Merge remote-tracking branch 'origin/v2.5_branch' into 2.6

Conflicts:
	VERSION
	debian/changelog
	src/hal/components/edge.comp

configs/by_interface/pico/ppmc_vel/README

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+A configuration for the PPMC board set from Pico
+systems.  This configuration includes motion connections
+and an IO set for handling estop within HAL.  The IO
+configuration in ppmc_io.hal DOES include signal
+connections for some bridgeportio like signal handling.
+This configs set includes the option for encoder
+velocity estimation via timestamping, and tells how to
+change the encoder digital filter frequency.

configs/by_interface/pico/ppmc_vel/ppmc.ini

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+# EMC controller parameters for generic controller. Make these what you need
+# for your system.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-PPMC
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+# DEBUG =               0x00000007
+# DEBUG =               0x7FFFFFFF
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+# Name of display program, e.g., xemc
+DISPLAY =             axis
+# DISPLAY =               usrmot
+# DISPLAY =    tkemc
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             tklinucnc.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.2
+
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 2
+
+# Enable popup balloon help
+BALLOON_HELP = 1
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE =        ppmc.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# Interval between tries to emcmot, in seconds
+COMM_WAIT =             0.010
+
+# Servo task period, in nanoseconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE =                    ppmc_load.hal
+
+HALFILE =                    ppmc_servo.hal
+HALFILE =                    ppmc_motion.hal
+HALFILE =                    ppmc_io.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  4
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z A
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      0.15
+MAX_VELOCITY =          1.20
+DEFAULT_ACCELERATION =  1.5
+MAX_ACCELERATION =      1.5
+
+# Axes sections ---------------------------------------------------------------
+
+# Scaling:  The OUTPUT_SCALE should be the speed 
+# in UNITS/second  (inches/sec or mm/sec) that would be
+# reached if the PWM duty cycle was 100%.  It depends on
+# the power supply voltage, motor RPM/Volt factor, and 
+# gearing/screw pitch.  For example:
+#
+# Power supply voltage 50V
+# Motor RPM/V     1000RPM/24V
+# Gearing:  2 motor revs per 1 screw rev
+# Screw pitch: 0.2" per turn
+# 
+# Max motor speed = 50V * 1000RPM/24V = 2083 RPM
+# Max screw speed = 2083RPM * 1(screw)/2(motor) = 1041RPM
+# Max table speed = 1041RPM * 0.2"/turn = 208 in/min
+# Max table speed = 208 in/min / 60 seconds = 3.47 inches/sec
+#
+# Since max speed is reached at 100% duty cycle, OUTPUT_SCALE
+# should be 3.47
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.20
+MAX_ACCELERATION =              1.25
+PID_MAX_VEL =              1.2
+BACKLASH = 0.000
+INPUT_SCALE =                   -128000.0
+OUTPUT_SCALE =                  -1.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.001
+MIN_FERROR = 0.005
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+DEADBAND =                         1e-06
+P =                              800.0
+I =                              25.0
+D =                                20.0
+BIAS =                             0.0
+FF0 =                              0.0
+FF1 =                              1.0
+FF2 =				0.0
+
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.20
+MAX_ACCELERATION =              1.25
+PID_MAX_VEL =              1.2
+BACKLASH = 0.000
+INPUT_SCALE =                   -128000.0
+OUTPUT_SCALE =                  -1.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.001
+MIN_FERROR = 0.005
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+DEADBAND =                         1e-06
+P =                              800.0
+I =                              25.0
+D =                                10.0
+BIAS =                             0.0
+FF0 =                              0.0
+FF1 =                              1.0
+FF2 =				0.0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.20
+MAX_ACCELERATION =              1.25
+PID_MAX_VEL =              1.2
+BACKLASH = 0.000
+INPUT_SCALE =                   128000.0
+OUTPUT_SCALE =                  1.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.001
+MIN_FERROR = 0.005
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+DEADBAND =                         8e-05
+P =                              800.0
+I =                              25.0
+D =                                10.0
+BIAS =                             0.0
+FF0 =                              0.0
+FF1 =                              1.0
+FF2 =				0.0
+
+# Fourth axis
+[AXIS_3]
+
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  65
+MAX_ACCELERATION =              20.0
+PID_MAX_VEL =              66.0
+BACKLASH = 0.000
+INPUT_SCALE =                   1111.111
+OUTPUT_SCALE =                  5.0
+MIN_LIMIT =                     -3600.0
+MAX_LIMIT =                     3600.0
+FERROR = 1.010
+MIN_FERROR = 1.001
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+DEADBAND =                        0.046
+P =                              150.0
+I =                              100.0
+D =                                0.1
+BIAS =                             0.0
+FF0 =                              0.0
+FF1 =                              1.0
+FF2 =                              1.0
+
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+
+# Name of IO controller program, e.g., io
+EMCIO =     io
+
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE =    ppmc.tbl
+
+# section for external NML server parameters ----------------------------------
+[EMCSERVER]
+# Uncomment the following line if you need to run a remote GUI.
+# EMCSERVER =           emcsvr

