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# HAL config file for Pico Systems USC board with encoders
# 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
net Xpos-fb <= ppmc.0.encoder.00.position
net Ypos-fb <= ppmc.0.encoder.01.position
net Zpos-fb <= ppmc.0.encoder.02.position
net Apos-fb <= ppmc.0.encoder.03.position
# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [AXIS_0]INPUT_SCALE
setp ppmc.0.encoder.01.scale [AXIS_1]INPUT_SCALE
setp ppmc.0.encoder.02.scale [AXIS_2]INPUT_SCALE
setp ppmc.0.encoder.03.scale [AXIS_3]INPUT_SCALE
# connect PID output signals to step generators
net Xoutput => ppmc.0.stepgen.00.velocity
net Youtput => ppmc.0.stepgen.01.velocity
net Zoutput => ppmc.0.stepgen.02.velocity
net Aoutput => ppmc.0.stepgen.03.velocity
# connect axis enables to step generators
net Xenable => ppmc.0.stepgen.00.enable
net Yenable => ppmc.0.stepgen.01.enable
net Zenable => ppmc.0.stepgen.02.enable
net 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]OUTPUT_SCALE
setp ppmc.0.stepgen.01.scale [AXIS_1]OUTPUT_SCALE
setp ppmc.0.stepgen.02.scale [AXIS_2]OUTPUT_SCALE
setp ppmc.0.stepgen.03.scale [AXIS_3]OUTPUT_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
net Xoutput ddt.0.in
net Xpos-fb ddt.1.in
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