RB1-CNC Retrofit

# HAL config file for Pico Systems UPC board with threading
#
# Connect motion controller I/Os
#

# connect limit/home switch outputs to motion controller
#newsig Xminlim bit
#newsig Xmaxlim  bit
newsig Xhome bit
#net Xminlim <= ppmc.0.din.01.in
#net Xminlim => axis.0.neg-lim-sw-in
#net Xmaxlim <= ppmc.0.din.02.in
#net Xmaxlim => axis.0.pos-lim-sw-in
net Xhome <= ppmc.0.din.04.in
net Xhome => axis.0.home-sw-in

#newsig Yminlim bit
#newsig Ymaxlim  bit
newsig Yhome bit
#net Yminlim <= ppmc.0.din.05.in
#net Yminlim => axis.1.neg-lim-sw-in
#net Ymaxlim <= ppmc.0.din.06.in
#net Ymaxlim => axis.1.pos-lim-sw-in
net Yhome <= ppmc.0.din.05.in
net Yhome => axis.1.home-sw-in

#newsig Zminlim bit
#newsig Zmaxlim  bit
newsig Zhome bit
#net Zminlim <= ppmc.0.din.09.in
#net Zminlim => axis.2.neg-lim-sw-in
#net Zmaxlim <= ppmc.0.din.10.in
#net Zmaxlim => axis.2.pos-lim-sw-in
net Zhome <= ppmc.0.din.06.in
net Zhome => axis.2.home-sw-in

#newsig Aminlim bit
#newsig Amaxlim  bit
#newsig Ahome bit
#net Aminlim <= ppmc.0.din.12.in
#net Aminlim => axis.3.neg-lim-sw-in
#net Amaxlim <= ppmc.0.din.13.in
#net Amaxlim => axis.3.pos-lim-sw-in
#net Ahome <= ppmc.0.din.11.in
#net Ahome => axis.3.home-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
net Xindex <= ppmc.0.encoder.00.index-enable
net Xindex => axis.0.index-enable
net Yindex <= ppmc.0.encoder.01.index-enable
net Yindex => axis.1.index-enable
net Zindex <= ppmc.0.encoder.02.index-enable
net Zindex => axis.2.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
net ppmcEstop ppmc.0.din.15.in-not
net ppmcEstop and2.0.in0
newsig EstopOkIn bit
net EstopOkIn estop-latch.0.fault-in
net EstopOkIn and2.0.out
newsig EstopOkOut bit
net EstopOkOut <= ppmc.0.dout.07.out
net EstopOkOut iocontrol.0.emc-enable-in
net EstopOkOut estop-latch.0.ok-out
net EstopOkOut and2.0.in1
newsig emc-estop-out bit
net emc-estop-out iocontrol.0.user-enable-out
net emc-estop-out estop-latch.0.ok-in
newsig emc-estop-reset bit
net emc-estop-reset iocontrol.0.user-request-enable
net emc-estop-reset estop-latch.0.reset

# connect spindle fwd/rev to I/O controller
newsig SpindleFwd bit
newsig SpindleRev bit
net SpindleFwd <= ppmc.0.dout.00.out
net SpindleFwd => motion.spindle-forward
net SpindleRev <= ppmc.0.dout.01.out
net SpindleRev => motion.spindle-reverse

# connect spindle speed up/down to I/O controller
#newsig SpindleUp bit
#newsig SpindleDown bit
#net SpindleUp <= ppmc.0.dout.06.out
#net SpindleUp => motion.spindle-incr-speed
#net SpindleDown <= ppmc.0.dout.05.out
#net SpindleDown => motion.spindle-decr-speed

# connect spindle brake to I/O controller
newsig SpindleBrakeOn bit
net SpindleBrakeOn <= ppmc.0.dout.06.out
net SpindleBrakeOn => motion.spindle-brake

# connect mist/flood coolant to I/O controller
#newsig MistOn bit
newsig FloodOn bit
#net MistOn <= ppmc.0.dout.02.out
#net MistOn => iocontrol.0.coolant-mist
net FloodOn <= ppmc.0.dout.03.out
net FloodOn => iocontrol.0.coolant-flood

