linuxcnc-hal-sys 0.1.5

/********************************************************************
* Description: motion.c
*   Main module initialisation and cleanup routines.
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
********************************************************************/

#include <stdarg.h>
#include "rtapi.h"		/* RTAPI realtime OS API */
#include "rtapi_app.h"		/* RTAPI realtime module decls */
#include "rtapi_string.h"       /* memset */
#include "hal.h"		/* decls for HAL implementation */
#include "motion.h"
#include "motion_debug.h"
#include "motion_struct.h"
#include "mot_priv.h"
#include "rtapi_math.h"
#include "homing.h"

// Mark strings for translation, but defer translation to userspace
#define _(s) (s)

/***********************************************************************
*                    KERNEL MODULE PARAMETERS                          *
************************************************************************/

/* module information */
/* register symbols to be modified by insmod
   see "Linux Device Drivers", Alessandro Rubini, p. 385
   (p.42-44 in 2nd edition) */
MODULE_AUTHOR("Matt Shaver/John Kasunich");
MODULE_DESCRIPTION("Motion Controller for EMC");
MODULE_LICENSE("GPL");

/* RTAPI shmem key - for comms with higher level user space stuff */
static int key = DEFAULT_SHMEM_KEY;	/* the shared memory key, default value */
RTAPI_MP_INT(key, "shared memory key");
static long base_period_nsec = 0;	/* fastest thread period */
RTAPI_MP_LONG(base_period_nsec, "fastest thread period (nsecs)");
int base_thread_fp = 0;	/* default is no floating point in base thread */
RTAPI_MP_INT(base_thread_fp, "floating point in base thread?");
static long servo_period_nsec = 1000000;	/* servo thread period */
RTAPI_MP_LONG(servo_period_nsec, "servo thread period (nsecs)");
static long traj_period_nsec = 0;	/* trajectory planner period */
RTAPI_MP_LONG(traj_period_nsec, "trajectory planner period (nsecs)");
static int num_spindles = 1; /* default number of spindles is 1 */
RTAPI_MP_INT (num_spindles, "number of spindles");
int motion_num_spindles;
static int num_joints = EMCMOT_MAX_JOINTS;	/* default number of joints present */
RTAPI_MP_INT(num_joints, "number of joints used in kinematics");
static int num_extrajoints = 0;	/* default number of extra joints present */
RTAPI_MP_INT(num_extrajoints, "number of extra joints (not used in kinematics)");
static int num_dio = DEFAULT_DIO;	/* default number of motion synched DIO */
RTAPI_MP_INT(num_dio, "number of digital inputs/outputs");
static int num_aio = DEFAULT_AIO;	/* default number of motion synched AIO */
RTAPI_MP_INT(num_aio, "number of analog inputs/outputs");

static int unlock_joints_mask = 0;/* mask to select joints for unlock pins */
RTAPI_MP_INT(unlock_joints_mask, "mask to select joints for unlock pins");
/***********************************************************************
*                  GLOBAL VARIABLE DEFINITIONS                         *
************************************************************************/

/* pointer to emcmot_hal_data_t struct in HAL shmem, with all HAL data */
emcmot_hal_data_t *emcmot_hal_data = 0;

/* pointer to joint data */
emcmot_joint_t *joints = 0;

/* pointer to axis data */
emcmot_axis_t *axes = 0;

#ifndef STRUCTS_IN_SHMEM
/* allocate array for joint data */
emcmot_joint_t joint_array[EMCMOT_MAX_JOINTS];
/* allocate array for axis data */
emcmot_axis_t axis_array[EMCMOT_MAX_AXIS];
#endif

/*
  Principles of communication:

  Data is copied in or out from the various types of comm mechanisms:
  mbuff mapped memory for Linux/RT-Linux, or OS shared memory for Unixes.

  emcmotStruct is ptr to this memory.

  emcmotCommand points to emcmotStruct->command,
  emcmotStatus points to emcmotStruct->status,
  emcmotError points to emcmotStruct->error, and
 */
emcmot_struct_t *emcmotStruct = 0;
/* ptrs to either buffered copies or direct memory for command and status */
struct emcmot_command_t *emcmotCommand = 0;
struct emcmot_status_t *emcmotStatus = 0;
struct emcmot_config_t *emcmotConfig = 0;
struct emcmot_debug_t *emcmotDebug = 0;
struct emcmot_error_t *emcmotError = 0;	/* unused for RT_FIFO */

/***********************************************************************
*                  LOCAL VARIABLE DECLARATIONS                         *
************************************************************************/

/* RTAPI shmem ID - for comms with higher level user space stuff */
static int emc_shmem_id;	/* the shared memory ID */

static int mot_comp_id;	/* component ID for motion module */

/***********************************************************************
*                   LOCAL FUNCTION PROTOTYPES                          *
************************************************************************/

/* init_hal_io() exports HAL pins and parameters making data from
   the realtime control module visible and usable by the world
*/
static int init_hal_io(void);

/* functions called by init_hal_io() */

// halpins for ALL joints (kinematic joints and extra joints):
static int export_joint(int num,           joint_hal_t * addr);
// additional halpins for extrajoints:
static int export_extrajoint(int num, extrajoint_hal_t * addr);

static int export_axis(char c, axis_hal_t  * addr);
static int export_spindle(int num, spindle_hal_t * addr);

/* init_comm_buffers() allocates and initializes the command,
   status, and error buffers used to communicate witht the user
   space parts of emc.
*/
static int init_comm_buffers(void);

/* functions called by init_comm_buffers() */

/* init_threads() creates realtime threads, exports functions to
   do the realtime control, and adds the functions to the threads.
*/
static int init_threads(void);

/* functions called by init_threads() */
static int setTrajCycleTime(double secs);
static int setServoCycleTime(double secs);

/***********************************************************************
*                     PUBLIC FUNCTION CODE                             *
************************************************************************/
int joint_is_lockable(int joint_num) {
    return (unlock_joints_mask & (1 << joint_num) );
}

void switch_to_teleop_mode(void) {
    int joint_num;
    emcmot_joint_t *joint;

    if (emcmotConfig->kinType != KINEMATICS_IDENTITY) {
        if (!checkAllHomed()) {
            reportError(_("all joints must be homed before going into teleop mode"));
            return;
        }
    }

    for (joint_num = 0; joint_num < ALL_JOINTS; joint_num++) {
        joint = &joints[joint_num];
        if (joint != 0) { joint->free_tp.enable = 0; }
    }

    emcmotDebug->teleoperating = 1;
    emcmotDebug->coordinating  = 0;
}


void emcmot_config_change(void)
{
    if (emcmotConfig->head == emcmotConfig->tail) {
	emcmotConfig->config_num++;
	emcmotStatus->config_num = emcmotConfig->config_num;
	emcmotConfig->head++;
    }
}

void reportError(const char *fmt, ...)
{
    va_list args;

    va_start(args, fmt);
    emcmotErrorPutfv(emcmotError, fmt, args);
    va_end(args);
}

#ifndef va_copy
#define va_copy(dest, src) ((dest)=(src))
#endif

static rtapi_msg_handler_t old_handler = NULL;
static void emc_message_handler(msg_level_t level, const char *fmt, va_list ap)
{
    va_list apc;
    va_copy(apc, ap);
    if(level == RTAPI_MSG_ERR) emcmotErrorPutfv(emcmotError, fmt, apc);
    if(old_handler) old_handler(level, fmt, ap);
    va_end(apc);
}

int rtapi_app_main(void)
{
    int retval;

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_module() starting...\n");

    /* connect to the HAL and RTAPI */
    mot_comp_id = hal_init("motmod");
    if (mot_comp_id < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: hal_init() failed\n"));
	return -1;
    }
    if (( num_joints < 1 ) || ( num_joints > EMCMOT_MAX_JOINTS )) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: num_joints is %d, must be between 1 and %d\n"), num_joints, EMCMOT_MAX_JOINTS);
	hal_exit(mot_comp_id);
	return -1;
    }

    if (( num_extrajoints < 0 ) || ( num_extrajoints > num_joints )) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("\nMOTION: num_extrajoints is %d, must be between 0 and %d\n\n"), num_extrajoints, num_joints);
	hal_exit(mot_comp_id);
	return -1;
    }
    if ( (num_extrajoints > 0) && (kinematicsType() != KINEMATICS_BOTH) ) {
	rtapi_print_msg(RTAPI_MSG_ERR, _("\nMOTION: nonzero num_extrajoints requires KINEMATICS_BOTH\n\n"));
        return -1;
    }
    if (num_extrajoints > 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
            _("\nMOTION: kinematicjoints=%2d\n            extrajoints=%2d\n           Total joints=%2d\n\n"),
            num_joints-num_extrajoints, num_extrajoints, num_joints
            );
    }

    if (( num_spindles < 0 ) || ( num_spindles > EMCMOT_MAX_SPINDLES )) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: num_spindles is %d, must be between 0 and %d\n"), num_spindles, EMCMOT_MAX_SPINDLES);
	hal_exit(mot_comp_id);
	return -1;
    }
    motion_num_spindles = num_spindles;

    if (( num_dio < 1 ) || ( num_dio > EMCMOT_MAX_DIO )) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: num_dio is %d, must be between 1 and %d\n"), num_dio, EMCMOT_MAX_DIO);
	hal_exit(mot_comp_id);
	return -1;
    }
    
    if (( num_aio < 1 ) || ( num_aio > EMCMOT_MAX_AIO )) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: num_aio is %d, must be between 1 and %d\n"), num_aio, EMCMOT_MAX_AIO);
	hal_exit(mot_comp_id);
	return -1;
    }

    /* initialize/export HAL pins and parameters */
    retval = init_hal_io();
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: init_hal_io() failed\n"));
	hal_exit(mot_comp_id);
	return -1;
    }

    /* allocate/initialize user space comm buffers (cmd/status/err) */
    retval = init_comm_buffers();
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: init_comm_buffers() failed\n"));
	hal_exit(mot_comp_id);
	return -1;
    }

    /* set up for realtime execution of code */
    retval = init_threads();
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: init_threads() failed\n"));
	hal_exit(mot_comp_id);
	return -1;
    }

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_module() complete\n");

    hal_ready(mot_comp_id);

    old_handler = rtapi_get_msg_handler();
    rtapi_set_msg_handler(emc_message_handler);
    return 0;
}

void rtapi_app_exit(void)
{
    int retval;

    rtapi_set_msg_handler(old_handler);

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: cleanup_module() started.\n");

    retval = hal_stop_threads();
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: hal_stop_threads() failed, returned %d\n"), retval);
    }
    /* free shared memory */
    retval = rtapi_shmem_delete(emc_shmem_id, mot_comp_id);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: rtapi_shmem_delete() failed, returned %d\n"), retval);
    }
    /* disconnect from HAL and RTAPI */
    retval = hal_exit(mot_comp_id);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    _("MOTION: hal_exit() failed, returned %d\n"), retval);
    }
    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: cleanup_module() finished.\n");
}

/***********************************************************************
*                         LOCAL FUNCTION CODE                          *
************************************************************************/

/* init_hal_io() exports HAL pins and parameters making data from
   the realtime control module visible and usable by the world
*/
static int init_hal_io(void)
{
    int n, retval;
    joint_hal_t      *joint_data;
    extrajoint_hal_t *ejoint_data;
    axis_hal_t       *axis_data;

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_hal_io() starting...\n");

    /* allocate shared memory for machine data */
    emcmot_hal_data = hal_malloc(sizeof(emcmot_hal_data_t));
    if (emcmot_hal_data == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: emcmot_hal_data malloc failed\n"));
	return -1;
    }

    /* export machine wide hal pins */
    if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->probe_input), mot_comp_id, "motion.probe-input")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->adaptive_feed), mot_comp_id, "motion.adaptive-feed")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_hold), mot_comp_id, "motion.feed-hold")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_inhibit), mot_comp_id, "motion.feed-inhibit")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->homing_inhibit), mot_comp_id, "motion.homing-inhibit")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->tp_reverse), mot_comp_id, "motion.tp-reverse")) < 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->enable), mot_comp_id, "motion.enable")) != 0) goto error;

    /* export motion-synched digital output pins */
    /* export motion digital input pins */
    for (n = 0; n < num_dio; n++) {
	if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->synch_do[n]), mot_comp_id, "motion.digital-out-%02d", n)) != 0) goto error;
	if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->synch_di[n]), mot_comp_id, "motion.digital-in-%02d", n)) != 0) goto error;
    }

    /* export motion-synched analog output pins */
    /* export motion analog input pins */
    for (n = 0; n < num_aio; n++) {
	if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->analog_output[n]), mot_comp_id, "motion.analog-out-%02d", n)) != 0) goto error;
	if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->analog_input[n]), mot_comp_id, "motion.analog-in-%02d", n)) != 0) goto error;
    }

    /* export machine wide hal pins */
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->motion_enabled), mot_comp_id, "motion.motion-enabled")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->in_position), mot_comp_id, "motion.in-position")) != 0) goto error;
    if ((retval = hal_pin_s32_newf(HAL_OUT, &(emcmot_hal_data->motion_type), mot_comp_id, "motion.motion-type")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->coord_mode), mot_comp_id, "motion.coord-mode")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->teleop_mode), mot_comp_id, "motion.teleop-mode")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->coord_error), mot_comp_id, "motion.coord-error")) != 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->on_soft_limit), mot_comp_id, "motion.on-soft-limit")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->current_vel), mot_comp_id, "motion.current-vel")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->requested_vel), mot_comp_id, "motion.requested-vel")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->distance_to_go), mot_comp_id, "motion.distance-to-go")) != 0) goto error;
    if ((retval = hal_pin_s32_newf(HAL_OUT, &(emcmot_hal_data->program_line), mot_comp_id, "motion.program-line")) != 0) goto error;

    /* export debug parameters */
    /* these can be used to view any internal variable, simply change a line
       in control.c:output_to_hal() and recompile */
    if ((retval = hal_param_bit_newf(HAL_RO, &(emcmot_hal_data->debug_bit_0), mot_comp_id, "motion.debug-bit-0")) != 0) goto error;
    if ((retval = hal_param_bit_newf(HAL_RO, &(emcmot_hal_data->debug_bit_1), mot_comp_id, "motion.debug-bit-1")) != 0) goto error;
    if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->debug_float_0), mot_comp_id, "motion.debug-float-0")) != 0) goto error;
    if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->debug_float_1), mot_comp_id, "motion.debug-float-1")) != 0) goto error;
    if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->debug_float_2), mot_comp_id, "motion.debug-float-2")) != 0) goto error;
    if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->debug_float_3), mot_comp_id, "motion.debug-float-3")) != 0) goto error;
    if ((retval = hal_param_s32_newf(HAL_RO, &(emcmot_hal_data->debug_s32_0), mot_comp_id, "motion.debug-s32-0")) != 0) goto error;
    if ((retval = hal_param_s32_newf(HAL_RO, &(emcmot_hal_data->debug_s32_1), mot_comp_id, "motion.debug-s32-1")) != 0) goto error;

    // FIXME - debug only, remove later
    // export HAL parameters for some trajectory planner internal variables
    // so they can be scoped
    if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->traj_pos_out), mot_comp_id, "traj.pos_out")) != 0) goto error;
    if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->traj_vel_out), mot_comp_id, "traj.vel_out")) != 0) goto error;
    if ((retval = hal_param_u32_newf(HAL_RO, &(emcmot_hal_data->traj_active_tc), mot_comp_id, "traj.active_tc")) != 0) goto error;

    for ( n = 0 ; n < 4 ; n++ ) {
        if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->tc_pos[n]), mot_comp_id, "tc.%d.pos", n)) != 0) goto error;
        if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->tc_vel[n]), mot_comp_id, "tc.%d.vel", n)) != 0) goto error;
        if ((retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->tc_acc[n]), mot_comp_id, "tc.%d.acc", n)) != 0) goto error;
    }
    // end of exporting trajectory planner internals

    // export timing related HAL pins so they can be scoped and/or connected
    if ((retval = hal_pin_u32_newf(HAL_OUT, &(emcmot_hal_data->last_period), mot_comp_id, "motion.servo.last-period")) != 0) goto error;
#ifdef HAVE_CPU_KHZ
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->last_period_ns), mot_comp_id, "motion.servo.last-period-ns")) != 0) goto error;
#endif

    // export timing related HAL pins so they can be scoped
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_x), mot_comp_id, "motion.tooloffset.x")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_y), mot_comp_id, "motion.tooloffset.y")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_z), mot_comp_id, "motion.tooloffset.z")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_a), mot_comp_id, "motion.tooloffset.a")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_b), mot_comp_id, "motion.tooloffset.b")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_c), mot_comp_id, "motion.tooloffset.c")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_u), mot_comp_id, "motion.tooloffset.u")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_v), mot_comp_id, "motion.tooloffset.v")) != 0) goto error;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->tooloffset_w), mot_comp_id, "motion.tooloffset.w")) != 0) goto error;

    /* initialize machine wide pins and parameters */
    *(emcmot_hal_data->adaptive_feed) = 1.0;
    *(emcmot_hal_data->feed_hold) = 0;
    *(emcmot_hal_data->feed_inhibit) = 0;
    *(emcmot_hal_data->homing_inhibit) = 0;

    *(emcmot_hal_data->probe_input) = 0;
    /* default value of enable is TRUE, so simple machines
       can leave it disconnected */
    *(emcmot_hal_data->enable) = 1;
    
    /* motion synched dio, init to not enabled */
    for (n = 0; n < num_dio; n++) {
	 *(emcmot_hal_data->synch_do[n]) = 0;
	 *(emcmot_hal_data->synch_di[n]) = 0;
    }

    for (n = 0; n < num_aio; n++) {
	 *(emcmot_hal_data->analog_output[n]) = 0.0;
	 *(emcmot_hal_data->analog_input[n]) = 0.0;
    }
    
    /*! \todo FIXME - these don't really need initialized, since they are written
       with data from the emcmotStatus struct */
    *(emcmot_hal_data->motion_enabled) = 0;
    *(emcmot_hal_data->in_position) = 0;
    *(emcmot_hal_data->motion_type) = 0;
    *(emcmot_hal_data->coord_mode) = 0;
    *(emcmot_hal_data->teleop_mode) = 0;
    *(emcmot_hal_data->coord_error) = 0;
    *(emcmot_hal_data->on_soft_limit) = 0;

    /* init debug parameters */
    emcmot_hal_data->debug_bit_0 = 0;
    emcmot_hal_data->debug_bit_1 = 0;
    emcmot_hal_data->debug_float_0 = 0.0;
    emcmot_hal_data->debug_float_1 = 0.0;
    emcmot_hal_data->debug_float_2 = 0.0;
    emcmot_hal_data->debug_float_3 = 0.0;

    *(emcmot_hal_data->last_period) = 0;

    /* export spindle pins and params */
    for (n=0; n < num_spindles; n++) {
        retval = export_spindle(n, &(emcmot_hal_data->spindle[n]));
        if (retval != 0){
            rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: spindle %d pin export failed"), n);
            return -1;
        }
    }

    /* export joint pins and parameters */
    for (n = 0; n < num_joints; n++) {
	joint_data = &(emcmot_hal_data->joint[n]);
	/* export all vars */
        retval = export_joint(n, joint_data);
	if (retval != 0) {
	    rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: joint %d pin/param export failed\n"), n);
	    return -1;
	}
	*(joint_data->amp_enable) = 0;

	/* We'll init the index model to EXT_ENCODER_INDEX_MODEL_RAW for now,
	   because it is always supported. */
    }

    /* export joint home pins (assigned to motion comp)*/
    retval = export_joint_home_pins(num_joints,mot_comp_id);
    if (retval != 0) {
        rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: export_joint_home_pins failed\n"));
        return -1;
    }
    /* export joint pins and parameters */
    for (n = 0; n < num_extrajoints; n++) {
        ejoint_data = &(emcmot_hal_data->ejoint[n]);
        retval = export_extrajoint(n + num_joints - num_extrajoints,ejoint_data);
        if (retval != 0) {
            rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: ejoint %d pin/param export failed\n"), n);
            return -1;
        }
    }

    /* export axis pins and parameters */
    for (n = 0; n < EMCMOT_MAX_AXIS; n++) {
        char c = "xyzabcuvw"[n];
        axis_data = &(emcmot_hal_data->axis[n]);
        if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->axis[n].pos_cmd),
           mot_comp_id, "axis.%c.pos-cmd",         c)) != 0) goto error;
        if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->axis[n].teleop_vel_cmd),
           mot_comp_id, "axis.%c.teleop-vel-cmd",         c)) != 0) goto error;
        if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->axis[n].teleop_pos_cmd),
           mot_comp_id, "axis.%c.teleop-pos-cmd",  c)) != 0) goto error;
        if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->axis[n].teleop_vel_lim),
           mot_comp_id, "axis.%c.teleop-vel-lim",  c)) != 0) goto error;
        if ((retval = hal_pin_bit_newf(HAL_OUT,   &(emcmot_hal_data->axis[n].teleop_tp_enable),
           mot_comp_id, "axis.%c.teleop-tp-enable",c)) != 0) goto error;
        if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->axis[n].eoffset_enable),
           mot_comp_id, "axis.%c.eoffset-enable", c)) != 0) return retval;
        if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->axis[n].eoffset_clear),
           mot_comp_id, "axis.%c.eoffset-clear", c)) != 0) return retval;

        if ((retval = hal_pin_s32_newf(HAL_IN, &(emcmot_hal_data->axis[n].eoffset_counts),
           mot_comp_id, "axis.%c.eoffset-counts", c)) != 0) return retval;
        if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->axis[n].eoffset_scale),
           mot_comp_id, "axis.%c.eoffset-scale", c)) != 0) return retval;

        if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->axis[n].external_offset),
           mot_comp_id, "axis.%c.eoffset", c)) != 0) return retval;
        if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->axis[n].external_offset_requested),
           mot_comp_id, "axis.%c.eoffset-request", c)) != 0) return retval;

        retval = export_axis(c, axis_data);
	if (retval != 0) {
	    rtapi_print_msg(RTAPI_MSG_ERR, _("MOTION: axis %c pin/param export failed\n"), c);
	    return -1;
	}
    }
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->eoffset_limited), mot_comp_id,
                  "motion.eoffset-limited")) < 0) goto error;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->eoffset_active), mot_comp_id,
                  "motion.eoffset-active")) < 0) goto error;

