remora-ec500.hal

# 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-eth-3.0 PRU_base_freq=500000

# estop and SPI comms enable and feedback

	net user-enable-out		<= iocontrol.0.user-enable-out		=> remora.enable
	net user-request-enable <= iocontrol.0.user-request-enable	=> remora.reset
	net remora-status 		<= remora.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 (X axis)

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

	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

	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

	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