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2026-04-03 15:58:58 -05:00
commit f3953d66ae
1516 changed files with 586639 additions and 0 deletions
--- a/configs/sim.qtplasmac/sim_stepgen.tcl
+++ b/configs/sim.qtplasmac/sim_stepgen.tcl
@@ -0,0 +1,67 @@
+# GENERIC HAL TCL FILE FOR QTPLASMAC SIM CONFIGS WITH STEPGENS
+
+# ---SET CONSTANTS---
+set numJoints $::KINS(JOINTS)
+set zAxis [string first "z" [string tolower $::TRAJ(COORDINATES)]]
+
+# ---LOAD COMPONENTS---
+loadrt $::KINS(KINEMATICS)
+loadrt $::EMCMOT(EMCMOT) base_period_nsec=$::EMCMOT(BASE_PERIOD) servo_period_nsec=$::EMCMOT(SERVO_PERIOD) num_joints=$numJoints num_spindles=$::TRAJ(SPINDLES)
+loadrt  plasmac
+set stepType "0"
+for {set jNum 0} {$jNum < $numJoints} {incr jNum} {
+    if {$jNum > 0} {
+        append stepType "," "0"
+    }
+    loadrt sim_home_switch names=sim-joint.${jNum}.home-switch
+}
+loadrt stepgen step_type=$stepType
+
+# ---LINK TO THREADS---
+addf stepgen.make-pulses      base-thread
+addf stepgen.capture-position servo-thread
+addf motion-command-handler   servo-thread
+addf motion-controller        servo-thread
+addf plasmac                  servo-thread
+addf stepgen.update-freq      servo-thread
+for {set jNum 0} {$jNum < $numJoints} {incr jNum} {
+    addf sim-joint.${jNum}.home-switch servo-thread
+}
+
+# ---JOINT CONNECTIONS---
+for {set jNum 0} {$jNum < $numJoints} {incr jNum} {
+    setp stepgen.${jNum}.maxaccel       [set ::JOINT_[set jNum](STEPGEN_MAXACCEL)]
+    setp stepgen.${jNum}.position-scale [set ::JOINT_[set jNum](STEP_SCALE)]
+    setp stepgen.${jNum}.steplen        [set ::JOINT_[set jNum](STEPLEN)]
+    setp stepgen.${jNum}.stepspace      [set ::JOINT_[set jNum](STEPSPACE)]
+    setp stepgen.${jNum}.dirsetup       [set ::JOINT_[set jNum](DIRSETUP)]
+    setp stepgen.${jNum}.dirhold        [set ::JOINT_[set jNum](DIRHOLD)]
+    net sim:joint${jNum}.enable  joint.${jNum}.amp-enable-out          => stepgen.${jNum}.enable
+    net sim:joint${jNum}.pos-cmd joint.${jNum}.motor-pos-cmd           => stepgen.${jNum}.position-cmd
+    net sim:joint${jNum}.pos-fb  stepgen.${jNum}.position-fb           => joint.${jNum}.motor-pos-fb sim-joint.${jNum}.home-switch.cur-pos
+    net sim:joint${jNum}.homesw  sim-joint.${jNum}.home-switch.home-sw => joint.${jNum}.home-sw-in
+}
+
+# ---INPUT DEBOUNCE---
+loadrt dbounce names=db_breakaway,db_float,db_ohmic,db_arc-ok
+addf db_float     servo-thread
+addf db_ohmic     servo-thread
+addf db_breakaway servo-thread
+addf db_arc-ok    servo-thread
+
+# ---Z JOINT CONNECTION---
+net plasmac:axis-position joint.${zAxis}.pos-fb => plasmac.axis-z-position
+
+# ---TOOL CHANGE PASSTHROUGH
+net sim:tool-number                                    <= iocontrol.0.tool-prep-number
+net sim:tool-change-loopback  iocontrol.0.tool-change  => iocontrol.0.tool-changed
+net sim:tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+
+# ---ESTOP HANDLING---
+loadrt or2 names=estop_or
+loadrt not names=estop_not,estop_not_1
+addf estop_or    servo-thread
+addf estop_not   servo-thread
+addf estop_not_1 servo-thread
+net sim:estop-raw estop_or.out  => estop_not.in
+net sim:estop-out estop_not.out => iocontrol.0.emc-enable-in