# Basic HAL config file for NVEM controller board running Remora firmware
# Configured for 3 joints (A, Y, Z axes) with home and limit switches

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

# load the Remora real-time component
	loadrt remora-nv
# 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

#-----------------------------------------------------------------------
#- Setup Estop														   -
#-----------------------------------------------------------------------

# Allow external estop button
    loadrt 	estop_latch
    loadrt 	and2	
#Add Estop pins to thread
    addf 	estop-latch.0 			servo-thread
    addf 	and2.0					servo-thread
	
#Estop and SPI comms enable and feedback
	net estop-button			=> estop-latch.0.fault-in			<= remora.input.00
	net estop-tripped-by-gui	<= remora.status 					=> and2.0.in0
	net estop-gui-button		<= estop-latch.0.ok-out 			=> and2.0.in1
	net stop-buttons-good		<= and2.0.out 						=> iocontrol.0.emc-enable-in
	net user-enable-out			<= iocontrol.0.user-enable-out		=> remora.enable			=> estop-latch.0.ok-in
	net user-request-enable 	<= iocontrol.0.user-request-enable	=> remora.reset				=> estop-latch.0.reset

	net 	switch-off				halui.machine.off			remora.input.04
#	net 	cancel-run				halui.program.stop			remora.input.05	halui.mdi-command-00
#	net 	switch-off				halui.machine.off			remora.input.05
	
#-----------------------------------------------------------------------	
#end-stops - Home
#-----------------------------------------------------------------------
	net 	X-min       	remora.input.01  		=> joint.0.home-sw-in
	net 	Y-min       	remora.input.02  		=> joint.1.home-sw-in
	net 	Z-min       	remora.input.03 		=> joint.2.home-sw-in


# joint 0 setup (X axis)
	setp 	remora.joint.0.scale 		[JOINT_0]SCALE
	setp 	remora.joint.0.maxaccel 	[JOINT_0]STEPGEN_MAXACCEL
	setp	remora.joint.0.pgain		[JOINT_0]PGAIN
	net 	j0pos-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 (Y axis)
	setp 	remora.joint.1.scale 		[JOINT_1]SCALE
	setp 	remora.joint.1.maxaccel 	[JOINT_1]STEPGEN_MAXACCEL
	setp	remora.joint.1.pgain		[JOINT_1]PGAIN
	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 (Z axis)
	setp 	remora.joint.2.scale 		[JOINT_2]SCALE
	setp 	remora.joint.2.maxaccel 	[JOINT_2]STEPGEN_MAXACCEL
	setp	remora.joint.2.pgain		[JOINT_2]PGAIN
	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 (A axis)
	setp 	remora.joint.3.scale 		[JOINT_3]SCALE
	setp 	remora.joint.3.maxaccel 	[JOINT_3]STEPGEN_MAXACCEL
	setp	remora.joint.2.pgain		[JOINT_3]PGAIN
	setp 	remora.joint.0.ff1gain 		[JOINT_3]FF1_GAIN
	setp 	remora.joint.0.deadband 	[JOINT_3]DEADBAND
	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