# Samodzielny plik testowy dla mb2hal i falownika Vevor D100
# Uruchom w terminalu za pomoca:
# halrun -I -f vfd_test.hal

# 1. Tworzymy wirtualny watek czasu rzeczywistego (wymagane w halrun)
loadrt threads name1=servo-thread period1=1000000

# 2. Ladujemy mb2hal z nasza konfiguracja
loadusr -Wn vfd mb2hal config=vfd_d100.ini

# 3. Ladujemy komponenty pomocnicze
loadrt scale names=spindle_speed_scale,spindle_feedback_scale
loadrt mux2 names=spindle_dir_mux,spindle_run_mux
loadrt near names=spindle_at_speed_near

# 4. Dodajemy funkcje do watku
addf spindle_speed_scale servo-thread
addf spindle_feedback_scale servo-thread
addf spindle_dir_mux servo-thread
addf spindle_run_mux servo-thread
addf spindle_at_speed_near servo-thread

# 5. Startujemy watki czasu rzeczywistego
start

# =====================================================================
# LOGIKA STEROWANIA (Symulacja sygnalow wejsciowych z LinuxCNC)
# =====================================================================

# Wartosci sterujace: 2.0 = Forward, 4.0 = Reverse, 8.0 = Stop
setp spindle_dir_mux.in0 2.0
setp spindle_dir_mux.in1 4.0
setp spindle_run_mux.in0 8.0

# Tworzymy sygnaly i podlaczamy je do wejsc logicznych (bez udzialu 'motion')
net test-spindle-rev   spindle_dir_mux.sel
net test-spindle-dir   spindle_dir_mux.out     => spindle_run_mux.in1
net test-spindle-on    spindle_run_mux.sel
net test-spindle-cmd   spindle_run_mux.out     => vfd.control.00.float

# Skalowanie zadanej predkosci: 24000 RPM -> 400.0 Hz (wartosc 4000 w Modbus)
# Gain = 4000 / 24000 = 0.16666667
setp spindle_speed_scale.gain 0.16666667
setp spindle_speed_scale.offset 0.0
net test-speed-rpm     spindle_speed_scale.in
net test-speed-scaled  spindle_speed_scale.out  => vfd.speed.00.float

# Skalowanie sprzezenia zwrotnego: RPM z VFD -> RPS dla LinuxCNC
setp spindle_feedback_scale.gain 0.01666667
setp spindle_feedback_scale.offset 0.0
net test-rpm-feedback  vfd.metrics.rpm.float    => spindle_feedback_scale.in
net test-rps-feedback  spindle_feedback_scale.out

# Detekcja "At Speed"
setp spindle_at_speed_near.difference 300.0
net test-speed-rpm     => spindle_at_speed_near.in1
net test-rpm-feedback  => spindle_at_speed_near.in2
net test-at-speed      spindle_at_speed_near.out