Import LinuxCNC source tree

configs/by_interface/pluto/pluto_inch/pluto_pinout.hal

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+# first load the core RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+loadrt pluto_step
+addf pluto-step.read servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf pluto-step.write servo-thread
+
+setp pluto-step.stepgen.0.scale [JOINT_0]SCALE
+setp pluto-step.stepgen.1.scale [JOINT_1]SCALE
+setp pluto-step.stepgen.2.scale [JOINT_2]SCALE
+
+net Xpos-cmd joint.0.motor-pos-cmd => pluto-step.stepgen.0.position-cmd
+net Ypos-cmd joint.1.motor-pos-cmd => pluto-step.stepgen.1.position-cmd
+net Zpos-cmd joint.2.motor-pos-cmd => pluto-step.stepgen.2.position-cmd
+
+net Xpos-fb pluto-step.stepgen.0.position-fb => joint.0.motor-pos-fb
+net Ypos-fb pluto-step.stepgen.1.position-fb => joint.1.motor-pos-fb
+net Zpos-fb pluto-step.stepgen.2.position-fb => joint.2.motor-pos-fb
+
+net Xen joint.0.amp-enable-out => pluto-step.stepgen.0.enable
+net Yen joint.1.amp-enable-out => pluto-step.stepgen.1.enable
+net Zen joint.2.amp-enable-out => pluto-step.stepgen.2.enable
+
+# create a signal for the estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool prepare loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+
+# create a signal for "spindle on"
+net spindle_on spindle.0.on => pluto-step.dout.00
+
+setp pluto-step.stepgen.steplen 20000
+setp pluto-step.stepgen.stepspace 20000
+setp pluto-step.stepgen.dirtime 20000