# pyvcp-dro2.xml chg names of pins from pyvcp.pinname to fred,
#    got some errs that 'pyvcp.Xdisplay' not found, so try not to use a name that may be 'spcl
# result:
#tomp@cncbox:~/emc2-head$ halrun pyvcp-dro2.hal
# pyVCP: Creating widgets from pyvcp-dro.xml ... Done.
# Waiting for component 'pyvcp' to become ready            (i waited no more than 3 seconds, cuz i saw the dro, and closed it )
# HAL:30: ERROR: pyvcp exited without becoming ready
#
#hmmm, and without renaming to fred, it says      like it got done making the pins , tho the names are bad 
# tomp@cncbox:~/emc2-head$ halrun pyvcp-dro.hal
# pyVCP: Creating widgets from pyvcp-dro.xml ... Done.
# HAL: ERROR: pin 'pyvcp.Xdisplay' not found
# HAL:113: link failed
# tomp@cncbox:~/emc2-head$

#
# three axis PyVCP/HAL DRO configuration
# this uses HAL and PyVCP only, no EMC
#
#
# this assumes software encoder counting, with the encoder
# signals coming in through the parallel port.  If you have
# hardware encoder counters, you would load the appropriate
# driver instead

# load parport driver
#
loadrt hal_parport cfg="0x0378 in"

# load encoder counters
#
loadrt encoder num_chan=3

# load mux and sum blocks
#
loadrt mux2 count=3
#
loadrt sum2 count=3

# load PyVCP
#
loadusr -Wn fred pyvcp -c fred pyvcp-dro.xml


# create 20uS and 1mS realtime threads
# the 20uS fast thread means that the DRO can keep
# up with encoder rates of 10-15KHz
#
loadrt threads name1=fast period1=20000 name2=slow period2=1000000

#
# add realtime functions to threads
# fast thread first:
addf parport.0.read fast
#
addf encoder.update-counters fast

# slow thread next:
#
addf encoder.capture-position slow
addf mux2.0 slow
addf mux2.1 slow
addf mux2.2 slow
addf sum2.0 slow
addf sum2.1 slow
addf sum2.2 slow
addf parport.0.write slow

#
# interconnections
#
# NOTE: for demo purposes, I used the old (and still valid)
# "newsig+linksp" syntax for X, and the new "net" syntax
# for Y and Z.  The resulting connections are the same, but
# you can see that the "net" syntax is much more compact.
# It is only available in CVS HEAD, but the same is true of
# PyVCP.
#

# encoder phase A and B from parport to encoder counter
# X - old syntax:
#
newsig XphaseA bit
linksp XphaseA <= parport.0.pin-02-in
linksp XphaseA => encoder.0.phase-A
newsig XphaseB bit
linksp XphaseB <= parport.0.pin-03-in
linksp XphaseB => encoder.0.phase-B

#
# Y - new syntax:
#
net YphaseA parport.0.pin-04-in => encoder.1.phase-A
net YphaseB parport.0.pin-05-in => encoder.1.phase-B
#
# Z - new syntax:
#
net ZphaseA parport.0.pin-06-in => encoder.2.phase-A
net ZphaseB parport.0.pin-07-in => encoder.2.phase-B

#
# raw positions from encoders to one input of mux and summer
#
newsig Xpos-raw float
linksp Xpos-raw <= encoder.0.position
linksp Xpos-raw => mux2.0.in1
linksp Xpos-raw => sum2.0.in0
#
net Ypos-raw encoder.1.position => mux2.1.in1 sum2.1.in0
net Zpos-raw encoder.2.position => mux2.2.in1 sum2.2.in0

#
# offset position from mux output to other input of mux and summer
#
newsig Xoffset float
linksp Xoffset <= mux2.0.out
linksp Xoffset => mux2.0.in0
linksp Xoffset => sum2.0.in1
net Yoffset mux2.1.out => mux2.1.in0 sum2.1.in1
net Zoffset mux2.2.out => mux2.2.in0 sum2.2.in1
#

#
# output of summer is corrected position for display
#
newsig Xpos-corr float
linksp Xpos-corr <= sum2.0.out

linksp Xpos-corr => fred.Xdisplay
net Ypos-corr sum2.1.out => fred.Ydisplay
net Zpos-corr sum2.2.out => fred.Zdisplay
#

#
# select input of mux comes from "zero" button
#
newsig Xzero bit
linksp Xzero <= fred.Xzerobutton
linksp Xzero => mux2.0.sel
net Yzero fred.Yzerobutton => mux2.1.sel
net Zzero fred.Zzerobutton => mux2.2.sel
#
 
#
# finally, we need to set a few parameters
#
# set the scaling for X, Y, and Z
#
setp encoder.0.position-scale 20000
setp encoder.1.position-scale 20000
setp encoder.2.position-scale 10000
#

#
# we want the summer to subtract the offset from the
#
# raw position, so we set the gains appropriately
#
setp sum2.0.gain0  1.0
setp sum2.0.gain1 -1.0
setp sum2.1.gain0  1.0
setp sum2.1.gain1 -1.0
setp sum2.2.gain0  1.0
setp sum2.2.gain1 -1.0
setp parport.0.pin-01-out true
#

#
# start realtime execution
#
start
show pin
waitusr fred