configs/by_interface/pico/ppmc_vel/ppmc.tbl

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+T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
+T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
+T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
+T99999 P99999 Z+0.100000 ;big tool number

configs/by_interface/pico/ppmc_vel/ppmc_io.hal

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+# HAL config file for Pico Systems USC board
+#
+# Connect motion controller I/Os
+#
+
+# connect limit/home switch outputs to motion controller
+net Xminlim <= ppmc.0.din.01.in
+net Xminlim => axis.0.neg-lim-sw-in
+net Xmaxlim <= ppmc.0.din.02.in
+net Xmaxlim => axis.0.pos-lim-sw-in
+net Xhome <= ppmc.0.din.00.in
+net Xhome => axis.0.home-sw-in
+
+net Yminlim <= ppmc.0.din.05.in
+net Yminlim => axis.1.neg-lim-sw-in
+net Ymaxlim <= ppmc.0.din.06.in
+net Ymaxlim => axis.1.pos-lim-sw-in
+net Yhome <= ppmc.0.din.04.in
+net Yhome => axis.1.home-sw-in
+
+net Zminlim <= ppmc.0.din.09.in
+net Zminlim => axis.2.neg-lim-sw-in
+net Zmaxlim <= ppmc.0.din.10.in
+net Zmaxlim => axis.2.pos-lim-sw-in
+net Zhome <= ppmc.0.din.08.in
+net Zhome => axis.2.home-sw-in
+
+net Aminlim <= ppmc.0.din.12.in
+net Aminlim => axis.3.neg-lim-sw-in
+net Amaxlim <= ppmc.0.din.13.in
+net Amaxlim => axis.3.pos-lim-sw-in
+net Ahome <= ppmc.0.din.11.in
+net Ahome => axis.3.home-sw-in
+
+
+# connect index pulses to motion controller
+# uncomment if you have encoder index signals
+#net Xindex <= ppmc.0.encoder.00.index-enable => axis.0.index-enable
+#net Yindex <= ppmc.0.encoder.01.index-enable => axis.1.index-enable
+#net Zindex <= ppmc.0.encoder.02.index-enable => axis.2.index-enable
+#net Aindex <= ppmc.0.encoder.03.index-enable => axis.3.index-enable
+
+#
+# Connect I/O controller I/Os
+#
+
+# connect e-stop write/sense to I/O controller
+# and ppmc's fault with estop's output, so  estop FF is reset, but
+#      prevent continued estop signal from ppmc from holding FF cleared
+net ppmcEstop ppmc.0.din.estop.in
+net ppmcEstop and2.0.in0
+net EstopOkIn estop-latch.0.fault-in
+net EstopOkIn and2.0.out
+net EstopOkOut ppmc.0.dout.07.out
+net EstopOkOut ppmc.0.dout.Estop.out
+net EstopOkOut iocontrol.0.emc-enable-in
+net EstopOkOut estop-latch.0.ok-out
+net EstopOkOut and2.0.in1
+net emc-estop-out iocontrol.0.user-enable-out
+net emc-estop-out estop-latch.0.ok-in
+net emc-estop-reset iocontrol.0.user-request-enable
+net emc-estop-reset estop-latch.0.reset
+
+# connect spindle fwd/rev to I/O controller
+net SpindleFwd <= ppmc.0.dout.00.out
+net SpindleFwd => motion.spindle-forward
+net SpindleRev <= ppmc.0.dout.01.out
+net SpindleRev => motion.spindle-reverse
+
+# connect spindle brake to I/O controller
+net SpindleBrakeOn <= ppmc.0.dout.02.out
+net SpindleBrakeOn => motion.spindle-brake
+
+# connect mist/flood coolant to I/O controller
+net MistOn <= ppmc.0.dout.03.out
+net MistOn => iocontrol.0.coolant-mist
+net FloodOn <= ppmc.0.dout.04.out
+net FloodOn => iocontrol.0.coolant-flood