# Создан stepconf в Mon Jul  2 19:23:32 2012
# Все изменения в этом файле будут перезаписаны
# при следующем запуске stepconf
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=1
loadrt encoder names=encoder.a
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10

addf parport.0.read base-thread
addf encoder.update-counters base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf classicladder.0.refresh servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread

net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-on <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 1166.66666667
setp pwmgen.0.offset 0.114285714286
setp pwmgen.0.dither-pwm true
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse

setp parport.0.pin-01-out-invert 1
net xenable => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net ystep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net zstep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net astep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net xdir => parport.0.pin-06-out
net ydir => parport.0.pin-07-out
net zdir => parport.0.pin-08-out
net adir => parport.0.pin-09-out
net spindle-pwm => parport.0.pin-14-out
net spindle-cw => parport.0.pin-16-out
net spindle-ccw => parport.0.pin-17-out


net all-home <= parport.0.pin-12-in
net estop-ext <= parport.0.pin-13-in


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net all-home => axis.0.home-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net all-home => axis.1.home-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net all-home => axis.2.home-sw-in

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable
net all-home => axis.3.home-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

net enc.a-a => encoder.a.phase-A
net enc.a-a <= parport.0.pin-10-in
net enc.a-b => encoder.a.phase-B
net enc.a-b <= parport.0.pin-11-in
net enc.a-z => encoder.a.phase-Z
net enc.a-z <= parport.0.pin-15-in

setp encoder.a.position-scale 250

# Load Classicladder with modbus master included (GUI must run for Modbus)
loadusr classicladder --modmaster custom.clp