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# =====================================================
#  LinuxCNC HAL — Ultra3000 preset velocity index seek
#  Board: 7i76e main + 7i84 (outputs) + 7i85 (encoder)
#  Axis: X
# =====================================================

loadrt threads name1=servo-thread period1=1000000

# --- Load components ---
loadrt bldc count=1
loadrt encoder num_chan=1
loadrt mux2 count=1
loadrt and2 count=1
loadrt not count=1
loadrt timedelay count=1
loadrt oneshot count=1

addf encoder.update servo-thread
addf bldc servo-thread
addf timedelay servo-thread
addf oneshot servo-thread

# =====================================================
#  Encoder setup (7i85)
# =====================================================
setp hm2_7i85.0.encoder.00.scale 800
setp hm2_7i85.0.encoder.00.counter-mode 0
setp hm2_7i85.0.encoder.00.filter 1

net x-enc-a     hm2_7i85.0.encoder.00.input-a
net x-enc-b     hm2_7i85.0.encoder.00.input-b
net x-enc-z     hm2_7i85.0.encoder.00.input-index

# =====================================================
#  BLDC Hall synthesis (for Ultra3000 commutation)
# =====================================================
# 8-pole motor = 4 pole pairs
setp bldc.0.pole-pairs 4
setp bldc.0.encoder-scale 800
setp bldc.0.hall-offset 0      # will be updated after index alignment

net x-enc-pos       hm2_7i85.0.encoder.00.position => bldc.0.enc-pos
net hall-u          bldc.0.hall-u => hm2_7i84.0.output-00
net hall-v          bldc.0.hall-v => hm2_7i84.0.output-01
net hall-w          bldc.0.hall-w => hm2_7i84.0.output-02

# =====================================================
#  Preset Velocity Control Output (7i84)
# =====================================================
# Choose an available output (here output-03)
net preset-vel-enable => hm2_7i84.0.output-03

# =====================================================
#  Step/Dir control enable (7i76e stepgen 0)
# =====================================================
net stepgen-enable => hm2_7i76e.0.stepgen.00.enable

# =====================================================
#  State control logic for startup alignment
# =====================================================

# --- Delay after power-up before preset allowed ---
setp timedelay.0.on-delay 0.25
net startup-delay timedelay.0.out => preset-allow
net always-true timedelay.0.in <= true

# --- Oneshoot from encoder index detection ---
setp oneshot.0.width 0.05
net x-enc-index hm2_7i85.0.encoder.00.index => oneshot.0.in
net index-found oneshot.0.out

# --- Preset velocity enable logic ---
# When not yet found index and startup delay done -> enable preset rotation
loadrt and2 count=1
net not-found-delay and2.0.in0 <= preset-allow
net not-found-delay and2.0.in1 <= not-index-found
net preset-active and2.0.out => hm2_7i84.0.output-03

# --- index found logic ---
loadrt not count=1
net index-found oneshot.0.out => not.0.in
net not-index-found not.0.out

# --- On index detection, disable preset and enable stepgen ---
net index-found stepgen-enable
# (this ties directly; optionally route through another delay)

# =======================================================
#  Fanuc Redcap → Ultra3000 setup (X axis)
#  Mesa 7i76e + 7i85 + 7i84
# =======================================================

# --- Load required components ---
loadrt bldc cfg=qiH
loadrt oneshot count=1
loadrt toggle count=1

addf bldc.0 servo-thread
addf oneshot.0 servo-thread
addf toggle.0 servo-thread

# =======================================================
#  Encoder Input (7i85)
# =======================================================

# Encoder channel 0 on 7i85 → 800 counts per rev
net x-rawcounts     hm2_7i85.0.encoder.00.rawcounts => bldc.0.rawcounts
net x-index-enable  hm2_7i85.0.encoder.00.index-enable => bldc.0.index-enable
net x-index-pulse   hm2_7i85.0.encoder.00.index => oneshot.0.in

setp oneshot.0.width 0.1
net x-index-detected oneshot.0.out => toggle.0.toggle
net x-index-found    toggle.0.state

