# HAL config file for Pico Systems UPC board
#

# set the PWM frequency to suit Pico's PWM amps (50KHz)
# users with other amps may need to change this
setp ppmc.0.pwm.00-03.freq 50000
# turn on bootstrapping for the MOSFET drivers
# this also depends on the amplifiers
setp ppmc.0.pwm.00.bootstrap TRUE
setp ppmc.0.pwm.01.bootstrap TRUE
setp ppmc.0.pwm.02.bootstrap TRUE
setp ppmc.0.pwm.03.bootstrap TRUE
# set max duty cycle to 99.5% for the MOSFET drives
# at 50KHz this corresponds to 100nS
setp ppmc.0.pwm.00.max-dc 0.995
setp ppmc.0.pwm.01.max-dc 0.995
setp ppmc.0.pwm.02.max-dc 0.995
setp ppmc.0.pwm.03.max-dc 0.995

# connect position feedback signals to encoders
linksp Xpos-fb <= ppmc.0.encoder.00.position
linksp Ypos-fb <= ppmc.0.encoder.01.position
linksp Zpos-fb <= ppmc.0.encoder.02.position
#linksp Apos-fb <= ppmc.0.encoder.03.position

# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [AXIS_0]INPUT_SCALE
setp ppmc.0.encoder.01.scale [AXIS_1]INPUT_SCALE
setp ppmc.0.encoder.02.scale [AXIS_2]INPUT_SCALE
setp ppmc.0.encoder.03.scale 6912

# connect PID output signals to PWM generators
linksp Xoutput => ppmc.0.pwm.00.value
linksp Youtput => ppmc.0.pwm.01.value
linksp Zoutput => ppmc.0.pwm.02.value

# connect axis enables to PWM generators
linksp Xenable => ppmc.0.pwm.00.enable
linksp Yenable => ppmc.0.pwm.01.enable
linksp Zenable => ppmc.0.pwm.02.enable

# set output scaling from ini file
# note that these are using PWM_OUTPUT_SCALE - they should
# use OUTPUT_SCALE, but right now EMC2 re-writes that to
# 1 on shutdown for some reason.  Once that is fixed, this
# should be changed
setp ppmc.0.pwm.00.scale [AXIS_0]PWM_OUTPUT_SCALE
setp ppmc.0.pwm.01.scale [AXIS_1]PWM_OUTPUT_SCALE
setp ppmc.0.pwm.02.scale [AXIS_2]PWM_OUTPUT_SCALE

# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
linkps ddt.0.in Xoutput
linkps ddt.1.in Xpos-fb

newsig spindle-sync bit
newsig spindle-index-en bit
#linksp spindle-sync => not.0.in
#linkps not.0.out => spindle-index-en
linksp spindle-index-en => ppmc.0.encoder.03.index-enable

# hook up motion controller's sync output
linkps motion.spindle-index-enable => spindle-index-en

# report rev count to motion controller
newsig spindle-pos float
linkps ppmc.0.encoder.03.position => spindle-pos
linksp spindle-pos => motion.spindle-revs