linkps ddt.1.in Xpos-fb