# loads all HAL modules for Universal PWM controller with threading
# Modified and intended for use only with Kirk Wallace's HNC lathe - KW 20070823
# 20070831 KW - Added turret.comp
# 20091213 KW - Removed s32equal.comp, no longer needed

# kinematics
loadrt trivkins
# 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 traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY

# next load the PID module, for four PID loops
loadrt pid num_chan=4

# install Universal PWM Controller driver
loadrt hal_ppmc extradac=0x00

# load realtime portion of scope, just to have it handy
loadrt scope_rt

# make some signals for the scope for tuning.
loadrt ddt count=4
loadrt and2 count=1

# two nots for spindle high/low clutch plus one for tuning(?)
loadrt not count=3
# one or2 for the spindle DAC enable
loadrt or2 count=1

loadrt estop_latch count=1

loadrt hal_parport cfg="0xECF8"

# decoder for turret tool position encoder
loadrt weighted_sum wsum_sizes=4

# Turret position change handler
loadrt turret

# set up the realtime thread
# read inputs first
addf ppmc.0.read             servo-thread
addf parport.0.read          servo-thread
addf process_wsums           servo-thread
addf turret.0                servo-thread

# then run the motion controller
addf motion-command-handler  servo-thread
addf and2.0                  servo-thread
addf estop-latch.0           servo-thread
addf motion-controller       servo-thread
addf or2.0                   servo-thread
addf not.0                   servo-thread
addf not.1                   servo-thread
addf not.2                   servo-thread

# then the PID loops
addf pid.0.do-pid-calcs      servo-thread
addf pid.1.do-pid-calcs      servo-thread
addf pid.2.do-pid-calcs      servo-thread
addf pid.3.do-pid-calcs      servo-thread

# write outputs last
addf ppmc.0.write            servo-thread
addf parport.0.write         servo-thread