# =======================================================
#  BLDC synthetic Hall generation
# =======================================================

setp bldc.0.scale           800          # encoder counts per mechanical rev
setp bldc.0.poles           4            # 8-pole motor = 4 pole pairs
setp bldc.0.encoder-offset  0.0          # adjust once aligned
setp bldc.0.output-pattern  25

# Output Hall states to Ultra3000 (7i84)
net hall1 bldc.0.hall1-out => hm2_7i84.0.output-00
net hall2 bldc.0.hall2-out => hm2_7i84.0.output-01
net hall3 bldc.0.hall3-out => hm2_7i84.0.output-02

# =======================================================
#  Step/Dir setup (X Axis)
# =======================================================

# Step/Dir on 7i76e output 0
setp hm2_7i76e.0.stepgen.00.dirsetup   5000
setp hm2_7i76e.0.stepgen.00.dirhold    5000
setp hm2_7i76e.0.stepgen.00.steplen    2500
setp hm2_7i76e.0.stepgen.00.stepspace  2500
setp hm2_7i76e.0.stepgen.00.position-scale 10000
setp hm2_7i76e.0.stepgen.00.maxvel     60
setp hm2_7i76e.0.stepgen.00.maxaccel   300
net x-pos-cmd axis.x.motor-pos-cmd => hm2_7i76e.0.stepgen.00.position-cmd
net x-pos-fb  hm2_7i76e.0.stepgen.00.position-fb => axis.x.motor-pos-fb
net x-enable  axis.x.amp-enable-out => hm2_7i76e.0.stepgen.00.enable

# =======================================================
#  Torque Limit Select control (7i84 output-04)
# =======================================================

# Before index found, TorqueLimitSelect = ON (low current)
# After index found, TorqueLimitSelect = OFF (normal torque)
# This drives a digital input on the Ultra3000.

net torque-low hm2_7i84.0.output-04
net torque-low <= not-x-index-found

# Use toggle to remember index found across servo cycles
net not-x-index-found toggle.0.state
# (If logic inverted, swap TRUE/FALSE below)
setp toggle.0.state 0   # default = index not found

# =======================================================
#  Auto jog-to-index at startup
# =======================================================

# At boot: torque low active, start slow jog
setp hm2_7i76e.0.stepgen.00.velocity-cmd 0.05
net torque-low hm2_7i76e.0.stepgen.00.enable

# Once index found: stop motion, switch torque to normal
net x-index-found => hm2_7i76e.0.stepgen.00.enable-not
net x-index-found => hm2_7i76e.0.stepgen.00.velocity-cmd 0
 

#!/bin/sh

set -e

lb config noauto \
	--architectures amd64 \
	--linux-packages linux-image-rt \
	--debootstrap-options "--include=apt-transport-https,ca-certificates,openssl" \
	--distribution bookworm \
	--binary-images iso-hybrid \
	--debian-installer live \
	--archive-areas "main contrib non-free non-free-firmware" \
	--iso-application "LinuxCNC-2.9.6" \
	--iso-preparer "rmurphy@gmx.com" \
	--iso-volume "LinuxCNC_2.9.6" \
	--image-name "LinuxCNC_2.9.6" \
	--iso-publisher "www.linuxcnc.org" \
	--apt-recommends true \
	--security true \
	--updates true \
	--apt-options " --yes --allow-change-held-packages" \
	--bootappend-install "ipv6.disable=1" \
	--parent-mirror-bootstrap http://deb.debian.org/debian \
	--parent-mirror-binary http://deb.debian.org/debian \
	--parent-mirror-chroot-security http://deb.debian.org/debian-security \
	"${@}"

	--architectures amd64 \

sudo find / -name "*raspi*"