Updated README

Use 4.19-rt kernel
Ethernet Intel I210 controller
ethtool -C enp1s0 rx-usecs 0 tx-usecs 0
2 ms loop time in linuxcnc .ini and .xml and code
baseTimer period can be adjusted
startTime for baseTimer can also be adjusted.

.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+Octave

CubeMX-files/EtherCAT-PCB-v1.ioc

@@ -9,8 +9,9 @@ Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DAC
 Mcu.IP1=I2C2
-Mcu.IP10=TIM8
+Mcu.IP10=TIM5
-Mcu.IP11=USART1
+Mcu.IP11=TIM9
+Mcu.IP12=USART1
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SPI1
@@ -19,48 +20,44 @@ Mcu.IP6=TIM1
 Mcu.IP7=TIM2
 Mcu.IP8=TIM3
 Mcu.IP9=TIM4
-Mcu.IPNb=12
+Mcu.IPNb=13
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
-Mcu.Pin0=PA0-WKUP
+Mcu.Pin0=PE5
-Mcu.Pin1=PA1
+Mcu.Pin1=PA0-WKUP
-Mcu.Pin10=PB1
+Mcu.Pin10=PB0
-Mcu.Pin11=PE7
+Mcu.Pin11=PB1
-Mcu.Pin12=PE8
+Mcu.Pin12=PE7
-Mcu.Pin13=PE9
+Mcu.Pin13=PE8
-Mcu.Pin14=PE10
+Mcu.Pin14=PE9
-Mcu.Pin15=PE11
+Mcu.Pin15=PE10
-Mcu.Pin16=PE12
+Mcu.Pin16=PE11
-Mcu.Pin17=PE13
+Mcu.Pin17=PE12
-Mcu.Pin18=PE14
+Mcu.Pin18=PE13
-Mcu.Pin19=PE15
+Mcu.Pin19=PE14
-Mcu.Pin2=PA2
+Mcu.Pin2=PA1
-Mcu.Pin20=PB10
+Mcu.Pin20=PE15
-Mcu.Pin21=PB11
+Mcu.Pin21=PB10
-Mcu.Pin22=PD11
+Mcu.Pin22=PB11
-Mcu.Pin23=PD12
+Mcu.Pin23=PD11
-Mcu.Pin24=PD13
+Mcu.Pin24=PD12
-Mcu.Pin25=PC6
+Mcu.Pin25=PC9
-Mcu.Pin26=PC7
+Mcu.Pin26=PA8
-Mcu.Pin27=PC9
+Mcu.Pin27=PA9
-Mcu.Pin28=PA8
+Mcu.Pin28=PA10
-Mcu.Pin29=PA9
+Mcu.Pin29=PA11
-Mcu.Pin3=PA4
+Mcu.Pin3=PA2
-Mcu.Pin30=PA10
+Mcu.Pin30=PA12
-Mcu.Pin31=PA11
+Mcu.Pin31=PC10
-Mcu.Pin32=PA12
+Mcu.Pin32=PB6
-Mcu.Pin33=PC10
+Mcu.Pin33=VP_SYS_VS_Systick
-Mcu.Pin34=PB4
+Mcu.Pin4=PA4
-Mcu.Pin35=PB5
+Mcu.Pin5=PA5
-Mcu.Pin36=PB6
+Mcu.Pin6=PA6
-Mcu.Pin37=VP_SYS_VS_Systick
+Mcu.Pin7=PA7
-Mcu.Pin4=PA5
+Mcu.Pin8=PC4
-Mcu.Pin5=PA6
+Mcu.Pin9=PC5
-Mcu.Pin6=PA7
+Mcu.PinsNb=34
-Mcu.Pin7=PC4
-Mcu.Pin8=PC5
-Mcu.Pin9=PB0
-Mcu.PinsNb=38
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -84,8 +81,7 @@ PA10.Signal=USART1_RX
 PA11.Signal=S_TIM1_CH4
 PA12.Locked=true
 PA12.Signal=GPIO_Output
-PA2.Locked=true
+PA2.Signal=S_TIM5_CH3
-PA2.Signal=GPIO_Input
 PA4.Signal=COMP_DAC1_group
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
@@ -105,8 +101,6 @@ PB10.Mode=I2C
 PB10.Signal=I2C2_SCL
 PB11.Mode=I2C
 PB11.Signal=I2C2_SDA
-PB4.Signal=S_TIM3_CH1
-PB5.Signal=S_TIM3_CH2
 PB6.Locked=true
 PB6.Signal=GPIO_Input
 PC10.Locked=true
@@ -115,13 +109,10 @@ PC4.Locked=true
 PC4.Signal=GPIO_Output
 PC5.Locked=true
 PC5.Signal=GPIO_Input
-PC6.Signal=S_TIM8_CH1
+PC9.Signal=S_TIM3_CH4
-PC7.Signal=S_TIM8_CH2
-PC9.Signal=S_TIM8_CH4
 PD11.Locked=true
 PD11.Signal=GPIO_Input
 PD12.Signal=S_TIM4_CH1
-PD13.Signal=S_TIM4_CH2
 PE10.Locked=true
 PE10.Signal=GPIO_Output
 PE11.Locked=true
@@ -134,6 +125,7 @@ PE14.Locked=true
 PE14.Signal=GPIO_Input
 PE15.Locked=true
 PE15.Signal=GPIO_Input
+PE5.Signal=S_TIM9_CH1
 PE7.Locked=true
 PE7.Signal=GPIO_Output
 PE8.Locked=true
@@ -200,20 +192,14 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Encoder_Interface
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
 SH.S_TIM2_CH2.ConfNb=1
-SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
-SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM3_CH4.ConfNb=1
-SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
-SH.S_TIM3_CH2.ConfNb=1
-SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
 SH.S_TIM4_CH1.ConfNb=1
-SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
+SH.S_TIM5_CH3.0=TIM5_CH3,Input_Capture3_from_TI3
-SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM5_CH3.ConfNb=1
-SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
+SH.S_TIM9_CH1.0=TIM9_CH1,PWM Generation1 CH1
-SH.S_TIM8_CH1.ConfNb=1
+SH.S_TIM9_CH1.ConfNb=1
-SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
-SH.S_TIM8_CH2.ConfNb=1
-SH.S_TIM8_CH4.0=TIM8_CH4,PWM Generation4 CH4
-SH.S_TIM8_CH4.ConfNb=1
 SPI1.CalculateBaudRate=8.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
@@ -221,8 +207,14 @@ SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Channel-PWM Generation4 CH4
-TIM8.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM8.IPParameters=Channel-PWM Generation4 CH4
+TIM3.IPParameters=Channel-PWM Generation4 CH4
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.IPParameters=Channel-PWM Generation1 CH1
+TIM5.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM5.IPParameters=Channel-Input_Capture3_from_TI3
+TIM9.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM9.IPParameters=Channel-PWM Generation1 CH1
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick

EEPROM_generator/index.html

@@ -1,6 +1,6 @@
 <head>
    <meta charset="UTF-8">
-   <title>🔁 EEPROM Generator | ESI, EEPORM, SOES C code configuration tool</title>
+   <title>🔁 EEPROM Generator | ESI, EEPROM, SOES C code configuration tool</title>
 <!--
  * SOES EEPROM generator
  * This tool serves as:
@@ -55,7 +55,8 @@
                      <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
-                     <option value="UNSIGNED32">UNSIGNED64</option>
+                     <option value="UNSIGNED32">UNSIGNED32</option>
+                     <option value="UNSIGNED64">UNSIGNED64</option>
                      <option value="REAL32">REAL32</option>
                      <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>

EEPROM_generator/src/constants.js

@@ -28,11 +28,11 @@ const DTYPE = {
 	INTEGER8 : 'INTEGER8',
 	INTEGER16 : 'INTEGER16',
 	INTEGER32 : 'INTEGER32',
-	INTEGER32 : 'INTEGER64',
+	INTEGER64 : 'INTEGER64',
 	UNSIGNED8 : 'UNSIGNED8',
 	UNSIGNED16 : 'UNSIGNED16',
 	UNSIGNED32 : 'UNSIGNED32',
-	UNSIGNED32 : 'UNSIGNED64',
+	UNSIGNED64 : 'UNSIGNED64',
 	REAL32 : 'REAL32',
 	REAL64 : 'REAL64',
 	VISIBLE_STRING : 'VISIBLE_STRING',

EEPROM_generator/src/generators/objectlist.js

@@ -125,7 +125,7 @@ function objectlist_generator(form, od, indexes)
 				objd.items.slice(subindex).forEach(subitem => {
 					var subi = subindex_padded(subindex);
 					const value = objectlist_getItemValue(subitem, objd.dtype);
-					objectlist += `\n  {0x${subi}, DTYPE_${objd.dtype}, ${bitsize}, ${objectlist_objdFlags(objd)}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
+					objectlist += `\n  {${subi}, DTYPE_${objd.dtype}, ${bitsize}, ${objectlist_objdFlags(objd)}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
 					subindex++;
 				});
 				break;
@@ -138,7 +138,7 @@ function objectlist_generator(form, od, indexes)
 					const bitsize = dtype_bitsize[subitem.dtype];
 					const value = objectlist_getItemValue(subitem, subitem.dtype);
 					const atypeflag = objectlist_objdFlags(subitem);
-					objectlist += `\n  {0x${subi}, DTYPE_${subitem.dtype}, ${bitsize}, ${atypeflag}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
+					objectlist += `\n  {${subi}, DTYPE_${subitem.dtype}, ${bitsize}, ${atypeflag}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
 					subindex++;
 				});
 

Firmware/.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.vscode/settings.json

Firmware/.vscode/settings.json

@@ -8,7 +8,11 @@
         "string": "cpp",
         "unordered_map": "cpp",
         "vector": "cpp",
-        "system_error": "cpp"
+        "system_error": "cpp",
+        "numeric": "cpp",
+        "ostream": "cpp",
+        "cmath": "cpp"
     },
-    "C_Cpp.errorSquiggles": "disabled"
+    "C_Cpp.errorSquiggles": "disabled",
+    "cmake.configureOnOpen": false
 }

Firmware/doc/.gitignore

@@ -0,0 +1 @@
+.~lock.*

Firmware/include/MyEncoder.h

@@ -0,0 +1,38 @@
+#ifndef MYENCODER
+#define MYENCODER
+#include "Stm32F4_Encoder.h"
+#include <CircularBuffer.hpp>
+#define RINGBUFFERLEN 11
+
+class MyEncoder
+{
+public:
+    MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
+    int64_t unwrapEncoder(uint16_t in);
+    void indexPulse(void);
+    uint8_t indexHappened();
+    double currentPos();
+    double frequency(uint64_t time);
+    uint8_t getIndexState();
+    void setScale(double scale);
+    void setLatch(uint8_t latchEnable);
+
+private:
+    int64_t previousEncoderCounterValue = 0;
+    double PosScaleRes = 1.0;
+    uint32_t CurPosScale = 1;
+    uint8_t oldLatchCEnable = 0;
+    volatile uint8_t indexPulseFired = 0;
+    volatile uint8_t pleaseZeroTheCounter = 0;
+    Encoder EncoderInit;
+    uint8_t indexPin;
+
+    CircularBuffer<double_t, RINGBUFFERLEN> Pos;
+    CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
+    double curPos;
+    double oldFrequency;
+
+    TIM_TypeDef *tim_base;
+};
+
+#endif

Firmware/include/StepGen.h

@@ -0,0 +1,43 @@
+
+#ifndef STEPGEN
+#define STEPGEN
+#include <HardwareTimer.h>
+
+class StepGen
+{
+private:
+    volatile uint8_t timerIsRunning;
+    volatile int32_t timerStepPosition;
+    volatile int32_t timerStepDirection;
+    volatile int32_t timerStepPositionAtEnd;
+    volatile int32_t timerNewEndStepPosition;
+    volatile uint32_t timerNewCycleTime;
+    volatile double_t actualPosition;
+    volatile double_t requestedPosition;
+    volatile uint8_t enabled;
+    HardwareTimer *MyTim;
+    HardwareTimer *MyTim2;
+    uint16_t stepsPerMM;
+    uint8_t dirPin;
+    PinName stepPin;
+    uint32_t timerChan;
+    const uint32_t maxFreq = 100000;
+    volatile uint32_t prevFreq1 = 0;
+    volatile uint32_t prevFreq2 = 0;
+
+public:
+    static uint32_t sync0CycleTime;
+    volatile uint32_t pwmCycleTime;
+
+    StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
+    void reqPos(double_t pos);
+    double reqPos();
+    void actPos(double_t pos);
+    double actPos();
+    void handleStepper(void);
+    void timerCB();
+    void setScale(int16_t spm);
+    void enable(uint8_t yes);
+};
+
+#endif

Firmware/include/StepGen2.h

@@ -0,0 +1,53 @@
+
+#ifndef STEPGEN
+#define STEPGEN
+#include <HardwareTimer.h>
+
+class StepGen2
+{
+public:
+    volatile double_t actualPosition;
+    volatile int32_t nSteps;
+    volatile uint32_t timerFrequency;
+    volatile int32_t timerPosition = 0;
+    volatile int32_t timerEndPosition = 0;
+
+public:
+    volatile float Tstartf;    // Starting delay in secs
+    volatile uint32_t Tstartu; // Starting delay in usecs
+    volatile float Tpulses;    // Time it takes to do pulses. Debug
+
+    HardwareTimer *pulseTimer;
+    uint32_t pulseTimerChan;
+    HardwareTimer *startTimer; // Use timers 10,11,13,14
+    uint8_t dirPin;
+    PinName dirPinName;
+    PinName stepPin;
+    uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
+    uint64_t dbg;
+    const uint16_t t2 = 5;                                            // DIR is ahead of PUL with at least 5 usecs
+    const uint16_t t3 = 5;                                            // Pulse width at least 2.5 usecs
+    const uint16_t t4 = 5;                                            // Low level width not less than 2.5 usecs
+    const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
+
+public:
+    volatile double_t commandedPosition;    // End position when this cycle is completed
+    volatile int32_t commandedStepPosition; // End step position when this cycle is completed
+    volatile double_t initialPosition;      // From previous cycle
+    volatile int32_t initialStepPosition;   // From previous cycle
+    int16_t stepsPerMM;                     // This many steps per mm
+    volatile uint8_t enabled;               // Enabled step generator
+    volatile float frequency;
+
+    static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
+    volatile float lcncCycleTime;   // Linuxcnc nominal cycle time in sec (1 ms often)
+
+    StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
+
+    uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
+    void startTimerCB();
+    void pulseTimerCB();
+    uint32_t updatePos(uint32_t i);
+};
+
+#endif

Firmware/include/StepGen3.h

@@ -0,0 +1,156 @@
+
+#ifndef STEPGEN3
+#define STEPGEN3
+#include <HardwareTimer.h>
+
+#define MAX_CHAN 16
+#define MAX_CYCLE 18
+#define USER_STEP_TYPE 13
+
+typedef struct
+{
+    /* stuff that is both read and written by makepulses */
+    volatile unsigned int timer1; /* times out when step pulse should end */
+    volatile unsigned int timer2; /* times out when safe to change dir */
+    volatile unsigned int timer3; /* times out when safe to step in new dir */
+    volatile int hold_dds;        /* prevents accumulator from updating */
+    volatile long addval;         /* actual frequency generator add value */
+    volatile long long accum;     /* frequency generator accumulator */
+    volatile int rawcount;        /* param: position feedback in counts */
+    volatile int curr_dir;        /* current direction */
+    volatile int state;           /* current position in state table */
+    /* stuff that is read but not written by makepulses */
+    volatile int enable;                /* pin for enable stepgen */
+    volatile int target_addval;         /* desired freq generator add value */
+    volatile long deltalim;             /* max allowed change per period */
+    volatile int step_len;              /* parameter: step pulse length */
+    volatile unsigned int dir_hold_dly; /* param: direction hold time or delay */
+    volatile unsigned int dir_setup;    /* param: direction setup time */
+    volatile int step_type;             /* stepping type - see list above */
+    volatile int cycle_max;             /* cycle length for step types 2 and up */
+    volatile int num_phases;            /* number of phases for types 2 and up */
+    volatile int phase[5];              /* pins for output signals */
+    volatile const unsigned char *lut;  /* pointer to state lookup table */
+                                        /* stuff that is not accessed by makepulses */
+    int pos_mode;                       /* 1 = position mode, 0 = velocity mode */
+    unsigned int step_space;            /* parameter: min step pulse spacing */
+    double old_pos_cmd;                 /* previous position command (counts) */
+    int count;                          /* pin: captured feedback in counts */
+#define double float
+    double pos_scale;          /* param: steps per position unit */
+    double old_scale;          /* stored scale value */
+    double scale_recip;        /* reciprocal value used for scaling */
+    double vel_cmd;            /* pin: velocity command (pos units/sec) */
+    double pos_cmd;            /* pin: position command (position units) */
+    double pos_fb;             /* pin: position feedback (position units) */
+    double freq;               /* param: frequency command */
+    double maxvel;             /* param: max velocity, (pos units/sec) */
+    double maxaccel;           /* param: max accel (pos units/sec^2) */
+    unsigned int old_step_len; /* used to detect parameter changes */
+    unsigned int old_step_space;
+    unsigned int old_dir_hold_dly;
+    unsigned int old_dir_setup;
+    int printed_error; /* flag to avoid repeated printing */
+} stepgen_t;
+
+#define MAX_STEP_TYPE 15
+
+#define STEP_PIN 0 /* output phase used for STEP signal */
+#define DIR_PIN 1  /* output phase used for DIR signal */
+#define UP_PIN 0   /* output phase used for UP signal */
+#define DOWN_PIN 1 /* output phase used for DOWN signal */
+
+#define PICKOFF 28 /* bit location in DDS accum */
+
+typedef enum CONTROL
+{
+    POSITION,
+    VELOCITY,
+    INVALID
+} CONTROL;
+
+class StepGen3
+{
+public:
+    int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1};               // stepping types for up to 16 channels
+    char *ctrl_type[MAX_CHAN] = {0};                                                                          // control type ("p"pos or "v"vel) for up to 16 channels
+    int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
+    uint32_t stepPin[MAX_CHAN] = {0};
+    uint32_t dirPin[MAX_CHAN] = {0};
+
+    stepgen_t *stepgen_array = 0;
+
+    int num_chan = 0;          // number of step generators configured */
+    long periodns;             // makepulses function period in nanosec */
+    long old_periodns;         // used to detect changes in periodns */
+    double periodfp;           // makepulses function period in seconds */
+    double freqscale;          // conv. factor from Hz to addval counts */
+    double accelscale;         // conv. Hz/sec to addval cnts/period */
+    long old_dtns;             // update_freq funct period in nsec */
+    double dt;                 // update_freq period in seconds */
+    double recip_dt;           // recprocal of period, avoids divides */
+    volatile uint64_t cnt = 0; // Debug counter
+#undef double
+    StepGen3(void);
+    void updateStepGen(double pos_cmd1, double pos_cmd2);
+    void makeAllPulses(void);
+    int rtapi_app_main();
+    int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
+    void make_pulses(void *arg, long period);
+    void update_freq(void *arg, long period);
+    void update_pos(void *arg, long period);
+    int setup_user_step_type(void);
+    CONTROL parse_ctrl_type(const char *ctrl);
+    unsigned long ulceil(unsigned long value, unsigned long increment);
+
+private:
+    /* lookup tables for stepping types 2 and higher - phase A is the LSB */
+
+    unsigned char master_lut[MAX_STEP_TYPE][MAX_CYCLE] = {
+        {1, 3, 2, 0, 0, 0, 0, 0, 0, 0},        /* type 2: Quadrature */
+        {1, 2, 4, 0, 0, 0, 0, 0, 0, 0},        /* type 3: Three Wire */
+        {1, 3, 2, 6, 4, 5, 0, 0, 0, 0},        /* type 4: Three Wire Half Step */
+        {1, 2, 4, 8, 0, 0, 0, 0, 0, 0},        /* 5: Unipolar Full Step 1 */
+        {3, 6, 12, 9, 0, 0, 0, 0, 0, 0},       /* 6: Unipoler Full Step 2 */
+        {1, 7, 14, 8, 0, 0, 0, 0, 0, 0},       /* 7: Bipolar Full Step 1 */
+        {5, 6, 10, 9, 0, 0, 0, 0, 0, 0},       /* 8: Bipoler Full Step 2 */
+        {1, 3, 2, 6, 4, 12, 8, 9, 0, 0},       /* 9: Unipolar Half Step */
+        {1, 5, 7, 6, 14, 10, 8, 9, 0, 0},      /* 10: Bipolar Half Step */
+        {1, 2, 4, 8, 16, 0, 0, 0, 0, 0},       /* 11: Five Wire Unipolar */
+        {3, 6, 12, 24, 17, 0, 0, 0, 0, 0},     /* 12: Five Wire Wave */
+        {1, 3, 2, 6, 4, 12, 8, 24, 16, 17},    /* 13: Five Wire Uni Half */
+        {3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
+        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}         /* 15: User-defined */
+    };
+
+    unsigned char cycle_len_lut[14] =
+        {4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
+
+    unsigned char num_phases_lut[14] =
+        {
+            2,
+            3,
+            3,
+            4,
+            4,
+            4,
+            4,
+            4,
+            4,
+            5,
+            5,
+            5,
+            5,
+            0,
+    };
+};
+
+// For the example
+#define BASE_PERIOD 20000 
+#define SERVO_PERIOD 2000000
+#define JOINT_X_STEPGEN_MAXACCEL 0.0
+#define JOINT_Z_STEPGEN_MAXACCEL 0.0
+#define JOINT_X_SCALE -200
+#define JOINT_Z_SCALE -80
+
+#endif

Firmware/include/Stepper.h

@@ -1,38 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-void StepperSetup(void);
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx_hal.h"
-
-void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

Firmware/include/Stm32F4_Encoder.h

@@ -3,7 +3,6 @@
 #define __Stm32F4_Encoder_H__
 #include <Arduino.h>
 
-
 #define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
 
 // #define GPIO_MODER_MODER0                    ((uint32_t)0x00000003)
@@ -34,9 +33,6 @@
 #define GPIO_Pin_15 ((uint16_t)0x8000)  /* Pin 15 selected */
 #define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
 
