loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadrt charge_pump

# we need a dir mask and an exclude mask
#
# ------------------outputs-----------------
# i use GPIO 2,3,4 for xtep ystep zstep
# i use GPIO 12 for spindle motor on
# i use GPIO 14,15,18 for xdir ydir zdir

# ------------------inputs-----------------
# i use GPIO 17 27 22 for xlim ylim zlim ( used for + and - lims, used for home also )

# gpio pins ( not rpi pins! )
# 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1
# 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2  (gpio1& 0 not used )
#
# 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 1 1  dir     mask (0 means in   1 means out)      dec 78855
# 0 1 1 1 1 1 0 1 1 0 0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 0  exclude mask (0 means use  1 means dont use) dec 32918520

loadrt hal_pi_gpio dir=78855 exclude=32918520

# beware gpio 21 and 22 are still reversed, they control rpins 15&50 and are backwards almost everywhere in rpi docs
# easy to see and check with 'show pins hal_pi_gpio*


# tjp  chg to 3 step dir types,plan on using gekco G540
# was  loadrt stepgen step_type=5 ctrl_type=v
# make posn loop type
loadrt stepgen step_type=0,0,0


# --- begin addf s
addf hal_pi_gpio.read  base-thread
addf stepgen.make-pulses base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf hal_pi_gpio.write base-thread
# --- end addf s


# i use GPIO 2,3,4 for xtep ystep zstep, that's rpin 3,5,7 resp
net xstep stepgen.0.step => hal_pi_gpio.pin-03-out
net ystep stepgen.1.step => hal_pi_gpio.pin-05-out
net zstep stepgen.2.step => hal_pi_gpio.pin-07-out

# i use GPIO 14,15,18 for xdir ydir zdir, that's rpin
net xdir  stepgen.0.dir  => hal_pi_gpio.pin-08-out
net ydir  stepgen.1.dir  => hal_pi_gpio.pin-10-out
net zdir  stepgen.2.dir  => hal_pi_gpio.pin-12-out