    /* Done! */
    rtapi_print_msg(RTAPI_MSG_INFO,
	"MOTION: init_hal_io() complete, %d axes.\n", n);
    return 0;

    error:
	return retval;

}

static int export_spindle(int num, spindle_hal_t * addr){
	int retval, msg;

    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    if ((retval = hal_pin_bit_newf(HAL_IO, &(addr->spindle_index_enable), mot_comp_id, "spindle.%d.index-enable", num)) != 0) return retval;

    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->spindle_on), mot_comp_id, "spindle.%d.on", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->spindle_forward), mot_comp_id, "spindle.%d.forward", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->spindle_reverse), mot_comp_id, "spindle.%d.reverse", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->spindle_brake), mot_comp_id, "spindle.%d.brake", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->spindle_speed_out), mot_comp_id, "spindle.%d.speed-out", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->spindle_speed_out_abs), mot_comp_id, "spindle.%d.speed-out-abs", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->spindle_speed_out_rps), mot_comp_id, "spindle.%d.speed-out-rps", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->spindle_speed_out_rps_abs), mot_comp_id, "spindle.%d.speed-out-rps-abs", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->spindle_speed_cmd_rps), mot_comp_id, "spindle.%d.speed-cmd-rps", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->spindle_inhibit), mot_comp_id, "spindle.%d.inhibit", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->spindle_amp_fault), mot_comp_id, "spindle.%d.amp-fault-in", num)) != 0) return retval;
    *(addr->spindle_inhibit) = 0;

    // spindle orient pins
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->spindle_orient_angle), mot_comp_id, "spindle.%d.orient-angle", num)) < 0) return retval;
    if ((retval = hal_pin_s32_newf(HAL_OUT, &(addr->spindle_orient_mode), mot_comp_id, "spindle.%d.orient-mode", num)) < 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->spindle_orient), mot_comp_id, "spindle.%d.orient", num)) < 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->spindle_locked), mot_comp_id, "spindle.%d.locked", num)) < 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->spindle_is_oriented), mot_comp_id, "spindle.%d.is-oriented", num)) < 0) return retval;
    if ((retval = hal_pin_s32_newf(HAL_IN, &(addr->spindle_orient_fault), mot_comp_id, "spindle.%d.orient-fault", num)) < 0) return retval;
    *(addr->spindle_orient_angle) = 0.0;
    *(addr->spindle_orient_mode) = 0;
    *(addr->spindle_orient) = 0;

    if ((retval = hal_pin_float_newf(HAL_IN, &(addr->spindle_revs), mot_comp_id, "spindle.%d.revs", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_IN, &(addr->spindle_speed_in), mot_comp_id, "spindle.%d.speed-in", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->spindle_is_atspeed), mot_comp_id, "spindle.%d.at-speed", num)) != 0) return retval;
    *(addr->spindle_is_atspeed) = 1;
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_joint(int num, joint_hal_t * addr)
{
    int retval, msg;

    /* This function exports a lot of stuff, which results in a lot of
       logging if msg_level is at INFO or ALL. So we save the current value
       of msg_level and restore it later.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* export joint pins */
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->coarse_pos_cmd), mot_comp_id, "joint.%d.coarse-pos-cmd", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->joint_pos_cmd), mot_comp_id, "joint.%d.pos-cmd", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->joint_pos_fb), mot_comp_id, "joint.%d.pos-fb", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->motor_pos_cmd), mot_comp_id, "joint.%d.motor-pos-cmd", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_IN, &(addr->motor_pos_fb), mot_comp_id, "joint.%d.motor-pos-fb", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->motor_offset), mot_comp_id, "joint.%d.motor-offset", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->pos_lim_sw), mot_comp_id, "joint.%d.pos-lim-sw-in", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->neg_lim_sw), mot_comp_id, "joint.%d.neg-lim-sw-in", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->amp_enable), mot_comp_id, "joint.%d.amp-enable-out", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->amp_fault), mot_comp_id, "joint.%d.amp-fault-in", num)) != 0) return retval;
    if ((retval = hal_pin_s32_newf(HAL_IN,   &(addr->jjog_counts), mot_comp_id, "joint.%d.jog-counts", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN,   &(addr->jjog_enable), mot_comp_id, "joint.%d.jog-enable", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_IN, &(addr->jjog_scale), mot_comp_id, "joint.%d.jog-scale", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN,   &(addr->jjog_vel_mode), mot_comp_id, "joint.%d.jog-vel-mode", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->joint_vel_cmd), mot_comp_id, "joint.%d.vel-cmd", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->joint_acc_cmd), mot_comp_id, "joint.%d.acc-cmd", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->backlash_corr), mot_comp_id, "joint.%d.backlash-corr", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->backlash_filt), mot_comp_id, "joint.%d.backlash-filt", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->backlash_vel), mot_comp_id, "joint.%d.backlash-vel", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->f_error), mot_comp_id, "joint.%d.f-error", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->f_error_lim), mot_comp_id, "joint.%d.f-error-lim", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->free_pos_cmd), mot_comp_id, "joint.%d.free-pos-cmd", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_OUT, &(addr->free_vel_lim), mot_comp_id, "joint.%d.free-vel-lim", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->free_tp_enable), mot_comp_id, "joint.%d.free-tp-enable", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->kb_jjog_active), mot_comp_id, "joint.%d.kb-jog-active", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->wheel_jjog_active), mot_comp_id, "joint.%d.wheel-jog-active", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->in_position), mot_comp_id, "joint.%d.in-position", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->phl), mot_comp_id, "joint.%d.pos-hard-limit", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->nhl), mot_comp_id, "joint.%d.neg-hard-limit", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->active), mot_comp_id, "joint.%d.active", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->error), mot_comp_id, "joint.%d.error", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->f_errored), mot_comp_id, "joint.%d.f-errored", num)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->faulted), mot_comp_id, "joint.%d.faulted", num)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_IN,&(addr->jjog_accel_fraction),mot_comp_id,"joint.%d.jog-accel-fraction", num)) != 0) return retval;
    *addr->jjog_accel_fraction = 1.0; // fraction of accel for wheel jjogs

