# Jog Pendant
# ===========
# Copied from the example in the manual then reworked for my pendant.

# The Mesa cards don't need the base-thread so I have to fudge one for the encoder
# This ticks at 1mSec to sample the quadrature inputs from the MPG wheel
loadrt threads name1=base-thread period1=1000000

loadrt  encoder names=mpgencoder
addf encoder.capture-position servo-thread      # read the quadrature inputs
addf encoder.update-counters  base-thread       # calculate the outputs

# If your MPG outputs one quadrature signal per click set x4 to 1
# If your MPG puts out 1 full pulse cycle per click set x4 to 0
setp mpgencoder.x4-mode 0

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp axis.x.jog-vel-mode 0
setp axis.y.jog-vel-mode 0
setp axis.z.jog-vel-mode 0

# select the scale factor
# I did use a frig on a mux16 component but it was a lot of clanging about to
# accomplish a trivial operation for a computer. Hence I wrote sel3.comp which
# chooses one of three inputs depending on the active enable bit.
loadrt sel3 count=0
addf sel3.0 servo-thread

# Supply the selections
setp sel3.0.in0         0.001
setp sel3.0.in1         0.01
setp sel3.0.in2         0.1

net mpg-x1   hm2_7i95.0.inmux.00.input-20 => sel3.0.en0
net mpg-x10  hm2_7i95.0.inmux.00.input-21 => sel3.0.en1
net mpg-x100 hm2_7i95.0.inmux.00.input-22 => sel3.0.en2
net mpg-scale <= sel3.0.out

# Send the selected scale to all the axes
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale

# The MPG inputs
net mpg-a mpgencoder.phase-A <= hm2_7i95.0.inmux.00.input-00
net mpg-b mpgencoder.phase-B <= hm2_7i95.0.inmux.00.input-01

# Select the axis to jog
net mpg-x axis.x.jog-enable <= hm2_7i95.0.inmux.00.input-16
net mpg-y axis.y.jog-enable <= hm2_7i95.0.inmux.00.input-17
net mpg-z axis.z.jog-enable <= hm2_7i95.0.inmux.00.input-18

# Send the encoder output counts to all the axes. Only the selected axis will move.
net mpg-encoder-counts <= mpgencoder.counts
net mpg-encoder-counts => axis.x.jog-counts
net mpg-encoder-counts => axis.y.jog-counts
net mpg-encoder-counts => axis.z.jog-counts

# the MPG led address (used in spindle.hal)
# hm2_7i95.0.ssr.00.out-03

################################################################################
# Now Nigel's spindle control as 'axis 4'
################################################################################

# this is all based about a custom component to encapsulate what was turning
# into pages and pages of HAL down into a few lines of C.
#
# When you select axis4 and move the dial it sets 'subvert' which latches
# both the current rpm and the MPG couter. It then uses changes in the MPG
# to increment and decrement its latched value which it exposes on ???
# in the spindle.hal I decide if the PWM is driven by the actual code
# requested rpm or this value based on the 'subvert flag.
loadrt sstep count=1
addf sstep.0 servo-thread

net  mpg-rpm spindle.0.speed-out sstep.0.rpm                # official spindle speed (float)
net  mpg-encoder-counts sstep.0.mpg                         # current mpg counts
net  mpg-axis4 hm2_7i95.0.inmux.00.input-19 sstep.0.axis4   # MPG button && Axis4
net  mpg-x1 sstep.0.x1                                      # step size switch
net  mpg-x10 sstep.0.x10
net  mpg-x100 sstep.0.x100
setp sstep.0.max-rpm 1500
setp sstep.0.hold-time  10                                  # hold button time to dropout

#    sstep.0.out-rpm                                        # mpg requested rpm see spindle.hal
#    sstep.0.subvert                                        # subvert mode output

# turning the dial may start, stop or reverse things so have controls
net  mpg-fwd  sstep.0.fwd       halui.spindle.0.forward
net  mpg-rev  sstep.0.rev       halui.spindle.0.reverse
net  mpg-stop sstep.0.stop      halui.spindle.0.stop