-
-
-
 typedef struct TIM_TimeBaseInitTypeDef
 {
   uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
@@ -62,17 +58,12 @@ typedef struct TIM_TimeBaseInitTypeDef
                                       @note This parameter is valid only for TIM1 and TIM8. */
 } TIM_TimeBaseInitTypeDef;
 
-
 typedef struct
 {
   uint16_t setcount;
 
 } encoder;
 
-
-
-
-
 typedef struct
 {
   uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
@@ -104,8 +95,6 @@ typedef struct
                                   @note This parameter is valid only for TIM1 and TIM8. */
 } TIM_OCInitTypeDef;
 
-
-
 typedef struct
 {
 
@@ -125,8 +114,6 @@ typedef struct
                               This parameter can be a number between 0x0 and 0xF */
 } TIM_ICInitTypeDef;
 
-
-
 typedef struct
 {
 
@@ -153,7 +140,6 @@ typedef struct
                                      This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
 } TIM_BDTRInitTypeDef;
 
-
 #define GPIO_PinSource0 ((uint8_t)0x00)
 #define GPIO_PinSource1 ((uint8_t)0x01)
 #define GPIO_PinSource2 ((uint8_t)0x02)
@@ -177,8 +163,8 @@ typedef struct
 #define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
 #define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
 
-#define TIM4                ((TIM_TypeDef *) TIM4_BASE)
+// #define TIM4 ((TIM_TypeDef *)TIM4_BASE)
-#define TIM8                ((TIM_TypeDef *) TIM8_BASE)
+// #define TIM8 ((TIM_TypeDef *)TIM8_BASE)
 #define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
 #define TIM_ICPolarity_Rising ((uint16_t)0x0000)
 #define TIM_ICPolarity_Falling ((uint16_t)0x0002)
@@ -213,7 +199,6 @@ typedef struct
                                      ((PERIPH) == TIM13) || \
                                      ((PERIPH) == TIM14))
 
-
 #define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
                                      ((PERIPH) == TIM2) || \
                                      ((PERIPH) == TIM3) || \
@@ -246,8 +231,6 @@ typedef struct
                                    ((TIMx) == TIM5) || \
                                    ((TIMx) == TIM11))
 
-
-
 #define TIM_OCMode_Timing ((uint16_t)0x0000)
 #define TIM_OCMode_Active ((uint16_t)0x0010)
 #define TIM_OCMode_Inactive ((uint16_t)0x0020)
@@ -269,13 +252,11 @@ typedef struct
                           ((MODE) == TIM_ForcedAction_Active) || \
                           ((MODE) == TIM_ForcedAction_InActive))
 
-
 #define TIM_OPMode_Single ((uint16_t)0x0008)
 #define TIM_OPMode_Repetitive ((uint16_t)0x0000)
 //#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
 //                               ((MODE) == TIM_OPMode_Repetitive))
 
-
 #define TIM_Channel_1 ((uint16_t)0x0000)
 #define TIM_Channel_2 ((uint16_t)0x0004)
 #define TIM_Channel_3 ((uint16_t)0x0008)
@@ -292,7 +273,6 @@ typedef struct
                                                ((CHANNEL) == TIM_Channel_2) || \
                                                ((CHANNEL) == TIM_Channel_3))
 
-
 #define TIM_CKD_DIV1 ((uint16_t)0x0000)
 #define TIM_CKD_DIV2 ((uint16_t)0x0100)
 #define TIM_CKD_DIV4 ((uint16_t)0x0200)
@@ -300,7 +280,6 @@ typedef struct
                              ((DIV) == TIM_CKD_DIV2) || \
                              ((DIV) == TIM_CKD_DIV4))
 
-
 #define TIM_CounterMode_Up ((uint16_t)0x0000)
 #define TIM_CounterMode_Down ((uint16_t)0x0010)
 #define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
@@ -312,13 +291,11 @@ typedef struct
 //                                   ((MODE) == TIM_CounterMode_CenterAligned2) || \
 //                                   ((MODE) == TIM_CounterMode_CenterAligned3))
 
-
 #define TIM_OCPolarity_High ((uint16_t)0x0000)
 #define TIM_OCPolarity_Low ((uint16_t)0x0002)
 //#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
 //                                      ((POLARITY) == TIM_OCPolarity_Low))
 
-
 #define TIM_OCNPolarity_High ((uint16_t)0x0000)
 #define TIM_OCNPolarity_Low ((uint16_t)0x0008)
 //#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
@@ -329,43 +306,36 @@ typedef struct
 #define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
                                     ((STATE) == TIM_OutputState_Enable))
 
-
 #define TIM_OutputNState_Disable ((uint16_t)0x0000)
 #define TIM_OutputNState_Enable ((uint16_t)0x0004)
 #define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
                                      ((STATE) == TIM_OutputNState_Enable))
 
-
 #define TIM_CCx_Enable ((uint16_t)0x0001)
 #define TIM_CCx_Disable ((uint16_t)0x0000)
 #define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
                          ((CCX) == TIM_CCx_Disable))
 
-
 #define TIM_CCxN_Enable ((uint16_t)0x0004)
 #define TIM_CCxN_Disable ((uint16_t)0x0000)
 #define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
                            ((CCXN) == TIM_CCxN_Disable))
 
-
 #define TIM_Break_Enable ((uint16_t)0x1000)
 #define TIM_Break_Disable ((uint16_t)0x0000)
 //#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
 //                                   ((STATE) == TIM_Break_Disable))
 
-
 #define TIM_BreakPolarity_Low ((uint16_t)0x0000)
 #define TIM_BreakPolarity_High ((uint16_t)0x2000)
 //#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
 //    ((POLARITY) == TIM_BreakPolarity_High))
 
-
 #define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
 #define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
 //#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
 //    ((STATE) == TIM_AutomaticOutput_Disable))
 
-
 #define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
 #define TIM_LOCKLevel_1 ((uint16_t)0x0100)
 #define TIM_LOCKLevel_2 ((uint16_t)0x0200)
@@ -375,19 +345,16 @@ typedef struct
 //                                  ((LEVEL) == TIM_LOCKLevel_2) || \
 //                                  ((LEVEL) == TIM_LOCKLevel_3))
 
-
 #define TIM_OSSIState_Enable ((uint16_t)0x0400)
 #define TIM_OSSIState_Disable ((uint16_t)0x0000)
 //#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
 //                                  ((STATE) == TIM_OSSIState_Disable))
 
-
 #define TIM_OSSRState_Enable ((uint16_t)0x0800)
 #define TIM_OSSRState_Disable ((uint16_t)0x0000)
 //#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
 //                                  ((STATE) == TIM_OSSRState_Disable))
 
-
 #define TIM_OCIdleState_Set ((uint16_t)0x0100)
 #define TIM_OCIdleState_Reset ((uint16_t)0x0000)
 //#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
@@ -399,7 +366,6 @@ typedef struct
 //#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
 //                                     ((STATE) == TIM_OCNIdleState_Reset))
 
-
 #define TIM_ICPolarity_Rising ((uint16_t)0x0000)
 #define TIM_ICPolarity_Falling ((uint16_t)0x0002)
 #define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
@@ -407,17 +373,15 @@ typedef struct
 //                                      ((POLARITY) == TIM_ICPolarity_Falling)|| \
 //                                      ((POLARITY) == TIM_ICPolarity_BothEdge))
 
-
+#define TIM_ICSelection_DirectTI ((uint16_t)0x0001)   /*!< TIM Input 1, 2, 3 or 4 is selected to be \
-#define TIM_ICSelection_DirectTI           ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be 
                                                            connected to IC1, IC2, IC3 or IC4, respectively */
-#define TIM_ICSelection_IndirectTI         ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be
+#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
                                                            connected to IC2, IC1, IC4 or IC3, respectively. */
 #define TIM_ICSelection_TRC ((uint16_t)0x0003)        /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
 //#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
 //                                        ((SELECTION) == TIM_ICSelection_IndirectTI) || \
 //                                        ((SELECTION) == TIM_ICSelection_TRC))
 
-
 // #define TIM_ICPSC_DIV1                     ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
 // #define TIM_ICPSC_DIV2                     ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
 // #define TIM_ICPSC_DIV4                     ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
@@ -427,7 +391,6 @@ typedef struct
 //                                        ((PRESCALER) == TIM_ICPSC_DIV4) || \
 //                                        ((PRESCALER) == TIM_ICPSC_DIV8))
 
-
 #define TIM_IT_Update ((uint16_t)0x0001)
 // #define TIM_IT_CC1                         ((uint16_t)0x0002)
 // #define TIM_IT_CC2                         ((uint16_t)0x0004)
@@ -447,7 +410,6 @@ typedef struct
                            ((IT) == TIM_IT_Trigger) || \
                            ((IT) == TIM_IT_Break))
 
-
 // #define TIM_DMABase_CR1                    ((uint16_t)0x0000)
 // #define TIM_DMABase_CR2                    ((uint16_t)0x0001)
 // #define TIM_DMABase_SMCR                   ((uint16_t)0x0002)
@@ -489,7 +451,6 @@ typedef struct
 //                               ((BASE) == TIM_DMABase_DCR) || \
 //                               ((BASE) == TIM_DMABase_OR))
 
-
 // #define TIM_DMABurstLength_1Transfer           ((uint16_t)0x0000)
 // #define TIM_DMABurstLength_2Transfers          ((uint16_t)0x0100)
 // #define TIM_DMABurstLength_3Transfers          ((uint16_t)0x0200)
@@ -527,7 +488,6 @@ typedef struct
 //                                   ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
 //                                   ((LENGTH) == TIM_DMABurstLength_18Transfers))
 
-
 // #define TIM_DMA_Update                     ((uint16_t)0x0100)
 // #define TIM_DMA_CC1                        ((uint16_t)0x0200)
 // #define TIM_DMA_CC2                        ((uint16_t)0x0400)
@@ -537,8 +497,6 @@ typedef struct
 // #define TIM_DMA_Trigger                    ((uint16_t)0x4000)
 // #define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
 
-
-
 #define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
 #define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
 #define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
@@ -548,7 +506,6 @@ typedef struct
                                          ((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
                                          ((PRESCALER) == TIM_ExtTRGPSC_DIV8))
 
-
 // #define TIM_TS_ITR0                        ((uint16_t)0x0000)
 // #define TIM_TS_ITR1                        ((uint16_t)0x0010)
 // #define TIM_TS_ITR2                        ((uint16_t)0x0020)
@@ -570,18 +527,15 @@ typedef struct
                                                       ((SELECTION) == TIM_TS_ITR2) || \
                                                       ((SELECTION) == TIM_TS_ITR3))
 
-
 #define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
 #define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
 #define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
 
-
 #define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
 #define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
 #define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
                                        ((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
 
-
 #define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
 #define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
 #define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
@@ -592,7 +546,6 @@ typedef struct
 #define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
                                       ((ACTION) == TIM_ForcedAction_InActive))
 
-
 #define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
 #define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
 #define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
@@ -600,7 +553,6 @@ typedef struct
 //                                   ((MODE) == TIM_EncoderMode_TI2) || \
 //                                   ((MODE) == TIM_EncoderMode_TI12))
 
-
 // #define TIM_EventSource_Update             ((uint16_t)0x0001)
 // #define TIM_EventSource_CC1                ((uint16_t)0x0002)
 // #define TIM_EventSource_CC2                ((uint16_t)0x0004)
@@ -611,28 +563,23 @@ typedef struct
 // #define TIM_EventSource_Break              ((uint16_t)0x0080)
 // #define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
 
-
+#define TIM_UpdateSource_Global ((uint16_t)0x0000)  /*!< Source of update is the counter overflow/underflow \
-
+                                                         or the setting of UG bit, or an update generation  \
-#define TIM_UpdateSource_Global            ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow
-                                                                   or the setting of UG bit, or an update generation
                                                          through the slave mode controller. */
 #define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
 #define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
                                       ((SOURCE) == TIM_UpdateSource_Regular))
 
-
 #define TIM_OCPreload_Enable ((uint16_t)0x0008)
 #define TIM_OCPreload_Disable ((uint16_t)0x0000)
 #define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
                                        ((STATE) == TIM_OCPreload_Disable))
 
-
 #define TIM_OCFast_Enable ((uint16_t)0x0004)
 #define TIM_OCFast_Disable ((uint16_t)0x0000)
 #define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
                                     ((STATE) == TIM_OCFast_Disable))
 
-
 #define TIM_OCClear_Enable ((uint16_t)0x0080)
 #define TIM_OCClear_Disable ((uint16_t)0x0000)
 #define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
@@ -655,9 +602,6 @@ typedef struct
 //                                    ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
 //                                    ((SOURCE) == TIM_TRGOSource_OC4Ref))
 
-
-
-
 #define TIM_SlaveMode_Reset ((uint16_t)0x0004)
 #define TIM_SlaveMode_Gated ((uint16_t)0x0005)
 #define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
@@ -685,29 +629,20 @@ typedef struct
 #define TIM11_GPIO ((uint16_t)0x0000)
 #define TIM11_HSE ((uint16_t)0x0002)
 
-
-enum EncTimer {
-  Tim2,
-  Tim3,
-  Tim4,
-  Tim8
-};
-
 class Encoder
 {
 private:
   int _pin;
 
 public:
-    void  eattach(int enco);
+  TIM_TypeDef *tim_base;
   Encoder();
-    void SetCount( enum EncTimer enc, int64_t Counter);
+  void SetCount(int64_t Counter);
-    uint16_t  GetCount( enum EncTimer enc);
+  uint16_t GetCount();
-    void attachh(int encoNumber);
-    uint16_t c;
 };
 
-void rcc_config();
+void encoder_config();
+void encoder2_config(); // Experimental
 void GpioConfigPortA(GPIO_TypeDef *GPIOx);
 void GpioConfigPortC(GPIO_TypeDef *GPIOx);
 void GpioConfigPortD(GPIO_TypeDef *GPIOx);

Firmware/include/extend32to64.h

@@ -0,0 +1,14 @@
+#ifndef EXTEND32TO64
+#define EXTEND32TO54
+
+#include <Arduino.h>
+
+class extend32to64
+{
+public:
+    int64_t previousTimeValue = 0;
+    const uint64_t ONE_PERIOD = 4294967296;  // almost UINT32_MAX;
+    const uint64_t HALF_PERIOD = 2147483648; // Half of that
+    int64_t extendTime(uint32_t in);
+};
+#endif

Firmware/lib/soes/ecat_options.h

@@ -33,8 +33,8 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 4
+#define MAX_MAPPINGS_SM2 5
-#define MAX_MAPPINGS_SM3 6
+#define MAX_MAPPINGS_SM3 11
 
 #define MAX_RXPDO_SIZE   512
 #define MAX_TXPDO_SIZE   512

Firmware/lib/soes/ecat_slv.c

@@ -191,7 +191,8 @@ void APP_setwatchdog (int watchdogcnt)
  * write ethercat inputs. Implement watch-dog counter to count-out if we have
  * made state change affecting the App.state.
  */
-void DIG_process (uint8_t flags)
+
+void DIG_process(uint16_t ALEvent, uint8_t flags)
 {
    /* Handle watchdog */
    if ((flags & DIG_PROCESS_WD_FLAG) > 0)
@@ -217,14 +218,14 @@ void DIG_process (uint8_t flags)
    if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
    {
       if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
-         (ESCvar.ALevent & ESCREG_ALEVENT_SM2))
+          (ALEvent & ESCREG_ALEVENT_SM2))
       {
          RXPDO_update();
          CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
          /* Set outputs */
          cb_set_outputs();
       }
-      else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
+      else if (ALEvent & ESCREG_ALEVENT_SM2)
       {
          RXPDO_update();
       }
@@ -339,7 +340,7 @@ void ecat_slv_poll (void)
 void ecat_slv(void)
 {
    ecat_slv_poll();
-   DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+   DIG_process(ESC_ALeventread(), DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
                                       DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
 }
 

Firmware/lib/soes/ecat_slv.h

@@ -36,7 +36,7 @@ void APP_setwatchdog (int watchdogcnt);
  *
  * @param[in]   flags     = User input what to execute
  */
-void DIG_process (uint8_t flags);
+void DIG_process(uint16_t ALEvent, uint8_t flags);
 
 /**
  * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application

Firmware/lib/soes/esi.json

@@ -57,7 +57,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncPos"
       },
@@ -68,7 +68,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncFrequency"
       },
@@ -79,7 +79,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "UNSIGNED32",
+        "dtype": "UNSIGNED16",
         "value": "0",
         "data": "&Obj.DiffT"
       },
@@ -106,39 +106,74 @@
         "data": "&Obj.IndexStatus"
       },
       "6005": {
-        "otype": "RECORD",
+        "otype": "VAR",
-        "name": "StepGenOut1",
+        "name": "ActualPosition1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "ActualPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenOut1.ActualPosition",
-            "value": "0",
-            "access": "RO"
-          }
-        ],
         "pdo_mappings": [
           "txpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition1"
+      },
+      "6006": {
+        "otype": "VAR",
+        "name": "ActualPosition2",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition2"
+      },
+      "6007": {
+        "otype": "VAR",
+        "name": "D1",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D1"
+      },
+      "6008": {
+        "otype": "VAR",
+        "name": "D2",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D2"
+      },
+      "6009": {
+        "otype": "VAR",
+        "name": "D3",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D3"
+      },
+      "600A": {
+        "otype": "VAR",
+        "name": "D4",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D4"
       }
     },
     "rxpdo": {
       "7000": {
-        "otype": "VAR",
-        "name": "EncPosScale",
-        "access": "RO",
-        "pdo_mappings": [
-          "rxpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.EncPosScale"
-      },
-      "7001": {
         "otype": "VAR",
         "name": "IndexLatchEnable",
         "access": "RO",
@@ -149,32 +184,49 @@
         "value": "0",
         "data": "&Obj.IndexLatchEnable"
       },
-      "7002": {
+      "7001": {
-        "otype": "RECORD",
+        "otype": "VAR",
-        "name": "StepGenIn1",
+        "name": "CommandedPosition1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "CommandedPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenIn1.CommandedPosition",
-            "value": "0",
-            "access": "RO"
-          },
-          {
-            "name": "CommandedVelocity",
-            "dtype": "REAL64",
-            "value": "0",
-            "access": "RO",
-            "data": "&Obj.StepGenIn1.CommandedVelocity"
-          }
-        ],
         "pdo_mappings": [
           "rxpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition1"
+      },
+      "7002": {
+        "otype": "VAR",
+        "name": "CommandedPosition2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition2"
+      },
+      "7003": {
+        "otype": "VAR",
+        "name": "StepsPerMM1",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM1"
+      },
+      "7004": {
+        "otype": "VAR",
+        "name": "StepsPerMM2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM2"
       },
       "60664": {
         "otype": "VAR",

