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# Jog Pendant
loadrt PRUencoder names=encoder.0
addf PRUencoder.capture-position servo-thread
#addf PRUencoder.update-counters base-thread
setp encoder.0.position-scale 1200.0
# connect the hal encoder to linuxcnc
net encoder-count <= remora.PV.0 => encoder.0.raw_count
loadrt conv_float_s32 count=1
addf conv-float-s32.0 servo-thread

loadrt mux4 count=1
#addf encoder.capture-position servo-thread
#addf PRUencoder.update-counters base-thread
addf mux4.0 servo-thread

# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
#setp encoder.0.x4-mode 0

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp joint.0.jog-vel-mode 1
setp joint.1.jog-vel-mode 1
setp joint.2.jog-vel-mode 1

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= remora.input.9
net scale2 mux4.0.sel1 <= remora.input.10

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => joint.0.jog-scale
net mpg-scale => joint.1.jog-scale
net mpg-scale => joint.2.jog-scale
#net mpg-scale => axis.a.jog-scale
#net mpg-scale => axis.c.jog-scale

# The MPG inputs
#net mpg-a encoder.0.phase-A <= remora.input.7
#net mpg-b encoder.0.phase-B <= remora.input.8

# The Axis select inputs
net mpg-x joint.0.jog-enable <= remora.input.11
net mpg-y joint.1.jog-enable <= remora.input.12
net mpg-z joint.2.jog-enable <= remora.input.13
#net mpg-a axis.a.jog-enable <= remora.input.14
#net mpg-c axis.c.jog-enable <= remora.input.15

# The encoder output counts to the axis. Only the selected axis will move.
net encoder-count   conv-float-s32.0.in
net encoder-counts  conv-float-s32.0.out


#net encoder-counts  <= encoder.0.counts
net encoder-counts => joint.0.jog-counts
net encoder-counts => joint.1.jog-counts
net encoder-counts => joint.2.jog-counts
#net encoder-counts => axis.c.jog-counts

{
    "Board": "BIGTREETECH SKR OCTOPUS PRO V1.0",
    
    "Threads":[
    {
    "Thread": "Base",
    "Frequency": 80000
    }
    ],
    
    "Modules":[
    {
    "Thread": "Servo",
    "Type": "Reset Pin",
        "Comment":            "Reset pin",
        "Pin":                "PC_15"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "X - Joint 0 step generator",
        "Joint Number":        0,
        "Step Pin":         "PF_13",
        "Direction Pin":     "PF_12",
        "Enable Pin":         "PF_14"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "Y - Joint 1 step generator",
        "Joint Number":        1,
        "Step Pin":         "PG_0",
        "Direction Pin":     "PG_1",
        "Enable Pin":         "PF_15"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "Z - Joint 2 step generator",
        "Joint Number":        2,
        "Step Pin":         "PF_11",
        "Direction Pin":     "PG_3",
        "Enable Pin":         "PG_5"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "E0 - Joint 3 step generator",
        "Joint Number":        3,
        "Step Pin":         "PG_4",
        "Direction Pin":     "PC_1",
        "Enable Pin":         "PA_0"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "E1 - Joint 4 step generator",
        "Joint Number":        4,
        "Step Pin":         "PF_9",
        "Direction Pin":     "PF_10",
        "Enable Pin":         "PG_2"
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X min",
        "Pin":                "PG_6",
        "Mode":                "Input",
        "Data Bit":            0
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X max",
        "Pin":                "PG_9",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            1
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Y min",
        "Pin":                "PG_10",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            2
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Y max",
        "Pin":                "PG_11",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            3
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Z min",
        "Pin":                "PG_12",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            4
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Z max",
        "Pin":                "PG_13",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            5
    },
    
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Probe",
        "Pin":                "PC_5",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            6
    },

    {
        "Thread": "Base",
        "Type": "Encoder",
            "Comment":                      "MPG encoder",
            "ChA Pin":                      "PE_7",
            "ChB Pin":                      "PE_8",
            "Modifier":                     "Pull Up",
            "PV[i]":                        0

