loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
loadrt stepgen step_type=0,0,0,0
loadrt match8 count=1
# Used to filter out spurious limit switch signals
# THIS IS VERY BAD & SHOULD BE FIXED IN HARDWARE!!!
loadrt debounce cfg=1
setp debounce.0.delay 2
loadrt hal_parport cfg="0x378"

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf debounce.0 base-thread
addf parport.0.write base-thread

addf stepgen.capture-position servo-thread
addf match8.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

net Xpos-cmd joint.0.motor-pos-cmd stepgen.0.position-cmd
net Ypos-cmd joint.1.motor-pos-cmd stepgen.1.position-cmd
net Zpos-cmd joint.2.motor-pos-cmd stepgen.2.position-cmd
net Apos-cmd joint.3.motor-pos-cmd stepgen.3.position-cmd

net Xpos-fb stepgen.0.position-fb joint.0.motor-pos-fb
net Ypos-fb stepgen.1.position-fb joint.1.motor-pos-fb
net Zpos-fb stepgen.2.position-fb joint.2.motor-pos-fb
net Apos-fb stepgen.3.position-fb joint.3.motor-pos-fb

net Xen <= joint.0.amp-enable-out stepgen.0.enable
net Yen <= joint.1.amp-enable-out stepgen.1.enable
net Zen <= joint.2.amp-enable-out stepgen.2.enable
net Aen <= joint.3.amp-enable-out stepgen.3.enable

net Xstep stepgen.0.step parport.0.pin-03-out
net Xdir stepgen.0.dir parport.0.pin-02-out
net Ystep stepgen.1.step parport.0.pin-05-out
net Ydir stepgen.1.dir parport.0.pin-04-out
net Zstep stepgen.2.step parport.0.pin-07-out
net Zdir stepgen.2.dir parport.0.pin-06-out
net Astep stepgen.3.step parport.0.pin-09-out
net Adir stepgen.3.dir parport.0.pin-08-out

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.0.maxvel [JOINT_0]STEPGEN_MAXVEL
setp stepgen.1.maxvel [JOINT_1]STEPGEN_MAXVEL
setp stepgen.2.maxvel [JOINT_2]STEPGEN_MAXVEL
setp stepgen.3.maxvel [JOINT_3]STEPGEN_MAXVEL
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL

# four axis motion allows 4 other outputs on pins 1,14,16,17
# five additional input pins are available 10,11,12,13,15

setp parport.0.pin-01-out-invert true
net estop iocontrol.0.user-enable-out parport.0.pin-01-out iocontrol.0.emc-enable-in

setp parport.0.pin-14-out-invert true
net flood iocontrol.0.coolant-flood parport.0.pin-14-out

setp parport.0.pin-17-out-invert true
net forward spindle.0.forward parport.0.pin-16-out
net reverse spindle.0.reverse parport.0.pin-17-out

# These loopbacks are usually disconnected by a postgui halfile
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared

newsig false bit
sets false FALSE
net xhoming joint.0.homing match8.0.a0
net yhoming joint.1.homing match8.0.a1
net zhoming joint.2.homing match8.0.a2
net ahoming joint.3.homing match8.0.a3
net false match8.0.b0 match8.0.b1 match8.0.b2 match8.0.b3
net home-raw parport.0.pin-15-in-not debounce.0.0.in
net home-filtered debounce.0.0.out joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in joint.3.home-sw-in match8.0.in
net limit match8.0.out joint.0.neg-lim-sw-in