added example hal file

example/cia402.hal

@@ -0,0 +1,72 @@
+###########################################################
+#
+# CIA 402 example snippet Hal 
+#
+###########################################################
+
+###########################################################
+# Setup
+###########################################################
+
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
+
+loadusr -W lcec_conf ethercat-conf.xml
+loadrt lcec
+loadrt cia402 count=3
+loadrt pid names=x-pid,y-pid,z-pid
+
+
+###########################################################
+# Functions servo-thread
+###########################################################
+
+addf lcec.read-all servo-thread
+addf cia402.0.read-all servo-thread
+addf cia402.1.read-all servo-thread
+addf cia402.2.read-all servo-thread
+
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+addf x-pid.do-pid-calcs servo-thread
+addf y-pid.do-pid-calcs servo-thread
+addf z-pid.do-pid-calcs servo-thread
+
+addf cia402.0.write-all servo-thread
+addf cia402.1.write-all servo-thread
+addf cia402.2.write-all servo-thread
+addf lcec.write-all servo-thread
+
+#########################################
+#nets
+#########################################
+net emc-enable => iocontrol.0.emc-enable-in
+sets emc-enable 1
+
+#config
+setp cia402.0.csp-mode 1
+setp cia402.0.pos-scale 3600
+
+#from servo(ethercat) to cia402
+net x-statusword      lcec.0.0.cia-statusword => cia402.0.statusword
+net x-opmode-display  lcec.0.0.opmode-display => cia402.0.opmode-display
+net x-drv-act-pos     lcec.0.0.actual-position => cia402.0.drv-actual-position
+net x-drv-act-velo    lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity
+
+#from cia402 to servo(ethercat) 
+net x-controlword         cia402.0.controlword => lcec.0.0.cia-controlword
+net x-modes-of-operation  cia402.0.opmode => lcec.0.0.opmode
+net x-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.target-position
+net x-drv-target-velo     cia402.0.drv-target-velocity => lcec.0.0.target-velocity
+
+#from motion to cia
+net x-enable    <= joint.0.amp-enable-out => cia402.0.enable
+net x-amp-fault => joint.0.amp-fault-in   <= cia402.0.drv-fault
+net x-pos-cmd   <= joint.0.motor-pos-cmd  => cia402.0.pos-cmd
+net x-pos-fb    => joint.0.motor-pos-fb   <= cia402.0.pos-fb
+
+#homing
+net x-home-index <= joint.0.index-enable  => cia402.0.home
+
+

example/ethercat-conf.xml

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+<masters>
+  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
+    <slave idx="0" type="generic" vid="0000026C" pid="0000003C" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
+          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
+          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
+          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
+        </pdo>
+      </syncManager>
+      <syncManager idx="3" dir="in">
+        <pdo idx="1a00">
+          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
+          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
+          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
+          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
+          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
+        </pdo>
+      </syncManager>
+    </slave>
+  </master>
+</masters>
+