    if ( joint_is_lockable(num) ) {
        // these pins may be needed for rotary joints
        rtapi_print_msg(RTAPI_MSG_WARN,"motion.c: Creating unlock hal pins for joint %d\n",num);
        if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->unlock), mot_comp_id, "joint.%d.unlock", num)) != 0) return retval;
        if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->is_unlocked), mot_comp_id, "joint.%d.is-unlocked", num)) != 0) return retval;
    }

    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_extrajoint(int num, extrajoint_hal_t * addr)
{
    int retval;
    /* export extrajoint pins */
    if ((retval = hal_pin_float_newf(HAL_IN,  &(addr->posthome_cmd),  mot_comp_id,
                                            "joint.%d.posthome-cmd",  num)) != 0) return retval;
    return 0;
}

static int export_axis(char c, axis_hal_t * addr)
{
    int retval, msg;
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    if ((retval = hal_pin_bit_newf(HAL_IN,  &(addr->ajog_enable),      mot_comp_id,"axis.%c.jog-enable", c)) != 0) return retval;
    if ((retval = hal_pin_float_newf(HAL_IN,&(addr->ajog_scale),       mot_comp_id,"axis.%c.jog-scale", c)) != 0) return retval;
    if ((retval = hal_pin_s32_newf(HAL_IN,  &(addr->ajog_counts),      mot_comp_id,"axis.%c.jog-counts", c)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_IN,  &(addr->ajog_vel_mode),    mot_comp_id,"axis.%c.jog-vel-mode", c)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->kb_ajog_active),   mot_comp_id,"axis.%c.kb-jog-active", c)) != 0) return retval;
    if ((retval = hal_pin_bit_newf(HAL_OUT, &(addr->wheel_ajog_active),mot_comp_id,"axis.%c.wheel-jog-active", c)) != 0) return retval;

    if ((retval = hal_pin_float_newf(HAL_IN,&(addr->ajog_accel_fraction),       mot_comp_id,"axis.%c.jog-accel-fraction", c)) != 0) return retval;
    *addr->ajog_accel_fraction = 1.0; // fraction of accel for wheel ajogs

    rtapi_set_msg_level(msg);
    return 0;
}

/* init_comm_buffers() allocates and initializes the command,
   status, and error buffers used to communicate with the user
   space parts of emc.
*/
static int init_comm_buffers(void)
{
    int joint_num, axis_num, spindle_num, n;
    emcmot_joint_t *joint;
    int retval;

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() starting...\n");

    emcmotStruct = 0;
    emcmotDebug = 0;
    emcmotStatus = 0;
    emcmotCommand = 0;
    emcmotConfig = 0;

    /* allocate and initialize the shared memory structure */
    emc_shmem_id = rtapi_shmem_new(key, mot_comp_id, sizeof(emcmot_struct_t));
    if (emc_shmem_id < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: rtapi_shmem_new failed, returned %d\n", emc_shmem_id);
	return -1;
    }
    retval = rtapi_shmem_getptr(emc_shmem_id, (void **) &emcmotStruct);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: rtapi_shmem_getptr failed, returned %d\n", retval);
	return -1;
    }

    /* zero shared memory before doing anything else. */
    memset(emcmotStruct, 0, sizeof(emcmot_struct_t));

    /* we'll reference emcmotStruct directly */
    emcmotCommand = &emcmotStruct->command;
    emcmotStatus = &emcmotStruct->status;
    emcmotConfig = &emcmotStruct->config;
    emcmotDebug = &emcmotStruct->debug;
    emcmotError = &emcmotStruct->error;

    /* init error struct */
    emcmotErrorInit(emcmotError);

    /* init command struct */
    emcmotCommand->head = 0;
    emcmotCommand->command = 0;
    emcmotCommand->commandNum = 0;
    emcmotCommand->tail = 0;

    /* init status struct */
    emcmotStatus->head = 0;
    emcmotStatus->commandEcho = 0;
    emcmotStatus->commandNumEcho = 0;
    emcmotStatus->commandStatus = 0;

    /* init more stuff */
    emcmotDebug->head = 0;
    emcmotConfig->head = 0;

    emcmotStatus->motionFlag = 0;
    SET_MOTION_ERROR_FLAG(0);
    SET_MOTION_COORD_FLAG(0);
    SET_MOTION_TELEOP_FLAG(0);
    emcmotDebug->split = 0;
    emcmotStatus->heartbeat = 0;