        },
    

    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X1",
        "Pin":                "PE_9",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            9
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X10",
        "Pin":                "PE_10",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            10
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Axis X",
        "Pin":                "PE_12",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            11
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Axis Y",
        "Pin":                "PE_13",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            12
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Axis Z",
        "Pin":                "PE_14",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            13
    },

    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Axis A",
        "Pin":                "PE_15",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            14
    },

    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Axis C",
        "Pin":                "PB_1",
        "Mode":                "Input",
        "Invert":            "True",
        "Data Bit":            15
    },


    {
    "Thread": "Servo",
    "Type": "Estop Pin",
        "Comment":            "Estop pin",
        "Pin":                "PF_3"

    },


    {
        "Thread": "Servo",
        "Type": "Digital Pin",
                "Comment":                      "PWM0",
                "Pin":                      "PA_8",
                "Mode":                          "Output",
        "Data Bit":            0

        }

    ]
}

# load the realtime components

    loadrt [KINS]KINEMATICS
    loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

    #loadrt remora 

    loadrt remora chip_type=STM SPI_clk_div=32 PRU_base_freq=80000
    #loadrt remora chip_type=LPC SPI_clk_div=64

# estop loopback, SPI comms enable and feedback
    net user-enable-out     <= iocontrol.0.user-enable-out        => remora.SPI-enable
    net user-request-enable <= iocontrol.0.user-request-enable    => remora.SPI-reset
    net remora-status     <= remora.SPI-status             => iocontrol.0.emc-enable-in
    

# add the remora and motion functions to threads

    addf remora.read servo-thread
    addf motion-command-handler servo-thread
    addf motion-controller servo-thread
    addf remora.update-freq servo-thread
    addf remora.write servo-thread


# Joint 0 setup

    setp remora.joint.0.scale         [JOINT_0]SCALE
    setp remora.joint.0.maxaccel     [JOINT_0]STEPGEN_MAXACCEL

    net xpos-cmd         <= joint.0.motor-pos-cmd     => remora.joint.0.pos-cmd  
    net j0pos-fb         <= remora.joint.0.pos-fb     => joint.0.motor-pos-fb
    net j0enable         <= joint.0.amp-enable-out     => remora.joint.0.enable


# Joint 1 setup

    setp remora.joint.1.scale         [JOINT_1]SCALE
    setp remora.joint.1.maxaccel     [JOINT_1]STEPGEN_MAXACCEL

    net j1pos-cmd         <= joint.1.motor-pos-cmd     => remora.joint.1.pos-cmd
    net j1pos-fb         <= remora.joint.1.pos-fb     => joint.1.motor-pos-fb 
    net j1enable         <= joint.1.amp-enable-out     => remora.joint.1.enable

# Joint 2 setup

    setp remora.joint.2.scale         [JOINT_2]SCALE
    setp remora.joint.2.maxaccel     [JOINT_2]STEPGEN_MAXACCEL

    net j2pos-cmd         <= joint.2.motor-pos-cmd     => remora.joint.2.pos-cmd
    net j2pos-fb         <= remora.joint.2.pos-fb     => joint.2.motor-pos-fb
    net j2enable         <= joint.2.amp-enable-out     => remora.joint.2.enable

# Joint 3 setup

    setp remora.joint.3.scale         [JOINT_3]SCALE
    setp remora.joint.3.maxaccel     [JOINT_3]STEPGEN_MAXACCEL

    net j3pos-cmd         <= joint.3.motor-pos-cmd     => remora.joint.3.pos-cmd
    net j3pos-fb         <= remora.joint.3.pos-fb     => joint.3.motor-pos-fb
    net j3enable         <= joint.3.amp-enable-out     => remora.joint.3.enable