Firmware/lib/soes/objectlist.c

@@ -13,16 +13,21 @@ static const char acName1018_01[] = "Vendor ID";
 static const char acName1018_02[] = "Product Code";
 static const char acName1018_03[] = "Revision Number";
 static const char acName1018_04[] = "Serial Number";
-static const char acName1600[] = "EncPosScale";
+static const char acName1600[] = "IndexLatchEnable";
 static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "EncPosScale";
+static const char acName1600_01[] = "IndexLatchEnable";
-static const char acName1601[] = "IndexLatchEnable";
+static const char acName1601[] = "CommandedPosition1";
 static const char acName1601_00[] = "Max SubIndex";
-static const char acName1601_01[] = "IndexLatchEnable";
+static const char acName1601_01[] = "CommandedPosition1";
-static const char acName1602[] = "StepGenIn1";
+static const char acName1602[] = "CommandedPosition2";
 static const char acName1602_00[] = "Max SubIndex";
-static const char acName1602_01[] = "CommandedPosition";
+static const char acName1602_01[] = "CommandedPosition2";
-static const char acName1602_02[] = "CommandedVelocity";
+static const char acName1603[] = "StepsPerMM1";
+static const char acName1603_00[] = "Max SubIndex";
+static const char acName1603_01[] = "StepsPerMM1";
+static const char acName1604[] = "StepsPerMM2";
+static const char acName1604_00[] = "Max SubIndex";
+static const char acName1604_01[] = "StepsPerMM2";
 static const char acName1A00[] = "EncPos";
 static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "EncPos";
@@ -38,9 +43,24 @@ static const char acName1A03_01[] = "IndexByte";
 static const char acName1A04[] = "IndexStatus";
 static const char acName1A04_00[] = "Max SubIndex";
 static const char acName1A04_01[] = "IndexStatus";
-static const char acName1A05[] = "StepGenOut1";
+static const char acName1A05[] = "ActualPosition1";
 static const char acName1A05_00[] = "Max SubIndex";
-static const char acName1A05_01[] = "ActualPosition";
+static const char acName1A05_01[] = "ActualPosition1";
+static const char acName1A06[] = "ActualPosition2";
+static const char acName1A06_00[] = "Max SubIndex";
+static const char acName1A06_01[] = "ActualPosition2";
+static const char acName1A07[] = "D1";
+static const char acName1A07_00[] = "Max SubIndex";
+static const char acName1A07_01[] = "D1";
+static const char acName1A08[] = "D2";
+static const char acName1A08_00[] = "Max SubIndex";
+static const char acName1A08_01[] = "D2";
+static const char acName1A09[] = "D3";
+static const char acName1A09_00[] = "Max SubIndex";
+static const char acName1A09_01[] = "D3";
+static const char acName1A0A[] = "D4";
+static const char acName1A0A_00[] = "Max SubIndex";
+static const char acName1A0A_01[] = "D4";
 static const char acName1C00[] = "Sync Manager Communication Type";
 static const char acName1C00_00[] = "Max SubIndex";
 static const char acName1C00_01[] = "Communications Type SM0";
@@ -52,6 +72,8 @@ static const char acName1C12_00[] = "Max SubIndex";
 static const char acName1C12_01[] = "PDO Mapping";
 static const char acName1C12_02[] = "PDO Mapping";
 static const char acName1C12_03[] = "PDO Mapping";
+static const char acName1C12_04[] = "PDO Mapping";
+static const char acName1C12_05[] = "PDO Mapping";
 static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
 static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
@@ -60,24 +82,31 @@ static const char acName1C13_03[] = "PDO Mapping";
 static const char acName1C13_04[] = "PDO Mapping";
 static const char acName1C13_05[] = "PDO Mapping";
 static const char acName1C13_06[] = "PDO Mapping";
+static const char acName1C13_07[] = "PDO Mapping";
+static const char acName1C13_08[] = "PDO Mapping";
+static const char acName1C13_09[] = "PDO Mapping";
+static const char acName1C13_10[] = "PDO Mapping";
+static const char acName1C13_11[] = "PDO Mapping";
 static const char acName6000[] = "EncPos";
 static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
 static const char acName6003[] = "IndexByte";
 static const char acName6004[] = "IndexStatus";
-static const char acName6005[] = "StepGenOut1";
+static const char acName6005[] = "ActualPosition1";
-static const char acName6005_00[] = "Max SubIndex";
+static const char acName6006[] = "ActualPosition2";
-static const char acName6005_01[] = "ActualPosition";
+static const char acName6007[] = "D1";
-static const char acName7000[] = "EncPosScale";
+static const char acName6008[] = "D2";
-static const char acName7001[] = "IndexLatchEnable";
+static const char acName6009[] = "D3";
-static const char acName7002[] = "StepGenIn1";
+static const char acName600A[] = "D4";
-static const char acName7002_00[] = "Max SubIndex";
+static const char acName7000[] = "IndexLatchEnable";
-static const char acName7002_01[] = "CommandedPosition";
+static const char acName7001[] = "CommandedPosition1";
-static const char acName7002_02[] = "CommandedVelocity";
+static const char acName7002[] = "CommandedPosition2";
+static const char acName7003[] = "StepsPerMM1";
+static const char acName7004[] = "StepsPerMM2";
 
 const _objd SDO1000[] =
 {
-  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
 };
 const _objd SDO1008[] =
 {
@@ -94,56 +123,90 @@ const _objd SDO100A[] =
 const _objd SDO1018[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
-  {0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
-  {0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
 };
 const _objd SDO1600[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
 };
 const _objd SDO1601[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
 };
 const _objd SDO1602[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020240, NULL},
+};
+const _objd SDO1603[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030010, NULL},
+};
+const _objd SDO1604[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040010, NULL},
 };
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
 };
 const _objd SDO1A01[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
 };
 const _objd SDO1A02[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020010, NULL},
 };
 const _objd SDO1A03[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
 };
 const _objd SDO1A04[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
 };
 const _objd SDO1A05[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
+};
+const _objd SDO1A06[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
+};
+const _objd SDO1A07[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070010, NULL},
+};
+const _objd SDO1A08[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080010, NULL},
+};
+const _objd SDO1A09[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A09_01, 0x60090010, NULL},
+};
+const _objd SDO1A0A[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A0A_01, 0x600A0010, NULL},
 };
 const _objd SDO1C00[] =
 {
@@ -155,32 +218,39 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
   {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
 };
 const _objd SDO1C13[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 11, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
   {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
   {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
   {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
   {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
+  {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL},
+  {0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL},
+  {0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL},
+  {0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL},
 };
 const _objd SDO6000[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
 };
 const _objd SDO6001[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
 };
 const _objd SDO6002[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
+  {0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
 };
 const _objd SDO6003[] =
 {
@@ -192,22 +262,47 @@ const _objd SDO6004[] =
 };
 const _objd SDO6005[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition1},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
+};
+const _objd SDO6006[] =
+{
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition2},
+};
+const _objd SDO6007[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
+};
+const _objd SDO6008[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
+};
+const _objd SDO6009[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
+};
+const _objd SDO600A[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
 };
 const _objd SDO7000[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.IndexLatchEnable},
 };
 const _objd SDO7001[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.CommandedPosition1},
 };
 const _objd SDO7002[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition2},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
+};
-  {0x02, DTYPE_REAL64, 64, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.CommandedVelocity},
+const _objd SDO7003[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.StepsPerMM1},
+};
+const _objd SDO7004[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.StepsPerMM2},
 };
 
 const _objectlist SDOobjects[] =
@@ -219,24 +314,38 @@ const _objectlist SDOobjects[] =
   {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
   {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
   {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
-  {0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
+  {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
+  {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
+  {0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
   {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
   {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
   {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
   {0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
   {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
   {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
+  {0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
+  {0x1A07, OTYPE_RECORD, 1, 0, acName1A07, SDO1A07},
+  {0x1A08, OTYPE_RECORD, 1, 0, acName1A08, SDO1A08},
+  {0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
+  {0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
+  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
+  {0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13},
   {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
   {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
   {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
   {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
   {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
-  {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
+  {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
+  {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
+  {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
+  {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
+  {0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
+  {0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
-  {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
+  {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
+  {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
+  {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };

Firmware/lib/soes/utypes.h

@@ -13,25 +13,25 @@ typedef struct
 
    /* Inputs */
 
-   double EncPos;
+   float EncPos;
-   double EncFrequency;
+   float EncFrequency;
-   uint32_t DiffT;
+   uint16_t DiffT;
    uint32_t IndexByte;
    uint32_t IndexStatus;
-   struct
+   float ActualPosition1;
-   {
+   float ActualPosition2;
-      double ActualPosition;
+   int16_t D1;
-   } StepGenOut1;
+   int16_t D2;
+   int16_t D3;
+   int16_t D4;
 
    /* Outputs */
 
-   int32_t EncPosScale;
    uint32_t IndexLatchEnable;
-   struct
+   float CommandedPosition1;
-   {
+   float CommandedPosition2;
-      double CommandedPosition;
+   int16_t StepsPerMM1;
-      double CommandedVelocity;
+   int16_t StepsPerMM2;
-   } StepGenIn1;
 
 } _Objects;
 

Firmware/platformio.ini

@@ -16,8 +16,9 @@ upload_protocol = stlink
 debug_tool = stlink
 debug_build_flags = -O0 -g -ggdb
 monitor_port = COM7
+monitor_filters = send_on_enter, time, colorize, log2file
 monitor_speed = 115200
 build_flags = -Wl,--no-warn-rwx-segment
 lib_deps = 
 	SPI
-	rlogiacco/CircularBuffer@^1.3.3
+	rlogiacco/CircularBuffer

Firmware/src/MyEncoder.cpp

@@ -0,0 +1,99 @@
+#include "MyENcoder.h"
+
+MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
+{
+    tim_base = _tim_base;
+    indexPin = _indexPin;
+    attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
+    EncoderInit.SetCount(0);
+}
+
+#define ONE_PERIOD 65536
+#define HALF_PERIOD 32768
+
+int64_t MyEncoder::unwrapEncoder(uint16_t in)
+{
+    int32_t c32 = (int32_t)in - HALF_PERIOD;           // remove half period to determine (+/-) sign of the wrap
+    int32_t dif = (c32 - previousEncoderCounterValue); // core concept: prev + (current - prev) = current
+
+    // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
+    int32_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
+    if (dif < -HALF_PERIOD)
+        mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
+
+    int64_t unwrapped = previousEncoderCounterValue + mod_dif;
+    previousEncoderCounterValue = unwrapped; // load previous value
+
+    return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
+}
+
+void MyEncoder::indexPulse(void)
+{
+    if (pleaseZeroTheCounter)
+    {
+        tim_base->CNT = 0;
+        indexPulseFired = 1;
+        Pos.clear();
+        TDelta.clear();
+        pleaseZeroTheCounter = 0;
+    }
+}
+
+uint8_t MyEncoder::indexHappened()
+{
+    if (indexPulseFired)
+    {
+        indexPulseFired = 0;
+        previousEncoderCounterValue = 0;
+        return 1;
+    }
+    return 0;
+}
+
+double MyEncoder::currentPos()
+{
+    curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
+    return curPos;
+}
+
+double MyEncoder::frequency(uint64_t time)
+{
+
+    double diffT = 0;
+    double diffPos = 0;
+    double frequency;
+    TDelta.push(time); // Running average over the length of the circular buffer
+    Pos.push(curPos);
+    if (Pos.size() == RINGBUFFERLEN)
+    {
+        diffT = 1.0e-6 * (TDelta.last() - TDelta.first()); // Time is in microseconds
+        diffPos = fabs(Pos.last() - Pos.first());
+        frequency = diffPos / diffT;
+        oldFrequency = frequency;
+        return frequency; // Revolutions per second
+    }
+    else
+        return oldFrequency;
+}
+uint8_t MyEncoder::getIndexState()
+{
+    return digitalRead(indexPin);
+}
+
+void MyEncoder::setScale(double scale)
+{
+    if (CurPosScale != scale && scale != 0)
+    {
+        CurPosScale = scale;
+        PosScaleRes = 1.0 / double(scale);
+    }
+}
+
+void MyEncoder::setLatch(uint8_t latchEnable)
+{
+    if (latchEnable && !oldLatchCEnable) // Should only happen first time IndexCEnable is set
+    {
+        pleaseZeroTheCounter = 1;
+    }
+    oldLatchCEnable = latchEnable;
+}

Firmware/src/StepGen.cpp

@@ -0,0 +1,148 @@
+#include <Arduino.h>
+#include <stdio.h>
+#include "StepGen.h"
+
+StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
+{
+    timerIsRunning = 0;
+    timerStepPosition = 0;
+    timerStepDirection = 0;
+    timerStepPositionAtEnd = 0;
+    timerNewEndStepPosition = 0;
+    actualPosition = 0;
+    requestedPosition = 0;
+    stepsPerMM = 0;
+    enabled = 0;
+
+    dirPin = _dirPin;
+    stepPin = _stepPin;
+    timerChan = _timerChannel;
+    MyTim = new HardwareTimer(Timer);
+    MyTim->attachInterrupt(irq);
+    pinMode(dirPin, OUTPUT);
+}
+void StepGen::reqPos(double_t pos)
+{
+    requestedPosition = pos;
+}
+double StepGen::reqPos()
+{
+    return requestedPosition;
+}
+void StepGen::actPos(double pos)
+{
+    actualPosition = pos;
+}
+double StepGen::actPos()
+{
+    return actualPosition;
+}
+
+void StepGen::enable(uint8_t yes)
+{
+    enabled = yes;
+}
+
+void StepGen::handleStepper(void)
+{
+    if (!enabled)
+        return;
+    pwmCycleTime = StepGen::sync0CycleTime;
+
+    actPos(timerStepPosition / double(stepsPerMM));
+    double diffPosition = reqPos() - actPos();
+#if 1
+// Wild "tone" kludge. map() function
+#define SPEED_MIN 0.00005
+#define SPEED_MAX 0.0005
+#define FACT_LOW 1.0
+#define FACT_HIGH 20.0
+    if (abs(diffPosition) < SPEED_MIN) // 60 mm/min = 0.001 mm/ms
+    {
+        pwmCycleTime = FACT_LOW * StepGen::sync0CycleTime;
+    }
+    else if (abs(diffPosition) > SPEED_MAX) // 60 mm/min = 0.001 mm/ms
+    {
+        pwmCycleTime = FACT_HIGH * StepGen::sync0CycleTime;
+    }
+    else
+    {
+        pwmCycleTime = (FACT_LOW + (FACT_HIGH - FACT_LOW) * (abs(diffPosition) - SPEED_MIN) / (SPEED_MAX - SPEED_MIN)) * StepGen::sync0CycleTime;
+    }
+#endif
+    uint64_t fre = (abs(diffPosition) * stepsPerMM * 1000000) / pwmCycleTime; // Frequency needed
+    if (fre > maxFreq)                                                        // Only do maxFre
+    {
+        double maxDist = (maxFreq * pwmCycleTime) / (stepsPerMM * 1000000.0) * (diffPosition > 0 ? 1 : -1);
+        reqPos(actPos() + maxDist);
+    }
+    int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos();
+
+    // Will be picked up by the timer_CB and the timer is reloaded, if it runs.
+    timerNewEndStepPosition = pulsesAtEndOfCycle;
+
+    if (!timerIsRunning) // Timer isn't running. Start it here
+    {
+        int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or -
+        if (steps != 0)
+        {
+            if (steps > 0)
+            {
+                digitalWrite(dirPin, HIGH);
+                timerStepDirection = 1;
+            }
+            else
+            {
+                digitalWrite(dirPin, LOW);
+                timerStepDirection = -1;
+            }
+            timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
+            float_t freqf = abs(steps) / (pwmCycleTime*1.0e-6);
+            uint32_t freq = uint32_t(freqf);
+            MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+            MyTim->setOverflow(freq, HERTZ_FORMAT);
+            MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
+            timerIsRunning = 1;
+            MyTim->resume();
+        }
+    }
+}
+void StepGen::timerCB()
+{
+    timerStepPosition += timerStepDirection; // The step that was just completed
+    if (timerNewEndStepPosition != 0)        // Are we going to reload?
+    {
+        // Input for reload is timerNewEndStepPosition
+        // The timer has current position and from this
+        // can set new frequency and new endtarget for steps
+        MyTim->pause(); // We are not at stop, let's stop it. Note stepPin is floating
+        int32_t steps = timerNewEndStepPosition - timerStepPosition;
+        if (steps != 0)
+        {
+            uint8_t sgn = steps > 0 ? HIGH : LOW;
+            digitalWrite(dirPin, sgn);
+            float_t freqf = abs(steps) / float(pwmCycleTime*1.0e-6);
+            uint32_t freq = uint32_t(freqf);
+            timerStepDirection = steps > 0 ? 1 : -1;
+            timerStepPositionAtEnd = timerNewEndStepPosition;
+            timerNewEndStepPosition = 0; // Set to zero to not reload next time
+            MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+            MyTim->setOverflow(freq, HERTZ_FORMAT);
+            MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
+            MyTim->resume();
+            timerIsRunning = 1;
+        }
+    }
+    if (timerStepPosition == timerStepPositionAtEnd) // Are we finished?
+    {
+        timerIsRunning = 0;
+        MyTim->pause();
+    }
+}
+
+void StepGen::setScale(int16_t spm)
+{
+    stepsPerMM = spm;
+}
+
+uint32_t StepGen::sync0CycleTime = 0;

Firmware/src/StepGen2.cpp

@@ -0,0 +1,124 @@
+#include <Arduino.h>
+#include <stdio.h>
+#include "StepGen2.h"
+#include "extend32to64.h"
+
+extern "C"
+{
+#include "esc.h"
+}
+extern extend32to64 longTime;
+
+StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void))
+{
+    actualPosition = 0;
+    commandedPosition = 0;
+    commandedStepPosition = 0;
+    initialPosition = 0;
+    initialStepPosition = 0;
+    stepsPerMM = 0;
+    enabled = 0;
+
+    dirPin = _dirPin;
+    dirPinName = digitalPinToPinName(dirPin);
+    stepPin = _stepPin;
+    pulseTimerChan = _timerChannel;
+    pulseTimer = new HardwareTimer(Timer);
+    pulseTimer->attachInterrupt(pulseTimerChan, irq); // Capture/compare innterrupt
+    pinMode(dirPin, OUTPUT);
+    startTimer = new HardwareTimer(Timer2);
+    startTimer->attachInterrupt(irq2);
+}
+
+uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
+{
+    frequency = 0;
+    nSteps = 0;
+    dbg = 0;
+    if (!enabled) // Just .... don't
+        return updatePos(0);
+
+    commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
+    nSteps = commandedStepPosition - initialStepPosition;
+    if (nSteps == 0) // No movement
+    {
+        return updatePos(1);
+    }
+    lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // nLoops is there in case we missed an ethercat cycle. secs
+
+    if (abs(nSteps) < 0)                                                                    // Some small number
+    {                                                                                       //
+        frequency = (abs(nSteps) + 1) / lcncCycleTime;                                      // Distribute steps inside available time
+        Tpulses = abs(nSteps) / frequency;                                                  //
+        Tstartf = (lcncCycleTime - Tpulses) / 2.0;                                          //
+    }                                                                                       //
+    else                                                                                    // Regular step train, up or down
+    {                                                                                       //
+        float kTRAJ = (commandedPosition - initialPosition) / lcncCycleTime;                // Straight line equation.  position = kTRAJ x time + mTRAJ
+        float mTRAJ = initialPosition;                                                      // Operating on incoming positions (not steps)
+        if (kTRAJ > 0)                                                                      //
+            Tstartf = (float(initialStepPosition + 1) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing upwards
+        else                                                                                //
+            Tstartf = (float(initialStepPosition) / float(stepsPerMM) - mTRAJ) / kTRAJ;     // Crossing downwards
+        frequency = fabs(kTRAJ * stepsPerMM);                                               //
+        Tpulses = abs(nSteps) / frequency;
+    }
+    updatePos(5);
+
+    uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
+    dbg = timeSinceISR;                                                //
+    Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR;        // Have already wasted some time since the irq.
+
+    if (nSteps == 0) // Can do this much earlier, but want some calculated data for debugging
+        return updatePos(1);
+
+    timerFrequency = uint32_t(ceil(frequency));
+    startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
+    startTimer->refresh();
+    startTimer->resume();
+    return 1;
+}
+
+void StepGen2::startTimerCB()
+{
+    startTimer->pause();                                   // Once is enough.
+    digitalWriteFast(dirPinName, nSteps < 0 ? HIGH : LOW); // nSteps negative => decrease, HIGH
+                                                           // There will be a short break here for t2 usecs, in the future.
+
+    timerEndPosition += nSteps;
+    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+    pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
+    // pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
+    pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
+    pulseTimer->refresh();
+    pulseTimer->resume();
+}
+
+void StepGen2::pulseTimerCB()
+{
+    int16_t dir = digitalReadFast(dirPinName); //
+    if (dir == HIGH)                           // The step just taken
+        timerPosition--;
+    else
+        timerPosition++;
+    int32_t diffPosition = timerEndPosition - timerPosition; // Same "polarity" as nSteps
+    if (diffPosition == 0)
+        pulseTimer->pause();
+    else
+    {
+        if (diffPosition < 0 && dir == LOW)     // Change direction. Should not end up here, but alas
+            digitalWriteFast(dirPinName, HIGH); // Normal is to be HIGH when decreasing
+        if (diffPosition > 0 && dir == HIGH)    // Change direction. Should not end up here, but alas
+            digitalWriteFast(dirPinName, LOW);  // Normal is to be LOW when increasing
+                                                // Normally nothing is needed
+    }
+}
+
+uint32_t StepGen2::updatePos(uint32_t i)
+{                                                //
+    initialPosition = commandedPosition;         // Save the numeric position for next step
+    initialStepPosition = commandedStepPosition; // also the step we are at}
+    return i;
+}
+
+uint32_t StepGen2::sync0CycleTime = 0;

Firmware/src/Stm32F4_Encoder.cpp

@@ -5,45 +5,21 @@
     Created on: Nov 20, 2020
         Author: GoktugH.
 */
-
+// TIM2, TIM3, TIM4, TIM8
 Encoder::Encoder()
 {
     int unit;
 }
 
-void Encoder::eattach(int enco)
+// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
+void Encoder::SetCount(int64_t Counter)
 {
+    tim_base->CNT = Counter;
 }
-
+// uint16_t Encoder::GetCount(enum EncTimer enc)
-void Encoder::attachh(int encoNumber)
+uint16_t Encoder::GetCount()
 {
-    eattach(encoNumber);
+    return tim_base->CNT;
-}
-
-void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
-{
-
-    if (enc == Tim2)
-        TIM2->CNT = Counter;
-    else if (enc == Tim3)
-        TIM3->CNT = Counter;
-    else if (enc == Tim4)
-        TIM4->CNT = Counter;
-    else if (enc == Tim8)
-        TIM8->CNT = Counter;
-}
-uint16_t Encoder::GetCount(enum EncTimer enc)
-{
-
-    if (enc == Tim2)
-        c = (TIM2->CNT);
-    else if (enc == Tim3)
-        c = (TIM3->CNT);
-    else if (enc == Tim4)
-        c = (TIM4->CNT);
-    else if (enc == Tim8)
-        c = (TIM8->CNT);
-    return c;
 }
 
 void GpioConfigPortA(GPIO_TypeDef *GPIOx)
@@ -287,7 +263,7 @@ void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
     GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
 }
 
-void rcc_config()
+void encoder_config()
 {
     RCC->AHB1ENR |= 0x1;  // GPIOA
     RCC->AHB1ENR |= 0x4;  // GPIOC
@@ -295,27 +271,27 @@ void rcc_config()
     RCC->AHB1ENR |= 0x10; // GPIOE
 
     RCC->APB1ENR |= 0x20000000; // ENABLE DAC
-    RCC->APB2ENR |= 0x00000002; // APB2 TIM8
+                                //  RCC->APB2ENR |= 0x00000002; // APB2 TIM8
     RCC->APB1ENR |= 0x00000004; // APB1 TIM4
     RCC->APB1ENR |= 0x00000001; // APB1 TIM2
-    RCC->APB1ENR |= 0x00000002; // APB1 TIM3
+                                //   RCC->APB1ENR |= 0x00000002; // APB1 TIM3
 
     GpioConfigPortA(GPIOA);
-    GpioConfigPortC(GPIOC);
+    //   GpioConfigPortC(GPIOC);
     GpioConfigPortD(GPIOD);
-
+#if 0 // Skipping since TIM8 is step generator and TIM3, chan4 is smae as TIM8, chan4
     GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
     GPIO_PinAF(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
  
     GPIO_PinAF(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
     GPIO_PinAF(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
-
+#endif
     GPIO_PinAF(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
     GPIO_PinAF(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
 
     GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
     GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
-
+#if 0 // Skipping since I use TIM8 as stepper generator
     TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructure.TIM_Period = 65535;
     TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -323,7 +299,7 @@ void rcc_config()
     TIM_TimeBaseStructInit(&TIMER_InitStructure);
     TIM_Cmd(TIM8, ENABLE);
     TIM8->CNT = 0;
-
+#endif
     TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructureE.TIM_Period = 65535;
     TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -340,7 +316,7 @@ void rcc_config()
     TIM_Cmd(TIM2, ENABLE);
 
