<commit_before>[PRUCONF]
DRIVER=hal_pru_generic
# pru_period
# 10000: default
# 1000: cause problems, I forget what exactly
# 2000 is fast enough for me so dont need to mess with it any more
CONFIG=pru=0 num_stepgens=2 num_pwmgens=0 pru_period=2000
PRUBIN=xenomai/pru_generic.bin


[EMC]

# Name of machine, for use with display, etc.
MACHINE =               Cal-XY

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0




[DISPLAY]

DISPLAY = axis
#DISPLAY = linuxcncrsh

# Default: /usr/share/axis/images/axis.ngc
# Youre supposed to be able to set to empty string to prevent load but doesnt seem to work
# /dev/null complains about missing M30
#OPEN_FILE=/dev/null

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.200

# Path to help file
HELP_FILE =             tklinucnc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5

# Prefix to be used
PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files

# Introductory graphic
#INTRO_GRAPHIC =         machinekit.gif
#INTRO_TIME =            5

# Increments for the JOG section
INCREMENTS = 10 1 0.1 0.01


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        pru-stepper.var




[EMCMOT]

EMCMOT =                motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nanoseconds
# 1000000: default
# 10000: BBB froze and had to be restarted (suspect RT task spun)
# 100000: "14: Unexpected realtime delay on RT thread 1"
# 250000: lowest tested okay
SERVO_PERIOD =          250000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE =		my.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =               save neta


[TRAJ]

AXES =                  2
COORDINATES =           X Y
MAX_ANGULAR_VELOCITY = 45.00
DEFAULT_ANGULAR_VELOCITY = 4.50
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      100.00
MAX_LINEAR_VELOCITY =   500.00


# 51,200 steps / rev
# 1 rev => 50 um
# If I do mm scale is 51,200 / 0.050 = 1024000

[AXIS_0]

TYPE =              LINEAR
MAX_VELOCITY =       0.225
MAX_ACCELERATION =   0.450
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    0.240
STEPGEN_MAX_ACC =    0.480

BACKLASH =           0.000

# Scale: steps
SCALE =             1024000
MIN_LIMIT =        -50
MAX_LIMIT =         50

FERROR =     1.0
MIN_FERROR = 0.25

HOME =                  0.000
HOME_OFFSET =           0.00
HOME_IGNORE_LIMITS =    YES
HOME_USE_INDEX =        NO
HOME_SEQUENCE =         0

# Set to zero if you don't have physical home/limit switches
# Set to the desired homing and latch velocity if you have switches
# See: https://github.com/machinekit/machinekit-docs
HOME_SEARCH_VEL =       0.0
HOME_LATCH_VEL =        0.0

# these are in nanoseconds
# MDrive settings
# Figure 6.1	 Step /direction signal timing
DIRSETUP   =              50
DIRHOLD    =              100
STEPLEN    =              100
STEPSPACE  =              100




[AXIS_1]

TYPE =              LINEAR
MAX_VELOCITY =       0.225
MAX_ACCELERATION =   0.450
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    0.240
STEPGEN_MAX_ACC =    0.480

BACKLASH =           0.000

# Scale: steps
SCALE =             1024000
MIN_LIMIT =        -50
MAX_LIMIT =         50

FERROR =     1.0
MIN_FERROR = 0.25

HOME =                  0.000
HOME_OFFSET =           0.00
HOME_IGNORE_LIMITS =    YES
HOME_USE_INDEX =        NO
HOME_SEQUENCE =         0

# Set to zero if you don't have physical home/limit switches
# Set to the desired homing and latch velocity if you have switches
# See: https://github.com/machinekit/machinekit-docs
HOME_SEARCH_VEL =       0.0
HOME_LATCH_VEL =        0.0

# these are in nanoseconds
# MDrive settings
# Figure 6.1	 Step /direction signal timing
DIRSETUP   =              50
DIRHOLD    =              100
STEPLEN    =              100
STEPSPACE  =              100<commit_msg>brainscope: update config from cal base to actual values<commit_after>[PRUCONF]
DRIVER=hal_pru_generic
# pru_period
# 10000: default
# 1000: cause problems, I forget what exactly
# 2000 is fast enough for me so dont need to mess with it any more
CONFIG=pru=0 num_stepgens=2 num_pwmgens=0 pru_period=2000
PRUBIN=xenomai/pru_generic.bin


[EMC]

# Name of machine, for use with display, etc.
MACHINE =               Cal-XY

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0




[DISPLAY]

DISPLAY = axis
#DISPLAY = linuxcncrsh

# Default: /usr/share/axis/images/axis.ngc
# Youre supposed to be able to set to empty string to prevent load but doesnt seem to work
# /dev/null complains about missing M30
#OPEN_FILE=/dev/null

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.200

# Path to help file
HELP_FILE =             tklinucnc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5

# Prefix to be used
PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files

# Introductory graphic
#INTRO_GRAPHIC =         machinekit.gif
#INTRO_TIME =            5

# Increments for the JOG section
INCREMENTS = 10 1 0.1 0.01


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        pru-stepper.var




[EMCMOT]

EMCMOT =                motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nanoseconds
# 1000000: default
# 10000: BBB froze and had to be restarted (suspect RT task spun)
# 100000: "14: Unexpected realtime delay on RT thread 1"
# 250000: lowest tested okay
SERVO_PERIOD =          250000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE =		my.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =               save neta


[TRAJ]

AXES =                  2
COORDINATES =           X Y
MAX_ANGULAR_VELOCITY = 45.00
DEFAULT_ANGULAR_VELOCITY = 4.50
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      100.00
MAX_LINEAR_VELOCITY =   500.00


# 50,000 steps / rev
# 1 rev => 0.05 in
# If I do mm scale, 1 mm = 50000 / 0.05 / 25.4 = 39370
# By comparison brainscope is 1e6 vs our 4e4

[AXIS_0]

TYPE =              LINEAR
MAX_VELOCITY =       0.225
MAX_ACCELERATION =   0.450
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    0.240
STEPGEN_MAX_ACC =    0.480

BACKLASH =           0.000

# Scale: steps
SCALE =             39370
MIN_LIMIT =        -50
MAX_LIMIT =         50

FERROR =     1.0
MIN_FERROR = 0.25

HOME =                  0.000
HOME_OFFSET =           0.00
HOME_IGNORE_LIMITS =    YES
HOME_USE_INDEX =        NO
HOME_SEQUENCE =         0

# Set to zero if you don't have physical home/limit switches
# Set to the desired homing and latch velocity if you have switches
# See: https://github.com/machinekit/machinekit-docs
HOME_SEARCH_VEL =       0.0
HOME_LATCH_VEL =        0.0

# these are in nanoseconds
# MDrive settings
# Figure 6.1	 Step /direction signal timing
DIRSETUP   =              50
DIRHOLD    =              100
STEPLEN    =              100
STEPSPACE  =              100




[AXIS_1]

TYPE =              LINEAR
MAX_VELOCITY =       0.225
MAX_ACCELERATION =   0.450
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    0.240
STEPGEN_MAX_ACC =    0.480

BACKLASH =           0.000

# Scale: steps
SCALE =             39370
MIN_LIMIT =        -50
MAX_LIMIT =         50

FERROR =     1.0
MIN_FERROR = 0.25

HOME =                  0.000
HOME_OFFSET =           0.00
HOME_IGNORE_LIMITS =    YES
HOME_USE_INDEX =        NO
HOME_SEQUENCE =         0

# Set to zero if you don't have physical home/limit switches
# Set to the desired homing and latch velocity if you have switches
# See: https://github.com/machinekit/machinekit-docs
HOME_SEARCH_VEL =       0.0
HOME_LATCH_VEL =        0.0

# these are in nanoseconds
# MDrive settings
# Figure 6.1	 Step /direction signal timing
DIRSETUP   =              50
DIRHOLD    =              100
STEPLEN    =              100
STEPSPACE  =              100
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