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>
53 lines
2 KiB
Text
53 lines
2 KiB
Text
# core HAL config file for steppers
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# first load the core 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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# stepper module, three step generators, all three using step/dir
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loadrt stepgen step_type=0,0,0
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# hook functions to base thread (high speed thread for step generation)
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addf stepgen.make-pulses base-thread
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# hook functions to servo thread
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addf stepgen.capture-position 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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addf stepgen.update-freq servo-thread
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# connect position commands from motion module to step generator
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net Xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
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net Ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
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net Zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
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# connect position feedback from step generators
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# to motion module
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net Xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
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net Ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
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net Zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
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# connect enable signals for step generators
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net Xen axis.0.amp-enable-out => stepgen.0.enable
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net Yen axis.1.amp-enable-out => stepgen.1.enable
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net Zen axis.2.amp-enable-out => stepgen.2.enable
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# connect signals to step pulse generator outputs
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net Xstep <= stepgen.0.step
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net Xdir <= stepgen.0.dir
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net Ystep <= stepgen.1.step
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net Ydir <= stepgen.1.dir
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net Zstep <= stepgen.2.step
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net Zdir <= stepgen.2.dir
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# set stepgen module scaling - get values from ini file
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setp stepgen.0.position-scale [AXIS_0]SCALE
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setp stepgen.1.position-scale [AXIS_1]SCALE
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setp stepgen.2.position-scale [AXIS_2]SCALE
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# set stepgen module accel limits - get values from ini file
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setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
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setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
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setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
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