b92baa8b3c
Eliminates multiple file copies and removes unneeded sym links by
taking advantage of the search path (HALLIB_PATH) used by the
linuxcnc script
0) move most configs/common/*.hal files to lib/hallib/
1) eliminate copy_configs etc. from Makefile
2) remove sym links that are no longer needed for
the relocated hal files
3) also move most-used halfiles (not managed by make)
simulated_home.hal
sim_spindle_encoder.hal
locking_indexer.hal
lathe.hal
gantrysim.hal
simulated-gantry-home.hal
simulated_limits.hal
tripodsim.hal
servo_sim.hal
4) lib/hallib/README: update and reorganize
5) pickconfig: make convenience link for HALLIB_DIR
The linuxcnc script prints the name of halfiles when they
are found using the search path (.:HALLIB_DIR) but the
HALLIB_DIR pathname may be long so this patch has pickconfig.tcl
make a sym link in the copied config directory
A user can use the link to copy a halfile to make local modifications,
for example:
$ cd ~/linuxcnc/configs/sim.config.name # sim config created by pickconfig
$ cp hallib/halfilename halfilename # copy lib file for local mods
6) update docs: Running-linuxCNC.txt
Notes:
a) affected configs require no changes as the linuxcnc script will
find files using HALLIB_PATH (defined in scripts/linuxcnc.in)
b) postgui halfiles are not affected since processing depends on gui
c) not working (but has not for a long time):
configs/sim/axis/remap/iocontrol-removed/iocontrol-removed.ini
Signed-off-by: Dewey Garrett <dgarrett@panix.com>
51 lines
1.8 KiB
Text
51 lines
1.8 KiB
Text
# core HAL config file for simulation
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# first load all the RT modules that will be needed
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# kinematics
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loadrt trivkins
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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
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# load 6 differentiators (for velocity and accel signals
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loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
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# load additional blocks
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loadrt hypot names=vel_xy,vel_xyz
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# link the differentiator functions into the code
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addf ddt_x servo-thread
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addf ddt_xv servo-thread
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addf ddt_y servo-thread
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addf ddt_yv servo-thread
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addf ddt_z servo-thread
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addf ddt_zv servo-thread
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addf vel_xy servo-thread
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addf vel_xyz servo-thread
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# create HAL signals for position commands from motion module
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# loop position commands back to motion module feedback
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net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt_x.in
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net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in
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net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt_z.in
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# send the position commands thru differentiators to
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# generate velocity and accel signals
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net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
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net Xacc <= ddt_xv.out
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net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
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net Yacc <= ddt_yv.out
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net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
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net Zacc <= ddt_zv.out
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# Cartesian 2- and 3-axis velocities
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net XYvel vel_xy.out => vel_xyz.in1
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net XYZvel <= vel_xyz.out
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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