# core HAL config file for steppers

# first load the core 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
# stepper module, three step generators, all three using step/dir
loadrt stepgen step_type=0,0,0

# hook functions to base thread (high speed thread for step generation)
addf stepgen.make-pulses base-thread

# hook functions to servo thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

# connect position commands from motion module to step generator
net Xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net Ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net Zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd

# connect position feedback from step generators
# to motion module
net Xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net Ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net Zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb

# connect enable signals for step generators
net Xen joint.0.amp-enable-out => stepgen.0.enable
net Yen joint.1.amp-enable-out => stepgen.1.enable
net Zen joint.2.amp-enable-out => stepgen.2.enable

# connect signals to step pulse generator outputs
net Xstep <= stepgen.0.step
net Xdir  <= stepgen.0.dir
net Ystep <= stepgen.1.step
net Ydir  <= stepgen.1.dir
net Zstep <= stepgen.2.step
net Zdir  <= stepgen.2.dir

# set stepgen module scaling - get values from INI file
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.2.position-scale [JOINT_2]SCALE

# set stepgen module accel limits - get values from INI file
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL