Sample schematic, HAL file, INI file for use with Kicad-to-HAL program

LinuxCNC Test Schematic.sch

EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr USLetter 11000 8500
encoding utf-8
Sheet 1 1
Title "Kicad-to-HAL Demo Schematic"
Date "2021-03-23"
Rev ""
Comp "Ed Nisley - KE4ZNU"
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L LinuxCNC-HAL:THREAD servo-thread.0
U 1 1 6059ED1C
P 5650 5200
F 0 "servo-thread.0" H 5650 5750 59  0000 C CNN
F 1 "THREAD" H 5650 5650 50  0000 C CNN
F 2 "" H 5750 5300 50  0001 C CNN
F 3 "" H 5750 5300 50  0001 C CNN
F 4 "1" H 6050 5650 50  0000 C CNN "StripAnno"
	1    5650 5200
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:LOGITECH_GAMEPAD_GUF13A input.0.0
U 2 1 605A12D7
P 3000 3500
F 0 "input.0.0" H 3000 5350 50  0000 C CNN
F 1 "LOGITECH_GAMEPAD_GUF13A" H 2950 5250 50  0000 C CNN
F 2 "" H 8500 7100 50  0001 C CNN
F 3 "" H 8500 7100 50  0001 C CNN
F 4 "1" H 3550 5250 50  0000 C CNN "StripAnno"
F 5 "-W hal_input -KA Dual" H 2950 5150 50  0000 C CNN "LoadUsr"
	2    3000 3500
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:AND2 and2.0
U 1 1 605A4CD8
P 4350 3300
F 0 "and2.0" H 4350 3500 50  0000 C CNN
F 1 "AND2" H 4350 3300 50  0000 C CNN
F 2 "" H 4350 3300 50  0001 C CNN
F 3 "" H 4350 3300 50  0001 C CNN
F 4 "+" H 4350 3300 50  0001 C CNN "LoadRT"
	1    4350 3300
	1    0    0    -1  
$EndComp
Wire Wire Line
	3700 3800 3850 3800
Wire Wire Line
	3850 3800 3850 3400
Wire Wire Line
	3850 3400 4050 3400
Wire Wire Line
	4050 3200 3700 3200
$Comp
L LinuxCNC-HAL:TOGGLE toggle.0
U 1 1 605A7FF1
P 5750 3400
F 0 "toggle.0" H 5750 3700 50  0000 C CNN
F 1 "TOGGLE" H 5750 3600 50  0000 C CNN
F 2 "" H 6050 3350 50  0001 C CNN
F 3 "" H 6050 3350 50  0001 C CNN
F 4 "+" H 5750 3400 50  0001 C CNN "LoadRT"
	1    5750 3400
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:PARAMETER parameter.0
U 1 1 605A8894
P 4950 3500
F 0 "parameter.0" H 4950 3600 50  0001 C CNN
F 1 "5" H 5150 3500 50  0000 R CNN
F 2 "" H 5250 3500 50  0001 C CNN
F 3 "" H 5250 3500 50  0001 C CNN
	1    4950 3500
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:HM2_5I25 hm2_5i25.0.0
U 1 1 605A8E84
P 7700 4300
F 0 "hm2_5i25.0.0" H 7700 4800 50  0000 C CNN
F 1 "HM2_5I25" H 7700 4700 50  0000 C CNN
F 2 "" H 8250 4100 50  0001 C CNN
F 3 "" H 8250 4100 50  0001 C CNN
F 4 "1" H 8100 4700 50  0000 C CNN "StripAnno"
	1    7700 4300
	1    0    0    -1  
$EndComp
Wire Wire Line
	4650 3300 5450 3300
Wire Wire Line
	5350 3500 5500 3500
Wire Wire Line
	6100 3300 6950 3300
Wire Wire Line
	7150 4550 6900 4550
Wire Wire Line
	6900 4550 6900 5550
Wire Wire Line
	6900 5550 6200 5550
$Comp
L LinuxCNC-HAL:LOADRT loadrt.3.?
U 1 1 605AF190
P 5000 2950
AR Path="/6047689B/605AF190" Ref="loadrt.3.?"  Part="1" 
AR Path="/605AF190" Ref="loadrt.3.0"  Part="1" 
F 0 "loadrt.3.0" H 5000 3200 50  0000 C CNN
F 1 "LOADRT" H 4950 3100 50  0000 C CNN
F 2 "" H 5800 2450 50  0001 C CNN
F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 2450 50  0001 C CNN
F 4 "hm2_pci config=\"num_encoders=0 num_pwmgens=0 num_stepgens=4\"" H 4750 3000 50  0000 L CNN "LoadRT"
F 5 "1" H 5250 3100 50  0000 C CNN "StripAnno"
	1    5000 2950
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:LOADRT loadrt.2.?
U 1 1 605AF198
P 5000 2600
AR Path="/6047689B/605AF198" Ref="loadrt.2.?"  Part="1" 
AR Path="/605AF198" Ref="loadrt.2.0"  Part="1" 
F 0 "loadrt.2.0" H 5000 2850 50  0000 C CNN
F 1 "LOADRT" H 4950 2750 50  0000 C CNN
F 2 "" H 5800 2100 50  0001 C CNN
F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 2100 50  0001 C CNN
F 4 "hostmot2" H 4750 2650 50  0000 L CNN "LoadRT"
F 5 "1" H 5250 2750 50  0000 C CNN "StripAnno"
	1    5000 2600
	1    0    0    -1  
$EndComp
Text GLabel 6450 5200 2    50   Output ~ 0
_
$Comp
L LinuxCNC-HAL:LOADRT loadrt.0.?
U 1 1 605B697F
P 5000 1900
AR Path="/6047689B/605B697F" Ref="loadrt.0.?"  Part="1" 
AR Path="/605B697F" Ref="loadrt.0.0"  Part="1" 
F 0 "loadrt.0.0" H 5000 2150 50  0000 C CNN
F 1 "LOADRT" H 4950 2050 50  0000 C CNN
F 2 "" H 5800 1400 50  0001 C CNN
F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 1400 50  0001 C CNN
F 4 "[KINS]KINEMATICS" H 4750 1950 50  0000 L CNN "LoadRT"
F 5 "1" H 5250 2050 50  0000 C CNN "StripAnno"
	1    5000 1900
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:LOADRT loadrt.1.?
U 1 1 605B6987
P 5000 2250
AR Path="/6047689B/605B6987" Ref="loadrt.1.?"  Part="1" 
AR Path="/605B6987" Ref="loadrt.1.0"  Part="1" 
F 0 "loadrt.1.0" H 5000 2500 50  0000 C CNN
F 1 "LOADRT" H 4950 2400 50  0000 C CNN
F 2 "" H 5800 1750 50  0001 C CNN
F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 1750 50  0001 C CNN
F 4 "[EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS" H 4750 2300 50  0000 L CNN "LoadRT"
F 5 "1" H 5250 2400 50  0000 C CNN "StripAnno"
	1    5000 2250
	1    0    0    -1  
$EndComp
Wire Wire Line
	6200 5200 6450 5200
Wire Wire Line
	6700 4450 7150 4450
Wire Wire Line
	6700 4450 6700 4850
Wire Wire Line
	6700 4850 6200 4850
$Comp
L LinuxCNC-HAL:TIMEDELAY timedelay.0
U 1 1 605C692D
P 5200 4250
F 0 "timedelay.0" H 5200 4600 50  0000 C CNN
F 1 "TIMEDELAY" H 5200 4500 50  0000 C CNN
F 2 "" H 5200 4400 50  0001 C CNN
F 3 "" H 5200 4400 50  0001 C CNN
F 4 "+" H 5200 4250 50  0001 C CNN "LoadRT"
	1    5200 4250
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:CONSTANT constant.0
U 1 1 605C7C1F
P 4350 4300
F 0 "constant.0" H 4350 4400 50  0001 C CNN
F 1 "[BLINKY]ON" H 4500 4300 50  0000 R CNN
F 2 "" H 4600 4050 50  0001 C CNN
F 3 "" H 4600 4050 50  0001 C CNN
F 4 "+" H 4350 4300 50  0001 C CNN "LoadRT"
	1    4350 4300
	1    0    0    -1  
$EndComp
$Comp
L LinuxCNC-HAL:CONSTANT constant.1
U 1 1 605C822C
P 4350 4400
F 0 "constant.1" H 4350 4500 50  0001 C CNN
F 1 "[BLINKY]OFF" H 4500 4400 50  0000 R CNN
F 2 "" H 4600 4150 50  0001 C CNN
F 3 "" H 4600 4150 50  0001 C CNN
F 4 "+" H 4350 4400 50  0001 C CNN "LoadRT"
	1    4350 4400
	1    0    0    -1  
$EndComp
Wire Wire Line
	4750 4300 4850 4300
Wire Wire Line
	4750 4400 4850 4400
Wire Wire Line
	7150 4000 6950 4000
Wire Wire Line
	6950 4000 6950 3300
$Comp
L LinuxCNC-HAL:NOT not.0
U 1 1 605D425F
P 6000 4100
F 0 "not.0" H 6100 4250 50  0000 C CNN
F 1 "NOT" H 6000 4100 50  0000 C CNN
F 2 "" H 6350 3850 50  0001 C CNN
F 3 "" H 6350 3850 50  0001 C CNN
F 4 "+" H 6000 4100 50  0001 C CNN "LoadRT"
	1    6000 4100
	1    0    0    -1  
$EndComp
Wire Wire Line
	5550 4100 5750 4100
Wire Wire Line
	6450 4100 6600 4100
Wire Wire Line
	6600 4100 6600 3800
Wire Wire Line
	6600 3800 4700 3800
Wire Wire Line
	4700 3800 4700 4100
Wire Wire Line
	4700 4100 4850 4100
Wire Wire Line
	6600 4100 7150 4100
Connection ~ 6600 4100
$EndSCHEMATC

machine.ini

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZA

[BLINKY]
ON = 0.2
OFF = 2.0

Test-Schematic.hal

# LinuxCNC HAL file

# Kicad netlist: LinuxCNC Test Schematic.xml
#  Tue 23 Mar 2021 10:47:04 AM EDT


#------
# LoadRT modules

loadrt [KINS]KINEMATICS		# loadrt.0.0
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS		# loadrt.1.0
loadrt hostmot2		# loadrt.2.0
loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4"		# loadrt.3.0
 
loadrt and2		count=1 
loadrt constant		count=2 
loadrt not		count=1 
loadrt timedelay		count=1 
loadrt toggle		count=1 

#------
# LoadUsr modules

loadusr -W hal_input -KA Dual		# input.0.0

#------
# Function hookups

# Position: 1

addf hm2_5i25.0.read		servo-thread
 
# Position: _

addf and2.0		servo-thread
addf constant.0		servo-thread
addf constant.1		servo-thread
addf not.0		servo-thread
addf timedelay.0		servo-thread
addf toggle.0		servo-thread
 
# Position: -1

addf hm2_5i25.0.write		servo-thread
 

#------
# Parameters

setp toggle.0.debounce 5		# parameter.0

#------
# Constants

setp constant.0.value [BLINKY]ON
setp constant.1.value [BLINKY]OFF

#------
# Nets

net N_001 <= constant.1.out => timedelay.0.off-delay
net N_002 <= constant.0.out => timedelay.0.on-delay
net N_003 <= not.0.out => hm2_5i25.0.led.CR02 timedelay.0.in
net N_004 <= toggle.0.out => hm2_5i25.0.led.CR01
net N_006 <= and2.0.out => toggle.0.in
net N_007 <= timedelay.0.out => not.0.in
net N_008 <= input.0.btn-top2 => and2.0.in0
net N_009 <= input.0.btn-base => and2.0.in1

#------
# Done!

More details on my blog at https://wp.me/poZKh-9Uo