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Код: Выделить всё

addf hm2_7i43.0.write         servo-thread
addf motion-controller        servo-thread

Код: Выделить всё

addf motion-controller        servo-thread
addf hm2_7i43.0.write         servo-thread

Код: Выделить всё

# Program RUN/STOP/PAUSE/STEP button

setp hm2_7i43.0.gpio.042.is_output 0
setp hm2_7i43.0.gpio.043.is_output 0
setp hm2_7i43.0.gpio.044.is_output 1
setp hm2_7i43.0.gpio.045.is_output 1
setp toggle.1.debounce 100
setp toggle.2.debounce 100
setp timedelay.0.on-delay 1

net run-btn     and2.6.in0 and2.7.in0 and2.8.in0 timedelay.0.in <= hm2_7i43.0.gpio.042.in_not
net pause-btn   toggle.1.in <= hm2_7i43.0.gpio.043.in_not
net pause-tgl   toggle.1.out => toggle2nist.1.in
net is-paused   halui.program.is-paused => toggle2nist.1.is-on and2.7.in1 not.6.in
net is-idle     halui.program.is-idle => not.5.in
net delay       timedelay.0.out => and2.8.in1
net pause-not   not.6.out => and2.6.in1
net stop-1      and2.8.out => or2.0.in0
net stop-2      and2.6.out => or2.0.in1
net stop-out    or2.0.out  => toggle.3.in
net stop-tgl    toggle.3.out => toggle2nist.2.in
net idle-not    not.5.out => toggle2nist.2.is-on
net run-sig     toggle2nist.2.on => halui.mode.auto halui.program.run
net stop-sig    toggle2nist.2.off => halui.program.stop halui.home-all
net step-sig    and2.7.out => halui.program.step
net pause-sig   toggle2nist.1.on => halui.program.pause
net resume-sig  toggle2nist.1.off => halui.program.resume
net is-running  halui.program.is-running => hm2_7i43.0.gpio.044.out  # индикация состояния - светодиод и пр., необязательно
net is-paused   =>  hm2_7i43.0.gpio.045.out                           # то же самое

Код: Выделить всё

  31         if (reset) {
  32                 temp_count=0;

Код: Выделить всё

 
  31         if (reset) {
  32                 temp_count=min;