Driving a ULN2003 Darlington array IC

# .Hal File to drive stepper motors with a ULN2003 or similar IC
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=6,6,6 

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out


#################### Parallel Port Pins:

###  X:
net xpa => parport.0.pin-02-out
net xpb => parport.0.pin-03-out
net xpc => parport.0.pin-04-out
net xpd => parport.0.pin-05-out

### Y:
net ypa => parport.0.pin-06-out
net ypb => parport.0.pin-07-out
net ypc => parport.0.pin-08-out
net ypd => parport.0.pin-09-out

### Z:  ##### UNTESTED:  
### My setup is only a 2 axis setup but theoretically this should work
### Some pin switching/inverting may be required
net zpa => parport.0.pin-01-out
net zpb => parport.0.pin-14-out
net zpc => parport.0.pin-16-out
net zpd => parport.0.pin-17-out



####################  X AXIS 0  
setp stepgen.0.position-scale 300
setp stepgen.0.steplen 100
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd   #uncommented?? 
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xpa <= stepgen.0.phase-A
net xpb <= stepgen.0.phase-B
net xpc <= stepgen.0.phase-C
net xpd <= stepgen.0.phase-D
net xenable axis.0.amp-enable-out => stepgen.0.enable
setp stepgen.0.dirdelay 80 

####################  Y AXIS 1
setp stepgen.1.position-scale 960
setp stepgen.1.steplen 100
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ypa <= stepgen.1.phase-A
net ypb <= stepgen.1.phase-B
net ypc <= stepgen.1.phase-C
net ypd <= stepgen.1.phase-D
net yenable axis.1.amp-enable-out => stepgen.1.enable
setp stepgen.1.dirdelay 80 

####################  Z AXIS 2
setp stepgen.2.position-scale 400
setp stepgen.2.steplen 100
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zpa <= stepgen.2.phase-A
net zpb <= stepgen.2.phase-B
net zpc <= stepgen.2.phase-C
net zpd <= stepgen.2.phase-D
net zenable axis.2.amp-enable-out => stepgen.2.enable
setp stepgen.2.dirdelay 80

####################

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared