diff --git a/src/emc/usr_intf/stepconf/stepconf.py b/src/emc/usr_intf/stepconf/stepconf.py index 12677fa..5d3e5cc 100755 --- a/src/emc/usr_intf/stepconf/stepconf.py +++ b/src/emc/usr_intf/stepconf/stepconf.py @@ -129,7 +129,7 @@ BOTH_HOME_X, BOTH_HOME_Y, BOTH_HOME_Z, BOTH_HOME_A, MIN_X, MIN_Y, MIN_Z, MIN_A, MAX_X, MAX_Y, MAX_Z, MAX_A, BOTH_X, BOTH_Y, BOTH_Z, BOTH_A, -ALL_LIMIT, ALL_HOME, DIN0, DIN1, DIN2, DIN3, +ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME, DIN0, DIN1, DIN2, DIN3, UNUSED_INPUT) = hal_input_names = [ "estop-ext", "probe-in", "spindle-index", "spindle-phase-a", "spindle-phase-b", "home-x", "home-y", "home-z", "home-a", @@ -139,7 +139,7 @@ UNUSED_INPUT) = hal_input_names = [ "min-x", "min-y", "min-z", "min-a", "max-x", "max-y", "max-z", "max-a", "both-x", "both-y", "both-z", "both-a", -"all-limit", "all-home", "din-00", "din-01", "din-02", "din-03", +"all-limit", "all-home", "all-limit-home", "din-00", "din-01", "din-02", "din-03", "unused-input"] human_output_names = (_("X Step"), _("X Direction"), _("Y Step"), _("Y Direction"), @@ -165,7 +165,7 @@ _("Maximum Limit X"), _("Maximum Limit Y"), _("Maximum Limit Z"), _("Maximum Limit A"), _("Both Limit X"), _("Both Limit Y"), _("Both Limit Z"), _("Both Limit A"), -_("All limits"), _("All home"), +_("All limits"), _("All home"), _("All limits + homes"), _("Digital in 0"), _("Digital in 1"), _("Digital in 2"), _("Digital in 3"), _("Unused")) @@ -638,8 +638,9 @@ class Data: print >>file, "MAX_LIMIT = %s" % maxlim inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) - thisaxishome = set((ALL_HOME, "home-" + letter, "min-home-" + letter, + thisaxishome = set((ALL_HOME, ALL_LIMIT_HOME, "home-" + letter, "min-home-" + letter, "max-home-" + letter, "both-home-" + letter)) + # no need to set HOME_IGNORE_LIMITS when ALL_LIMIT_HOME, HAL logic will do the trick ignore = set(("min-home-" + letter, "max-home-" + letter, "both-home-" + letter)) homes = bool(inputs & thisaxishome) @@ -665,24 +666,34 @@ class Data: def home_sig(self, axis): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) - thisaxishome = set((ALL_HOME, "home-" + axis, "min-home-" + axis, + thisaxishome = set((ALL_HOME, ALL_LIMIT_HOME, "home-" + axis, "min-home-" + axis, "max-home-" + axis, "both-home-" + axis)) for i in inputs: if i in thisaxishome: return i def min_lim_sig(self, axis): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) - thisaxisminlimits = set((ALL_LIMIT, "min-" + axis, "min-home-" + axis, + thisaxisminlimits = set((ALL_LIMIT, ALL_LIMIT_HOME, "min-" + axis, "min-home-" + axis, "both-" + axis, "both-home-" + axis)) for i in inputs: - if i in thisaxisminlimits: return i + if i in thisaxisminlimits: + if i==ALL_LIMIT_HOME: + # ALL_LIMIT is reused here as filtered signal + return ALL_LIMIT + else: + return i def max_lim_sig(self, axis): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) - thisaxismaxlimits = set((ALL_LIMIT, "max-" + axis, "max-home-" + axis, + thisaxismaxlimits = set((ALL_LIMIT, ALL_LIMIT_HOME, "max-" + axis, "max-home-" + axis, "both-" + axis, "both-home-" + axis)) for i in inputs: - if i in thisaxismaxlimits: return i + if i in thisaxismaxlimits: + if i==ALL_LIMIT_HOME: + # ALL_LIMIT is reused here as filtered signal + return ALL_LIMIT + else: + return i def connect_axis(self, file, num, let): axnum = "xyza".index(let) @@ -784,9 +795,9 @@ class Data: encoder = PHA in inputs counter = PHB not in inputs probe = PROBE in inputs + limits_homes = ALL_LIMIT_HOME in inputs pwm = PWM in outputs pump = PUMP in outputs - if self.axes == 2: print >>file, "loadrt stepgen step_type=0,0" elif self.axes == 1: @@ -806,9 +817,13 @@ class Data: print >>file, "net estop-out charge-pump.enable iocontrol.0.user-enable-out" print >>file, "net charge-pump <= charge-pump.out" + if limits_homes: + print >>file, "loadrt lut5" + if pwm: print >>file, "loadrt pwmgen output_type=0" + if self.classicladder: print >>file, "loadrt classicladder_rt numPhysInputs=%d numPhysOutputs=%d numS32in=%d numS32out=%d numFloatIn=%d numFloatOut=%d" %(self.digitsin , self.digitsout , self.s32in, self.s32out, self.floatsin, self.floatsout) @@ -838,6 +853,10 @@ class Data: if self.classicladder: print >>file,"addf classicladder.0.refresh servo-thread" print >>file, "addf stepgen.update-freq servo-thread" + + if limits_homes: + print >>file, "addf lut5.0 servo-thread" + if pwm: print >>file, "addf pwmgen.update servo-thread" if self.pyvcphaltype == 1 and self.pyvcpconnect == 1: print >>file, "addf abs.0 servo-thread" @@ -916,6 +935,24 @@ class Data: for i in (10,11,12,13,15): self.connect_input(file, i) print >>file + if limits_homes: + print >>file, "lut5.0.function 0x10000" + print >>file, "net all-limit-home => lut5.0.in-4" + print >>file, "net all-limit <= lut5.0.out" + if self.axes == 2: + print >>file, "net homing-x <= axis.0.homing => lut5.0.in-0" + print >>file, "net homing-z <= axis.1.homing => lut5.0.in-1" + elif self.axes == 0: + print >>file, "net homing-x <= axis.0.homing => lut5.0.in-0" + print >>file, "net homing-y <= axis.1.homing => lut5.0.in-1" + print >>file, "net homing-z <= axis.2.homing => lut5.0.in-2" + elif self.axes == 1: + print >>file, "net homing-x <= axis.0.homing => lut5.0.in-0" + print >>file, "net homing-y <= axis.1.homing => lut5.0.in-1" + print >>file, "net homing-z <= axis.2.homing => lut5.0.in-2" + print >>file, "net homing-a <= axis.3.homing => lut5.0.in-3" + + if self.axes == 2: self.connect_axis(file, 0, 'x') self.connect_axis(file, 1, 'z') @@ -1324,40 +1361,40 @@ class App: def do_exclusive_inputs(self, pin): if self.in_pport_prepare: return exclusive = { - HOME_X: (MAX_HOME_X, MIN_HOME_X, BOTH_HOME_X, ALL_HOME), - HOME_Y: (MAX_HOME_Y, MIN_HOME_Y, BOTH_HOME_Y, ALL_HOME), - HOME_Z: (MAX_HOME_Z, MIN_HOME_Z, BOTH_HOME_Z, ALL_HOME), - HOME_A: (MAX_HOME_A, MIN_HOME_A, BOTH_HOME_A, ALL_HOME), - - MAX_HOME_X: (HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME), - MAX_HOME_Y: (HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME), - MAX_HOME_Z: (HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME), - MAX_HOME_A: (HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME), - - MIN_HOME_X: (HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME), - MIN_HOME_Y: (HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME), - MIN_HOME_Z: (HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME), - MIN_HOME_A: (HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME), - - BOTH_HOME_X: (HOME_X, MAX_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_HOME), - BOTH_HOME_Y: (HOME_Y, MAX_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_HOME), - BOTH_HOME_Z: (HOME_Z, MAX_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_HOME), - BOTH_HOME_A: (HOME_A, MAX_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_HOME), - - MIN_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT), - MIN_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT), - MIN_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT), - MIN_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT), - - MAX_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT), - MAX_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT), - MAX_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT), - MAX_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT), - - BOTH_X: (MIN_X, MAX_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT), - BOTH_Y: (MIN_Y, MAX_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT), - BOTH_Z: (MIN_Z, MAX_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT), - BOTH_A: (MIN_A, MAX_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT), + HOME_X: (MAX_HOME_X, MIN_HOME_X, BOTH_HOME_X, ALL_HOME, ALL_LIMIT_HOME), + HOME_Y: (MAX_HOME_Y, MIN_HOME_Y, BOTH_HOME_Y, ALL_HOME, ALL_LIMIT_HOME), + HOME_Z: (MAX_HOME_Z, MIN_HOME_Z, BOTH_HOME_Z, ALL_HOME, ALL_LIMIT_HOME), + HOME_A: (MAX_HOME_A, MIN_HOME_A, BOTH_HOME_A, ALL_HOME, ALL_LIMIT_HOME), + + MAX_HOME_X: (HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + MAX_HOME_Y: (HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + MAX_HOME_Z: (HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + MAX_HOME_A: (HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + + MIN_HOME_X: (HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + MIN_HOME_Y: (HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + MIN_HOME_Z: (HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + MIN_HOME_A: (HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + + BOTH_HOME_X: (HOME_X, MAX_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + BOTH_HOME_Y: (HOME_Y, MAX_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + BOTH_HOME_Z: (HOME_Z, MAX_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + BOTH_HOME_A: (HOME_A, MAX_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_HOME, ALL_LIMIT_HOME), + + MIN_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_LIMIT_HOME), + MIN_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_LIMIT_HOME), + MIN_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_LIMIT_HOME), + MIN_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_LIMIT_HOME), + + MAX_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_LIMIT_HOME), + MAX_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_LIMIT_HOME), + MAX_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_LIMIT_HOME), + MAX_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_LIMIT_HOME), + + BOTH_X: (MIN_X, MAX_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_LIMIT_HOME), + BOTH_Y: (MIN_Y, MAX_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_LIMIT_HOME), + BOTH_Z: (MIN_Z, MAX_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_LIMIT_HOME), + BOTH_A: (MIN_A, MAX_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_LIMIT_HOME), ALL_LIMIT: ( MIN_X, MAX_X, BOTH_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, @@ -1369,6 +1406,16 @@ class App: HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A), + ALL_LIMIT_HOME: ( + HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, + HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, + HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, + HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, + MIN_X, MAX_X, BOTH_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, + MIN_Y, MAX_Y, BOTH_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, + MIN_Z, MAX_Z, BOTH_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, + MIN_A, MAX_A, BOTH_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, + ALL_LIMIT, ALL_HOME), } p = 'pin%d' % pin @@ -1506,7 +1553,7 @@ class App: w[axis + "scaleunits"].set_text(_("Steps / in")) inputs = set((d.pin10, d.pin11, d.pin12, d.pin13, d.pin15)) - thisaxishome = set((ALL_HOME, "home-" + axis, "min-home-" + axis, + thisaxishome = set((ALL_HOME, ALL_LIMIT_HOME, "home-" + axis, "min-home-" + axis, "max-home-" + axis, "both-home-" + axis)) homes = bool(inputs & thisaxishome) w[axis + "homesw"].set_sensitive(homes)