# pyvcp-dro2-bp2.hal
# three axis PyVCP/HAL DRO configuration
# this uses HAL and PyVCP only, no EMC
#
# this assumes software encoder counting, with the encoder
# signals coming in through the parallel port.  If you have
# hardware encoder counters, you would load the appropriate
# driver instead

#- This is a version of the original, for use with Pico UPC 
#- encoder counters, Pico DAC and spindle VFD by 
#- kwallace@wallacecompany.com 2007/12/15
#- It needs an EMC 2.2 install because earlier versions 
#- don't seem to have the xor2 component, there may be other 
#- options.
#- The display layout is in pyvcp-dro2-bp2.xml

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

# load mux and sum blocks
# mux2: in0 (float) in1 (float) sel (bit) out (float)
# sum2: in0 (float) in1 (float) out (float)(=in0 * gain0 + in1 * gain1 + offset)
loadrt mux2 count=3
loadrt sum2 count=3

# Load xor's and flipflop's for spindle buttons
loadrt xor2 count=2
loadrt flipflop count=2

# Load toggle for main power
##loadrt toggle count=1

# load PyVCP
loadusr -Wn fred pyvcp -c fred pyvcp-dro2-bp2.xml

# create 20uS and 1mS realtime threads
# the 20uS fast thread means that the DRO can keep
# up with encoder rates of 10-15KHz
loadrt threads name1=fast period1=20000 name2=slow period2=1000000

# add realtime functions to threads
addf ppmc.0.read               slow
addf xor2.0                    fast
addf xor2.1                    fast
addf flipflop.0                fast
addf flipflop.1                fast
addf mux2.0                    slow
addf mux2.1                    slow
addf mux2.2                    slow
addf sum2.0                    slow
addf sum2.1                    slow
addf sum2.2                    slow
addf ppmc.0.write              slow

# interconnections
#
# NOTE: for demo purposes, I used the old (and still valid)
# "newsig+linksp" syntax for X, and the new "net" syntax
# for Y and Z.  The resulting connections are the same, but
# you can see that the "net" syntax is much more compact.
# It is only available in CVS HEAD, but the same is true of
# PyVCP.

# raw positions from encoders to one input of mux and summer
newsig Xpos-raw float
linksp Xpos-raw <= ppmc.0.encoder.00.position
linksp Xpos-raw => mux2.0.in1
linksp Xpos-raw => sum2.0.in0

net Ypos-raw ppmc.0.encoder.01.position => mux2.1.in1 sum2.1.in0
net Zpos-raw ppmc.0.encoder.02.position => mux2.2.in1 sum2.2.in0

# offset position from mux output to other input of mux and summer
newsig Xoffset float
linksp Xoffset <= mux2.0.out
linksp Xoffset => mux2.0.in0
linksp Xoffset => sum2.0.in1
net Yoffset mux2.1.out => mux2.1.in0 sum2.1.in1
net Zoffset mux2.2.out => mux2.2.in0 sum2.2.in1

# output of summer is corrected position for display
newsig Xpos-corr float
linksp Xpos-corr <= sum2.0.out
linksp Xpos-corr => fred.Xdisplay

net Ypos-corr sum2.1.out => fred.Ydisplay
net Zpos-corr sum2.2.out => fred.Zdisplay

# select input of mux comes from "zero" button
newsig Xzero bit
linksp Xzero <= fred.Xzerobutton
linksp Xzero => mux2.0.sel
net Yzero fred.Yzerobutton => mux2.1.sel
net Zzero fred.Zzerobutton => mux2.2.sel

# finally, we need to set a few parameters

# set the scaling for X, Y, and Z
setp ppmc.0.encoder.00.scale -2000
setp ppmc.0.encoder.01.scale 2000
setp ppmc.0.encoder.02.scale 2000

# we want the summer to subtract the offset from the
# raw position, so we set the gains appropriately
setp sum2.0.gain0  1.0
setp sum2.0.gain1 -1.0
setp sum2.1.gain0  1.0
setp sum2.1.gain1 -1.0
setp sum2.2.gain0  1.0
setp sum2.2.gain1 -1.0

# set the scaling for X, Y, and Z
setp ppmc.0.encoder.00.scale -2000
setp ppmc.0.encoder.01.scale 2000
setp ppmc.0.encoder.02.scale 2000

# Spindle VFD Control

# 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 300

newsig SpindleSpeed float
newsig SpindleDACenable bit

linksp SpindleSpeed fred.SpindleRPM
linksp SpindleSpeed ppmc.0.DAC8.00.value
linksp SpindleDACenable ppmc.0.dout.02.out

newsig SpindleStopButton bit
newsig SpindleForwardButton bit
newsig SpindleReverseButton bit
newsig SpindleVFDforward bit
newsig SpindleVFDreverse bit
newsig FFclock bit

linksp SpindleStopButton    fred.SpindleStop
linksp SpindleForwardButton fred.SpindleForward
linksp SpindleReverseButton fred.SpindleReverse

linksp SpindleForwardButton xor2.0.in0
linksp SpindleReverseButton xor2.0.in1
linksp FFclock              xor2.0.out

linksp SpindleForwardButton flipflop.0.data
linksp FFclock              flipflop.0.clk
linksp SpindleVFDforward    flipflop.0.out
linksp SpindleStopButton    flipflop.0.reset

linksp SpindleReverseButton flipflop.1.data
linksp FFclock              flipflop.1.clk
linksp SpindleVFDreverse    flipflop.1.out
linksp SpindleStopButton    flipflop.1.reset

linksp SpindleVFDforward xor2.1.in0
linksp SpindleVFDreverse xor2.1.in1
linksp SpindleDACenable  xor2.1.out

linksp SpindleVFDforward ppmc.0.dout.00.out
linksp SpindleVFDreverse ppmc.0.dout.01.out

newsig MainPowerButton bit
newsig MainPower bit
linksp MainPowerButton fred.PWR
linksp MainPowerButton ppmc.0.dout.07.out

# start realtime execution
start
show pin
waitusr fred