67 lines
1.8 KiB
Tcl
67 lines
1.8 KiB
Tcl
# HAL config file to check vel/acc constraints
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# NOTE: needs to be loaded before axis hal files
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loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel,wcomp_aacc,wcomp_avel
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loadrt minmax names=mm_xacc,mm_xvel,mm_yacc,mm_yvel,mm_zacc,mm_zvel,mm_aacc,mm_avel
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addf wcomp_xacc servo-thread
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addf wcomp_xvel servo-thread
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addf wcomp_yacc servo-thread
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addf wcomp_yvel servo-thread
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addf wcomp_zacc servo-thread
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addf wcomp_zvel servo-thread
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addf wcomp_aacc servo-thread
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addf wcomp_avel servo-thread
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addf mm_xacc servo-thread
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addf mm_xvel servo-thread
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addf mm_yacc servo-thread
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addf mm_yvel servo-thread
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addf mm_zacc servo-thread
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addf mm_zvel servo-thread
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addf mm_aacc servo-thread
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addf mm_avel servo-thread
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net Xacc => wcomp_xacc.in mm_xacc.in
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net Xvel => wcomp_xvel.in mm_xvel.in
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net Yacc => wcomp_yacc.in mm_yacc.in
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net Yvel => wcomp_yvel.in mm_yvel.in
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net Zacc => wcomp_zacc.in mm_zacc.in
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net Zvel => wcomp_zvel.in mm_zvel.in
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net Aacc => wcomp_aacc.in mm_aacc.in
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net Avel => wcomp_avel.in mm_avel.in
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net acc-ok-x <= wcomp_xacc.out
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net vel-ok-x <= wcomp_xvel.out
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net acc-ok-y <= wcomp_yacc.out
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net vel-ok-y <= wcomp_yvel.out
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net acc-ok-z <= wcomp_zacc.out
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net vel-ok-z <= wcomp_zvel.out
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net acc-ok-a <= wcomp_aacc.out
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net vel-ok-a <= wcomp_avel.out
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loadrt match8 names=match_all
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addf match_all servo-thread
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# Connect match signals and default all to not loaded
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# Enable the match-all pins in specific axis hal files
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net acc-ok-x => match_all.a0
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net vel-ok-x => match_all.a1
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net acc-ok-y => match_all.a2
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net vel-ok-y => match_all.a3
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net acc-ok-z => match_all.a4
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net vel-ok-z => match_all.a5
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net acc-ok-a => match_all.a6
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net vel-ok-a => match_all.a7
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setp match_all.b0 0
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setp match_all.b1 0
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setp match_all.b2 0
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setp match_all.b3 0
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setp match_all.b4 0
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setp match_all.b5 0
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setp match_all.b6 0
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setp match_all.b7 0
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setp match_all.in 1
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