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base_bbb_2018.hal
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# set logging to 'pretty high'
log rt 5
log user 5
# ###################################
# Signals
# ###################################
#newsig XStep u32
#newsig XDir u32
#newsig YStep u32
#newsig YDir u32
#newsig ZStep u32
#newsig ZDir u32
#newsig AStep u32
#newsig ADir u32
#newsig BStep u32
#newsig BDir u32
#newsig CStep u32
#newsig CDir u32
#newsig Spindle u32
newsig XMin bit
newsig XMax bit
newsig XHome bit
newsig YMin bit
newsig YMax bit
newsig YHome bit
newsig ZMin bit
newsig ZMax bit
newsig ZHome bit
newsig AMin bit
newsig AMax bit
newsig AHome bit
newsig BHome bit
newsig Spindle_Dir bit
newsig Relay bit
newsig Relay2 bit
newsig Axes_Enable bit
newsig Estop_Ext bit
newsig Estop2 bit
newsig Status_LED bit
newsig Buzzer bit
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt trivkins
loadrt tp
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=1 kins=trivkins
# load low-level drivers
loadrt hal_bb_gpio output_pins=826,827,923,926,928,930 input_pins=807,810,814,817,818,819,912,914,915,916,917,918,924,927,929,941
loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN) [PRUCONF](CONFIG) halname=hpg
loadrt limit1 names=limit1.spindle-speed
loadrt or2 names=or2.axis-enable,or2.status-led
loadrt scale names=scale.spindle-speed
newinst debounce debounce.0 pincount=14
newinst charge_pump charge-pump
newinst charge_pumpv2 charge-pumpv2
newinst lgantry gantry.0 pincount=2
# ################################################
# THREADS
# ################################################
addf hpg.capture-position servo-thread
addf bb_gpio.read servo-thread
addf gantry.0.read servo-thread
addf debounce.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf scale.spindle-speed servo-thread
addf limit1.spindle-speed servo-thread
addf or2.axis-enable servo-thread
addf or2.status-led servo-thread
addf charge-pump servo-thread
addf charge-pumpv2 servo-thread
addf gantry.0.write servo-thread
addf hpg.update servo-thread
addf bb_gpio.write servo-thread