axis_a.hal

# ################
# A [3] Axis
# ################

# axis enable chain
newsig emcmot.03.enable bit

net emcmot.03.enable <= axis.3.amp-enable-out
net emcmot.03.enable => hpg.stepgen.03.enable

# position command and feedback
net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd
net emcmot.03.pos-cmd => hpg.stepgen.03.position-cmd

# Workaround for joint following error
#net motor.03.pos-fb <= hpg.stepgen.03.position-fb
#net motor.03.pos-fb => axis.3.motor-pos-fb
net emcmot.03.pos-cmd => axis.3.motor-pos-fb

# timing parameters
setp hpg.stepgen.03.dirsetup        [AXIS_3]DIRSETUP
setp hpg.stepgen.03.dirhold         [AXIS_3]DIRHOLD

setp hpg.stepgen.03.steplen         [AXIS_3]STEPLEN
setp hpg.stepgen.03.stepspace       [AXIS_3]STEPSPACE

setp hpg.stepgen.03.position-scale  [AXIS_3]SCALE

setp hpg.stepgen.03.maxvel          [AXIS_3]STEPGEN_MAX_VEL
setp hpg.stepgen.03.maxaccel        [AXIS_3]STEPGEN_MAX_ACC
setp hpg.stepgen.03.minvel          [AXIS_3]STEPGEN_MIN_VEL

# Note: steppers connected in pinconfig file