    ALL_JOINTS                 = num_joints;      // emcmotConfig->numJoints from [KINS]JOINTS
    emcmotConfig->numExtraJoints = num_extrajoints; // from motmod num_extrajoints=
    emcmotStatus->numExtraJoints = num_extrajoints;

    emcmotConfig->numSpindles = num_spindles;
    emcmotConfig->numDIO = num_dio;
    emcmotConfig->numAIO = num_aio;

    ZERO_EMC_POSE(emcmotStatus->carte_pos_cmd);
    ZERO_EMC_POSE(emcmotStatus->carte_pos_fb);
    emcmotStatus->vel = 0.0;
    emcmotConfig->limitVel = 0.0;
    emcmotStatus->acc = 0.0;
    emcmotStatus->feed_scale = 1.0;
    emcmotStatus->rapid_scale = 1.0;
    emcmotStatus->net_feed_scale = 1.0;
    /* adaptive feed is off by default, feed override, spindle 
       override, and feed hold are on */
    emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED;
    emcmotStatus->enables_queued = emcmotStatus->enables_new;
    emcmotStatus->id = 0;
    emcmotStatus->depth = 0;
    emcmotStatus->activeDepth = 0;
    emcmotStatus->paused = 0;
    emcmotStatus->overrideLimitMask = 0;
    SET_MOTION_INPOS_FLAG(1);
    SET_MOTION_ENABLE_FLAG(0);
    /* record the kinematics type of the machine */
    emcmotConfig->kinType = kinematicsType();
    emcmot_config_change();

    /* init pointer to joint structs */
#ifdef STRUCTS_IN_SHMEM
    joints = &(emcmotDebug->joints[0]);
    axes = &(emcmotDebug->axes[0]);
#else
    joints = &(joint_array[0]);
    axes = &(axis_array[0]);
#endif

    for (spindle_num = 0; spindle_num < EMCMOT_MAX_SPINDLES; spindle_num++){
        emcmotStatus->spindle_status[spindle_num].scale = 1.0;
        emcmotStatus->spindle_status[spindle_num].speed = 0.0;
    }

   for (axis_num = 0; axis_num < EMCMOT_MAX_AXIS; axis_num++) {
      emcmot_axis_t *axis;
      axis = &axes[axis_num];
      axis->locking_joint = -1;
   }
    /* init per-joint stuff */
    for (joint_num = 0; joint_num < ALL_JOINTS; joint_num++) {
	/* point to structure for this joint */
	joint = &joints[joint_num];

	/* init the config fields with some "reasonable" defaults" */
	joint->type = 0;
	joint->max_pos_limit = 1.0;
	joint->min_pos_limit = -1.0;
	joint->vel_limit = 1.0;
	joint->acc_limit = 1.0;
	joint->min_ferror = 0.01;
	joint->max_ferror = 1.0;
	joint->backlash = 0.0;

	joint->comp.entries = 0;
	joint->comp.entry = &(joint->comp.array[0]);
	/* the compensation code has -DBL_MAX at one end of the table
	   and +DBL_MAX at the other so _all_ commanded positions are
	   guaranteed to be covered by the table */
	joint->comp.array[0].nominal = -DBL_MAX;
	joint->comp.array[0].fwd_trim = 0.0;
	joint->comp.array[0].rev_trim = 0.0;
	joint->comp.array[0].fwd_slope = 0.0;
	joint->comp.array[0].rev_slope = 0.0;
	for ( n = 1 ; n < EMCMOT_COMP_SIZE+2 ; n++ ) {
	    joint->comp.array[n].nominal = DBL_MAX;
	    joint->comp.array[n].fwd_trim = 0.0;
	    joint->comp.array[n].rev_trim = 0.0;
	    joint->comp.array[n].fwd_slope = 0.0;
	    joint->comp.array[n].rev_slope = 0.0;
	}

	/* init joint flags */
	joint->flag = 0;
	SET_JOINT_INPOS_FLAG(joint, 1);

	/* init status info */
	joint->coarse_pos = 0.0;
	joint->pos_cmd = 0.0;
	joint->vel_cmd = 0.0;
	joint->acc_cmd = 0.0;
	joint->backlash_corr = 0.0;
	joint->backlash_filt = 0.0;
	joint->backlash_vel = 0.0;
	joint->motor_pos_cmd = 0.0;
	joint->motor_pos_fb = 0.0;
	joint->pos_fb = 0.0;
	joint->ferror = 0.0;
	joint->ferror_limit = joint->min_ferror;
	joint->ferror_high_mark = 0.0;

	/* init internal info */
	cubicInit(&(joint->cubic));
    }

	homing_init();  // for all joints

    /*! \todo FIXME-- add emcmotError */

    emcmotDebug->cur_time = emcmotDebug->last_time = 0.0;
    emcmotDebug->start_time = etime();
    emcmotDebug->running_time = 0.0;

    /* init motion emcmotDebug->coord_tp */
    if (-1 == tpCreate(&emcmotDebug->coord_tp, DEFAULT_TC_QUEUE_SIZE,
	    emcmotDebug->queueTcSpace)) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: failed to create motion emcmotDebug->coord_tp\n");
	return -1;
    }
//    tpInit(&emcmotDebug->coord_tp); // tpInit called from tpCreate
    tpSetCycleTime(&emcmotDebug->coord_tp, emcmotConfig->trajCycleTime);
    tpSetPos(&emcmotDebug->coord_tp, &emcmotStatus->carte_pos_cmd);
    tpSetVmax(&emcmotDebug->coord_tp, emcmotStatus->vel, emcmotStatus->vel);
    tpSetAmax(&emcmotDebug->coord_tp, emcmotStatus->acc);

    emcmotStatus->tail = 0;

