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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
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