# connect high gear selector switch to I/O controller
newsig HighGear bit
net HighGear <= ppmc.0.din.00.in

# connect spindle running input to I/O controller
newsig SpindleRunning bit
net SpindleRunning <= ppmc.0.din.01.in

# connect coolant running input to I/O controller
newsig CoolantRunning bit
net CoolantRunning <= ppmc.0.din.02.in

# connect LowLube switch to I/O controller
newsig LowLube bit
net LowLube <= ppmc.0.din.03.in

# HAL config file for Pico Systems UPC board using Velocity Estimation
#

# set the PWM frequency to suit Pico's PWM amps (50KHz)
# users with other amps may need to change this
setp ppmc.0.pwm.00-03.freq 50000
# turn on bootstrapping for the MOSFET drivers
# this also depends on the amplifiers
setp ppmc.0.pwm.00.bootstrap TRUE
setp ppmc.0.pwm.01.bootstrap TRUE
setp ppmc.0.pwm.02.bootstrap TRUE
#setp ppmc.0.pwm.03.bootstrap TRUE
# set max duty cycle to 95% for the MOSFET drives
# at 50KHz this corresponds to 1 us
setp ppmc.0.pwm.00.max-dc 0.95
setp ppmc.0.pwm.01.max-dc 0.95
setp ppmc.0.pwm.02.max-dc 0.95
#setp ppmc.0.pwm.03.max-dc 0.95

setp ppmc.0.encoder.00.min-speed-estimate 0.001
setp ppmc.0.encoder.01.min-speed-estimate 0.001
setp ppmc.0.encoder.02.min-speed-estimate 0.001
#setp ppmc.0.encoder.03.min-speed-estimate 0.001

# Here's the part that connects the encoder velocity to the PID
net Xfbderiv ppmc.0.encoder.00.velocity pid.0.feedback-deriv
net Yfbderiv ppmc.0.encoder.01.velocity pid.1.feedback-deriv
net Zfbderiv ppmc.0.encoder.02.velocity pid.2.feedback-deriv

# connect position feedback signals to encoders
net Xpos-fb <= ppmc.0.encoder.00.position
net Ypos-fb <= ppmc.0.encoder.01.position
net Zpos-fb <= ppmc.0.encoder.02.position
#net Apos-fb <= ppmc.0.encoder.03.position

# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [AXIS_0]INPUT_SCALE
setp ppmc.0.encoder.01.scale [AXIS_1]INPUT_SCALE
setp ppmc.0.encoder.02.scale [AXIS_2]INPUT_SCALE
#setp ppmc.0.encoder.03.scale 6912

# connect PID output signals to PWM generators
net Xoutput => ppmc.0.pwm.00.value
net Youtput => ppmc.0.pwm.01.value
net Zoutput => ppmc.0.pwm.02.value

# connect axis enables to PWM generators
net Xenable => ppmc.0.pwm.00.enable
net Yenable => ppmc.0.pwm.01.enable
net Zenable => ppmc.0.pwm.02.enable

# set output scaling from ini file
setp ppmc.0.pwm.00.scale [AXIS_0]OUTPUT_SCALE
setp ppmc.0.pwm.01.scale [AXIS_1]OUTPUT_SCALE
setp ppmc.0.pwm.02.scale [AXIS_2]OUTPUT_SCALE

# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
net Xoutput ddt.0.in
net Xpos-fb ddt.1.in

newsig spindle-sync bit
newsig spindle-index-en bit
net spindle-index-en => ppmc.0.encoder.03.index-enable

# hook up motion controller's sync output
net spindle-index-en <= motion.spindle-index-enable

# report rev count to motion controller
newsig spindle-pos float
net spindle-pos <= ppmc.0.encoder.03.position
net spindle-pos => motion.spindle-revs

# set up 4th PWM generator as a spindle speed control
newsig spindle-speed float
newsig spindle-pwm-cmd float
newsig spindle-pwm-filt float
net spindle-speed <= motion.spindle-speed-out
net spindle-speed => mult2.1.in0
setp mult2.1.in1 0.0009018
net spindle-pwm-cmd <= mult2.1.out
net spindle-pwm-cmd => lowpass.0.in
net spindle-pwm-filt <= lowpass.0.out
net spindle-pwm-filt => ppmc.0.pwm.03.value
setp lowpass.0.gain 0.005

newsig spindle-enable bit
# SpindleFwd and SpindleRev come from univpwm_io.hal
net SpindleFwd => or2.0.in0
net SpindleRev => or2.0.in1
net spindle-enable <= or2.0.out
net spindle-enable => ppmc.0.pwm.03.enable
# spindle speed display
net spinraw    ppmc.0.encoder.03.delta conv-s32-float.0.in
net spinfloat  conv-s32-float.0.out mult2.0.in0
setp mult2.0.in1 8.6805555
newsig SpindleRPM float
net SpindleRPM <= mult2.0.out