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() complete\n");
    return 0;
}

/* init_threads() creates realtime threads, exports functions to
   do the realtime control, and adds the functions to the threads.
*/
static int init_threads(void)
{
    double base_period_sec, servo_period_sec;
    int servo_base_ratio;
    int retval;

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_threads() starting...\n");

    /* if base_period not specified, assume same as servo_period */
    if (base_period_nsec == 0) {
	base_period_nsec = servo_period_nsec;
    }
    if (traj_period_nsec == 0) {
	traj_period_nsec = servo_period_nsec;
    }
    /* servo period must be greater or equal to base period */
    if (servo_period_nsec < base_period_nsec) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: bad servo period %ld nsec\n", servo_period_nsec);
	return -1;
    }
    /* convert desired periods to floating point */
    base_period_sec = base_period_nsec * 0.000000001;
    servo_period_sec = servo_period_nsec * 0.000000001;
    /* calculate period ratios, round to nearest integer */
    servo_base_ratio = (servo_period_sec / base_period_sec) + 0.5;
    /* revise desired periods to be integer multiples of each other */
    servo_period_nsec = base_period_nsec * servo_base_ratio;
    /* create HAL threads for each period */
    /* only create base thread if it is faster than servo thread */
    if (servo_base_ratio > 1) {
	retval = hal_create_thread("base-thread", base_period_nsec, base_thread_fp);
	if (retval < 0) {
	    rtapi_print_msg(RTAPI_MSG_ERR,
		"MOTION: failed to create %ld nsec base thread\n",
		base_period_nsec);
	    return -1;
	}
    }
    retval = hal_create_thread("servo-thread", servo_period_nsec, 1);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: failed to create %ld nsec servo thread\n",
	    servo_period_nsec);
	return -1;
    }
    /* export realtime functions that do the real work */
    retval = hal_export_funct("motion-controller", emcmotController, 0	/* arg 
	 */ , 1 /* uses_fp */ , 0 /* reentrant */ , mot_comp_id);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: failed to export controller function\n");
	return -1;
    }
    retval = hal_export_funct("motion-command-handler", emcmotCommandHandler, 0	/* arg 
	 */ , 1 /* uses_fp */ , 0 /* reentrant */ , mot_comp_id);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: failed to export command handler function\n");
	return -1;
    }
/*! \todo Another #if 0 */
#if 0
    /*! \todo FIXME - currently the traj planner is called from the controller */
    /* eventually it will be a separate function */
    retval = hal_export_funct("motion-traj-planner", emcmotTrajPlanner, 0	/* arg 
	 */ , 1 /* uses_fp */ ,
	0 /* reentrant */ , mot_comp_id);
    if (retval < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "MOTION: failed to export traj planner function\n");
	return -1;
    }
#endif

    // if we don't set cycle times based on these guesses, emc doesn't
    // start up right
    setServoCycleTime(servo_period_nsec * 1e-9);
    setTrajCycleTime(traj_period_nsec * 1e-9);

    rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_threads() complete\n");
    return 0;
}

void emcmotSetCycleTime(unsigned long nsec )
{
    int servo_mult;
    servo_mult = traj_period_nsec / nsec;
    if(servo_mult < 0) servo_mult = 1;
    setTrajCycleTime(nsec * 1e-9);
    setServoCycleTime(nsec * servo_mult * 1e-9);
}

/* call this when setting the trajectory cycle time */
static int setTrajCycleTime(double secs)
{
    static int t;

    rtapi_print_msg(RTAPI_MSG_INFO,
	"MOTION: setting Traj cycle time to %ld nsecs\n", (long) (secs * 1e9));

    /* make sure it's not zero */
    if (secs <= 0.0) {
	return -1;
    }

    emcmot_config_change();

    /* compute the interpolation rate as nearest integer to traj/servo */
    if(emcmotConfig->servoCycleTime)
        emcmotConfig->interpolationRate =
            (int) (secs / emcmotConfig->servoCycleTime + 0.5);
    else
        emcmotConfig->interpolationRate = 1;

    /* set traj planner */
    tpSetCycleTime(&emcmotDebug->coord_tp, secs);

    /* set the free planners, cubic interpolation rate and segment time */
    for (t = 0; t < ALL_JOINTS; t++) {
	cubicSetInterpolationRate(&(joints[t].cubic),
	    emcmotConfig->interpolationRate);
    }

    /* copy into status out */
    emcmotConfig->trajCycleTime = secs;

    return 0;
}

/* call this when setting the servo cycle time */
static int setServoCycleTime(double secs)
{
    static int t;

    rtapi_print_msg(RTAPI_MSG_INFO,
	"MOTION: setting Servo cycle time to %ld nsecs\n", (long) (secs * 1e9));

    /* make sure it's not zero */
    if (secs <= 0.0) {
	return -1;
    }

    emcmot_config_change();

    /* compute the interpolation rate as nearest integer to traj/servo */
    emcmotConfig->interpolationRate =
	(int) (emcmotConfig->trajCycleTime / secs + 0.5);

    /* set the cubic interpolation rate and PID cycle time */
    for (t = 0; t < ALL_JOINTS; t++) {
	cubicSetInterpolationRate(&(joints[t].cubic),
	    emcmotConfig->interpolationRate);
	cubicSetSegmentTime(&(joints[t].cubic), secs);
    }

    /* copy into status out */
    emcmotConfig->servoCycleTime = secs;

    return 0;
}