loadrt mux4 names=spindle-run-mode
loadrt bitslice names=vfdstatus personality=10
loadrt conv_float_u32 names=vfdstatus-u32
loadrt mult2 names=frequency-to-rpm
loadrt div2 names=rpm-to-rps,rpm-to-frequency
loadrt comp names=spindleatspeed
loadrt and2 names=spindle-run-speed
loadrt or2 names=spindle-cw-ccw
loadusr -W mb2hal config=mb2hal_config.ini

addf spindle-run-mode           servo-thread
addf vfdstatus                  servo-thread
addf vfdstatus-u32              servo-thread
addf frequency-to-rpm           servo-thread
addf spindle-run-speed          servo-thread
addf spindle-cw-ccw             servo-thread
addf spindleatspeed             servo-thread
addf rpm-to-frequency           servo-thread
addf rpm-to-rps                 servo-thread
setp rpm-to-rps.in1             60
setp spindle-run-mode.in0       1
setp spindle-run-mode.in1       18
setp spindle-run-mode.in2       34
setp spindle-run-mode.in3       1
setp spindleatspeed.hyst        10
setp rpm-to-frequency.in1       0.6
setp frequency-to-rpm.in1       0.6

# --- SPINDLE ---
net spindle-run-mode-out        spindle-run-mode.out            =>  mb2hal.run.type.float
net spindle-cw                  =>  spindle-run-mode.sel0
net spindle-cw                  =>  spindle-cw-ccw.in0
net spindle-ccw                 =>  spindle-run-mode.sel1
net spindle-ccw                 =>  spindle-cw-ccw.in1
net spindle-running             spindle-cw-ccw.out              =>  spindle-run-speed.in0
net spindle-up-to-speed         spindleatspeed.equal            =>  spindle-run-speed.in1
net spindle-at-speed            <=  spindle-run-speed.out
net spindle-rpm-comp1           frequency-to-rpm.out		    =>  spindleatspeed.in0
net spindle-vel-cmd-rpm-abs     =>  spindleatspeed.in1
net spindle-frequency-rpm       mb2hal.output0.frequency.float  =>  frequency-to-rpm.in0
#net vfd-status-u32				mb2hal.output-state.error.float	=>	vfdstatus-u32.in
#net vfd-status-demux			vfdstatus-u32.out				=>	vfdstatus.in
net spindle-vel-cmd-rpm         =>  rpm-to-frequency.in0
net spindle-rpm-frequency       rpm-to-frequency.out            =>  mb2hal.value.frequency.float
net spindle-rpm-comp1           =>  rpm-to-rps.in0
net spindle-vel-fb-rps          <=  rpm-to-rps.out
net check-vfd-status            mb2hal.output-state.error.float =>  vfd-err.in0
setp vfd-err.in1 0