     TIM2->CNT = 0;
-
+#if 0
     TIM_EncoderInterConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructureEEG.TIM_Period = 65535;
     TIMER_InitStructureEEG.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -349,4 +325,67 @@ void rcc_config()
     TIM_Cmd(TIM3, ENABLE);
 
     TIM3->CNT = 0;
+#endif
+}
+
+void encoder2_config()
+{
+#if 0
+#include "mbed.h"
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal_tim_ex.h"
+
+    TIM_HandleTypeDef timer;
+    TIM_Encoder_InitTypeDef encoder;
+
+    // direction to PA_9 -- step pulse to PA_8
+
+    int main()
+    {
+
+     GPIO_InitTypeDef GPIO_InitStruct;
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    timer.Instance = TIM1;
+    timer.Init.Period = 0xffff;
+    timer.Init.Prescaler = 0;
+    timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    timer.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+    encoder.EncoderMode = TIM_ENCODERMODE_TI12; 
+    encoder.IC1Filter = 0x0f;
+    encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING; 
+    encoder.IC1Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+
+    encoder.IC2Filter = 0x0f;
+    encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;    
+    encoder.IC2Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+
+    HAL_TIM_Encoder_Init(&timer, &encoder);
+    HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);   
+
+
+    TIM1->EGR = 1;           // Generate an update event
+    TIM1->CR1 = 1;           // Enable the counter
+
+
+ while (1) {
+        int16_t count1; 
+        count1=TIM1->CNT; 
+
+        printf("%d\r\n", count1);
+        wait(1.0);
+
+ };
+}
+#endif
 }

Firmware/src/extend32to64.cpp

@@ -0,0 +1,18 @@
+#include "extend32to64.h"
+
+// Extend from 32-bit to 64-bit precision
+int64_t extend32to64::extendTime(uint32_t in)
+{
+    int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
+    int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
+
+    // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
+    int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
+    if (dif < int64_t(-HALF_PERIOD))
+        mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
+
+    int64_t unwrapped = previousTimeValue + mod_dif;
+    previousTimeValue = unwrapped; // load previous value
+
+    return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
+}

Firmware/src/main.cpp

@@ -1,102 +1,151 @@
 #include <Arduino.h>
-#include <HardwareTimer.h>
-
 #include <stdio.h>
 extern "C"
 {
 #include "ecat_slv.h"
 #include "utypes.h"
 };
-#include <CircularBuffer.h>
-#define RINGBUFFERLEN 101
-CircularBuffer<double_t, RINGBUFFERLEN> Pos;
-CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
-
-#include <Stm32F4_Encoder.h>
-int64_t PreviousEncoderCounterValue = 0;
-int64_t unwrap_encoder(uint16_t in, int64_t *prev);
-Encoder EncoderInit;
-Encoder *encP = &EncoderInit;
-
-#define INDEX_PIN PA2
-HardwareSerial Serial1(PA10, PA9);
 _Objects Obj;
 
-void indexPulse(void);
+HardwareSerial Serial1(PA10, PA9);
-double PosScaleRes = 1.0;
-uint32_t CurPosScale = 1;
-uint8_t OldLatchCEnable = 0;
-volatile uint8_t indexPulseFired = 0;
-uint32_t nFires = 0;
-volatile uint8_t pleaseZeroTheCounter = 0;
 
-#define STEPPER_DIR_PIN PA12
+volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
-#define STEPPER_STEP_PIN PA11
+HardwareTimer *baseTimer;     // The base period timer
-HardwareTimer *MyTim;
+HardwareTimer *syncTimer;     // The timer that syncs "with linuxcnc cycle"
-volatile uint32_t stepCount = 0, stepPulses = 0;
+uint16_t sync0CycleTime;      // usecs
-volatile double_t actualPosition = 0;
-volatile double_t requestedPosition, requestedVelocity;
 
-uint32_t sync0CycleTime = 0;
+#include "MyEncoder.h"
+volatile uint16_t encCnt = 0;
+void indexPulseEncoderCB1(void);
+MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
+void indexPulseEncoderCB1(void)
+{
+   encCnt++;
+   Encoder1.indexPulse();
+}
+// #include <RunningAverage.h>
+// RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second
+CircularBuffer<uint16_t, 1000> irqServeDelays;
 
-void handleStepper(void);
+#include "StepGen3.h"
-void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
+StepGen3 *Step = 0;
+
+#include "extend32to64.h"
+
+volatile uint64_t irqTime = 0, irqCnt = 0;
+extend32to64 longTime;
+
+void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
 
 void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
 {
-   if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
+   Encoder1.setLatch(Obj.IndexLatchEnable);
-   {
+   Encoder1.setScale(2000);
-      pleaseZeroTheCounter = 1;
-   }
-   OldLatchCEnable = Obj.IndexLatchEnable;
-
-   if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
-   {
-      CurPosScale = Obj.EncPosScale;
-      PosScaleRes = 1.0 / double(CurPosScale);
-   }
-   requestedPosition = Obj.StepGenIn1.CommandedPosition;
-   requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
 }
 
+volatile uint16_t basePeriodCnt;
+volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
+volatile uint16_t deltaMakePulsesCnt;
+
+volatile double pos_cmd1, pos_cmd2;
+void syncWithLCNC()
+{
+   syncTimer->pause();
+   baseTimer->pause();
+   deltaMakePulsesCnt = makePulsesCnt - prevMakePulsesCnt;
+   prevMakePulsesCnt = makePulsesCnt;
+   Step->updateStepGen(pos_cmd1, pos_cmd2);    // Update positions
+   Step->makeAllPulses();                      // Make first step right here
+   basePeriodCnt = SERVO_PERIOD / BASE_PERIOD; //
+   baseTimer->refresh();                       //
+   baseTimer->resume();                        // Make the other steps in ISR
+}
+
+void basePeriodCB(void)
+{
+   if (--basePeriodCnt > 0) // Stop
+      Step->makeAllPulses();
+   else
+      baseTimer->pause();
+}
+
+int32_t delayT;
+uint16_t thisCycleTime; // In usecs
+int16_t maxIrqServeTime = 0;
+uint64_t oldIrqTime = 0;
+uint16_t nLoops;
+
+void handleStepper(void)
+{
+   if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
+   {
+      thisCycleTime = irqTime - oldIrqTime;
+      nLoops = round(float(thisCycleTime) / float(sync0CycleTime));
+   }
+   oldIrqTime = irqTime;
+
+   uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
+   irqServeDelays.push(diffT);
+   if (irqServeDelays.isFull()) // Do max calcs, just waiting a second
+   {
+      uint16_t maxInBuffer = 0;
+      using index_t = decltype(irqServeDelays)::index_t;
+      for (index_t i = 0; i < irqServeDelays.size(); i++)
+      {
+         if (maxInBuffer < irqServeDelays[i])
+            maxInBuffer = irqServeDelays[i];
+      }
+      if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time
+         maxIrqServeTime--;
+      if (maxIrqServeTime < maxInBuffer)
+         maxIrqServeTime = maxInBuffer;
+   }
+
+   pos_cmd1 = Obj.CommandedPosition1;
+   pos_cmd2 = Obj.CommandedPosition2;
+
+   Obj.ActualPosition1 = Obj.CommandedPosition1;
+   Obj.ActualPosition2 = Obj.CommandedPosition2;
+
+   Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
+   Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
+
+   // Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
+   // Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
+
+   delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
+   if (delayT > 0 && delayT < 900)
+   {
+      syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok
+      syncTimer->refresh();
+      syncTimer->resume();
+   }
+   else
+   {
+      syncWithLCNC();
+   }
+}
+
+float_t oldCommandedPosition = 0;
 void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
 {
-   Obj.IndexStatus = 0;
+   Obj.IndexStatus = Encoder1.indexHappened();
-   if (indexPulseFired)
+   Obj.EncPos = Encoder1.currentPos();
-   {
+   Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
-      Obj.IndexStatus = 1;
+   Obj.IndexByte = Encoder1.getIndexState();
-      indexPulseFired = 0;
-      nFires++;
-      PreviousEncoderCounterValue = 0;
-   }
-   // Obj.DiffT = sync0CycleTime;
 
-   int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
+   Obj.DiffT = nLoops;
-   double CurPos = pos * PosScaleRes;
+   Obj.D1 = 1000 * Obj.CommandedPosition2;                          // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
-   Obj.EncPos = CurPos;
+   Obj.D2 = 1000 * Obj.ActualPosition2;                             // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX;                          // Step->stepgen_array[1].freq;
-
+   Obj.D3 = encCnt % 256;                                           // Step->stepgen_array[1].freq;
-   double diffT = 0;
+   Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt;            // Step->stepgen_array[1].rawcount % UINT16_MAX;
-   double diffPos = 0;
+   oldCommandedPosition = Obj.CommandedPosition2;
-   TDelta.push(ESCvar.Time); // Running average over the length of the circular buffer
-   Pos.push(CurPos);
-   if (Pos.size() >= 2)
-   {
-      diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
-      diffPos = fabs(Pos.last() - Pos.first());
-   }
-   Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
-
-   Obj.IndexByte = digitalRead(INDEX_PIN);
-   if (Obj.IndexByte)
-      Serial1.printf("IS 1\n");
-
-   Obj.StepGenOut1.ActualPosition = actualPosition;
-   Obj.DiffT = 10000 * requestedPosition; // deltaT;
 }
 
 void ESC_interrupt_enable(uint32_t mask);
 void ESC_interrupt_disable(uint32_t mask);
 uint16_t dc_checker(void);
+void sync0Handler(void);
 
 static esc_cfg_t config =
     {
@@ -106,7 +155,7 @@ static esc_cfg_t config =
         .set_defaults_hook = NULL,
         .pre_state_change_hook = NULL,
         .post_state_change_hook = NULL,
-        .application_hook = handleStepper, // StepGen,
+        .application_hook = handleStepper,
         .safeoutput_override = NULL,
         .pre_object_download_hook = NULL,
         .post_object_download_hook = NULL,
@@ -118,115 +167,72 @@ static esc_cfg_t config =
         .esc_check_dc_handler = dc_checker,
 };
 
-void TimerStep_CB(void)
+void measureCrystalFrequency(void);
-{
-   stepCount++;
-   if (stepCount == stepPulses)
-   {
-      MyTim->pause();
-   }
-}
 
-void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
+volatile byte serveIRQ = 0;
-{
-   byte sgn = pulses > 0 ? HIGH : LOW;
-   digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
-   uint32_t puls = abs(pulses);
-   MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
-   MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
-   stepCount = 0;
-   stepPulses = abs(pulses);
-   MyTim->resume();
-}
 
-void sync0Handler(void);
 void setup(void)
 {
    Serial1.begin(115200);
-   rcc_config();
+#if 0
-
+   measureCrystalFrequency(); // Calibrate crystal frequency
-   TIM_TypeDef *Instance = TIM1;
+#endif
-   MyTim = new HardwareTimer(Instance);
+   Step = new StepGen3;
-   MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
-   MyTim->attachInterrupt(TimerStep_CB);
-   pinMode(STEPPER_DIR_PIN, OUTPUT);
-
-   // Set starting count value
-   EncoderInit.SetCount(Tim2, 0);
-   attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
-   // EncoderInit.SetCount(Tim3, 0);
-   // EncoderInit.SetCount(Tim4, 0);
-   // EncoderInit.SetCount(Tim8, 0);
 
+   encoder_config(); // Needed by encoder, probably breaks some timers.
    ecat_slv_init(&config);
+
+   pinMode(PA11, OUTPUT); // Step X
+   pinMode(PA12, OUTPUT); // Dir X
+   pinMode(PC9, OUTPUT);  // Step Z
+   pinMode(PC10, OUTPUT); // Dir Z
+
+   baseTimer = new HardwareTimer(TIM11); // The base period timer
+   setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
+   // baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
+   baseTimer->attachInterrupt(basePeriodCB);
+
+   syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
+   syncTimer->attachInterrupt(syncWithLCNC);
 }
-volatile byte serveIRQ = 0;
+
 void loop(void)
 {
-   ESCvar.PrevTime = ESCvar.Time;
+   uint64_t dTime;
    if (serveIRQ)
    {
-      DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+      DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
                                   DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
       serveIRQ = 0;
-   }
+      ESCvar.PrevTime = ESCvar.Time;
       ecat_slv_poll();
    }
-
+   dTime = longTime.extendTime(micros()) - irqTime;
-#define ONE_PERIOD 65536
+   if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
-#define HALF_PERIOD 32768
+      ecat_slv_poll();
-
-int64_t unwrap_encoder(uint16_t in, int64_t *prev)
-{
-   int64_t c64 = (int32_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
-   int64_t dif = (c64 - *prev);             // core concept: prev + (current - prev) = current
-
-   // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
-   int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
-   if (dif < -HALF_PERIOD)
-      mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
-
-   int64_t unwrapped = *prev + mod_dif;
-   *prev = unwrapped; // load previous value
-
-   return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
-}
-
-void indexPulse(void)
-{
-   if (pleaseZeroTheCounter)
-   {
-      TIM2->CNT = 0;
-      indexPulseFired = 1;
-      Pos.clear();
-      TDelta.clear();
-      pleaseZeroTheCounter = 0;
-   }
 }
 
 void sync0Handler(void)
 {
+   ALEventIRQ = ESC_ALeventread();
+   // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
+   {
+      irqTime = longTime.extendTime(micros());
       serveIRQ = 1;
    }
-
+   irqCnt++; // debug output
-void handleStepper(void)
-{
-   byte forwardDirection = 0; // 1 if going forward
-   int32_t pulsesToGo = 100 * (requestedPosition - actualPosition);
-   if (pulsesToGo != 0)
-      makePulses(900, pulsesToGo); // Make the pulses using hardware timer
-
-   actualPosition = requestedPosition;
 }
+
+// Enable SM2 interrupts
 void ESC_interrupt_enable(uint32_t mask)
 {
    // Enable interrupt for SYNC0 or SM2 or SM3
-   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-                            ESCREG_ALEVENT_SM2 |
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
-                            ESCREG_ALEVENT_SM3;
    if (mask & user_int_mask)
    {
       ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
       attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
 
       // Set LAN9252 interrupt pin driver as push-pull active high
@@ -239,12 +245,12 @@ void ESC_interrupt_enable(uint32_t mask)
    }
 }
 
+// Disable SM2 interrupts
 void ESC_interrupt_disable(uint32_t mask)
 {
    // Enable interrupt for SYNC0 or SM2 or SM3
-   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-                            ESCREG_ALEVENT_SM2 |
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
-                            ESCREG_ALEVENT_SM3;
 
    if (mask & user_int_mask)
    {
@@ -258,11 +264,69 @@ void ESC_interrupt_disable(uint32_t mask)
 }
 
 extern "C" uint32_t ESC_SYNC0cycletime(void);
+
 // Setup of DC
 uint16_t dc_checker(void)
 {
    // Indicate we run DC
-   ESCvar.dcsync = 0;
+   ESCvar.dcsync = 1;
-   sync0CycleTime = ESC_SYNC0cycletime();
+   sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
    return 0;
 }
+
+//
+// Code to calibrate the crystal.
+//
+
+#include <HardwareTimer.h>
+HardwareTimer *timer;
+volatile uint32_t cnt;
+
+void CB(void)
+{
+   if (cnt-- == 0)
+   {
+      timer->pause();
+   }
+}
+
+void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs)
+{
+   const uint16_t calibrated1000 = 1042;                                               // <- This is the factor to adjust to make 1 sec = 1 sec
+   uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math
+   uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1;
+   uint32_t PeriodTicks = period_cyc / Prescalerfactor;
+   timer->setPrescaleFactor(Prescalerfactor);
+   timer->setOverflow(PeriodTicks, TICK_FORMAT);
+   // Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks);
+}
+
+void measureCrystalFrequency(void)
+{
+   timer = new HardwareTimer(TIM1);
+   Serial1.begin(115200);
+   delay(3000);
+   Serial1.printf("Clock freq = %u\n", timer->getTimerClkFreq());
+   setFrequencyAdjustedMicrosSeconds(timer, 1000);
+   timer->refresh();
+   timer->attachInterrupt(CB);
+   cnt = 10000;
+
+   Serial1.printf("\n");
+   uint32_t startT = micros();
+   timer->resume();
+
+   while (cnt != 0)
+      ;
+
+   uint32_t endT = micros();
+   uint32_t diffT = endT - startT;
+   Serial1.printf("\n");
+   Serial1.printf("diff = %u\n", diffT);
+
+   Serial1.printf("\n");
+   delay(10000);
+   Serial1.printf("\n");
+
+   exit(0);
+}

Kicad/Ax58100-stm32-ethercat/.gitignore

@@ -1,3 +1,14 @@
 AX58100-stm32-ethercat-backups
 .~lock*
 fp-info-cache
+\#auto_saved_file*
+gerbers/
+Ax58100-stm32-ethercat-backups/
+freerouting.*
+*.dsn
+*.frb
+*.rules
+*.ses
+
+Ax58100-stm32-ethercat.csv
+Ax58100-stm32-ethercat.ods

Kicad/Ax58100-stm32-ethercat/AX48100.kicad_sch

@@ -4,6 +4,10 @@
 
   (paper "A4")
 
+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
+
   (lib_symbols
     (symbol "Device:C" (pin_numbers hide) (pin_names (offset 0.254)) (in_bom yes) (on_board yes)
       (property "Reference" "C" (at 0.635 2.54 0)
@@ -883,6 +887,9 @@
   (junction (at 153.67 76.2) (diameter 0) (color 0 0 0 0)
     (uuid 1d94dd01-6dce-414e-82ad-3ac082fe20b1)
   )
+  (junction (at 37.465 106.68) (diameter 0) (color 0 0 0 0)
+    (uuid 1f401ea1-91c2-4b1c-8946-0cebb61cc079)
+  )
   (junction (at 241.3 125.73) (diameter 0) (color 0 0 0 0)
     (uuid 24742ea1-03d5-4527-95f5-a7eea04d187b)
   )
@@ -1077,10 +1084,6 @@
     (stroke (width 0) (type default))
     (uuid 329bb402-dfdb-48ca-96e4-cd8113da5fed)
   )
-  (wire (pts (xy 44.45 106.68) (xy 59.69 106.68))
-    (stroke (width 0) (type default))
-    (uuid 34f3e2b5-6955-4782-bb5a-a609e45555c8)
-  )
   (wire (pts (xy 44.45 66.04) (xy 59.69 66.04))
     (stroke (width 0) (type default))
     (uuid 3ec5c533-9953-4224-b74b-0735dd26a008)
@@ -1105,7 +1108,7 @@
     (stroke (width 0) (type default))
     (uuid 47db0b49-0009-4a05-8b96-6b8f84d107d5)
   )
-  (wire (pts (xy 44.45 101.6) (xy 59.69 101.6))
+  (wire (pts (xy 52.07 101.6) (xy 59.69 101.6))
     (stroke (width 0) (type default))
     (uuid 4d357d9e-d279-48fb-988a-f7a606aaaceb)
   )
@@ -1269,7 +1272,7 @@
     (stroke (width 0) (type default))
     (uuid 9585e42b-254e-4035-872d-73149242942a)
   )
-  (wire (pts (xy 44.45 104.14) (xy 59.69 104.14))
+  (wire (pts (xy 52.07 104.14) (xy 59.69 104.14))
     (stroke (width 0) (type default))
     (uuid 980d2c40-5368-442a-bca9-5b05633779dc)
   )
@@ -1297,6 +1300,10 @@
     (stroke (width 0) (type default))
     (uuid a8f7bd69-6ca5-40d2-94f6-95e3f5e577ec)
   )
+  (wire (pts (xy 33.02 106.68) (xy 37.465 106.68))
+    (stroke (width 0) (type default))
+    (uuid ab06e9f6-751e-4e57-8ad8-4e32f30960c6)
+  )
   (wire (pts (xy 128.27 81.28) (xy 121.92 81.28))
     (stroke (width 0) (type default))
     (uuid ac3cbfb3-166c-465f-abf3-8aa52050d758)
@@ -1329,6 +1336,10 @@
     (stroke (width 0) (type default))
     (uuid bc9e0b10-af0b-4c3d-ac1d-d925f4391c1b)
   )
+  (wire (pts (xy 37.465 106.68) (xy 59.69 106.68))
+    (stroke (width 0) (type default))
+    (uuid bcc30d1c-f679-4fb9-93ef-8f4572d2ba2f)
+  )
   (wire (pts (xy 53.34 86.36) (xy 59.69 86.36))
     (stroke (width 0) (type default))
     (uuid be5e8aa3-0c6a-4679-a6c3-2d7b538935e0)
@@ -1541,10 +1552,10 @@
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
   )
-  (global_label "SPI_MOSI" (shape input) (at 44.45 101.6 180) (fields_autoplaced)
+  (global_label "SPI_MOSI" (shape input) (at 52.07 101.6 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 5584513c-826f-4b8d-805f-97d18e92e5c9)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 32.8167 101.6 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 40.4367 101.6 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
@@ -1569,10 +1580,10 @@
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
   )
-  (global_label "SCS_FUNC" (shape input) (at 44.45 106.68 180) (fields_autoplaced)
+  (global_label "SCS_FUNC" (shape input) (at 33.02 106.68 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 7e0714f5-2bf0-4368-8a15-1f7b363302fe)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 31.7886 106.68 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 20.3586 106.68 0)
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@@ -1803,7 +1814,7 @@
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@@ -1885,7 +1896,7 @@
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@@ -1981,7 +1992,7 @@
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@@ -2015,6 +2026,38 @@
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+    (property "Value" "4k7" (at 34.925 102.87 90)
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+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric" (at 35.687 102.87 90)
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+      (effects (font (size 1.27 1.27)) hide)
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+    (pin "2" (uuid 3fb62006-6df3-4595-8d3f-4992742be454))
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+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
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+
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@@ -2349,7 +2392,7 @@
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@@ -2513,6 +2556,31 @@
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+    (uuid 5e12ee82-fcda-4974-89c8-6d39855dd9a7)
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+    (property "Value" "+3.3V" (at 37.465 92.71 90)
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+      (effects (font (size 1.27 1.27)) hide)
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+    (pin "1" (uuid fd5e815d-25e7-463e-abf0-345676136502))
+    (instances
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+
   (symbol (lib_id "power:GND") (at 80.01 168.91 0) (unit 1)
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@@ -2589,7 +2657,7 @@
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@@ -2615,7 +2683,7 @@
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Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch

@@ -4,6 +4,10 @@
 
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+  (title_block
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     (in_bom yes) (on_board yes) (dnp no)
     (uuid f76a00b9-0511-4931-90f1-d259b14389f9)
-    (property "Reference" "B3" (at 137.16 152.4 90)
+    (property "Reference" "B7" (at 137.16 152.4 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "BLM18EG221SN1D" (at 137.16 157.48 90)
@@ -4754,7 +4758,7 @@
     (instances
       (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "B3") (unit 1)
+          (reference "B7") (unit 1)
         )
       )
     )
@@ -4763,7 +4767,7 @@
   (symbol (lib_id "Device:R") (at 138.43 119.38 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f8848c60-f91f-414b-a5b0-c8e97aca000a)
-    (property "Reference" "R6" (at 138.43 119.38 90)
+    (property "Reference" "R60" (at 138.43 119.38 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 137.16 114.3 90)
@@ -4780,7 +4784,7 @@
     (instances
       (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R6") (unit 1)
+          (reference "R60") (unit 1)
         )
       )
     )

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.csv

@@ -1,40 +0,0 @@
-"Id";"Designator";"Footprint";"Quantity";"Designation";"Supplier and ref";
-1;"J8";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Stepper 2";;;
-2;"U1";"LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias";1;"AX58100";;;
-3;"B3,B7,B4,B6,B5";"C_0805_2012Metric";5;"BLM18EG221SN1D";;;
-4;"R59,R61,R51,R45,R60,R58,R50,R57,R53,R52,R56,R55,R46,R54";"R_0805_2012Metric";14;"1k";;;
-5;"U5";"LQFP-100_14x14mm_P0.5mm";1;"STM32F407VGT6";;;
-6;"U2";"SOIC-8_3.9x4.9mm_P1.27mm";1;"24LC32A";;;
-7;"R3,R49,R2,R48,R1";"R_0805_2012Metric";5;"22";;;
-8;"C23,C21,C24,C22,C19,C25,C26,C20";"C_0805_2012Metric";8;"10pF";;;
-9;"J3,J4,J5";"JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical";3;"Conn_01x06_Pin";;;
-10;"J9";"PinHeader_1x04_P2.54mm_Vertical";1;"I2C bus2";;;
-11;"C45,C36,C34,C37,C38,C9,C39,C27,C13,C12,C40,C10,C8,C6,C29,C11,C46,C28,C3,C33,C41,C5,C2,C31,C18,C43,C14,C4,C7,C1";"C_0805_2012Metric";30;"0.1uF";;;
-12;"Y2";"Crystal_HC49-U_Vertical";1;"8 MHz";;;
-13;"R11,R7,R30,R12,R5,R10,R38,R13,R40,R33,R8";"R_0805_2012Metric";11;"4.7k";;;
-14;"D1,D2";"LED_0805_2012Metric";2;"Green led";;;
-15;"R28,R39,R25,R41,R26,R44,R27";"R_0805_2012Metric";7;"510";;;
-16;"J14";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 4";;;
-17;"C35,C32,C44,C30";"C_0805_2012Metric";4;"10uF";;;
-18;"C49,C53";"C_0805_2012Metric";2;"2.2uF";;;
-19;"D4,D5";"LED_0805_2012Metric";2;"Blue led";;;
-20;"R22,R18,R19,R20,R17,R23,R21,R24";"R_0805_2012Metric";8;"49.9";;;
-21;"C17,C15";"C_0805_2012Metric";2;"18pF";;;
-22;"Y1";"Crystal_SMD_SeikoEpson_TSX3225-4Pin_3.2x2.5mm";1;"NXK25.000AE12F-KAB6-12";;;
-23;"J12";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 2";;;
-24;"J1";"JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical";1;"Conn_01x02_Pin";;;
-25;"IN1,OUT1";"PulseJack JB0011D01BNL";2;"J0011D01BNL";;;
-26;"J2";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"STLINK";;;
-27;"C52,C51";"C_0805_2012Metric";2;"22pF";;;
-28;"B2,B1";"C_0805_2012Metric";2;"BLM18EG221S";;;
-29;"J10";"JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical";1;"DAC1";;;
-30;"U4";"SOT-223-3_TabPin2";1;"AMS1117-3.3";;;
-31;"J7";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Stepper 1";;;
-32;"J6";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Serial usart1";;;
-33;"SW1";"SW_Push_1P1T_XKB_TS-1187A";1;"SW PB";;;
-34;"C16";"C_0805_2012Metric";1;"1uF";;;
-35;"D3";"LED_0805_2012Metric";1;"Red led";;;
-36;"J13";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 3";;;
-37;"J11";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 1";;;
-38;"U3";"SOT-223-3_TabPin2";1;"AMS1117-1.2";;;
-39;"R6";"R_0805_2012Metric";1;"12k 1%";;;

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_prl

@@ -1,6 +1,6 @@
 {
   "board": {
-    "active_layer": 0,
+    "active_layer": 36,
     "active_layer_preset": "",
     "auto_track_width": true,
     "hidden_netclasses": [],
@@ -14,6 +14,7 @@
       "vias": 1.0,
       "zones": 0.6
     },
+    "ratsnest_display_mode": 0,
     "selection_filter": {
       "dimensions": true,
       "footprints": true,
@@ -64,7 +65,7 @@
       39,
       40
     ],
-    "visible_layers": "7ffffff_80000001",
+    "visible_layers": "ffc0000_ffffffff",
     "zone_display_mode": 0
   },
   "meta": {

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pro

@@ -23,13 +23,13 @@
         },
         "fab_line_width": 0.09999999999999999,
         "fab_text_italic": false,
-        "fab_text_size_h": 1.0,
+        "fab_text_size_h": 0.6,
         "fab_text_size_v": 1.0,
         "fab_text_thickness": 0.15,
         "fab_text_upright": false,
         "other_line_width": 0.15,
         "other_text_italic": false,
-        "other_text_size_h": 1.0,
+        "other_text_size_h": 0.6,
         "other_text_size_v": 1.0,
         "other_text_thickness": 0.15,
         "other_text_upright": false,
@@ -40,12 +40,13 @@
         },
         "silk_line_width": 0.15,
         "silk_text_italic": false,
-        "silk_text_size_h": 1.0,
+        "silk_text_size_h": 0.6,
         "silk_text_size_v": 1.0,
         "silk_text_thickness": 0.15,
         "silk_text_upright": false,
         "zones": {
-          "min_clearance": 0.5
+          "45_degree_only": false,
+          "min_clearance": 0.0
         }
       },
       "diff_pair_dimensions": [
@@ -72,7 +73,7 @@
         "duplicate_footprints": "warning",
         "extra_footprint": "warning",
         "footprint": "error",
-        "footprint_type_mismatch": "ignore",
+        "footprint_type_mismatch": "warning",
         "hole_clearance": "error",
         "hole_near_hole": "error",
         "invalid_outline": "error",
@@ -84,12 +85,12 @@
         "lib_footprint_mismatch": "warning",
         "malformed_courtyard": "error",
         "microvia_drill_out_of_range": "error",
-        "missing_courtyard": "ignore",
+        "missing_courtyard": "error",
         "missing_footprint": "warning",
         "net_conflict": "warning",
-        "npth_inside_courtyard": "ignore",
+        "npth_inside_courtyard": "warning",
         "padstack": "warning",
-        "pth_inside_courtyard": "ignore",
+        "pth_inside_courtyard": "warning",
         "shorting_items": "error",
         "silk_edge_clearance": "warning",
         "silk_over_copper": "warning",
@@ -110,6 +111,8 @@
         "zones_intersect": "error"
       },
       "rules": {
+        "allow_blind_buried_vias": false,
+        "allow_microvias": false,
         "max_error": 0.005,
         "min_clearance": 0.0,
         "min_connection": 0.0,
@@ -120,10 +123,10 @@
         "min_microvia_drill": 0.09999999999999999,
         "min_resolved_spokes": 2,
         "min_silk_clearance": 0.0,
-        "min_text_height": 0.7999999999999999,
+        "min_text_height": 0.6,
         "min_text_thickness": 0.08,
         "min_through_hole_diameter": 0.3,
-        "min_track_width": 0.0,
+        "min_track_width": 0.19999999999999998,
         "min_via_annular_width": 0.09999999999999999,
         "min_via_diameter": 0.5,
         "solder_mask_clearance": 0.0,
@@ -180,7 +183,8 @@
           "drill": 0.0
         }
       ],
-      "zones_allow_external_fillets": false
+      "zones_allow_external_fillets": false,
+      "zones_use_no_outline": true
     },
     "layer_presets": [],
     "viewports": []
@@ -390,7 +394,7 @@
       "no_connect_dangling": "warning",
       "pin_not_connected": "error",
       "pin_not_driven": "error",
-      "pin_to_pin": "warning",
+      "pin_to_pin": "error",
       "power_pin_not_driven": "error",
       "similar_labels": "warning",
       "simulation_model_issue": "ignore",
@@ -499,7 +503,11 @@
     ],
     [
       "0a376a6c-0f15-42f8-81f6-3a55619be267",
-      "Peripherals"
+      "Input-Output"
+    ],
+    [
+      "cd91a270-7393-4003-91a3-e42304da540b",
+      "Stepper+encoder"
     ]
   ],
   "text_variables": {}

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_sch

@@ -2,25 +2,24 @@
 
   (uuid 5597aedc-b607-407f-bbfd-31b3b298ecb1)
 
-  (paper "A3")
+  (paper "A4")
+
+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
 
   (lib_symbols
   )
 
 
-  (text "Huvudsida" (at 162.56 85.09 0)
+  (sheet (at 57.15 156.21) (size 93.98 39.37) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid adf2be63-7ec7-44be-837f-901ddbc80717)
-  )
-
-  (sheet (at 144.78 224.79) (size 71.12 16.51) (fields_autoplaced)
     (stroke (width 0.1524) (type solid))
     (fill (color 0 0 0 0.0000))
     (uuid 0a376a6c-0f15-42f8-81f6-3a55619be267)
-    (property "Sheetname" "Peripherals" (at 144.78 224.0784 0)
+    (property "Sheetname" "Input-Output" (at 57.15 155.4984 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheetfile" "peripherals.kicad_sch" (at 144.78 241.8846 0)
+    (property "Sheetfile" "peripherals.kicad_sch" (at 57.15 196.1646 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances
@@ -30,14 +29,14 @@
     )
   )
 
-  (sheet (at 234.95 198.12) (size 102.87 34.29) (fields_autoplaced)
+  (sheet (at 170.18 31.75) (size 101.6 58.42) (fields_autoplaced)
     (stroke (width 0.1524) (type solid))
     (fill (color 0 0 0 0.0000))
     (uuid 5bf93325-f5d9-4344-9bf3-f5fc91bc1622)
-    (property "Sheetname" "AX58100 phys etc" (at 234.95 197.4084 0)
+    (property "Sheetname" "AX58100 phys etc" (at 170.18 31.0384 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheetfile" "AX58100_phy_etc.kicad_sch" (at 234.95 232.9946 0)
+    (property "Sheetfile" "AX58100_phy_etc.kicad_sch" (at 170.18 90.7546 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances
@@ -47,14 +46,14 @@
     )
   )
 
-  (sheet (at 233.68 123.19) (size 93.98 60.96) (fields_autoplaced)
+  (sheet (at 57.15 31.75) (size 93.98 60.96) (fields_autoplaced)
     (stroke (width 0.1524) (type solid))
     (fill (color 0 0 0 0.0000))
     (uuid 9f485422-734f-43d3-94ea-443cbc453d2e)
-    (property "Sheetname" "AX58100" (at 233.68 122.4784 0)
+    (property "Sheetname" "AX58100" (at 57.15 31.0384 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheetfile" "AX48100.kicad_sch" (at 233.68 184.7346 0)
+    (property "Sheetfile" "AX48100.kicad_sch" (at 57.15 93.2946 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances
@@ -64,14 +63,31 @@
     )
   )
 
-  (sheet (at 142.24 200.66) (size 74.93 17.78) (fields_autoplaced)
+  (sheet (at 171.45 156.21) (size 105.41 39.37) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid cd91a270-7393-4003-91a3-e42304da540b)
+    (property "Sheetname" "Stepper+encoder" (at 171.45 155.4984 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "Steppers.kicad_sch" (at 171.45 196.1646 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "6"))
+      )
+    )
+  )
+
+  (sheet (at 57.15 106.68) (size 93.98 35.56) (fields_autoplaced)
     (stroke (width 0.1524) (type solid))
     (fill (color 0 0 0 0.0000))
     (uuid d564400f-40ba-4aca-9c2a-14ec52a8353b)
-    (property "Sheetname" "STM32F4" (at 142.24 199.9484 0)
+    (property "Sheetname" "STM32F4" (at 57.15 105.9684 0)
       (effects (font (size 1.27 1.27)) (justify left bottom))
     )
-    (property "Sheetfile" "STM32F4.kicad_sch" (at 142.24 219.0246 0)
+    (property "Sheetfile" "STM32F4.kicad_sch" (at 57.15 142.8246 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances

Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl

@@ -64,7 +64,7 @@
       39,
       40
     ],
-    "visible_layers": "002202a_00000001",
+    "visible_layers": "002202b_80000005",
     "zone_display_mode": 0
   },
   "meta": {

PortStepgen/.vscode/c_cpp_properties.json

@@ -0,0 +1,124 @@
+//
+// !!! WARNING !!! AUTO-GENERATED FILE!
+// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
+// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
+//
+{
+    "configurations": [
+        {
+            "name": "PlatformIO",
+            "includePath": [
+                "Z:/src/MyOwnEtherCATDevice/PortStepgen/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/avr",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/LL",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/OpenAMP",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/hid",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/cdc",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Inc",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/STM32F4xx",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/open-amp/lib/include",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/libmetal/lib/include",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/virtual_driver",
+                "C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/Core/Include",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc",
+                "C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/Include",
+                "C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/PrivateInclude",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/variants/STM32F4xx/F407V(E-G)T_F417V(E-G)T",
+                "C:/Users/Hakan/.platformio/lib/RunningAverage",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/CMSIS_DSP/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/EEPROM/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/IWatchdog/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Keyboard/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Mouse/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/RGB_LED_TLC59731/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SPI/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Servo/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src",
+                "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Wire/src",
+                ""
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "path": [
+                    "Z:/src/MyOwnEtherCATDevice/PortStepgen/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/avr",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/LL",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/OpenAMP",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/hid",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32/usb/cdc",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Inc",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/STM32F4xx",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/open-amp/lib/include",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/libmetal/lib/include",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/virtual_driver",
+                    "C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/Core/Include",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc",
+                    "C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/Include",
+                    "C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/PrivateInclude",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/variants/STM32F4xx/F407V(E-G)T_F417V(E-G)T",
+                    "C:/Users/Hakan/.platformio/lib/RunningAverage",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/CMSIS_DSP/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/EEPROM/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/IWatchdog/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Keyboard/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Mouse/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/RGB_LED_TLC59731/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SPI/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Servo/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src",
+                    "C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Wire/src",
+                    ""
+                ]
+            },
+            "defines": [
+                "PLATFORMIO=60114",
+                "STM32F407xx",
+                "STM32F4",
+                "STM32",
+                "PIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF",
+                "STM32F4xx",
+                "ARDUINO=10808",
+                "ARDUINO_ARCH_STM32",
+                "NDEBUG",
+                "ARDUINO_GENERIC_F407VGTX",
+                "BOARD_NAME=\"GENERIC_F407VGTX\"",
+                "HAL_UART_MODULE_ENABLED",
+                "USE_FULL_LL_DRIVER",
+                "VARIANT_H=\"variant_generic.h\"",
+                "VECT_TAB_OFFSET=0x0",
+                ""
+            ],
+            "cStandard": "gnu17",
+            "cppStandard": "gnu++17",
+            "compilerPath": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc.exe",
+            "compilerArgs": [
+                "-mcpu=cortex-m4",
+                "-mthumb",
+                "-mfpu=fpv4-sp-d16",
+                "-mfloat-abi=hard",
+                ""
+            ]
+        }
+    ],
+    "version": 4
+}

PortStepgen/.vscode/launch.json

@@ -0,0 +1,95 @@
+// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
+//
+// PlatformIO Debugging Solution
+//
+// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
+// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
+
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "(gdb) Launch",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/${fileBasenameNoExtension}",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${fileDirname}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug",
+            "executable": "Z:/src/MyOwnEtherCATDevice/PortStepgen/.pio/build/genericSTM32F407VGT6/firmware.elf",
+            "projectEnvName": "genericSTM32F407VGT6",
+            "toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
+            "preLaunchTask": {
+                "type": "PlatformIO",
+                "task": "Pre-Debug"
+            }
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (skip Pre-Debug)",
+            "executable": "Z:/src/MyOwnEtherCATDevice/PortStepgen/.pio/build/genericSTM32F407VGT6/firmware.elf",
+            "projectEnvName": "genericSTM32F407VGT6",
+            "toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd"
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (without uploading)",
+            "executable": "Z:/src/MyOwnEtherCATDevice/PortStepgen/.pio/build/genericSTM32F407VGT6/firmware.elf",
+            "projectEnvName": "genericSTM32F407VGT6",
+            "toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
+            "loadMode": "manual"
+        }
+    ],
+    "tasks": [
+        {
+            "type": "shell",
+            "label": "C/C++: g++ build active file",
+            "command": "/usr/bin/g++",
+            "args": [
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "/usr/bin"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "detail": "Task generated by Debugger."
+        }
+    ]
+}

PortStepgen/platformio.ini

@@ -0,0 +1,12 @@
+[env:genericSTM32F407VGT6]
+framework = arduino
+platform = ststm32
+board = genericSTM32F407VGT6
+upload_protocol = stlink
+debug_tool = stlink
+debug_build_flags = -O0 -g -ggdb
+monitor_port = COM7
+;monitor_port = /dev/ttyUSB0
+monitor_speed = 115200
+build_flags = -Wl,--no-warn-rwx-segment -DSTM32 -DPIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF
+

README.md

@@ -6,6 +6,45 @@ that I used during the creation of my own EtherCAT device.
 This job is documented in a series of Youtube videos, from my first attempts to understand
 how EtherCAT works, to making my own pcb, program it and testing it in LinuxCNC.
 
+=======
+
+## Make my own EtherCAT device 9. About time. Step generator
+
+This was something, I almost gave up. But here it is. A working step generator.
+Actually, not one but two step generators for the EaserCAT 2000 board.
+For a step generator it is all about timing, timing and timing.
+I'll walk you through what I had to do to get it to work.
+It can give some general insight into how EtherCAT for linuxcnc works.
+
+Biggest changes this time are in the [Firmware folder](Firmware).
+The [Documentation folder](Documentation) has design details on the second step generator.
+A small but fatal indexing bug was fixed in the EEPROM_generator.
+For all details, read the git log. Too much to mention all.
+
+[![Watch the video](https://img.youtube.com/vi/lBDBcseFki8/default.jpg)](https://youtu.be/lBDBcseFki8)
+
+## Make my own EtherCAT device 8. EaserCAT 3000
+
+Introducing the new **EaserCAT 3000** board. It's an evolution of the EaserCAT 2000
+and intended to be used in my plasma cutter. It features four stepper driver outputs,
+input for a THCAD arc voltage card, an encoder, an analog output (for spindle +- 10V),
+eigth digital inputs, four digital outputs, plus some 12 I/O for any possible extension.
+
+The KiCAD files are in the [KiCAD folder](Kicad/Ax58100-stm32-ethercat)
+
+[![Watch the video](https://img.youtube.com/vi/boanv6ihYtI/default.jpg)](https://youtu.be/boanv6ihYtI)
+
+## Make my own EtherCAT device 7. Turning in the lathe
+
+I have now put things together so the EaserCAT 2000 card controls
+my small CNC lathe. Two stepper generators, one each for the X and Z axes,
+and an encoder counter for the spindle encoder are on this small card.
+
+While it works there are still issues caused by the variation in cycle time. Thankfully
+I was able to reduce the variation from 80-100 microseconds down to 2-3 microseconds,
+
+[![Watch the video](https://img.youtube.com/vi/Bqi1KXEVI1Q/default.jpg)](https://youtu.be/Bqi1KXEVI1Q)
+
 ## Make my own EtherCAT device 6. Stepper motor driver
 
 The stepper driver generator shows up and makes some stepper motor sounds. The two big things
@@ -46,8 +85,6 @@ My first tries with the LAN9252 chip. Getting accustomed to some tools.
 
 [![Watch the video](https://img.youtube.com/vi/IGmXsXSSA4s/default.jpg)](https://youtu.be/IGmXsXSSA4s)
 
-
-
 # EtherCAT PCB based on LAN9252 and STM34F407
 
 ##### The firmware is in the **Firmware** folder.

linuxcnc/Turner.2ms/#lathe_macros.ini#

@@ -0,0 +1,165 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               gmoccapy_lathe
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+EMBED_TAB_NAME = Cycles
+EMBED_TAB_LOCATION = ntb_preview
+#EMBED_TAB_LOCATION = ntb_user_tabs
+EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros:./
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+#POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+

linuxcnc/Turner.2ms/README

@@ -0,0 +1,72 @@
+This folder contains a number of simulated lathe configs.
+
+the "lathemacro" config offers a number of simple macros to perform
+the most common lathe operations.
+
+The GUI that controls the macros can be viewed by clicking the "Cycles"
+tab top left of the graphical preview window.
+
+There are two load-time options to control the tab behaviour:
+1) norun will hide the action button, use this if you want to use only
+a physical button (connected to gladevcp.cycle-start) to start the macros
+(Strongly recommended, especially with Touchy)
+2) notouch will allow keyboard editing of the spinboxes. Otherwise the
+custom numeric keyboard will be shown.
+
+An example loadrt line, as used here in the Gmoccapy demo is:
+
+[DISPLAY]
+EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
+
+The window will resize slowly if you grab the corner and move the mouse
+inside the window. It's not as bad as it was, but still needs work. 
+You may need to click the unmaximise button in the toolbar to get a
+window border to be able to use the resize handles. 
+
+Notes on the keyboard:
+As well as the obvious functions and unit conversions, it can be used to
+enter fractions. For example if you type 1.1/2 it will automatically
+update to display 1.5000 and 16.17/64 will show 16.2656.
+This can be used in a limited way to halve the onscreen value eg for
+entering radius instead of diameter.
+However it only works for whole numbers: 100/2 will become 50 but
+3.14149/2 is interpreted as 3 and 14 thousand halves so won't work.
+
+Notes on adding your own cycles:
+Create a new G-code subroutine in the same format as the existing ones.
+In Glade add a new tab to the 'tabs1' notebook and give it a name matching
+the new cycle.
+Edit the action button (inside an eventbox) to call the new G-code sub.
+Rename the action button to match the tab name and append '.action' eg
+MyCycle.action
+
+Create new artwork. I used Fusion360, the models are here:
+https://a360.co/3uFPZNv
+and the drawings are here:
+https://a360.co/3uFPZNv
+Esport the drawing page as PDF and import into the lathemacro.svg file in 
+Inkscape. You will need to resize. Add your own arrows and annotations.
+
+Save the new layer in a layer named "layerN" (lower case) where N is the
+tab number, starting at zero. You will need to invoke the XML editor for
+this (Shift-Cmd-X on Mac)
+
+The entry boxes are positioned relative to a 1500 x 1000 image; the
+original size of the SVG. So you can hover your mouse over the image in
+Inkscape to determine the coordinates. 
+In the in the case of on-drawing controls the coordinates are entered as
+an XML comment in the Tooltip for the control in x,y format (The surface speed,
+tool and coolant do not need this, they are in a fixed table)
+
+An example:
+
+<!--300,711->Peck distance
+
+Make sure the comment has "use markup" selected for the tooltip. 
+Also ensure that the control has the "show_keyb" function allocated for
+the Widget->button_press event. If you copy-paste a tab and copy-paste
+extra controls this should be automatic. 
+_All_ your new spinboxes will need their own new Adjustment, or they will
+change value when you alter the original spinbox that they are a copy of. 
+
+

linuxcnc/Turner.2ms/Turner.hal

@@ -0,0 +1,159 @@
+# Generated by PNCconf at Sat Sep 10 10:10:56 2016
+# If you make changes to this file, they will be
+# overwritten when you run PNCconf again
+
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
+
+loadusr -W lcec_conf ethercat-conf.xml
+loadrt lcec
+loadrt metalmusings_encoder
+
+addf lcec.read-all            servo-thread
+addf metalmusings-encoder.0   servo-thread
+addf motion-command-handler   servo-thread
+addf motion-controller        servo-thread
+
+#*******************
+#  AXIS X
+#*******************
+
+# --- joint signals for motion
+
+net x-pos-cmd    <= joint.0.motor-pos-cmd
+net x-vel-cmd    <= joint.0.vel-cmd
+net x-pos-fb     <= joint.0.motor-pos-fb
+net x-enable     <= joint.0.amp-enable-out
+
+# --- connect stepper driver to joint
+# 1/2 of stepper's p/rev 2000 => 1000
+setp lcec.0.0.steps-per-mm-1 200
+net x-pos-cmd    => lcec.0.0.commanded-position-1
+net x-pos-fb     => lcec.0.0.actual-position-1
+#net x-enable     => lcec.0.0.enable
+
+#*******************
+#  AXIS Z
+#*******************
+
+# --- joint signals for motion
+
+net z-pos-cmd    <= joint.1.motor-pos-cmd
+net z-vel-cmd    <= joint.1.vel-cmd
+net z-pos-fb     <= joint.1.motor-pos-fb
+net z-enable     <= joint.1.amp-enable-out
+
+# --- connect stepper driver to the joint
+
+setp lcec.0.0.steps-per-mm-2 80
+# 1/5 of drive's step/rev
+net z-pos-cmd    => lcec.0.0.commanded-position-2
+net z-pos-fb     => lcec.0.0.actual-position-2
+# net z-enable     => lcec.0.0.enable
+
+#*********************
+#   E-STOP
+#*********************
+
+setp iocontrol.0.emc-enable-in 1
+#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
+
+#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
+#setp lcec.0.0.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
+
+#net spindle-revs <= lcec.0.3.enc-pos
+net spindle-revs <= lcec.0.0.enc-position
+loadrt invert 
+loadrt mult2    names=mult2.rps,mult2.rpm
+addf   invert.0   servo-thread
+addf   mult2.rps  servo-thread
+addf   mult2.rpm  servo-thread
+
+setp invert.0.in          [SPINDLE_9]ENCODER_SCALE
+setp mult2.rpm.in0        -60.0
+setp mult2.rpm.in0        60.0
+#net  enc-invert-pos-scale mult2.rps.in0  <= invert.0.out
+#net  enc-get-freq-rps     mult2.rps.in1  <= lcec.0.3.enc-frequency
+#net  spindle-vel-fb-rps   mult2.rpm.in1  <= mult2.rps.out
+#net  spindle-vel-fb-rpm   mult2.rpm.out
+#net  spindle-index-enable lcec.0.3.enc-index-c-enable
+
+net  spindle-vel-fb-rps   mult2.rpm.in1  <= lcec.0.0.enc-frequency
+net  spindle-vel-fb-rpm   mult2.rpm.out
+
+net  to_encoder           metalmusings-encoder.0.index-latch-enable lcec.0.0.enc-index-latch-enable
+net  from_encoder         metalmusings-encoder.0.index-status       lcec.0.0.index-status
+net  spindle-index-enable metalmusings-encoder.0.index-c-enable
+
+# ---setup spindle control signals---
+
+net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
+net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
+net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
+net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
+net spindle-enable             <=  spindle.0.on
+net spindle-cw                 <=  spindle.0.forward
+net spindle-ccw                <=  spindle.0.reverse
+net spindle-brake              <=  spindle.0.brake
+net spindle-revs               =>  spindle.0.revs
+net spindle-at-speed           =>  spindle.0.at-speed
+net spindle-vel-fb-rps         =>  spindle.0.speed-in
+net spindle-index-enable      <=>  spindle.0.index-enable
+
+
+#******************************
+# connect miscellaneous signals
+#******************************
+
+#  ---HALUI signals---
+
+net joint-select-a        halui.axis.x.select
+net x-is-homed            halui.joint.0.is-homed
+net jog-x-pos             halui.axis.x.plus
+net jog-x-neg             halui.axis.x.minus
+net jog-x-analog          halui.axis.x.analog
+net joint-select-b        halui.axis.z.select
+net z-is-homed            halui.joint.1.is-homed
+net jog-z-pos             halui.axis.z.plus
+net jog-z-neg             halui.axis.z.minus
+net jog-z-analog          halui.axis.z.analog
+net jog-selected-pos      halui.axis.selected.plus
+net jog-selected-neg      halui.axis.selected.minus
+net spindle-manual-cw     halui.spindle.0.forward
+net spindle-manual-ccw    halui.spindle.0.reverse
+net spindle-manual-stop   halui.spindle.0.stop
+net machine-is-on         halui.machine.is-on
+net jog-speed             halui.axis.jog-speed 
+net MDI-mode              halui.mode.is-mdi
+
+#  ---coolant signals---
+
+net coolant-mist      <=  iocontrol.0.coolant-mist
+net coolant-flood     <=  iocontrol.0.coolant-flood
+
+#  ---probe signal---
+
+net probe-in     =>  motion.probe-input
+
+#  ---motion control signals---
+
+net in-position               <=  motion.in-position
+net machine-is-enabled        <=  motion.motion-enabled
+
+#  ---digital in / out signals---
+
+#  ---estop signals---
+
+net estop-out     <=  iocontrol.0.user-enable-out
+net estop-ext     =>  iocontrol.0.emc-enable-in
+
+#  ---manual tool change signals---
+
+loadusr -W hal_manualtoolchange
+#net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
+#net tool-change-confirmed   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
+
+addf lcec.write-all           servo-thread

linuxcnc/Turner.2ms/Turner.hal~

@@ -0,0 +1,159 @@
+# Generated by PNCconf at Sat Sep 10 10:10:56 2016
+# If you make changes to this file, they will be
+# overwritten when you run PNCconf again
+
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
+
+loadusr -W lcec_conf ethercat-conf.xml
+loadrt lcec
+loadrt metalmusings_encoder
+
+addf lcec.read-all            servo-thread
+addf metalmusings-encoder.0   servo-thread
+addf motion-command-handler   servo-thread
+addf motion-controller        servo-thread
+
+#*******************
+#  AXIS X
+#*******************
+
+# --- joint signals for motion
+
+net x-pos-cmd    <= joint.0.motor-pos-cmd
+net x-vel-cmd    <= joint.0.vel-cmd
+net x-pos-fb     <= joint.0.motor-pos-fb
+net x-enable     <= joint.0.amp-enable-out
+
+# --- connect stepper driver to joint
+# 1/2 of stepper's p/rev 2000 => 1000
+setp lcec.0.0.steps-per-mm-1 500
+net x-pos-cmd    => lcec.0.0.commanded-position-1
+net x-pos-fb     => lcec.0.0.actual-position-1
+#net x-enable     => lcec.0.0.enable
+
+#*******************
+#  AXIS Z
+#*******************
+
+# --- joint signals for motion
+
+net z-pos-cmd    <= joint.1.motor-pos-cmd
+net z-vel-cmd    <= joint.1.vel-cmd
+net z-pos-fb     <= joint.1.motor-pos-fb
+net z-enable     <= joint.1.amp-enable-out
+
+# --- connect stepper driver to the joint
+
+setp lcec.0.0.steps-per-mm-2 400
+# 1/5 of drive's step/rev
+net z-pos-cmd    => lcec.0.0.commanded-position-2
+net z-pos-fb     => lcec.0.0.actual-position-2
+# net z-enable     => lcec.0.0.enable
+
+#*********************
+#   E-STOP
+#*********************
+
+setp iocontrol.0.emc-enable-in 1
+#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
+
+#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
+setp lcec.0.0.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
+
+#net spindle-revs <= lcec.0.3.enc-pos
+net spindle-revs <= lcec.0.0.enc-position
+loadrt invert 
+loadrt mult2    names=mult2.rps,mult2.rpm
+addf   invert.0   servo-thread
+addf   mult2.rps  servo-thread
+addf   mult2.rpm  servo-thread
+
+setp invert.0.in          [SPINDLE_9]ENCODER_SCALE
+setp mult2.rpm.in0        -60.0
+setp mult2.rpm.in0        60.0
+#net  enc-invert-pos-scale mult2.rps.in0  <= invert.0.out
+#net  enc-get-freq-rps     mult2.rps.in1  <= lcec.0.3.enc-frequency
+#net  spindle-vel-fb-rps   mult2.rpm.in1  <= mult2.rps.out
+#net  spindle-vel-fb-rpm   mult2.rpm.out
+#net  spindle-index-enable lcec.0.3.enc-index-c-enable
+
+net  spindle-vel-fb-rps   mult2.rpm.in1  <= lcec.0.0.enc-frequency
+net  spindle-vel-fb-rpm   mult2.rpm.out
+
+net  to_encoder           metalmusings-encoder.0.index-latch-enable lcec.0.0.enc-index-latch-enable
+net  from_encoder         metalmusings-encoder.0.index-status       lcec.0.0.index-status
+net  spindle-index-enable metalmusings-encoder.0.index-c-enable
+
+# ---setup spindle control signals---
+
+net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
+net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
+net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
+net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
+net spindle-enable             <=  spindle.0.on
+net spindle-cw                 <=  spindle.0.forward
+net spindle-ccw                <=  spindle.0.reverse
+net spindle-brake              <=  spindle.0.brake
+net spindle-revs               =>  spindle.0.revs
+net spindle-at-speed           =>  spindle.0.at-speed
+net spindle-vel-fb-rps         =>  spindle.0.speed-in
+net spindle-index-enable      <=>  spindle.0.index-enable
+
+
+#******************************
+# connect miscellaneous signals
+#******************************
+
+#  ---HALUI signals---
+
+net joint-select-a        halui.axis.x.select
+net x-is-homed            halui.joint.0.is-homed
+net jog-x-pos             halui.axis.x.plus
+net jog-x-neg             halui.axis.x.minus
+net jog-x-analog          halui.axis.x.analog
+net joint-select-b        halui.axis.z.select
+net z-is-homed            halui.joint.1.is-homed
+net jog-z-pos             halui.axis.z.plus
+net jog-z-neg             halui.axis.z.minus
+net jog-z-analog          halui.axis.z.analog
+net jog-selected-pos      halui.axis.selected.plus
+net jog-selected-neg      halui.axis.selected.minus
+net spindle-manual-cw     halui.spindle.0.forward
+net spindle-manual-ccw    halui.spindle.0.reverse
+net spindle-manual-stop   halui.spindle.0.stop
+net machine-is-on         halui.machine.is-on
+net jog-speed             halui.axis.jog-speed 
+net MDI-mode              halui.mode.is-mdi
+
+#  ---coolant signals---
+
+net coolant-mist      <=  iocontrol.0.coolant-mist
+net coolant-flood     <=  iocontrol.0.coolant-flood
+
+#  ---probe signal---
+
+net probe-in     =>  motion.probe-input
+
+#  ---motion control signals---
+
+net in-position               <=  motion.in-position
+net machine-is-enabled        <=  motion.motion-enabled
+
+#  ---digital in / out signals---
+
+#  ---estop signals---
+
+net estop-out     <=  iocontrol.0.user-enable-out
+net estop-ext     =>  iocontrol.0.emc-enable-in
+
+#  ---manual tool change signals---
+
+loadusr -W hal_manualtoolchange
+#net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
+#net tool-change-confirmed   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
+
+addf lcec.write-all           servo-thread

linuxcnc/Turner.2ms/Turner.ini

@@ -0,0 +1,164 @@
+# This config file was created 2016-11-26 11:13:55.093594 by the update_ini script
+# The original config files may be found in the /home/debian/linuxcnc/configs/Turner/Turner.old directory
+
+# Generated by PNCconf at Fri Sep  9 22:31:33 2016
+# If you make changes to this file, they will be
+# overwritten when you run PNCconf again
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = Turner
+DEBUG = 0
+
+[DISPLAY]
+LATHE=1
+DISPLAY = gmoccapy
+BACK_TOOL_LATHE = 0
+CYCLE_TIME = 150
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.000000
+MAX_SPINDLE_OVERRIDE = 2.000000
+MIN_SPINDLE_OVERRIDE = 0.500000
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 1
+PROGRAM_PREFIX = /home/debian/linuxcnc/configs/Turner/nc_files
+INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+LATHE = 1
+POSITION_FEEDBACK = ACTUAL
+DEFAULT_LINEAR_VELOCITY = 6.000000
+MAX_LINEAR_VELOCITY = 25.000000
+MIN_LINEAR_VELOCITY = 0.500000
+DEFAULT_ANGULAR_VELOCITY = 12.000000
+MAX_ANGULAR_VELOCITY = 1800.000000
+MIN_ANGULAR_VELOCITY = 1.666667
+EDITOR = gedit
+
+#EMBED_TAB_NAME = Cycles
+#EMBED_TAB_LOCATION = ntb_preview
+#EMBED_TAB_LOCATION = ntb_user_tabs
+#EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+[RS274NGC]
+PARAMETER_FILE = linuxcnc.var
+SUBROUTINE_PATH = .:../../nc_files/subs:nc_files:../../../nc2
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G7 M9 M5 G64 P0.005
+FEATURES=12
+USER_M_PATH = nc_files:.
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT =     1.0
+COMM_WAIT    =   0.010
+BASE_PERIOD  =  100000
+SERVO_PERIOD = 2000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+TWOPASS = true
+HALUI = halui
+HALFILE = Turner.hal
+#HALFILE = custom_vfd.hal
+HALFILE = custom.hal
+#HALFILE = xhc-hb04.tcl
+#HALFILE = monitor_xhc-hb04.tcl
+POSTGUI_HALFILE = postgui_call_list.hal
+SHUTDOWN = shutdown.hal
+
+[TRAJ]
+COORDINATES = X Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+CYCLE_TIME = 0.010
+DEFAULT_LINEAR_VELOCITY = 20.0
+MAX_LINEAR_VELOCITY = 40.00
+DEFAULT_ACCELERATION = 400.0
+MAX_ACCELERATION = 400.0
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 2
+
+#********************
+# Axis X
+#********************
+
+[AXIS_X]
+MIN_LIMIT = -106
+MAX_LIMIT = 106
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_0]
+
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 1
+MAX_VELOCITY = 20.0
+MAX_ACCELERATION = 400.0
+MAX_OUTPUT = 0.0
+MIN_LIMIT = -106
+MAX_LIMIT = 106
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+
+#********************
+# Axis Z
+#********************
+[AXIS_Z]
+MIN_LIMIT = -560.0
+MAX_LIMIT = 560.0
+MAX_VELOCITY = 50.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_1]
+
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 1
+MAX_VELOCITY = 75.0
+MAX_ACCELERATION = 400.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[SPINDLE_9]
+P = 0.0
+I = 0.0
+D = 0.0
+FF0 = 1.0
+FF1 = 0.0
+FF2 = 0.0
+BIAS = 0.0
+DEADBAND = 0.0
+MAX_OUTPUT = 2400.0
+OUTPUT_SCALE =5760
+OUTPUT_MIN_LIMIT = 0
+OUTPUT_MAX_LIMIT = 2400
+#ENCODER_SCALE = -4000
+ENCODER_SCALE = 2000
+

linuxcnc/Turner.2ms/Turner.ini~

@@ -0,0 +1,164 @@
+# This config file was created 2016-11-26 11:13:55.093594 by the update_ini script
+# The original config files may be found in the /home/debian/linuxcnc/configs/Turner/Turner.old directory
+
+# Generated by PNCconf at Fri Sep  9 22:31:33 2016
+# If you make changes to this file, they will be
+# overwritten when you run PNCconf again
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = Turner
+DEBUG = 0
+
+[DISPLAY]
+LATHE=1
+DISPLAY = gmoccapy
+BACK_TOOL_LATHE = 0
+CYCLE_TIME = 150
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.000000
+MAX_SPINDLE_OVERRIDE = 2.000000
+MIN_SPINDLE_OVERRIDE = 0.500000
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 1
+PROGRAM_PREFIX = /home/debian/linuxcnc/configs/Turner/nc_files
+INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+LATHE = 1
+POSITION_FEEDBACK = ACTUAL
+DEFAULT_LINEAR_VELOCITY = 6.000000
+MAX_LINEAR_VELOCITY = 25.000000
+MIN_LINEAR_VELOCITY = 0.500000
+DEFAULT_ANGULAR_VELOCITY = 12.000000
+MAX_ANGULAR_VELOCITY = 1800.000000
+MIN_ANGULAR_VELOCITY = 1.666667
+EDITOR = gedit
+
+#EMBED_TAB_NAME = Cycles
+#EMBED_TAB_LOCATION = ntb_preview
+#EMBED_TAB_LOCATION = ntb_user_tabs
+#EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+[RS274NGC]
+PARAMETER_FILE = linuxcnc.var
+SUBROUTINE_PATH = .:../../nc_files/subs:nc_files:../../../nc2
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G7 M9 M5 G64 P0.005
+FEATURES=12
+USER_M_PATH = nc_files:.
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT =     1.0
+COMM_WAIT    =   0.010
+BASE_PERIOD  =  100000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+TWOPASS = true
+HALUI = halui
+HALFILE = Turner.hal
+#HALFILE = custom_vfd.hal
+HALFILE = custom.hal
+#HALFILE = xhc-hb04.tcl
+#HALFILE = monitor_xhc-hb04.tcl
+POSTGUI_HALFILE = postgui_call_list.hal
+SHUTDOWN = shutdown.hal
+
+[TRAJ]
+COORDINATES = X Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+CYCLE_TIME = 0.010
+DEFAULT_LINEAR_VELOCITY = 20.0
+MAX_LINEAR_VELOCITY = 40.00
+DEFAULT_ACCELERATION = 400.0
+MAX_ACCELERATION = 400.0
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 2
+
+#********************
+# Axis X
+#********************
+
+[AXIS_X]
+MIN_LIMIT = -106
+MAX_LIMIT = 106
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_0]
+
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 1
+MAX_VELOCITY = 20.0
+MAX_ACCELERATION = 400.0
+MAX_OUTPUT = 0.0
+MIN_LIMIT = -106
+MAX_LIMIT = 106
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+
+#********************
+# Axis Z
+#********************
+[AXIS_Z]
+MIN_LIMIT = -560.0
+MAX_LIMIT = 560.0
+MAX_VELOCITY = 50.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_1]
+
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 1
+MAX_VELOCITY = 75.0
+MAX_ACCELERATION = 400.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[SPINDLE_9]
+P = 0.0
+I = 0.0
+D = 0.0
+FF0 = 1.0
+FF1 = 0.0
+FF2 = 0.0
+BIAS = 0.0
+DEADBAND = 0.0
+MAX_OUTPUT = 2400.0
+OUTPUT_SCALE =5760
+OUTPUT_MIN_LIMIT = 0
+OUTPUT_MAX_LIMIT = 2400
+#ENCODER_SCALE = -4000
+ENCODER_SCALE = 2000
+

linuxcnc/Turner.2ms/Turner.pref

@@ -0,0 +1,79 @@
+[DEFAULT]
+dro_digits = 3
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+enable_dro = False
+scale_jog_vel = 24.0
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+turtle_jog_factor = 20
+hide_turtle_jog_button = False
+unlock_code = 123
+toggle_readout = True
+spindle_start_rpm = 300.0
+kbd_height = 250
+view = y
+blockheight = 0.0
+reload_tool = False
+open_file = 
+screen1 = window
+hide_titlebar = False
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+use_toolmeasurement = False
+gtk_theme = Follow System Theme
+icon_theme = classic
+audio_enabled = True
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+hide_tooltips = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/debian
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = False
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+blockdel = False
+show_offsets = False
+show_dtg = False
+view_tool_path = False
+view_dimension = True
+run_from_line = no_run
+unlock_way = no
+show_preview_on_offset = False
+use_keyboard_shortcuts = False
+offset_axis_z = 150.0
+diameter offset_axis_x = 0
+offset_axis_x = 0.0
+

linuxcnc/Turner.2ms/autosave.halscope

@@ -0,0 +1,27 @@
+THREAD servo-thread
+MAXCHAN 4
+HMULT 1
+HZOOM 1
+HPOS 4,132653e-01
+CHAN 1
+PIN lcec.0.0.D1
+VSCALE 1
+VPOS 0,781382
+VOFF 0,000000e+00
+CHAN 2
+PIN lcec.0.0.DiffT
+VSCALE 0
+VPOS 0,678420
+VOFF 0,000000e+00
+CHAN 3
+PIN lcec.0.0.D3
+VSCALE 1
+VPOS 0,743300
+VOFF 2,000000e+02
+CHAN 4
+PIN lcec.0.0.D4
+VSCALE 5
+VPOS 0,364679
+VOFF 0,000000e+00
+TMODE 1
+RMODE 2

linuxcnc/Turner.2ms/boring.ngc

@@ -0,0 +1,64 @@
+;boring
+
+O<boring> sub
+
+G8 ; Radius mode (easier maths)
+G18 ; XZ Plane
+G21 ; Metric Units
+G90 ; Absolute Distance
+G91.1 ; but not for arcs
+
+M6 T#8 G43
+
+#1 = [#1 / 2] ; because of radius mode
+
+#14 = [#<_x>] (starting X)
+#13 = #<_z> (starting Z)
+
+#20 = [#6 * SIN[#7]]
+#21 = [-#6 * COS[#7]]
+#22 = [#6 / COS[#7]]
+#23 = [#5 + #6 - #20]
+#24 = [[#23 - #13] * TAN[#7]]
+
+
+G96 D2500 S#2 ; Constant Surface Speed Mode
+m3 ;Start Spindle
+g95 F#4 ; Feed-Per-Rev Mode
+
+O90 IF [#9 GT 0.5]
+	M8
+O90 ENDIF
+
+g4p1 ; Wait to reach speed
+
+	(debug, Turning finish dia #1 start  dia #14 start length #13 finish length #5 coolant #9)
+	O100 WHILE [#14 LT [#1 - #3]]
+        g0 X #14
+	#14=[#14 + #3]
+	G1 X #14
+	G1 Z #23 X[#14 + #24]
+        O101 IF [#6 GT 0]
+                G3 Z#5 X[#14 + #24 + #21] I#21 K#20
+		G1 X[#14 + #24 + #21 - #3]
+        O101 ELSE
+	        G1 X[#14 + #24 - [#3 * 1.5]]
+        O101 ENDIF
+	G0 Z[#13]
+	O100 ENDWHILE
+
+	G0 x#1
+	G1 Z #23 X[#1 + #24]
+        O102 IF [#6 GT 0]
+                G3 Z#5 X[#1 + #24 + #21] I#21 K#20
+		G1 X[#1 + #24 + #21 - #3]
+        O102 ELSE
+	        G1 X[#1 + #24 - #3]
+        O102 ENDIF
+	G0 Z #13
+	G0 X #1 ; For touch-off
+	M5 M9
+	G7
+O<boring> endsub
+
+M2

linuxcnc/Turner.2ms/chamfer.ngc

@@ -0,0 +1,77 @@
+;chamfer
+
+O<chamfer> sub
+
+G8 ; Lathe radius Mode
+G18 ; XZ Plane
+G21 ; Metric Units
+G90 ; Absolute Distance
+
+
+M6 T#6 G43
+
+#1 = [#1 / 2] ; because of radius mode
+
+#14 = [#<_x>] (starting X)
+#13 = [#<_z>] (starting Z)
+
+G96 D1500 S#2 ; Constant Surface Speed Mode
+M3
+g95 F0.1 ; Feed-Per-Rev Mode
+
+O90 IF [#12 GT 0.5]
+	M8
+O90 ENDIF
+
+#20 = 0
+O101 if [#9 GT 0.5] ; front outside
+	o100 while [[#20 + #3] lt #8]
+	#20 = [#20 + #3]
+	g0 x[#1 - #20] z#13
+	g1 z#5
+	g1 x#1 z[#5 - #20]
+	g1 x #14
+	g0 z#13
+	o100 endwhile
+	g0 x#14 z#13
+	g0 x[#1 - #8]
+	g1 z#5
+	g1 x#1 z[#5 - #8]
+	g1 x #14
+	g0 z#13
+O101 elseif [#10 GT 0.5] ; front inside
+	o102 while [[#20 + #3] lt #8]
+	#20 = [#20 + #3]
+	g0 x[#1 + #20] z#13
+	g1 z#5
+	g1 x#1 z[#5 - #20]
+	g1 x #14
+	g0 z#13
+	o102 endwhile
+	g0 x#14 z#13
+	g0 x[#1 + #8]
+	g1 z#5
+	g1 x#1 z[#5 - #8]
+	g1 x #14
+	g0 z#13
+O101 elseif [#11 GT 0.5] ; back outside
+	o103 while [[#20 + #3] lt #8]
+	#20 = [#20 + #3]
+	g0 x[#1 - #20] z#13
+	g1 z#5
+	g1 x#1 z[#5 + #20]
+	g1 x #14
+	g0 z#13
+	o103 endwhile
+	g0 x#14 z#13
+	g0 x[#1 - #8]
+	g1 z#5
+	g1 x#1 z[#5 + #8]
+	g1 x #14
+	g0 z#13
+O101 endif
+M5 M9
+G7
+O<chamfer> endsub
+m2
+%

linuxcnc/Turner.2ms/core_sim_lathe.hal

@@ -0,0 +1,31 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
+net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
+
+# 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
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+net lube iocontrol.0.lube
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist

linuxcnc/Turner.2ms/core_sim_lathe_C.hal

@@ -0,0 +1,59 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
+net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
+
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# 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
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+net lube iocontrol.0.lube
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist

linuxcnc/Turner.2ms/core_sim_lathe_CW.hal

@@ -0,0 +1,59 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
+net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
+net Wpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# 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
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+net lube iocontrol.0.lube
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist

linuxcnc/Turner.2ms/custom.hal

@@ -0,0 +1,4 @@
+
+# Gamepad
+loadusr -W hal_input -KRAL F310
+# Resten är i custom_postgui.hal

linuxcnc/Turner.2ms/custom.hal~

@@ -0,0 +1,51 @@
+# Include your custom HAL commands here
+
+# Load the Huanyang VFD user component
+loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
+
+# motion.spindle-speed-in needs rev per second
+loadrt scale names=scale.0,scale.1,scale.2
+# scale.0  gearbox via M101-M106, M101 being lowest gear.
+# scale.1  Inverted gear ratio
+# scale.2  motion.spindle-speed.in in rev/sec
+loadrt limit2 names=spindlemax
+loadrt mult2  names=mult2.1
+addf scale.0  servo-thread
+addf scale.1  servo-thread
+addf scale.2  servo-thread
+addf mult2.1  servo-thread
+addf spindlemax servo-thread
+setp scale.0.gain 0.8846    # Start with fourth gear
+setp scale.1.gain 1.13045          
+setp scale.2.gain 0.0166666667
+setp mult2.1.in1     25.0
+unlinkp spindle.0.forward
+unlinkp spindle.0.reverse
+unlinkp spindle.0.on
+#unlinkp motion.spindle-at-speed
+net spindle-fwd          spindle.0.forward       => spindle-vfd.spindle-forward
+net spindle-reverse      spindle.0.reverse       => spindle-vfd.spindle-reverse
+net spindle-on           spindle.0.on            => spindle-vfd.spindle-on
+net spindle-at-speed     <= spindle-vfd.spindle-at-speed
+#net spindle-enable                                    => spindle-vfd.enable
+setp spindle-vfd.enable 1
+
+# Prepare max limit rpm for spindle
+net spindle-max-freq     spindle-vfd.max-freq	      => mult2.1.in0
+net spindle-max-rpm      mult2.1.out		      => spindlemax.max   # Max limit for motor rpm, like 67*25 = 1675
+
+# Give speed to vfd, limited to max possible
+unlinkp spindle.0.speed-out-abs
+net spindle-speed-scale          spindle.0.speed-out-abs => scale.1.in                 # Spindle rpm => Motor rpm
+net spindle-speed-cmd-unlimited  scale.1.out                  => spindlemax.in              # Limit spindle rpm
+net spindle-speed-cmd-limited    spindlemax.out               => spindle-vfd.speed-command  # Feed to vfd
+
+# Convert actual feed from rpm to rps, consider gear in use.
+unlinkp spindle.0.speed-in
+net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in                 # Motor rpm => Motor rps
+net spindle-speed-gears  scale.2.out                  => scale.0.in                 # Motor rps => spindle rps
+net spindle-speed-in     scale.0.out                  => spindle.0.speed-in    
+
+# Gamepad
+loadusr -W hal_input -KRAL F310
+# Resten är i custom_postgui.hal

linuxcnc/Turner.2ms/custom_postgui.hal

@@ -0,0 +1,74 @@
+# Include your custom_postgui HAL commands here
+# This file will not be overwritten when you run PNCconf again
+
+loadrt or2 count=2
+loadrt mux4 count=1
+loadrt and2 count=4
+loadrt oneshot count=1
+
+addf or2.0     servo-thread
+addf or2.1     servo-thread
+addf mux4.0    servo-thread
+addf and2.0    servo-thread
+addf and2.1    servo-thread
+addf and2.2    servo-thread
+addf and2.3    servo-thread
+addf oneshot.0 servo-thread
+
+setp mux4.0.in0 0
+setp mux4.0.in1 25
+setp mux4.0.in2 50
+setp mux4.0.in3 1000
+
+net remote-speed-slow or2.0.in0    <= input.0.btn-x
+net remote-speed-medium or2.1.in0  <= input.0.btn-a
+net remote-speed-fast or2.0.in1    <= input.0.btn-b
+net remote-speed-fast or2.1.in1    <= input.0.btn-b
+
+net joy-speed-1 mux4.0.sel0 <= or2.0.out
+net joy-speed-2 mux4.0.sel1 <= or2.1.out
+net jog-speed               <= mux4.0.out
+
+net jog-x-analog <= input.0.abs-y-position
+net jog-z-analog <= input.0.abs-x-position
+
+# Spindle start+manual and stop
+
+net manual-mode-spindle-lock and2.3.in0 halui.mode.manual <= input.0.btn-mode
+net spindle-safe-start       and2.3.in1                   <= input.0.btn-tr
+net spindle-manual-cw                                     <= and2.3.out
+net spindle-manual-stop                                   <= input.0.btn-tl
+
+#  E-stop
+
+net estop halui.estop.activate    <= input.0.btn-y
+
+# net manual-mode halui.mode.manual <= input.0.btn-mode
+
+# Start/pause/resume stop
+
+setp oneshot.0.width 0.0011
+setp oneshot.0.retriggerable 0
+setp oneshot.0.rising  1
+setp oneshot.0.falling 0
+
+net program-is-idle    halui.program.is-idle    => and2.0.in0
+net program-is-running halui.program.is-running => and2.1.in0
+net program-is-paused  halui.program.is-paused  => and2.2.in0
+net button-edge-trig   input.0.btn-start        => oneshot.0.in
+net button-start       oneshot.0.out            => and2.0.in1 and2.1.in1 and2.2.in1
+
+net program-start      and2.0.out         => halui.program.run halui.mode.auto
+net program-pause      and2.1.out         => halui.program.pause
+net program-resume     and2.2.out         => halui.program.resume
+net program-stop       input.0.btn-select => halui.program.stop
+
+net spindle-at-speed      gmoccapy.spindle_at_speed_led
+net spindle-vel-fb-rpm    => gmoccapy.spindle_feedback_bar
+
+net tool-change        gmoccapy.toolchange-change  <= iocontrol.0.tool-change
+net tool-changed       gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
+net tool-prep-number   gmoccapy.toolchange-number  <= iocontrol.0.tool-prep-number
+net tool-prep-loop     iocontrol.0.tool-prepare    <= iocontrol.0.tool-prepared
+net tooloffset-x       gmoccapy.tooloffset-x       <= motion.tooloffset.x
+net tooloffset-z       gmoccapy.tooloffset-z       <= motion.tooloffset.z

linuxcnc/Turner.2ms/custom_vfd.hal

@@ -0,0 +1,48 @@
+# Include your custom HAL commands here
+
+# Load the Huanyang VFD user component
+loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
+
+# motion.spindle-speed-in needs rev per second
+loadrt scale names=scale.0,scale.1,scale.2
+# scale.0  gearbox via M101-M106, M101 being lowest gear.
+# scale.1  Inverted gear ratio
+# scale.2  motion.spindle-speed.in in rev/sec
+loadrt limit2 names=spindlemax
+loadrt mult2  names=mult2.1
+addf scale.0  servo-thread
+addf scale.1  servo-thread
+addf scale.2  servo-thread
+addf mult2.1  servo-thread
+addf spindlemax servo-thread
+setp scale.0.gain 0.8846    # Start with fourth gear
+setp scale.1.gain 1.13045          
+setp scale.2.gain 0.0166666667
+setp mult2.1.in1     25.0
+unlinkp spindle.0.forward
+unlinkp spindle.0.reverse
+unlinkp spindle.0.on
+#unlinkp motion.spindle-at-speed
+net spindle-fwd          spindle.0.forward       => spindle-vfd.spindle-forward
+net spindle-reverse      spindle.0.reverse       => spindle-vfd.spindle-reverse
+net spindle-on           spindle.0.on            => spindle-vfd.spindle-on
+net spindle-at-speed     <= spindle-vfd.spindle-at-speed
+#net spindle-enable                                    => spindle-vfd.enable
+setp spindle-vfd.enable 1
+
+# Prepare max limit rpm for spindle
+net spindle-max-freq     spindle-vfd.max-freq	      => mult2.1.in0
+net spindle-max-rpm      mult2.1.out		      => spindlemax.max   # Max limit for motor rpm, like 67*25 = 1675
+
+# Give speed to vfd, limited to max possible
+unlinkp spindle.0.speed-out-abs
+net spindle-speed-scale          spindle.0.speed-out-abs => scale.1.in                 # Spindle rpm => Motor rpm
+net spindle-speed-cmd-unlimited  scale.1.out                  => spindlemax.in              # Limit spindle rpm
+net spindle-speed-cmd-limited    spindlemax.out               => spindle-vfd.speed-command  # Feed to vfd
+
+# Convert actual feed from rpm to rps, consider gear in use.
+unlinkp spindle.0.speed-in
+net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in                 # Motor rpm => Motor rps
+net spindle-speed-gears  scale.2.out                  => scale.0.in                 # Motor rps => spindle rps
+net spindle-speed-in     scale.0.out                  => spindle.0.speed-in    
+

linuxcnc/Turner.2ms/custom_vfd.hal~

@@ -0,0 +1,51 @@
+# Include your custom HAL commands here
+
+# Load the Huanyang VFD user component
+loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
+
+# motion.spindle-speed-in needs rev per second
+loadrt scale names=scale.0,scale.1,scale.2
+# scale.0  gearbox via M101-M106, M101 being lowest gear.
+# scale.1  Inverted gear ratio
+# scale.2  motion.spindle-speed.in in rev/sec
+loadrt limit2 names=spindlemax
+loadrt mult2  names=mult2.1
+addf scale.0  servo-thread
+addf scale.1  servo-thread
+addf scale.2  servo-thread
+addf mult2.1  servo-thread
+addf spindlemax servo-thread
+setp scale.0.gain 0.8846    # Start with fourth gear
+setp scale.1.gain 1.13045          
+setp scale.2.gain 0.0166666667
+setp mult2.1.in1     25.0
+unlinkp spindle.0.forward
+unlinkp spindle.0.reverse
+unlinkp spindle.0.on
+#unlinkp motion.spindle-at-speed
+net spindle-fwd          spindle.0.forward       => spindle-vfd.spindle-forward
+net spindle-reverse      spindle.0.reverse       => spindle-vfd.spindle-reverse
+net spindle-on           spindle.0.on            => spindle-vfd.spindle-on
+net spindle-at-speed     <= spindle-vfd.spindle-at-speed
+#net spindle-enable                                    => spindle-vfd.enable
+setp spindle-vfd.enable 1
+
+# Prepare max limit rpm for spindle
+net spindle-max-freq     spindle-vfd.max-freq	      => mult2.1.in0
+net spindle-max-rpm      mult2.1.out		      => spindlemax.max   # Max limit for motor rpm, like 67*25 = 1675
+
+# Give speed to vfd, limited to max possible
+unlinkp spindle.0.speed-out-abs
+net spindle-speed-scale          spindle.0.speed-out-abs => scale.1.in                 # Spindle rpm => Motor rpm
+net spindle-speed-cmd-unlimited  scale.1.out                  => spindlemax.in              # Limit spindle rpm
+net spindle-speed-cmd-limited    spindlemax.out               => spindle-vfd.speed-command  # Feed to vfd
+
+# Convert actual feed from rpm to rps, consider gear in use.
+unlinkp spindle.0.speed-in
+net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in                 # Motor rpm => Motor rps
+net spindle-speed-gears  scale.2.out                  => scale.0.in                 # Motor rps => spindle rps
+net spindle-speed-in     scale.0.out                  => spindle.0.speed-in    
+
+# Gamepad
+loadusr -W hal_input -KRAL F310
+# Resten är i custom_postgui.hal

linuxcnc/Turner.2ms/drilling.ngc

@@ -0,0 +1,49 @@
+;drilling
+
+; Use T = 0 for tailstock drilling, then this just sets speed
+
+O<drilling> SUB
+
+G18 ; XZ Plane
+G21 ; Metric Units
+G90 ; Absolute Distance
+G91.1 ; but not for arcs
+
+#10 = [#2 * 1000 / [ #1 * 3.141592]]
+(debug, #10)
+O90 IF [#7 GT 0.5]
+    M8
+O90 ENDIF
+
+O100 IF [#6 LT 0.5]
+    G97 M3 S#10
+    O<drilling> RETURN
+O100 ENDIF
+
+M6 T#6 G43
+G0 X0
+
+O83 IF [#5 GT 0] ; Pecking
+    G17
+    G95 F#3 ; Feed-Per-Rev Mode
+    G97 M3 S#10
+    G98
+    G83 R#<_z> Q#5 Z#4
+    M5 M9 G18
+    O<drilling> RETURN
+O83 ENDIF
+
+O82 IF [1]; not pecking
+    G17
+    G95 F#3 ; Feed-Per-Rev Mode
+    G97 M3 S#10
+    G98
+    G82 R#<_z> P0.5 Z#4
+    M5 M9 G18
+O82 ENDIF
+
+O<drilling> ENDSUB
+
+O<drilling> call [10] [100] [0.03] [0] [2] [0] [1]
+
+M2

linuxcnc/Turner.2ms/ethercat-conf.xml

@@ -0,0 +1,59 @@
+<masters>
+  <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
+    <slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/> 
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
+        </pdo>
+        <pdo idx="1601">
+          <pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="commanded-position-1" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1602">
+          <pdoEntry idx="7002" subIdx="00" bitLen="32" halPin="commanded-position-2" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1603">
+          <pdoEntry idx="7003" subIdx="00" bitLen="16" halPin="steps-per-mm-1" halType="s32"/>
+        </pdo>
+        <pdo idx="1604">
+          <pdoEntry idx="7004" subIdx="00" bitLen="16" halPin="steps-per-mm-2" halType="s32"/>
+        </pdo>
+      </syncManager>
+      <syncManager idx="3" dir="in">
+        <pdo idx="1a00">
+          <pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a01">
+          <pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a02">
+          <pdoEntry idx="6002" subIdx="00" bitLen="16" halPin="DiffT" halType="u32"/>
+        </pdo>
+        <pdo idx="1a03">
+          <pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
+        </pdo>
+        <pdo idx="1a04">
+          <pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
+        </pdo>
+        <pdo idx="1a05">
+          <pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="actual-position-1" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a06">
+          <pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="actual-position-2" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a07">
+          <pdoEntry idx="6007" subIdx="00" bitLen="16" halPin="D1" halType="s32"/>
+        </pdo>
+        <pdo idx="1a08">
+          <pdoEntry idx="6008" subIdx="00" bitLen="16" halPin="D2" halType="s32"/>
+        </pdo>
+        <pdo idx="1a09">
+          <pdoEntry idx="6009" subIdx="00" bitLen="16" halPin="D3" halType="s32"/>
+        </pdo>
+        <pdo idx="1a0a">
+          <pdoEntry idx="600a" subIdx="00" bitLen="16" halPin="D4" halType="s32"/>
+        </pdo>
+      </syncManager>
+    </slave>
+  </master>
+</masters>

linuxcnc/Turner.2ms/ethercat-conf.xml.org

@@ -0,0 +1,82 @@
+<masters>
+  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
+    <slave idx="0" type="EK1100"/>
+    <slave idx="1" type="EL1008"/>
+    <slave idx="2" type="EL2008"/>
+    <slave idx="3" type="EL5101"/>
+    <slave idx="4" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
+      <sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="b8 0b"/></sdoConfig>  <!-- Max motor current (3.0A) -->
+      <sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig>  <!-- Standby current percentage (100%) -->
+      <sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig>  <!-- Open loop -->
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
+          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
+          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
+          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
+        </pdo>
+      </syncManager>
+      <syncManager idx="3" dir="in">
+        <pdo idx="1a00">
+          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
+          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
+          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
+          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
+          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
+        </pdo>
+	</syncManager>
+    </slave>
+    <slave idx="5" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
+      <sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="68 10"/></sdoConfig>  <!-- Max motor current (4.2A) -->
+      <sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig>  <!-- Standby current percentage (100%) -->
+      <sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig>  <!-- Open loop -->
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
+          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
+          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
+          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
+        </pdo>
+      </syncManager>
+      <syncManager idx="3" dir="in">
+        <pdo idx="1a00">
+          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
+          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
+          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
+          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
+          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
+        </pdo>
+	</syncManager>
+    </slave>
+    <slave idx="6" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-pos-scale" halType="s32"/>
+        </pdo>
+        <pdo idx="1601">
+          <pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
+        </pdo>
+      </syncManager>
+      <syncManager idx="3" dir="in">
+        <pdo idx="1a00">
+          <pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a01">
+          <pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a02">
+          <pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/>
+        </pdo>
+        <pdo idx="1a03">
+          <pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
+        </pdo>
+        <pdo idx="1a04">
+          <pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
+        </pdo>
+      </syncManager>
+    </slave>
+  </master>
+</masters>

