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# loads all HAL modules for Universal PWM controller with threading
# this version activates velocity estimation in the PPMC driver
# with the timestamp=xx parameter in the loadrt line
# this will only work with rev 4 UPC firmware and EMC2.4.6 or later
# kinematics
loadrt trivkins
# 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]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY
# next load the PID module, for four PID loops
loadrt pid num_chan=4
# install Universal PWM Controller driver
loadrt hal_ppmc port_addr="0x378" timestamp="0x00"
# load realtime portion of scope, just to have it handy
loadrt scope_rt
# make some signals for the scope for tuning.
loadrt ddt count=4
loadrt not count=1
loadrt estop_latch count=1
loadrt and2 count=1
loadrt or2 count=1
loadrt conv_s32_float count=1
loadrt mult2 count=2
loadrt lowpass count=1
# set up the realtime thread
# read inputs first
addf ppmc.0.read servo-thread
# then run the motion controller
addf motion-command-handler servo-thread
addf and2.0 servo-thread
addf estop-latch.0 servo-thread
addf motion-controller servo-thread
addf not.0 servo-thread
# then the PID loops
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
# for spindle
addf or2.0 servo-thread
addf conv-s32-float.0 servo-thread
addf mult2.0 servo-thread
addf mult2.1 servo-thread
addf lowpass.0 servo-thread
# write outputs last
addf ppmc.0.write servo-thread
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