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[HOSTMOT2]
DRIVER=hm2_7i43
BOARD=7i43
CONFIG="firmware=hm2/7i43/SVST4_4B.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"




[EMC]

# Name of machine, for use with display, etc.
MACHINE = HM2-Stepper

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0




[DISPLAY]

# Name of display program, e.g., tkemc
#DISPLAY = tkemc
DISPLAY = axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500

# Path to help file
HELP_FILE = tkemc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5

# Prefix to be used
PROGRAM_PREFIX = /home/aft/emc2/nc_files

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var




[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE = hm2-stepper.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta




[TRAJ]

AXES = 3
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010




[AXIS_0]

#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#


TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
BACKLASH = 0.000

# scale is 200 steps/rev * 5 revs/inch
SCALE = 1000

MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

FERROR = 0.050
MIN_FERROR = 0.005

#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES

# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000




[AXIS_1]

TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

BACKLASH = 0.000

SCALE = 1000

MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

FERROR = 0.050
MIN_FERROR = 0.005

#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES

# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000




[AXIS_2]

TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

BACKLASH = 0.000

SCALE = 1000

MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

FERROR = 0.050
MIN_FERROR = 0.005

#HOME = 0.000
#HOME_OFFSET = 0.10
#HOME_SEARCH_VEL = 0.10
#HOME_LATCH_VEL = -0.01
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES

# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 40000
STEPSPACE = 40000




[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = tool.tbl

# #######################################
#
# HAL file for HostMot2 with 3 steppers
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html ... 20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################


# ###################################
# Core EMC/HAL Loads
# ###################################

# kinematics
loadrt trivkins

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# only the 7i43 needs this, but it doesnt hurt the others
loadrt probe_parport

# hostmot2 driver
loadrt hostmot2

# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)

setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000


# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# revel in the free time here from not having to run PID
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread


# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################


# ################
# X [0] Axis
# ################

# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE

net emcmot.00.enable <= axis.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable


# position command and feedback
net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd

net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => axis.0.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel 0

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0


# ################
# Y [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE

net emcmot.01.enable <= axis.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable


# position command and feedback
net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd

net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => axis.1.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [AXIS_1]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [AXIS_1]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [AXIS_1]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel 0

setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0


# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE

net emcmot.02.enable <= axis.2.amp-enable-out
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable


# position command and feedback
net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd

net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
net motor.02.pos-fb => axis.2.motor-pos-fb


# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel 0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel 0

setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0




#
# The Mesa AnyIO output pins can be in open-drain mode (drive low, float
# high) or push/pull mode (drive low, drive high).
#
# When a logical output is 1 in open-drain mode, the FPGA lets the pin
# float and it gets pulled high to +5V via a 10K resistor.
#
# When a logical output is 1 in push/pull mode, the FPGA pushes the pin
# high but only to +3.3V. This is problematic on some kinds of inputs.
#

#setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1

#setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1

#setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1




# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed