Import LinuxCNC source tree

tests/counter-encoder.0/README

@@ -0,0 +1,2 @@
+Tests that the encoder and counter modules give the expected results
+on a simple increasing quadrature input

tests/counter-encoder.0/test.hal

@@ -0,0 +1,29 @@
+setexact_for_test_suite_only
+
+loadrt sampler cfg=sss depth=3500
+loadrt stepgen step_type=2
+loadrt encoder num_chan=3
+loadrt threads name1=fast period1=100000
+
+net A stepgen.0.phase-A => encoder.0.phase-A encoder.1.phase-A encoder.2.phase-A
+net B stepgen.0.phase-B => encoder.0.phase-B encoder.1.phase-B
+net C0 encoder.0.counts => sampler.0.pin.0
+net C1 encoder.1.counts => sampler.0.pin.1
+net C2 encoder.2.counts => sampler.0.pin.2
+
+addf stepgen.update-freq fast
+addf stepgen.make-pulses fast
+addf encoder.update-counters fast
+addf encoder.capture-position fast
+addf sampler.0 fast
+
+setp stepgen.0.maxvel .15
+setp stepgen.0.maxaccel 2
+setp stepgen.0.position-cmd .04
+setp stepgen.0.enable 1
+setp stepgen.0.position-scale 32000
+setp encoder.1.x4-mode 0
+setp encoder.2.counter-mode 1
+
+start
+loadusr -w halsampler -n 3500