adding files

my-emco-compact-5/my-emco-compact-5.hal

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+# Generated by stepconf 1.1 at Mon Mar 14 20:22:34 2022
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+loadrt encoder num_chan=2 # 0 used for native speed sense, 1 used for testing new encoder
+loadrt hal_parport cfg="0 out"
+setp parport.0.reset-time 5000
+loadrt stepgen step_type=6,6
+loadrt lowpass
+loadrt scale count=5  # 0 used to convert spindle speed from rps to rpm, 
+                      # 1 used in cusom.hal to adjust spindle set-speed fequency
+                      # 2 used in cusom.hal for mpg scale/increment selection
+                      # 3 & 4 used in custom.hal for mgp joystic
+
+addf parport.0.read base-thread
+addf encoder.update-counters base-thread
+addf stepgen.make-pulses base-thread
+addf parport.0.write base-thread
+addf parport.0.reset base-thread
+
+addf stepgen.capture-position servo-thread
+addf encoder.capture-position servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf lowpass.0         servo-thread
+addf scale.0           servo-thread
+addf stepgen.update-freq servo-thread
+
+net spindle-cmd-rpm     <= spindle.0.speed-out
+net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
+net spindle-cmd-rps     <= spindle.0.speed-out-rps
+net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
+
+net xphasea => parport.0.pin-02-out
+net xphaseb => parport.0.pin-03-out
+net xphasec => parport.0.pin-04-out
+net xphased => parport.0.pin-05-out
+
+net zphasea => parport.0.pin-06-out
+net zphaseb => parport.0.pin-07-out
+net zphasec => parport.0.pin-08-out
+net zphased => parport.0.pin-09-out
+
+setp parport.0.pin-01-out-invert 1
+setp parport.0.pin-01-out-reset true
+setp parport.0.pin-01-out true           # 74ls374 clock pin 
+
+# spindle encoder stuff
+setp encoder.0.counter-mode true
+setp encoder.0.position-scale 100
+net spindle-index parport.0.pin-12-in-not
+net spindle-ppr parport.0.pin-10-in-not
+net spindle-ppr encoder.0.phase-A
+net spindle-index encoder.0.phase-Z
+net spindle-pos spindle.0.revs encoder.0.position-interpolated
+net spindle-index-enable spindle.0.index-enable encoder.0.index-enable
+net spindle-vel encoder.0.velocity spindle.0.speed-in 
+
+# Filtering and scaling... moved to custom_postgui
+#setp scale.0.gain 60
+#setp lowpass.0.gain .07
+#net spindle-vel lowpass.0.in
+#net spindle-rps-filtered lowpass.0.out scale.0.in 
+#net spindle-rpm-filtered scale.0.out
+
+net estop-external <= parport.0.pin-11-in-not
+
+setp stepgen.0.position-scale [JOINT_0]SCALE
+setp stepgen.0.steplen 20000
+setp stepgen.0.dirdelay 20000
+setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
+net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
+net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
+net xphasea <= stepgen.0.phase-A
+net xphaseb <= stepgen.0.phase-B
+net xphasec <= stepgen.0.phase-C
+net xphased <= stepgen.0.phase-D
+net xenable joint.0.amp-enable-out => stepgen.0.enable
+
+setp stepgen.1.position-scale [JOINT_1]SCALE
+setp stepgen.1.steplen 20000
+setp stepgen.1.dirdelay 20000
+setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
+net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
+net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
+net zphasea <= stepgen.1.phase-A
+net zphaseb <= stepgen.1.phase-B
+net zphasec <= stepgen.1.phase-C
+net zphased <= stepgen.1.phase-D
+net zenable joint.1.amp-enable-out => stepgen.1.enable
+
+# moved to custom.hal
+#net estop-out <= iocontrol.0.user-enable-out
+#net estop-ext => iocontrol.0.emc-enable-in
+
+loadusr -W hal_manualtoolchange
+net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
+net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
+net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
+net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared