LinuxCNC 2.7 INI and HAL files: Sherline configuration with Logitech gamepad for joystick jogging

Sherline.hal

# HAL config file automatically generated by Eagle-CAD ULP:
# [/mnt/bulkdata/Project Files/eagle/ulp/hal-write-2.5.ulp]
# (C) Martin Schoeneck.de 2008
# Charalampos Alexopoulos 2011
# Mods Ed Nisley KE4ZNU 2010 2013
# Path        [/mnt/bulkdata/Project Files/eagle/projects/LinuxCNC for M2/]
# ProjectName [LinuxCNC Sherline Configuration]
# File name   [/mnt/bulkdata/Project Files/eagle/projects/LinuxCNC for M2/LinuxCNC Sherline Configuration.hal]
# Created     [11:17:21 17-Feb-2013]



####################################################
# Load realtime and userspace modules
loadrt trivkins
loadrt [EMCMOT]EMCMOT key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD
# not needed in 2.7
# loadrt probe_parport
loadrt hal_parport cfg="[PARPORT]ADDRESS out"
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=0
loadusr -W hal_manualtoolchange
loadusr -W hal_input -KA Dual
loadrt logic count=1 personality=0x104
loadrt constant		count=13
loadrt and2		count=17
loadrt conv_float_s32		count=1
loadrt flipflop		count=4
loadrt mux2		count=5
loadrt mux4		count=1
loadrt not		count=8
loadrt or2		count=14
loadrt scale		count=7
loadrt timedelay		count=1
loadrt toggle		count=1


####################################################
# Hook functions into threads
addf stepgen.make-pulses		base-thread
addf pwmgen.make-pulses		base-thread
addf parport.0.read		base-thread
addf parport.0.write		base-thread
addf parport.0.reset		base-thread
addf logic.0		base-thread
addf motion-command-handler		servo-thread
addf motion-controller		servo-thread
addf stepgen.update-freq		servo-thread
addf stepgen.capture-position		servo-thread
addf pwmgen.update		servo-thread
addf constant.0		servo-thread
addf constant.1		servo-thread
addf constant.2		servo-thread
addf constant.3		servo-thread
addf constant.4		servo-thread
addf constant.5		servo-thread
addf constant.6		servo-thread
addf constant.7		servo-thread
addf constant.8		servo-thread
addf constant.9		servo-thread
addf constant.10		servo-thread
addf constant.11		servo-thread
addf constant.12		servo-thread
addf and2.0		servo-thread
addf and2.1		servo-thread
addf and2.2		servo-thread
addf and2.3		servo-thread
addf and2.4		servo-thread
addf and2.5		servo-thread
addf and2.6		servo-thread
addf and2.7		servo-thread
addf and2.8		servo-thread
addf and2.9		servo-thread
addf and2.10		servo-thread
addf and2.11		servo-thread
addf and2.12		servo-thread
addf and2.13		servo-thread
addf and2.14		servo-thread
addf and2.15		servo-thread
addf and2.16		servo-thread
addf conv-float-s32.0		servo-thread
addf toggle.0		servo-thread
addf flipflop.0		servo-thread
addf flipflop.1		servo-thread
addf flipflop.2		servo-thread
addf flipflop.3		servo-thread
addf timedelay.0		servo-thread
addf or2.0		servo-thread
addf or2.1		servo-thread
addf or2.2		servo-thread
addf or2.3		servo-thread
addf or2.4		servo-thread
addf or2.5		servo-thread
addf or2.6		servo-thread
addf or2.7		servo-thread
addf or2.8		servo-thread
addf or2.9		servo-thread
addf or2.10		servo-thread
addf or2.11		servo-thread
addf or2.12		servo-thread
addf or2.13		servo-thread
addf not.0		servo-thread
addf not.1		servo-thread
addf not.2		servo-thread
addf not.3		servo-thread
addf not.4		servo-thread
addf not.5		servo-thread
addf not.6		servo-thread
addf not.7		servo-thread
addf scale.0		servo-thread
addf scale.1		servo-thread
addf scale.2		servo-thread
addf scale.3		servo-thread
addf scale.4		servo-thread
addf scale.5		servo-thread
addf scale.6		servo-thread
addf mux2.0		servo-thread
addf mux4.0		servo-thread
addf mux2.1		servo-thread
addf mux2.2		servo-thread
addf mux2.3		servo-thread
addf mux2.4		servo-thread


####################################################
# Set parameters
setp parport.0.reset-time	[PARPORT]RESET_TIME
setp stepgen.0.maxaccel	[AXIS_0]STEPGEN_MAXACCEL
setp stepgen.0.maxvel	[AXIS_0]MAX_VELOCITY
setp stepgen.0.dirhold	[PARPORT]DIRHOLD
setp stepgen.0.dirsetup	[PARPORT]DIRSETUP
setp stepgen.0.steplen	[PARPORT]STEPLEN
setp stepgen.0.stepspace	[PARPORT]STEPSPACE
setp stepgen.0.position-scale	[AXIS_0]SCALE
setp parport.0.pin-03-out-reset	FALSE
setp parport.0.pin-05-out-reset	FALSE
setp parport.0.pin-07-out-reset	FALSE
setp parport.0.pin-09-out-reset	FALSE
setp parport.0.pin-17-out-reset	FALSE
setp stepgen.1.maxaccel	[AXIS_1]STEPGEN_MAXACCEL
setp stepgen.1.maxvel	[AXIS_1]MAX_VELOCITY
setp stepgen.1.dirhold	[PARPORT]DIRHOLD
setp stepgen.1.dirsetup	[PARPORT]DIRSETUP
setp stepgen.1.steplen	[PARPORT]STEPLEN
setp stepgen.1.stepspace	[PARPORT]STEPSPACE
setp stepgen.1.position-scale	[AXIS_1]SCALE
setp stepgen.2.maxaccel	[AXIS_2]STEPGEN_MAXACCEL
setp stepgen.2.maxvel	[AXIS_2]MAX_VELOCITY
setp stepgen.2.dirhold	[PARPORT]DIRHOLD
setp stepgen.2.dirsetup	[PARPORT]DIRSETUP
setp stepgen.2.steplen	[PARPORT]STEPLEN
setp stepgen.2.stepspace	[PARPORT]STEPSPACE
setp stepgen.2.position-scale	[AXIS_2]SCALE
setp stepgen.3.maxaccel	[AXIS_3]STEPGEN_MAXACCEL
setp stepgen.3.maxvel	[AXIS_3]MAX_VELOCITY
setp stepgen.3.dirhold	[PARPORT]DIRHOLD
setp stepgen.3.dirsetup	[PARPORT]DIRSETUP
setp stepgen.3.steplen	[PARPORT]STEPLEN
setp stepgen.3.stepspace	[PARPORT]STEPSPACE
setp stepgen.3.position-scale	[AXIS_3]SCALE
setp parport.0.pin-04-out-invert	TRUE
setp parport.0.pin-06-out-invert	TRUE


####################################################
# Set constants
setp constant.0.value	0.1
setp constant.1.value	20
setp constant.2.value	[TRAJ]MAX_LINEAR_VELOCITY
setp constant.3.value	[TRAJ]MAX_ANGULAR_VELOCITY
setp constant.4.value	60
setp constant.5.value	0.50
setp constant.6.value	1.00
setp constant.7.value	0.10
setp constant.8.value	0.10
setp constant.9.value	0.0
setp constant.10.value	-1.0
setp constant.11.value	0.020
setp constant.12.value	0.000


####################################################
# Connect Modules with nets
net a-amp-enable logic.0.in-03 axis.3.amp-enable-out stepgen.3.enable
net a-analog halui.jog.3.analog mux2.4.out
net a-button-minus or2.0.in0 input.0.btn-joystick and2.7.in0
net a-button-plus or2.0.in1 input.0.btn-thumb2 and2.8.in0
net a-buttons-active or2.0.out or2.1.in0 or2.11.in1
net a-direction parport.0.pin-08-out stepgen.3.dir
net a-disable not.7.out and2.13.in1
net a-enable or2.11.in0 flipflop.3.out not.7.in mux2.4.sel
net a-jog input.0.abs-z-position mux2.4.in1
net a-knob-active or2.9.out not.2.in and2.15.in1
net a-knob-inactive not.2.out and2.14.in1
net a-select and2.16.in0 and2.15.out
net a-set flipflop.3.set and2.16.out
net a-step parport.0.pin-09-out stepgen.3.step
net all-amps-enabled logic.0.and parport.0.pin-17-out
net angular_motion or2.11.out mux2.0.sel
net any-buttons-active mux4.0.sel0 or2.12.out
net axis-disabled-value constant.9.out mux2.1.in0 mux2.2.in0 mux2.3.in0 mux2.4.in0
net az-buttons-active or2.1.out or2.12.in1 or2.13.in0
net az-reset flipflop.2.reset and2.14.out flipflop.3.reset
net button-crawl scale.4.out mux4.0.in3
net button-fast scale.2.out mux4.0.in1 scale.4.in
net estop-a and2.0.in0 input.0.btn-top2
net estop-b and2.0.in1 input.0.btn-base
net estop-out parport.0.pin-01-out iocontrol.0.emc-enable-in iocontrol.0.user-enable-out
net homeswitches parport.0.pin-10-in-not axis.0.home-sw-in axis.1.home-sw-in axis.2.home-sw-in axis.3.home-sw-in
net jog-crawl toggle.0.out mux4.0.sel1
net jog-speed halui.jog-speed mux4.0.out
net knob-crawl mux4.0.in2 scale.3.out
net knob-fast mux4.0.in0 scale.1.out scale.3.in
net manual-mode halui.mode.manual input.0.btn-base3
net n_9 axis.0.motor-pos-cmd stepgen.0.position-cmd
net n_11 axis.0.motor-pos-fb stepgen.0.position-fb
net n_13 and2.0.out halui.estop.activate
net n_14 or2.3.in0 input.0.btn-base5
net n_15 or2.3.in1 input.0.btn-base6
net n_16 toggle.0.in or2.3.out
net n_17 conv-float-s32.0.out input.0.abs-x-flat input.0.abs-y-flat input.0.abs-z-flat input.0.abs-rz-flat
net n_18 constant.1.out conv-float-s32.0.in
net n_19 constant.4.out scale.0.gain
net n_20 constant.5.out scale.1.gain
net n_21 constant.6.out scale.2.gain
net n_22 constant.7.out scale.3.gain
net n_23 scale.4.gain constant.8.out
net n_24 constant.0.out halui.jog-deadband
net n_25 constant.2.out mux2.0.in0
net n_26 mux2.0.in1 constant.3.out
net n_34 axis.1.motor-pos-cmd stepgen.1.position-cmd
net n_36 axis.1.motor-pos-fb stepgen.1.position-fb
net n_42 or2.7.in0 input.0.abs-x-is-pos
net n_43 or2.7.in1 input.0.abs-x-is-neg
net n_44 or2.8.in0 input.0.abs-y-is-pos
net n_45 or2.8.in1 input.0.abs-y-is-neg
net n_46 or2.9.in0 input.0.abs-z-is-pos
net n_47 or2.9.in1 input.0.abs-z-is-neg
net n_48 or2.10.in0 input.0.abs-rz-is-pos
net n_49 or2.10.in1 input.0.abs-rz-is-neg
net n_51 constant.10.out scale.5.gain scale.6.gain
net n_54 constant.11.out timedelay.0.on-delay
net n_55 constant.12.out timedelay.0.off-delay
net n_56 timedelay.0.out and2.1.in1 and2.2.in1 and2.4.in1 and2.3.in1 and2.5.in1 and2.6.in1 and2.8.in1 and2.7.in1
net n_57 and2.1.out halui.jog.0.minus
net n_58 and2.2.out halui.jog.0.plus
net n_59 and2.3.out halui.jog.1.minus
net n_60 halui.jog.1.plus and2.4.out
net n_61 and2.5.out halui.jog.2.minus
net n_62 and2.6.out halui.jog.2.plus
net n_63 and2.7.out halui.jog.3.minus
net n_64 and2.8.out halui.jog.3.plus
net n_67 axis.2.motor-pos-cmd stepgen.2.position-cmd
net n_69 axis.2.motor-pos-fb stepgen.2.position-fb
net n_77 axis.3.motor-pos-cmd stepgen.3.position-cmd
net n_79 axis.3.motor-pos-fb stepgen.3.position-fb
net probe-in parport.0.pin-15-in-not motion.probe-input
net program-resume halui.program.resume input.0.btn-base4
net reset-estop input.0.btn-base2 halui.estop.reset
net tool-change iocontrol.0.tool-change hal_manualtoolchange.change
net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
net tool-number iocontrol.0.tool-prep-number hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net vel-per-minute scale.0.out scale.1.in scale.2.in
net vel-per-second mux2.0.out scale.0.in
net x-amp-enable logic.0.in-00 axis.0.amp-enable-out stepgen.0.enable
net x-analog mux2.1.out halui.jog.0.analog
net x-buttons-active or2.5.in0 or2.4.out
net x-direction parport.0.pin-02-out stepgen.0.dir
net x-disable not.4.out and2.12.in1
net x-enable not.4.in flipflop.0.out mux2.1.sel
net x-hat-minus or2.4.in1 input.0.abs-hat0x-is-neg and2.1.in0
net x-hat-plus or2.4.in0 input.0.abs-hat0x-is-pos and2.2.in0
net x-jog input.0.abs-x-position mux2.1.in1
net x-knob-active or2.7.out not.0.in and2.9.in0
net x-knob-inactive not.0.out and2.10.in0 and2.11.in0
net x-set and2.9.out flipflop.0.set
net x-step parport.0.pin-03-out stepgen.0.step
net xy-buttons-active or2.5.out or2.12.in0 or2.13.in1
net xy-reset flipflop.0.reset and2.10.out flipflop.1.reset
net xyza-buttons-active or2.13.out timedelay.0.in
net y-amp-enable logic.0.in-01 axis.1.amp-enable-out stepgen.1.enable
net y-analog halui.jog.1.analog mux2.2.out
net y-buttons-active or2.6.out or2.5.in1
net y-direction parport.0.pin-04-out stepgen.1.dir
net y-disable not.5.out and2.9.in1
net y-enable flipflop.1.out not.5.in mux2.2.sel
net y-hat-minus or2.6.in1 input.0.abs-hat0y-is-neg and2.4.in0
net y-hat-plus or2.6.in0 input.0.abs-hat0y-is-pos and2.3.in0
net y-jog input.0.abs-y-position scale.5.in
net y-jog-reversed mux2.2.in1 scale.5.out
net y-knob-active not.1.in or2.8.out and2.11.in1
net y-knob-inactive not.1.out and2.10.in1
net y-select and2.12.in0 and2.11.out
net y-set flipflop.1.set and2.12.out
net y-step parport.0.pin-05-out stepgen.1.step
net z-amp-enable logic.0.in-02 axis.2.amp-enable-out stepgen.2.enable
net z-analog mux2.3.out halui.jog.2.analog
net z-button-minus or2.2.in0 input.0.btn-thumb and2.5.in0
net z-button-plus or2.2.in1 input.0.btn-top and2.6.in0
net z-buttons-active or2.2.out or2.1.in1
net z-direction parport.0.pin-06-out stepgen.2.dir
net z-disable not.6.out and2.16.in1
net z-enable not.6.in flipflop.2.out mux2.3.sel
net z-jog input.0.abs-rz-position scale.6.in
net z-jog-reversed scale.6.out mux2.3.in1
net z-knob-active not.3.in or2.10.out and2.13.in0
net z-knob-inactive not.3.out and2.15.in0 and2.14.in0
net z-set and2.13.out flipflop.2.set
net z-step parport.0.pin-07-out stepgen.2.step

Sherline.ini

# Ed Nisley - KE4ZNU
# Just do not run stepconf ever again...

[EMC]
MACHINE = Sherline-XYZA
DEBUG = 0
RS274NGC_STARTUP_CODE = G21 G40 G49 G54 G80 G90 G92.1 G94 G97 G98

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
GEOMETRY = AXYZ
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.0
INTRO_GRAPHIC = /home/ed/linuxcnc/configs/Sherline-XYZA/Sherline.gif
INTRO_TIME = 3
PROGRAM_PREFIX = /mnt/bulkdata/
#PROGRAM_PREFIX = /home/ed/linuxcnc/nc_files/
#INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
INCREMENTS = 10 mm, 1 mm, 0.1 mm, 90 deg, 45 deg, 10 deg

[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
SHMEM_KEY = 111
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[PARPORT]
ADDRESS = 0x378
RESET_TIME = 10000
STEPLEN = 25000
STEPSPACE = 25000
DIRSETUP = 50000
DIRHOLD = 50000

[HAL]
HALUI = halui
HALFILE = Sherline.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 45.00
DEFAULT_ANGULAR_VELOCITY = 36.0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.400
MAX_LINEAR_VELOCITY = 0.400
POSITION_FILE =	lastposition.txt
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = Sherline.tbl
TOOL_CHANGE_AT_G30 = 1

[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 0.400
MAX_ACCELERATION = 5.0
STEPGEN_MAXACCEL = 10.0
SCALE = 16000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -1.0
MAX_LIMIT = 9.5
BACKLASH = 0.003
HOME_IS_SHARED = 1
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = 0.3
HOME_LATCH_VEL = 0.03
HOME_FINAL_VEL = 0.4
HOME_OFFSET = 9.1
HOME = 5.25

[AXIS_1]
TYPE = LINEAR
MAX_VELOCITY = 0.400
MAX_ACCELERATION = 5.0
STEPGEN_MAXACCEL = 10.0
SCALE = 16000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = 0.00
MAX_LIMIT = 5.10
BACKLASH = 0.003
HOME_IS_SHARED = 1
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = 0.3
HOME_LATCH_VEL = 0.03
HOME_FINAL_VEL = 0.4
HOME_OFFSET = 5.1
HOME = 4.5

[AXIS_2]
TYPE = LINEAR
MAX_VELOCITY = 0.333
MAX_ACCELERATION = 3.0
STEPGEN_MAXACCEL = 6.0
SCALE = 16000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = 0.0
MAX_LIMIT = 6.680
BACKLASH = 0.005
HOME_IS_SHARED = 1
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = 0.150
HOME_LATCH_VEL = 0.015
HOME_FINAL_VEL = 0.33
HOME_OFFSET = 6.680
HOME = 6.500

[AXIS_3]
TYPE = ANGULAR
###WRAPPED_ROTARY = 1
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 250.0
STEPGEN_MAXACCEL = 275.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -999999999.9
MAX_LIMIT =  999999999.9
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME = 0.0

More details on my blog at https://wp.me/poZKh-7R6