# HAL config file for Pico Systems USC board
#
# Connect motion controller I/Os
#
# connect limit/home switch outputs to motion controller
#newsig Xminlim bit # X Axis.0
newsig Xhome bit
net Xminlim ppmc.0.din.00.in axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in
linksp Xminlim <= ppmc.0.din.00.in # Conn ST1, Pin 1, (Digital input 0) one limit switch, trip on the negative and positive end of travel
linksp Xminlim => axis.0.neg-lim-sw-in
linksp Xhome <= ppmc.0.din.01.in # Conn ST1, Pin 2, (Digital input 1)
linksp Xhome => axis.0.home-sw-in
newsig Yminlim bit # Y Axis.1
newsig Yhome bit
linksp Yminlim <= ppmc.0.din.02.in # Conn ST1, Pin 3, (Digital input 2) one limit switch, trip on the negative and positive end of travel
linksp Yminlim => axis.1.neg-lim-sw-in
linksp Yhome <= ppmc.0.din.03.in # Conn ST1, Pin 4, (Digital input 3)
linksp Yhome => axis.1.home-sw-in
newsig Zminlim bit # Z Axis.2
newsig Zhome bit
linksp Zminlim <= ppmc.0.din.04.in # Conn ST1, Pin 5, (Digital input 4) two limit switches wire in series
linksp Zminlim => axis.2.neg-lim-sw-in
linksp Zhome <= ppmc.0.din.05.in # Conn ST1, Pin 6, (Digital input 5)
linksp Zhome => axis.2.home-sw-in
# connect index pulses to motion controller
# do these when index pulsing is figured out
newsig Xindex bit
newsig Yindex bit
newsig Zindex bit
linksp Xindex <= ppmc.0.encoder.00.index-enable
linksp Xindex => axis.0.index-enable
linksp Xindex => pid.0.index-enable
linksp Yindex <= ppmc.0.encoder.01.index-enable
linksp Yindex => axis.1.index-enable
linksp Yindex => pid.1.index-enable
linksp Zindex <= ppmc.0.encoder.02.index-enable
linksp Zindex => axis.2.index-enable
linksp Zindex => pid.2.index-enable
#
# Connect I/O controller I/Os
#
# connect e-stop write/sense to I/O controller
# and ppmc's fault with estop's output, so estop FF is reset, but
# prevent continued estop signal from ppmc from holding FF cleared
newsig ppmcEstop bit
linksp ppmcEstop ppmc.0.din.estop.in
linksp ppmcEstop and2.0.in0
newsig EstopOkIn bit
linksp EstopOkIn estop-latch.0.fault-in
linksp EstopOkIn and2.0.out
newsig EstopOkOut bit
#linksp EstopOkOut ppmc.0.dout.07.out
linksp EstopOkOut ppmc.0.dout.Estop.out
linksp EstopOkOut iocontrol.0.emc-enable-in
linksp EstopOkOut estop-latch.0.ok-out
linksp EstopOkOut and2.0.in1
newsig emc-estop-out bit
linksp emc-estop-out iocontrol.0.user-enable-out
linksp emc-estop-out estop-latch.0.ok-in
newsig emc-estop-reset bit
linksp emc-estop-reset iocontrol.0.user-request-enable
linksp emc-estop-reset estop-latch.0.reset
#newsig EstopSense bit
#newsig EstopWrite bit
#linksp EstopSense <= ppmc.0.din.estop.in-not
#linksp EstopSense => iocontrol.0.emc-enable-in
#linksp EstopWrite <= ppmc.0.dout.07.out
#linksp EstopWrite => iocontrol.0.user-enable-out
#estop may need to be inverted
# connect spindle fwd/rev to I/O controller
newsig SpindleFwd bit
newsig SpindleRev bit
linksp SpindleFwd <= ppmc.0.dout.00.out
linksp SpindleFwd => motion.spindle-forward
linksp SpindleRev <= ppmc.0.dout.01.out
linksp SpindleRev => motion.spindle-reverse
# connect spindle speed up/down to I/O controller
#newsig SpindleUp bit
#newsig SpindleDown bit
#linksp SpindleUp <= ppmc.0.dout.06.out
#linksp SpindleUp => motion.spindle-incr-speed
#linksp SpindleDown <= ppmc.0.dout.05.out
#linksp SpindleDown => motion.spindle-decr-speed
# connect spindle brake to I/O controller
newsig SpindleBrakeOn bit
linksp SpindleBrakeOn <= ppmc.0.dout.02.out
linksp SpindleBrakeOn => motion.spindle-brake
# connect mist/flood coolant to I/O controller
newsig MistOn bit
newsig FloodOn bit
linksp MistOn <= ppmc.0.dout.03.out
linksp MistOn => iocontrol.0.coolant-mist
linksp FloodOn <= ppmc.0.dout.04.out
linksp FloodOn => iocontrol.0.coolant-flood
# Servo Enable from amp enable
linksp Xenable ppmc.0.dout.07.out
#linksp Xenable ppmc.0.dout.05.out