# Real Time Modules
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0,0 ctrl_type=p,p,p,p,v
loadrt ilowpass count=1
loadrt timedelay count=2
loadrt or2 count=3
loadrt xor2 count=2
loadrt not count=1
loadrt mux_generic config="bb2"
loadrt dsmono count=1
loadrt timedelta count=1

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf mux-gen.00 base-thread
addf timedelta.0 base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf dsmono.0 servo-thread

# Pin Assignments
net estop-out       => parport.0.pin-01-out
net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir            => parport.0.pin-03-out
net ystep           => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir            => parport.0.pin-05-out
net zstep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir            => parport.0.pin-07-out
net astep           => parport.0.pin-16-out
net adir            => parport.0.pin-17-out

net estop-ext       <= parport.0.pin-10-in
net min-home-x      <= parport.0.pin-11-in-not
net min-home-y      <= parport.0.pin-12-in-not
net max-home-z      <= parport.0.pin-13-in-not

# Probe
setp dsmono.0.deadtime-ns 50000000
net probe-in <= parport.0.pin-15-in-not
net probe-in => dsmono.0.in
net probe-debounced <= dsmono.0.out
net probe-debounced => motion.probe-input

# X-Axis
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 36000
setp stepgen.0.dirsetup 36000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in

# Y-Axis
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 36000
setp stepgen.1.dirsetup 36000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in

# Z-Axis
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 36000
setp stepgen.2.dirsetup 36000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net max-home-z => joint.2.home-sw-in
net max-home-z => joint.2.pos-lim-sw-in

# A-Axis

# Absolute
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 36000
setp stepgen.3.dirsetup 36000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL

net astepAbs stepgen.3.step => mux-gen.00.in-bit-00
net adir stepgen.3.dir
net aenable joint.3.amp-enable-out => stepgen.3.enable
net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb

net astep <= mux-gen.00.out-bit

# Velocity
setp stepgen.4.position-scale [JOINT_3]SCALE
setp stepgen.4.steplen 1
setp stepgen.4.stepspace 0
setp stepgen.4.dirhold 36000
setp stepgen.4.dirsetup 36000
setp stepgen.4.maxaccel [JOINT_3]STEPGEN_MAXACCEL

net spindle-1-enable <= spindle.1.on => mux-gen.00.sel-bit-00 stepgen.4.enable
net spindle-1-cmd spindle.1.speed-out => stepgen.4.velocity-cmd
net astepVel <= stepgen.4.step => mux-gen.00.in-bit-01

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

# Toolchanger
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

# CNCExtension
loadusr -Wn cncextension ./cncextension

# Amp enable
net amp-enable halui.machine.is-on => cncextension.wr0

# Spindle Control
net spindle-main-fwd spindle.0.forward
net spindle-main-fwd => cncextension.ch0
net spindle-main-fwd => cncextension.ch2
net spindle-main-fwd => cncextension.opt

addf timedelay.0 servo-thread
setp timedelay.0.on-delay 10
setp timedelay.0.off-delay 0
net spindle-main-fwd => timedelay.0.in
net spindle-on-timer <= timedelay.0.out

addf timedelay.1 servo-thread
setp timedelay.1.on-delay 10
setp timedelay.1.off-delay 0
net spindle-main-break spindle.0.brake => timedelay.1.in
net spindle-off-timer <= timedelay.1.out

addf or2.0 servo-thread
net spindle-on-timer => or2.0.in0 
net spindle-off-timer => or2.0.in1
net spindle-main-inhibit <= or2.0.out

# Currently not working override for a axis spindle?
addf or2.1 servo-thread
net spindle-1-enable => or2.1.in0
net spindle-main-inhibit => or2.1.in1
net spindle-inhibit <= or2.1.out

net spindle-main-inhibit => spindle.0.at-speed
net spindle-main-inhibit => not.0.in
net spindle-main-inhibit-not <= not.0.out
net spindle-main-inhibit-not => motion.feed-inhibit

net spindle-position => spindle.0.revs
net spindle-axis-rpm => spindle.0.speed-in

#MPG
setp joint.0.jog-vel-mode 0
setp axis.x.jog-vel-mode 0

setp joint.1.jog-vel-mode 0
setp axis.y.jog-vel-mode 0

setp joint.2.jog-vel-mode 0
setp axis.z.jog-vel-mode 0

setp joint.0.jog-scale 0.0001
setp axis.x.jog-scale 0.0001

setp joint.1.jog-scale 0.0001
setp axis.y.jog-scale 0.0001

setp joint.2.jog-scale 0.00005
setp axis.z.jog-scale 0.00005

net x_enable cncextension.xEnable  => axis.x.jog-enable
net y_enable cncextension.yEnable  => axis.y.jog-enable
net z_enable cncextension.zEnable  => axis.z.jog-enable
net raw-encoder-counts <= cncextension.encoder

addf ilowpass.0 servo-thread
setp ilowpass.0.scale 1024
setp ilowpass.0.gain 0.01
net raw-encoder-counts => ilowpass.0.in
net encoder-counts <= ilowpass.0.out

net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts

# Collisionavoid
loadusr -Wn collisionavoid ./collisionavoid

net xpos-abs-cmd joint.0.pos-cmd => collisionavoid.xaxis
net ypos-abs-cmd joint.1.pos-cmd => collisionavoid.yaxis
net zpos-abs-cmd joint.2.pos-cmd => collisionavoid.zaxis
net collision-stop collisionavoid.stop => halui.estop.activate

# Autolevel
loadusr -Wn compensation python3 compensation.py probe-results.txt cubic
net xpos-abs-cmd => compensation.x-pos
net ypos-abs-cmd => compensation.y-pos
net zpos-abs-cmd => compensation.z-pos
net eoffset-enable compensation.enable-out  => axis.z.eoffset-enable
net eoffset-scale  compensation.scale       => axis.z.eoffset-scale
net eoffset-counts compensation.counts      => axis.z.eoffset-counts
net eoffset-clear  compensation.clear       => axis.z.eoffset-clear