#Erik Salo December 2018
# Eriks first attempt at a toolchanger control for linuxcnc

loadrt carousel pockets=20 encoding=binary num_sense=5
loadrt conv_float_s32 
addf carousel.0 servo-thread
addf conv-float-s32.0 servo-thread 

# G-code analogue outputs are float-type

#Erik note ppmc.0.din.16.in is first bit0
#ppmc.0.din.17,18,19,20.in are the rest

net bit0 carousel.0.sense-0 ppmc.0.din.16.in-not
net bit1 carousel.0.sense-1 ppmc.0.din.17.in-not
net bit2 carousel.0.sense-2 ppmc.0.din.18.in-not
net bit3 carousel.0.sense-3 ppmc.0.din.19.in-not
net bit4 carousel.0.sense-4 ppmc.0.din.20.in-not

#Strobe
#ppmc.0.din.21.in is "Strobe" bit
net strobe carousel.0.strobe ppmc.0.din.21.in-not

#M64 and M65 digital outputs
net car-enable motion.digital-out-00 carousel.0.enable
net arm-retract motion.digital-out-01 ppmc.0.dout.06.out
net arm-extend motion.digital-out-02 ppmc.0.dout.04.out
net tool-release motion.digital-out-03 ppmc.0.dout.12.out
net car-unlock motion.digital-out-04 ppmc.0.dout.14.out
net car-lock motion.digital-out-05 ppmc.0.dout.05.out
net sp-orient motion.digital-out-06 ppmc.0.dout.18.out
net arm-slow motion.digital-out-07 ppmc.0.dout.08.out
net jog-fwd motion.digital-out-08  carousel.0.jog-fwd
net air-blast motion.digital-out-09 ppmc.0.dout.13.out
net car-slow motion.digital-out-10 ppmc.0.dout.10.out
net car-fwd carousel.0.motor-fwd ppmc.0.dout.09.out
net car-rev carousel.0.motor-rev ppmc.0.dout.11.out


# M66 Digital Inputs
net car-ready carousel.0.ready motion.digital-in-00
net arm-retracted motion.digital-in-01 ppmc.0.din.13.in-not
net arm-extended motion.digital-in-02 ppmc.0.din.14.in-not
net tool-released motion.digital-in-03 ppmc.0.din.24.in-not
net car-unlocked motion.digital-in-04 ppmc.0.din.27.in-not
net car-locked motion.digital-in-05 ppmc.0.din.25.in
net sp-oriented motion.digital-in-06 ppmc.0.din.11.in-not
net car-toolincarousel motion.digital-in-07 ppmc.0.din.26.in-not
#net is-z-homed motion.digital-in-08 halui.joint.2.is-homed
net spindle-stopped motion.digital-in-09 ppmc.0.din.07.in-not
net spindle-speed-arrival motion.digital-in-10 ppmc.0.din.06.in-not
net spindle-alarm motion.digital-in-11 ppmc.0.din.09.in

#Carousel position (Analog) 
net car-pos-req motion.analog-out-00 conv-float-s32.0.in
net car-pos-s32 conv-float-s32.0.out carousel.0.pocket-number

net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed