In emc2, you would make the HAL driver for your hardware step generator
work similar to the 'stepgen' component. It would probably include at
least include the following inputs and outputs:
.enable
.position-cmd OR .frequency-cmd
.position-fb
.counts
and the following parameters:
.maxvel
.maxaccel
.position-scale
.steplen
.stepspace
.dirsetup
.dirhold
and one or two functions:
.capture-position
.update-freq
(or combine both into a single HAL function)
the meaning of each of these items in the software step generation
component is explained in 'man stepgen' or at
http://linuxcnc.org/docs/2.2/html/man/man9/stepgen.9.html
or
http://linuxcnc.org/docs/2.2/html/hal_rtcomps.html#sec:Stepgen
then in a typical configuration, the .hal files create signals to link
e.g.,
axis.0.enable => yourhardwarestepgen.0.enable
axis.0.position-cmd => yourhardwarestepgen.0.position-cmd
axis.0.potition-fb -> yourhardwarestepgen.0.position-fb
(but of course other position or velocity command sources can be used
instead, according to the needs of the integrator)
The existing ppmc driver (which is nice and stable) and pluto_step
driver (which is buggy) are existing examples of HAL interfaces to step
generator hardware.
Jeff
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