# Joint 4 setup

    setp remora.joint.4.scale         [JOINT_4]SCALE
    setp remora.joint.4.maxaccel     [JOINT_4]STEPGEN_MAXACCEL

    net j4pos-cmd         <= joint.4.motor-pos-cmd     => remora.joint.4.pos-cmd
    net j4pos-fb         <= remora.joint.4.pos-fb     => joint.4.motor-pos-fb
    net j4enable         <= joint.4.amp-enable-out     => remora.joint.4.enable

# end-stops

    net X-min       remora.input.0         => joint.0.neg-lim-sw-in
    net X-max       remora.input.1         => joint.0.home-sw-in joint.0.pos-lim-sw-in

    net Y-min       remora.input.2         => joint.1.neg-lim-sw-in
    net Y-max       remora.input.3         => joint.1.home-sw-in joint.1.pos-lim-sw-in
    
    net Z-min       remora.input.4         => joint.2.neg-lim-sw-in
    net Z-max       remora.input.5         => joint.2.home-sw-in joint.2.pos-lim-sw-in
    
# Probe 
    net probe-input motion.probe-input <= remora.input.6
#    net probe-input => qtdragon.led-probe
    
# Spindle

    loadrt pwmgen output_type=0
    addf pwmgen.update servo-thread
    addf pwmgen.make-pulses servo-thread
    net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value
    net spindle-on spindle.0.on => pwmgen.0.enable
    net spindle-pwm pwmgen.0.pwm => remora.output.0
# Set the spindle's top speed in RPM
    setp pwmgen.0.scale 12000
#    net spindle-speed-feedback spindle.0.speed-out-rps => spindle.0.speed-in

# Basic LinuxCNC config for testing of Remora firmware

[EMC]
MACHINE = Remora-XY
DEBUG = 5
VERSION = 1.1

[DISPLAY]
DISPLAY = qtvcp qtdragon_hd

USER_COMMAND_FILE = usercommand_regularmac_800.py


EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_0_OVERRIDE = 0.5
MAX_SPINDLE_0_OVERRIDE = 1.5
DEFAULT_SPINDLE_0_SPEED = 1200
SPINDLE_INCREMENT = 200
MIN_SPINDLE_0_SPEED = 200
MAX_SPINDLE_0_SPEED = 1200
MAX_SPINDLE_POWER = 500
DEFAULT_LINEAR_VELOCITY = 10.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 24.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 45.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = Continuous, 50mm, 10mm, 5mm, 1mm, .5mm, .1mm, .05mm, .01mm
#ANGULAR_INCREMENTS = 1,5,10,30,45,90
NGCGUI_SUBFILE_PATH = ~/linuxcnc/nc_files/examples/ngcgui_lib
# pre selected programs tabs
# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH
NGCGUI_SUBFILE = slot.ngc
NGCGUI_SUBFILE = qpocket.ngc

[KINS]
JOINTS = 5
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
KINEMATICS =trivkins coordinates=XYZAC

[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = :~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs; \
~/linuxcnc/nc_files/examples/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/remap-subroutines: \
~/linuxcnc/nc_files/examples/ngcgui_lib/remap_lib
ON_ABORT_COMMAND=O <on_abort> call
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0005 G80 G90 G94 G97 M5 M9

[MDI_COMMAND_LIST]
# for macro buttons
MDI_COMMAND = G0 Z25;X0 Y0;Z0, Goto\nUser\nZero
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero

[PROBE]
#USE_PROBE = versaprobe
USE_PROBE = basicprobe

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = remora-xyz.hal
HALFILE = mpg.hal
POSTGUI_HALFILE = qtdragon_hd_postgui.hal
#POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Y Z A C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 40.00
NO_FORCE_HOMING = 1 

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY = 40.00
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 1600
FERROR = 2
MIN_FERROR = 2.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 2.0
HOME_LATCH_VEL = 2.0
HOME_SEQUENCE = 0

[AXIS_Y]
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0.0
MAX_LIMIT = 200.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 1600.00
FERROR = 9.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 2.0
HOME_LATCH_VEL = 2.0
HOME_SEQUENCE = 1




[AXIS_Z]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 200

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 200
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 1200.00
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[AXIS_A]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 360

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 360
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 71.111
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[AXIS_C]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 180

[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 180
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 71.111
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

# Jog Pendant
loadrt encoder num_chan=1
loadrt mux4 count=1
addf encoder.capture-position servo-thread
addf encoder.update-counters base-thread
addf mux4.0 servo-thread

# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
setp encoder.0.x4-mode 0

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp joint.0.jog-vel-mode 1
setp joint.1.jog-vel-mode 1
setp joint.2.jog-vel-mode 1

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= remora.input.9
net scale2 mux4.0.sel1 <= remora.input.10

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => joint.0.jog-scale
net mpg-scale => joint.1.jog-scale
net mpg-scale => joint.2.jog-scale
#net mpg-scale => axis.a.jog-scale
#net mpg-scale => axis.c.jog-scale

# The MPG inputs
#net mpg-a encoder.0.phase-A <= remora.input.7
#net mpg-b encoder.0.phase-B <= remora.input.8

# The Axis select inputs
net mpg-x joint.0.jog-enable <= remora.input.11
net mpg-y joint.1.jog-enable <= remora.input.12
net mpg-z joint.2.jog-enable <= remora.input.13
#net mpg-a axis.a.jog-enable <= remora.input.14
#net mpg-c axis.c.jog-enable <= remora.input.15

# The encoder output counts to the axis. Only the selected axis will move.
net encoder-counts  <= encoder.0.counts
net encoder-counts => joint.0.jog-counts
net encoder-counts => joint.1.jog-counts
net encoder-counts => joint.2.jog-counts
#net encoder-counts => axis.c.jog-counts

# load components
########################################################################

loadrt logic names=logic-and personality=0x102
addf logic-and servo-thread

# load a summing component for adding spindle lift and Z compensation
loadrt scaled_s32_sums
addf scaled-s32-sums.0 servo-thread

loadusr -Wn z_level_compensation z_level_compensation
# method parameter must be one of nearest(2), linear(1), cubic (0)
setp z_level_compensation.fade-height 0.0
setp z_level_compensation.method 1

# connect signals
########################################################################

net spindle-speed-limited  =>  spindle.0.speed-out-rps => spindle.0.speed-in

# the unlink pin commands are only used, because they are connected 
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number

net tool-change      hal_manualtoolchange.change   <=  iocontrol.0.tool-change 
net tool-changed     hal_manualtoolchange.changed  <=  iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number   <=  iocontrol.0.tool-prep-number

net eoffset-clear    axis.z.eoffset-clear
net eoffset-counts   axis.z.eoffset-counts
setp axis.z.eoffset-scale .001
net eoffset-total          axis.z.eoffset
net eoffset-total          qtdragon.eoffset-value
setp axis.z.eoffset-enable True

## external offsets for spindle pause function
##################################################
net eoffset-clear     qtdragon.eoffset-clear
net eoffset-spindle-count   <= qtdragon.eoffset-spindle-count    
net spindle-pause     qtdragon.spindle-inhibit spindle.0.inhibit
net probe-input qtdragon.led-probe

## Z level compensation
####################################################
net eoffset-clr2            z_level_compensation.clear      => logic-and.in-01
net xpos-cmd                z_level_compensation.x-pos      <= joint.0.motor-pos-cmd
net ypos-cmd                z_level_compensation.y-pos      <= joint.1.pos-cmd
net zpos-cmd                z_level_compensation.z-pos      <= joint.2.pos-cmd
net z_compensation_on       z_level_compensation.enable-in  <= qtdragon.comp-on
net eoffset-zlevel-count    z_level_compensation.counts     => qtdragon.eoffset-zlevel-count

net eoffset-spindle-count   scaled-s32-sums.0.in0
net eoffset-zlevel-count    scaled-s32-sums.0.in1
setp scaled-s32-sums.0.scale0 1000
net eoffset-counts          scaled-s32-sums.0.out-s