linuxcnc/Turner.2ms/ethercat-conf.xml~

@@ -0,0 +1,59 @@
+<masters>
+  <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
+    <slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/> 
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
+        </pdo>
+        <pdo idx="1601">
+          <pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="commanded-position-1" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1602">
+          <pdoEntry idx="7002" subIdx="00" bitLen="32" halPin="commanded-position-2" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1603">
+          <pdoEntry idx="7003" subIdx="00" bitLen="16" halPin="steps-per-mm-1" halType="s32"/>
+        </pdo>
+        <pdo idx="1604">
+          <pdoEntry idx="7004" subIdx="00" bitLen="16" halPin="steps-per-mm-2" halType="s32"/>
+        </pdo>
+      </syncManager>
+      <syncManager idx="3" dir="in">
+        <pdo idx="1a00">
+          <pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a01">
+          <pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a02">
+          <pdoEntry idx="6002" subIdx="00" bitLen="16" halPin="DiffT" halType="u32"/>
+        </pdo>
+        <pdo idx="1a03">
+          <pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
+        </pdo>
+        <pdo idx="1a04">
+          <pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
+        </pdo>
+        <pdo idx="1a05">
+          <pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="actual-position-1" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a06">
+          <pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="actual-position-2" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a07">
+          <pdoEntry idx="6007" subIdx="00" bitLen="16" halPin="D1" halType="s32"/>
+        </pdo>
+        <pdo idx="1a08">
+          <pdoEntry idx="6008" subIdx="00" bitLen="16" halPin="D2" halType="s32"/>
+        </pdo>
+        <pdo idx="1a09">
+          <pdoEntry idx="6009" subIdx="00" bitLen="16" halPin="D3" halType="s32"/>
+        </pdo>
+        <pdo idx="1a0a">
+          <pdoEntry idx="600a" subIdx="00" bitLen="16" halPin="D4" halType="s32"/>
+        </pdo>
+      </syncManager>
+    </slave>
+  </master>
+</masters>

linuxcnc/Turner.2ms/facing.ngc

@@ -0,0 +1,45 @@
+;Facing
+O<facing> sub
+
+G7 ; Lathe Diameter Mode
+G18 ; XZ Plane
+G21 ; Metric Units
+G90 ; Absolute Distance
+
+M6 T#7 G43
+
+O90 IF [#8 GT 0.5]
+	M8
+O90 ENDIF
+
+O10 IF [#6 NE 0]
+   (MSG, Angled facing isn't supported yet)
+O10 ENDIF
+
+#14 = [#<_x> * 2] (starting X)
+#13 = #<_z> (starting Z)
+
+G96 D2500 S#2 ; Constant Surface Speed Mode
+M3
+g95 F#4 ; Feed-Per-Rev Mode
+
+g4p1 ; Wait to reach speed
+
+	O200 WHILE [#13 GT #5 + #3]
+	
+	#13=[#13-#3]
+	G1 Z#13
+	G1 X#1
+	G0 Z[#13+#3]
+	G0 X#14
+	G0 Z#13
+	O200 ENDWHILE
+	
+	G1 Z#5
+	G1 X#1
+	G0 Z[#13+#3]
+	G0 X[#14+#3]
+	G0 Z#5 ; For touch-off
+    M5 M9
+O<facing> endsub
+M2

linuxcnc/Turner.2ms/gmoccapy_lathe.pref

@@ -0,0 +1,83 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+view = y
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 140.4
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/emcmesa
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = False
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+reload_tool = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+run_from_line = no_run
+unlock_way = no
+show_preview_on_offset = False
+use_keyboard_shortcuts = True
+dro_digits = 3
+toggle_readout = True
+tool_in_spindle = 3
+diameter offset_axis_x = 0
+offset_axis_x = 0.0
+offset_axis_z = 0.0
+offset_axis_r = 50.0
+radius offset_axis_x = 0
+use_toolmeasurement = False
+kbd_height = 250
+icon_theme = None
+hide_tooltips = False
+hide_titlebar = False
+audio_enabled = True
+

linuxcnc/Turner.2ms/gmoccapy_lathe_c.pref

@@ -0,0 +1,72 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+view = y
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 140.4
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/emcmesa
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = True
+show_keyboard_on_mdi = True
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+reload_tool = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+run_from_line = no_run
+unlock_way = use
+show_preview_on_offset = False
+use_keyboard_shortcuts = False
+dro_digits = 3
+toggle_readout = True
+tool_in_spindle = 0
+

linuxcnc/Turner.2ms/gmoccapy_postgui.hal

@@ -0,0 +1,23 @@
+###################################################################
+#        moccapy_postgui.hal file from Norbert Schechner          #
+###################################################################
+
+loadrt abs names=abs_spindle_feedback
+addf abs_spindle_feedback servo-thread
+
+net spindle-speed-limited  =>  abs_spindle_feedback.in
+net spindle-abs  abs_spindle_feedback.out  =>  gmoccapy.spindle_feedback_bar
+net spindle-at-speed      gmoccapy.spindle_at_speed_led
+
+# the unlink pin commands are only used, because they are connected 
+# in core_sim.hal and we use this file to simulate
+unlinkp iocontrol.0.tool-change
+unlinkp iocontrol.0.tool-changed
+unlinkp iocontrol.0.tool-prep-number
+
+net tool-change      gmoccapy.toolchange-change   <=  iocontrol.0.tool-change 
+net tool-changed     gmoccapy.toolchange-changed  <=  iocontrol.0.tool-changed
+net tool-prep-number gmoccapy.toolchange-number   <=  iocontrol.0.tool-prep-number
+
+net tooloffset-x  gmoccapy.tooloffset-x  <=  motion.tooloffset.x
+net tooloffset-z  gmoccapy.tooloffset-z  <=  motion.tooloffset.z

linuxcnc/Turner.2ms/grooving.ngc

@@ -0,0 +1,32 @@
+;grooving
+
+O<grooving> sub
+
+G8 ; Radius mode (easier maths)
+G18 ; XZ Plane
+G21 ; Metric Units
+G90 ; Absolute Distance
+G91.1 ; but not for arcs
+
+M6 T#4 G43
+
+#1 = [#1 / 2] ; because of radius mode
+
+#14 = [#<_x>] (starting X)
+
+G96 D1500 S#2 ; Constant Surface Speed Mode
+m3 ;Start Spindle
+g95 F#3 ; Feed-Per-Rev Mode
+
+O90 IF [#5 GT 0.5]
+    M8
+O90 ENDIF
+
+g4p1 ; Wait to reach speed
+G1 F#3 X#1
+G0 X#14
+M5 M9
+G7
+O<grooving> endsub
+
+M2

linuxcnc/Turner.2ms/halshow.preferences

@@ -0,0 +1,22 @@
+# Halshow settings
+# This file is generated automatically.
+wm geometry . 700x475+1121+46
+placeFrames 0.3
+set ::ratio 0.3
+set ::old_w_leftf 160
+set ::watchlist {
+    pin+lcec.0.0.DiffT
+    pin+lcec.0.0.D1
+    pin+lcec.0.0.D2
+    pin+lcec.0.0.D3
+    pin+lcec.0.0.D4
+    pin+lcec.0.0.commanded-position-2
+    pin+lcec.0.0.actual-position-2
+}
+set ::workmode watchhal
+set ::watchInterval 100
+set ::col1_width 100
+set ::ffmts 
+set ::ifmts 
+set ::alwaysOnTop 0
+set ::autoSaveWatchlist 1

linuxcnc/Turner.2ms/lathe.ini

@@ -0,0 +1,159 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               gmoccapy_lathe
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           100
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           250
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+

linuxcnc/Turner.2ms/lathe.pref

@@ -0,0 +1,74 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+gremlin_view = rbt_view_y2
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 140.4
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+use_screen2 = False
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+view = p
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/emcmesa
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = True
+show_keyboard_on_mdi = True
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+reload_tool = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+run_from_line = no_run
+unlock_way = use
+show_preview_on_offset = False
+use_keyboard_shortcuts = False
+dro_digits = 3
+toggle_readout = True
+tool_in_spindle = 0
+

linuxcnc/Turner.2ms/lathe.tbl

@@ -0,0 +1,5 @@
+T1 P1 X-12.0 Y0.0 Z-25.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I26.0 J86.0 Q2.0 ;60 Grad vorn 
+T2 P2 X-10.356 Y0.0 Z12.123 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I50.0 J85.0 Q2.0 ;35 Grad vorn 
+T3 P3 X1.123 Y0.0 Z25.456 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I-80.0 J-25.0 Q3.0 ;55 Grad vorn 
+T4 P4 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I94.0 J154.0 Q1.0 ;60 Grad Rück 
+T5 P5 X5.737 Y0.0 Z12.2399 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q6.0 ;Einstichstahl 

linuxcnc/Turner.2ms/lathe_C.ini

@@ -0,0 +1,182 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =              lathe_c
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe_C.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z C
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZC
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+
+[AXIS_C]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[JOINT_2]
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+BACKLASH = 0.000
+INPUT_SCALE =                   40
+OUTPUT_SCALE = 1.000
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+

linuxcnc/Turner.2ms/lathe_CW.ini

@@ -0,0 +1,210 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               lathe_cw
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe_CW.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z C W
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZCW
+JOINTS = 4
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+
+[AXIS_C]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[JOINT_2]
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+BACKLASH = 0.000
+INPUT_SCALE =                   40
+OUTPUT_SCALE = 1.000
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+
+[AXIS_W]
+MIN_LIMIT = -200.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 66
+MAX_ACCELERATION = 150.0
+
+[JOINT_3]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  66
+MAX_ACCELERATION =              150.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -200.0
+MAX_LIMIT =                     0.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+

linuxcnc/Turner.2ms/lathe_backtool.ini

@@ -0,0 +1,160 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               gmoccapy_lathe
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 1
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+

linuxcnc/Turner.2ms/lathe_c.pref

@@ -0,0 +1,73 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+reload_tool = True
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+mouse_btn_mode = 4
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = True
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rotation of Z
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+unlock_way = no
+grid_size = 1.0
+view = y2
+gremlin_view = rbt_view_y
+tool_in_spindle = 0
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 140.4
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+hide_cursor = False
+jump_to_dir = /home/emcmesa
+blockdel = False
+opstop = False
+run_from_line = run
+show_preview_on_offset = True
+use_keyboard_shortcuts = True
+dro_digits = 3
+toggle_readout = True
+

linuxcnc/Turner.2ms/lathe_cw.pref

@@ -0,0 +1,72 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+view = y2
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 140.4
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/emcmesa
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = False
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+reload_tool = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+run_from_line = no_run
+unlock_way = no
+show_preview_on_offset = False
+use_keyboard_shortcuts = True
+dro_digits = 3
+toggle_readout = True
+tool_in_spindle = 2
+

linuxcnc/Turner.2ms/lathe_imperial.ini

@@ -0,0 +1,160 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =              lathe_imperial
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 0.4 inch, 0.04 inch , 0.004 inch, 0.0004 inch
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G20 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.001
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z
+LINEAR_UNITS =     inch
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 1.6
+MAX_LINEAR_VELOCITY = 10
+POSITION_FILE =    position.txt
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 6.5
+MAX_ACCELERATION = 59.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  6.5
+MAX_ACCELERATION =              59.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           4
+HOME_SEARCH_VEL =                40.0
+HOME_LATCH_VEL =                 2.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 400.0
+MAX_VELOCITY = 6.5
+MAX_ACCELERATION = 59.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  6.5
+MAX_ACCELERATION =              59.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -3.0
+MAX_LIMIT =                     400.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -4
+HOME_SEARCH_VEL =                40.0
+HOME_LATCH_VEL =                 2.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+# Sections for display options ------------------------------------------------

linuxcnc/Turner.2ms/lathe_imperial.pref

@@ -0,0 +1,71 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 6.0
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/emcmesa
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = True
+show_keyboard_on_mdi = True
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+reload_tool = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+run_from_line = no_run
+unlock_way = use
+show_preview_on_offset = False
+use_keyboard_shortcuts = False
+dro_digits = 4
+toggle_readout = True
+view = y
+

linuxcnc/Turner.2ms/lathe_macros.ini

@@ -0,0 +1,165 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               gmoccapy_lathe
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+EMBED_TAB_NAME = Cycles
+EMBED_TAB_LOCATION = ntb_preview
+#EMBED_TAB_LOCATION = ntb_user_tabs
+EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros:./
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+#POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+

linuxcnc/Turner.2ms/lathehandler.py

@@ -0,0 +1,217 @@
+#!/usr/bin/env python3
+# vim: sts=4 sw=4 et
+#    This is a component of EMC
+#    savestate.py copyright 2013 Andy Pugh
+#    based on code from 
+#    probe.py Copyright 2010 Michael Haberler
+#
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License
+#    along with this program; if not, write to the Free Software
+#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA''''''
+
+import os,sys
+from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
+import hal
+import hal_glib
+import glib
+import linuxcnc
+import cairo
+import signal
+import re
+import gi
+gi.require_version('Rsvg', '2.0')
+gi.require_version('Gtk', '3.0')
+from gi.repository import Gtk
+from gi.repository import Gdk
+from gi.repository import GObject
+from gi.repository import Pango
+from gi.repository import Rsvg
+from gi.repository import GdkPixbuf
+debug = 0
+notouch = 0
+norun = 0
+
+class HandlerClass:
+    active = False
+    tab_num = 0
+
+    def on_expose(self,nb,data=None):
+        tab_num = nb.get_current_page()
+        tab = nb.get_nth_page(tab_num)
+        alloc = tab.get_allocation()
+        x, y, w, h = (alloc.x, alloc.y, alloc.width, alloc.height)
+        pixbuf = self.svg.get_pixbuf_sub(f'#layer{tab_num}').scale_simple(w-10, h-10, GdkPixbuf.InterpType.BILINEAR)
+        im = self.builder.get_object(f'Image{tab_num}')
+        im.set_from_pixbuf(pixbuf)
+        for c in im.get_parent().get_children():
+            if c.get_has_tooltip():
+                m = re.findall(r'<!--(\d+),(\d+)-->', c.get_tooltip_markup())
+                if len(m) > 0:
+                    x1 = int(m[0][0]); y1 = int(m[0][1])
+                    c.set_margin_left(max(0, w * x1/1500))
+                    c.set_margin_top(max(0, h * y1/1000))
+                
+
+    # decide if our window is active to mask the cycle-start hardware button
+    # FIXME: This is probably not as reliable as one might wish. 
+    def event(self,w,event):
+        if w.is_active():
+            if w.has_toplevel_focus() :
+                self.active = True
+            else:
+                self.active = False
+
+    # Capture notify events
+    def on_map_event(self, widget, data=None):
+        top = widget.get_toplevel()
+        top.connect('notify', self.event)
+
+    def on_destroy(self,obj,data=None):
+        self.ini.save_state(self)
+
+    def on_restore_defaults(self,button,data=None):
+        '''
+        example callback for 'Reset to defaults' button
+        currently unused
+        '''
+        self.ini.create_default_ini()
+        self.ini.restore_state(self)
+
+    def __init__(self, halcomp,builder,useropts):
+        self.halcomp = halcomp
+        self.builder = builder
+        self.ini_filename = 'savestate.sav'
+        self.defaults = {  IniFile.vars: dict(),
+                           IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(),
+                           hal_only=False,output_only = True))
+                        }
+        self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
+        self.ini.restore_state(self)
+
+        # A pin to use a physical switch to start the cycle
+        self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN))
+        self.cycle_start.connect('value-changed', self.cycle_pin)
+
+        # This catches the signal from Touchy to say that the tab is exposed 
+        t = self.builder.get_object('macrobox')
+        t.connect('map-event',self.on_map_event)
+        t.add_events(Gdk.EventMask.STRUCTURE_MASK)
+        
+        self.cmd = linuxcnc.command()
+
+        # This connects the expose event to re-draw and scale the SVG frames
+        t = self.builder.get_object('tabs1')
+        t.connect_after("draw", self.on_expose)
+        t.connect("destroy", Gtk.main_quit)
+        t.add_events(Gdk.EventMask.STRUCTURE_MASK)
+        self.svg = Rsvg.Handle().new_from_file('LatheMacro.svg')
+        self.active = True
+        
+        # handle Useropts
+        if norun:
+            for c in range(0,6):
+                print(c)
+                print( f'tab{c}.action')
+                self.builder.get_object(f'tab{c}.action').set_visible(False)
+
+    def show_keyb(self, obj, data=None):
+        if notouch: return False
+        self.active_ctrl = obj
+        self.keyb = self.builder.get_object('keyboard')
+        self.entry = self.builder.get_object('entry1')
+        self.entry.modify_font(Pango.FontDescription("courier 42"))
+        self.entry.set_text("")
+        resp = self.keyb.run()
+        return True
+
+    def keyb_prev_click(self, obj, data=None):
+        self.entry.set_text(self.active_ctrl.get_text())
+
+    def keyb_number_click(self, obj, data=None):
+        data = self.entry.get_text()
+        data = data + obj.get_label()
+        if any( x in data for x in [ '/2', '/4', '/8', '/16', '/32', '/64', '/128']):
+            v = [0] + [float(x) for x in data.replace('/','.').split('.')]
+            data = f'{v[-3] + v[-2]/v[-1]:6.7}'
+        self.entry.set_text(data)
+
+    def keyb_pm_click(self, obj, data=None):
+        data = self.entry.get_text()
+        if data[0] == '-':
+            data = data[1:]
+        else:
+            data = '-' + data
+        self.entry.set_text(data) 
+
+    def keyb_convert_click(self, obj, data=None):
+        v = float(self.entry.get_text())
+        op = obj.get_label()
+        if op == 'in->mm':
+            self.entry.set_text(f'{v * 25.4:6.4}')
+        elif op == 'mm->in':
+            self.entry.set_text(f'{v / 25.4:6.4}')
+        elif op == 'tpi->pitch':
+            self.entry.set_text(f'{25.4 / v:6.4}')
+        elif op == 'pitch->tpi':
+            self.entry.set_text(f'{25.4 / v:6.4}')
+
+    def keyb_del_click(self, obj, data=None):
+        data = self.entry.get_text()
+        data = data[:-1]
+        self.entry.set_text(data)
+
+    def keyb_clear_click(self, obj, data=None):
+        self.entry.set_text('')
+
+    def keyb_cancel_click(self, obj, data=None):
+        self.keyb.hide()
+
+    def keyb_ok_click(self, obj, data=None):
+        if self.entry.get_text() != '':
+            self.active_ctrl.set_value(float(self.entry.get_text()))
+        self.keyb.hide()
+
+    def set_alpha(self, obj, data = None):
+        cr = obj.get_property('window').cairo_create()
+        cr.set_source_rgba(1.0, 1.0, 1.0, 0.0)
+
+    def cycle_pin(self, pin, data = None):
+        if pin.get() == 0:
+            return
+        if self.active:
+            nb = self.builder.get_object('tabs1')
+            print('current tab', nb.get_current_page())
+            c = self.builder.get_object(f"tab{nb.get_current_page()}.action")
+            if c is not None:
+                self.cmd.abort()
+                self.cmd.mode(linuxcnc.MODE_MDI)
+                self.cmd.wait_complete()
+                c.emit('clicked')
+                print(c.get_name(), "clicked")
+
+    def testing(self, obj, data = None):
+        print('event', data)
+
+def get_handlers(halcomp,builder,useropts):
+
+    global debug
+    for cmd in useropts:
+        print(cmd)
+        exec(cmd, globals())
+
+    set_debug(debug)
+    return [HandlerClass(halcomp,builder,useropts)]
+
+
+

linuxcnc/Turner.2ms/linuxcnc.var

@@ -0,0 +1,119 @@
+5161	0.000000
+5162	0.000000
+5163	0.000000
+5164	0.000000
+5165	0.000000
+5166	0.000000
+5167	0.000000
+5168	0.000000
+5169	0.000000
+5181	0.000000
+5182	0.000000
+5183	0.000000
+5184	0.000000
+5185	0.000000
+5186	0.000000
+5187	0.000000
+5188	0.000000
+5189	0.000000
+5210	0.000000
+5211	0.000000
+5212	0.000000
+5213	0.000000
+5214	0.000000
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linuxcnc/Turner.2ms/linuxcnc.var.bak

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linuxcnc/Turner.2ms/metalmusings_encoder.comp

@@ -0,0 +1,14 @@
+component metalmusings_encoder;
+pin io bit index-c-enable;
+pin in u32 index-status;
+pin out u32 index-latch-enable;
+
+function _;
+license "GPL";
+;;
+
+//main function
+FUNCTION(_) {
+    index_latch_enable = index_c_enable;
+    index_c_enable = index_status;
+}

linuxcnc/Turner.2ms/nc_files/M101

@@ -0,0 +1,6 @@
+#!/bin/bash
+R=0.1923
+MAXRPM=380
+halcmd setp scale.0.gain $R
+halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
+exit 0

linuxcnc/Turner.2ms/nc_files/M102

@@ -0,0 +1,6 @@
+#!/bin/bash
+R=0.3189
+MAXRPM=630
+halcmd setp scale.0.gain $R
+halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
+exit 0

linuxcnc/Turner.2ms/nc_files/M103

@@ -0,0 +1,6 @@
+#!/bin/bash
+R=0.4638
+MAXRPM=920
+halcmd setp scale.0.gain $R
+halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
+exit 0