# HAL config file for Pico Systems UPC board with threading
# Modified and intended for use only with Kirk Wallace's HNC lathe - KW 20070823
# 20070831 KW - Added turret.comp
# 20070927 KW - Added "linksp EstopOkOut parport.0.pin-05-out"
#
# Connect motion controller I/Os
#

# connect limit/home switch outputs to motion controller
newsig Xhome bit
newsig Xminlim bit
newsig Xmaxlim  bit
linksp Xhome ppmc.0.din.00.in
linksp Xhome axis.0.home-sw-in
linksp Xminlim ppmc.0.din.01.in
linksp Xminlim axis.0.neg-lim-sw-in
linksp Xmaxlim ppmc.0.din.02.in
linksp Xmaxlim axis.0.pos-lim-sw-in

newsig Zminlim bit
newsig Zmaxlim  bit
newsig Zhome bit
linksp Zhome ppmc.0.din.03.in
linksp Zhome axis.2.home-sw-in
linksp Zminlim ppmc.0.din.04.in
linksp Zminlim axis.2.neg-lim-sw-in
linksp Zmaxlim ppmc.0.din.05.in
linksp Zmaxlim axis.2.pos-lim-sw-in

newsig Yhome bit
newsig Yminlim bit
newsig Ymaxlim bit
linksp Yhome axis.1.home-sw-in
linksp Yminlim axis.1.neg-lim-sw-in
linksp Ymaxlim axis.1.pos-lim-sw-in

newsig Ahome bit
newsig Aminlim bit
newsig Amaxlim  bit
linksp Ahome axis.3.home-sw-in
linksp Aminlim axis.3.neg-lim-sw-in
linksp Amaxlim axis.3.pos-lim-sw-in


# connect index pulses to motion controller
# do these when index pulsing is figured out
newsig Xindex bit
newsig Yindex  bit
newsig Zindex bit
linksp Xindex ppmc.0.encoder.00.index-enable
linksp Xindex axis.0.index-enable
linksp Yindex ppmc.0.encoder.01.index-enable
linksp Yindex axis.1.index-enable
linksp Zindex ppmc.0.encoder.02.index-enable
linksp Zindex axis.2.index-enable
newsig spindle-index-enable bit
linksp spindle-index-enable <= ppmc.0.encoder.03.index-enable
linksp spindle-index-enable => motion.spindle-index-enable

#
# Connect I/O controller I/Os
#

# connect e-stop write/sense to I/O controller
# and univpwm's fault with estop's output, so  estop FF is reset, but
#      prevent continued estop signal from univpwm from holding FF cleared
newsig ppmcEstop bit
linksp ppmcEstop ppmc.0.din.15.in-not
linksp ppmcEstop and2.0.in0
newsig EstopOkIn bit
linksp EstopOkIn estop-latch.0.fault-in
linksp EstopOkIn and2.0.out
newsig EstopOkOut bit
linksp EstopOkOut ppmc.0.dout.07.out
linksp EstopOkOut parport.0.pin-05-out
linksp EstopOkOut iocontrol.0.emc-enable-in
linksp EstopOkOut estop-latch.0.ok-out
linksp EstopOkOut and2.0.in1
newsig emc-estop-out bit
linksp emc-estop-out iocontrol.0.user-enable-out
linksp emc-estop-out estop-latch.0.ok-in
newsig emc-estop-reset bit
linksp emc-estop-reset iocontrol.0.user-request-enable
linksp emc-estop-reset estop-latch.0.reset

### TURRET ###
# create signals for tool loading loopback
linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
linkpp iocontrol.0.tool-change turret.0.position-change
linkpp turret.0.position-changed iocontrol.0.tool-changed

# decode turret encoder inputs
newsig ones bit
newsig twos bit
newsig fours bit
newsig eights bit

linksp ones ppmc.0.din.06.in
linksp ones wsum.0.bit.0.in
linksp twos ppmc.0.din.07.in
linksp twos wsum.0.bit.1.in
linksp fours ppmc.0.din.08.in
linksp fours wsum.0.bit.2.in
linksp eights ppmc.0.din.09.in
linksp eights wsum.0.bit.3.in
# wsum.N.hold bit in

newsig TurretCurrentPosition s32
linksp TurretCurrentPosition wsum.0.sum
linksp TurretCurrentPosition turret.0.position-current

newsig TurretRequestedPosition s32
linksp TurretRequestedPosition iocontrol.0.tool-prep-number
linksp TurretRequestedPosition turret.0.position-requested

setp turret.0.settle-stop [TURRET]STOP_SETTLE
setp turret.0.settle-park [TURRET]PARK_SETTLE

# connect turret to parallel port 
newsig TurretSeek bit
linksp TurretSeek turret.0.seek
linksp TurretSeek ppmc.0.dout.00.out

newsig TurretStop bit
linksp TurretStop turret.0.stop
linksp TurretStop ppmc.0.dout.01.out

### SPINDLE ###
# connect spindle fwd/rev to I/O controller
newsig SpindleFwd bit
newsig SpindleRev bit
newsig SpindleDACen bit

linksp SpindleFwd motion.spindle-forward
linksp SpindleFwd parport.0.pin-01-out
linksp SpindleFwd or2.0.in0

linksp SpindleRev motion.spindle-reverse
linksp SpindleRev parport.0.pin-02-out
linksp SpindleRev or2.0.in1

linksp SpindleDACen or2.0.out
linksp SpindleDACen parport.0.pin-17-out

# connect spindle High/Low clutches
newsig SpindleLow bit
newsig SpindleHigh bit
linksp SpindleHigh motion.digital-out-00
linksp SpindleHigh parport.0.pin-09-out
linksp SpindleHigh not.0.in
linksp SpindleLow not.0.out
linksp SpindleLow parport.0.pin-16-out

# connect spindle DAC, set scale value to match spindle
# RPM at +10 V on VFD (ex. 3000 rpm = 10 V * 300 rpm/V)
setp ppmc.0.DAC8.00.scale [SPINDLE]DAC_SCALE
newsig spindle-speed float
linksp spindle-speed motion.spindle-speed-out
linksp spindle-speed ppmc.0.DAC8.00.value

# connect spindle brake to I/O controller
newsig SpindleBrakeOn bit
linksp SpindleBrakeOn <= ppmc.0.dout.02.out
linksp SpindleBrakeOn => motion.spindle-brake

### FLOOD ###
# connect flood coolant to I/O controller
newsig FloodOn bit
linksp FloodOn parport.0.pin-06-out
linksp FloodOn iocontrol.0.coolant-flood