# standard pinout config file for 3-axis steppers
# using a parport for I/O
## Modified for the addition of spindle speed control with serialdac.comp
## kwallace 20071222
#
# first load the parport driver
loadrt hal_parport cfg="0x0378"

loadrt scale count=1
##loadrt conv_float_u32 count=1
loadrt conv_float_s32 count=1
loadrt serialdac count=1

#
# next connect the parport functions to threads
# read inputs first
addf parport.0.read base-thread 1
# write outputs last
addf parport.0.write base-thread -1

addf scale.0           servo-thread
##addf conv-float-u32.0  servo-thread
addf conv-float-s32.0  servo-thread
addf serialdac.0      servo-thread

#
# finally connect physical pins to the signals
net Xstep => parport.0.pin-03-out
net Xdir  => parport.0.pin-02-out
net Ystep => parport.0.pin-05-out
net Ydir  => parport.0.pin-04-out
net Zstep => parport.0.pin-07-out
net Zdir  => parport.0.pin-06-out

# create a signal for the 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

#### Spindle Stuff ####
setp scale.0.gain 1.365
setp scale.0.offset 0

newsig SpindleSpeedCmd float
linksp SpindleSpeedCmd motion.spindle-speed-out
linksp SpindleSpeedCmd scale.0.in

newsig SSCfloat float
##setp  conv-float-u32.0.clamp TRUE
setp  conv-float-s32.0.clamp TRUE
linksp SSCfloat scale.0.out
##linksp SSCfloat conv-float-u32.0.in
linksp SSCfloat conv-float-s32.0.in

##newsig SpindleSpeedDACcmd u32
newsig SpindleSpeedDACcmd s32
newsig SpindleSpeedDACclock bit
newsig SpindleSpeedDACdata bit
newsig SpindleSpeedDACload bit

##linksp SpindleSpeedDACcmd conv-float-u32.0.out
linksp SpindleSpeedDACcmd conv-float-s32.0.out
linksp SpindleSpeedDACcmd serialdac.0.datain

linksp SpindleSpeedDACclock serialdac.0.dacclock
linksp SpindleSpeedDACclock parport.0.pin-14-out

linksp SpindleSpeedDACdata serialdac.0.dacbit
linksp SpindleSpeedDACdata parport.0.pin-16-out

linksp SpindleSpeedDACload serialdac.0.dacload
linksp SpindleSpeedDACload parport.0.pin-17-out

# connect "spindle on" motion controller pin to a physical pin
net spindle-on motion.spindle-on => parport.0.pin-09-out
#### Spindle Stuff (end) ####

###
### You might use something like this to enable chopper drives when machine ON
### the Xen signal is defined in core_stepper.hal
###

# net Xen => parport.0.pin-01-out

###
### If you want active low for this pin, invert it like this:
###

# setp parport.0.pin-01-out-invert 1

###
### A sample home switch on the X axis (axis 0).  make a signal,
### link the incoming parport pin to the signal, then link the signal
### to EMC's axis 0 home switch input pin
###

# net Xhome parport.0.pin-10-in => axis.0.home-sw-in

###
### Shared home switches all on one parallel port pin?
### that's ok, hook the same signal to all the axes, but be sure to 
### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file.  See the
### user manual!
###

# net homeswitches <= parport.0.pin-10-in
# net homeswitches => axis.0.home-sw-in
# net homeswitches => axis.1.home-sw-in
# net homeswitches => axis.2.home-sw-in

###
### Sample separate limit switches on the X axis (axis 0)
###

# net X-neg-limit parport.0.pin-11-in => axis.0.neg-lim-sw-in
# net X-pos-limit parport.0.pin-12-in => axis.0.pos-lim-sw-in

###
### Just like the shared home switches example, you can wire together
### limit switches.  Beware if you hit one, EMC will stop but can't tell
### you which switch/axis has faulted.  Use caution when recovering from this.
###

# net Xlimits parport.0.pin-13-in => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in