mesa.hal

#Load Hostmot support 
loadrt hostmot2
loadrt hm2_pci config="num_encoders=2 num_pwmgens=0"
loadrt mux8 names=mpg
loadrt abs count=1
loadrt near names=atspeed

addf hm2_5i24.0.read	servo-thread
addf hm2_5i24.0.write	servo-thread
addf mpg		servo-thread
addf atspeed		servo-thread
addf abs.0		servo-thread

#setp			hm2_5i24.0.pwmgen.pwm_frequency 24000
#setp			hm2_5i24.0.pwmgen.pdm_frequency 6000000

#We have a 6i24 in emulation mode so all pin will be hm2_5i24.0.

####################################################################
#Spindle handling
####################################################################

######
#net spindle-vel-cmd-rps			spindle.0.speed-out-rps
#net spindle-vel-cmd-rps-abs		spindle.0.speed-out-rps-abs
#net spindle-vel-cmd-rpm			spindle.0.speed-out
#net spindle-vel-cmd-rpm-abs		spindle.0.speed-out-abs
#net spindle-enable			spindle.0.on
#net spindle-cw				spindle.0.forward
#net spindle-ccw				spindle.0.reverse
#net spindle-brake			spindle.0.brake
#net spindle-revs			spindle.0.revs
#net spindle-at-speed			spindle.0.at-speed
#net spindle-vel-fb-rps			spindle.0.speed-in
#net spindle-index-enable		spindle.0.index-enable
######

#setp				hm2_5i24.0.pwmgen.00.output-type 2
#setp				hm2_5i24.0.pwmgen.00.scale 6000
#net spindle-vel-cmd-rpm		hm2_5i24.0.pwmgen.00.value
#net spindle-enable		hm2_5i24.0.pwmgen.00.enable

setp				hm2_5i24.0.encoder.00.scale 4096
net spindle-revs		hm2_5i24.0.encoder.00.position
net spindle-vel-fb-rps		hm2_5i24.0.encoder.00.velocity
net spindle-vel-fb-rpm		abs.0.in hm2_5i24.0.encoder.00.velocity-rpm
net spindle-vel-fb-rpm-abs	abs.0.out
net spindle-index-enable	hm2_5i24.0.encoder.00.index-enable

net spindle-vel-fb-rps		atspeed.in1
net spindle-vel-cmd-rps		atspeed.in2
net spindle-at-speed		atspeed.out
setp				atspeed.scale 1.05

####################################################################
#Jog Handling
####################################################################

net XSelect			joint.0.jog-enable axis.x.jog-enable
net ZSelect			joint.2.jog-enable axis.z.jog-enable

net ModeJ			mpg.sel2
net ModeX10			mpg.sel1
net ModeX1			mpg.sel0

setp				mpg.in1 0.00025
setp				mpg.in2 0.0025
setp				mpg.in4 0.025


net JogScale			mpg.out

setp				hm2_5i24.0.encoder.01.scale 4
net JogCount			hm2_5i24.0.encoder.01.count
net JogScale			joint.0.jog-scale joint.2.jog-scale axis.x.jog-scale axis.z.jog-scale
net JogCount			joint.0.jog-counts joint.2.jog-counts axis.x.jog-counts axis.z.jog-counts