Import LinuxCNC source tree

tests/stepgen.1/checkresult

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+#!/bin/bash
+#prime the "old" states.  it seems that stepgen likes to start with phase-A=1
+read -r oa ob c < "$1"
+exitval=0
+count=0
+# if a leads b, then the count goes up.  if b leads a, the count goes down
+# if a and b stay the same, the count stays the same
+# if a and b both change, it's an error
+while read -r a b c; do
+    case "$oa$a$ob$b" in
+    0000) ;;
+    0001) count=$((count-1));;
+    0010) count=$((count+1));;
+    0011) ;;
+    0100) count=$((count+1));;
+    0101) exit 1;;
+    0110) exit 1;;
+    0111) count=$((count-1));;
+    1000) count=$((count-1));;
+    1001) exit 1;;
+    1010) exit 1;;
+    1011) count=$((count+1));;
+    1100) ;;
+    1101) count=$((count+1));;
+    1110) count=$((count-1));;
+    1111) ;;
+    *) echo "$oa$a$ob$b"; exit 1
+    esac
+    oa=$a; ob=$b
+    # if our count doesn't match the stepgen count, it's an error
+    if [ "$c" -ne $count ]; then echo "Counts don't match in the middle (We counted $count, they counted $c)"; exitval=1; fi
+done < "$1"
+
+# if the end position isn't 1280, it's an error
+if [ $count -ne 1280 ]; then echo "Counts don't match at the end (We counted $count, should be 1280)"; exit 1; fi
+exit $exitval

tests/stepgen.1/test.hal

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+setexact_for_test_suite_only
+
+loadrt sampler cfg=bbs depth=4000
+loadrt stepgen step_type=2
+loadrt threads name1=fast period1=100000
+
+net n0 stepgen.0.phase-A sampler.0.pin.0
+net n1 stepgen.0.phase-B sampler.0.pin.1
+net n2 stepgen.0.counts sampler.0.pin.2
+
+addf stepgen.update-freq fast
+addf stepgen.make-pulses fast
+addf stepgen.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
+
+start
+loadusr -w halsampler -n 3500