Merge remote-tracking branch 'origin/2.8' into master-merge

* origin/2.8:
  docs: make an index.html page for the PDF docs
  cosmetic fix to a configure error message
  Update for new version of Rpi400
  Update for new version of Rpi400
  docs: changed url in halshow doc
  docs: created mb2hal doc based on sample ini file
  mb2hal: added pins to manpage
  docs: fixed link
  docs: include mb2hal ini file in docs
  mb2hal: updated and fixed sample configuration
  gmoccapy: sensitize save button after 'save as'
  gmoccapy: fix detection of file change
  Update ini-config.txt
  Update ini-config.txt
  Add files via upload
  correcting submakefile for 2.8
  update
  missing in documentation for INI RS274 section
  Change EDITOR = geany. Restore more generous dirhold and dirsetup timing.
  Updated the gantry example with what I gather from the forum is best practice. 1) Reduce from 4(XYZA) to 3(XYZY) coordinate. 2) Use negative HOME_SEQUENCE values for synchronous homing of the dual Y joints. 3) Rename signals such as adir, astep to y2dir, ystep.
  full update xhc-whb04b-6 for 2.8

configs/by_interface/parport/gantry/README

@@ -1,9 +1,10 @@
-Stepper Gantry basic configurations using gantrykins.
+Stepper Gantry basic configurations.
 
-gantry has no home switches
+It is very important for gantry machines to set initial home switch positions before first homing so they reach home switches at a very similar time. To remove any skewing on the gantry adjust the home offset of one joint. After homing the configuration will switch from joint mode to world mode.
 
-This configuration is a stepper based configuration for a gantry type of device using independent Y axis steppers on the gantry. When this configuration is started you will be in joint mode and each axis can be jogged independently. This allows you to square up the gantry to match marks then home each joint. Once this is completed switch to world mode before trying to jog the gantry.
+gantry_joints.ini uses the same .hal file but uses kinstype=BOTH which requires independently homing each joint axis.
 
-gantry-hs has home switches for each joint
+gantry.ini implements a dual Y motor gantry. This is the configuration to use after you verify the directions and speeds of the individual joints using gantry_joints.ini.
+
+These configs use switches for min-home on the X,Y,Y2 axis and max-home for Z. Pay attention to the parallel input pin assignment for the switches.
 
-This configuration is just like gantry.ini with the addition of home switches. Homing is done in joint mode. It is very important for gantries to set initial home switch positions before first homing so they reach home switches at a very similar time. To remove any skewing on the gantry adjust of home offset of one joint. After homing switch to world mode.

configs/by_interface/parport/gantry/gantry.hal

@@ -1,14 +1,9 @@
-# Kinematics
+# Generated by stepconf 1.1 at Mon Feb 28 16:28:49 2022
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
 loadrt [KINS]KINEMATICS
-
-# Settings for gantrykins
-setp gantrykins.joint-0 0
-setp gantrykins.joint-1 1
-setp gantrykins.joint-2 2
-setp gantrykins.joint-3 1
-
 loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
-loadrt hal_parport cfg="0x378 out  "
+loadrt hal_parport cfg="0 out"
 setp parport.0.reset-time 5000
 loadrt stepgen step_type=0,0,0,0
 
@@ -21,20 +16,32 @@ addf stepgen.capture-position servo-thread
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
 addf stepgen.update-freq servo-thread
-net spindle-cmd <= spindle.0.speed-out
+net spindle-cmd-rpm     <= spindle.0.speed-out
+net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
+net spindle-cmd-rps     <= spindle.0.speed-out-rps
+net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
+net spindle-at-speed    => spindle.0.at-speed
 
-net xstep => parport.0.pin-02-out
+net xstep           => parport.0.pin-02-out
 setp parport.0.pin-02-out-reset 1
-net xdir => parport.0.pin-03-out
-net ystep => parport.0.pin-04-out
+net xdir            => parport.0.pin-03-out
+net ystep           => parport.0.pin-04-out
 setp parport.0.pin-04-out-reset 1
-net ydir => parport.0.pin-05-out
-net zstep => parport.0.pin-06-out
+net ydir            => parport.0.pin-05-out
+net zstep           => parport.0.pin-06-out
 setp parport.0.pin-06-out-reset 1
-net zdir => parport.0.pin-07-out
-net astep => parport.0.pin-08-out
+net zdir            => parport.0.pin-07-out
+net y2step           => parport.0.pin-08-out
 setp parport.0.pin-08-out-reset 1
-net adir => parport.0.pin-09-out
+net y2dir            => parport.0.pin-09-out
+
+#
+# Very likely that you will have wired your limit/home switches differently.
+#
+net min-home-y2      <= parport.0.pin-10-in
+net max-home-z      <= parport.0.pin-11-in
+net min-home-y      <= parport.0.pin-12-in
+net min-home-x      <= parport.0.pin-13-in
 
 setp stepgen.0.position-scale [JOINT_0]SCALE
 setp stepgen.0.steplen 1
@@ -47,6 +54,8 @@ net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
 net xstep <= stepgen.0.step
 net xdir <= stepgen.0.dir
 net xenable joint.0.amp-enable-out => stepgen.0.enable
+net min-home-x => joint.0.home-sw-in
+net min-home-x => joint.0.neg-lim-sw-in
 
 setp stepgen.1.position-scale [JOINT_1]SCALE
 setp stepgen.1.steplen 1
@@ -59,6 +68,8 @@ net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
 net ystep <= stepgen.1.step
 net ydir <= stepgen.1.dir
 net yenable joint.1.amp-enable-out => stepgen.1.enable
+net min-home-y => joint.1.home-sw-in
+net min-home-y => joint.1.neg-lim-sw-in
 
 setp stepgen.2.position-scale [JOINT_2]SCALE
 setp stepgen.2.steplen 1
@@ -71,18 +82,22 @@ net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
 net zstep <= stepgen.2.step
 net zdir <= stepgen.2.dir
 net zenable joint.2.amp-enable-out => stepgen.2.enable
+net max-home-z => joint.2.home-sw-in
+net max-home-z => joint.2.pos-lim-sw-in
 
 setp stepgen.3.position-scale [JOINT_3]SCALE
 setp stepgen.3.steplen 1
 setp stepgen.3.stepspace 0
 setp stepgen.3.dirhold 40000
 setp stepgen.3.dirsetup 40000
 setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
-net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
-net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
-net astep <= stepgen.3.step
-net adir <= stepgen.3.dir
-net aenable joint.3.amp-enable-out => stepgen.3.enable
+net y2pos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
+net y2pos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
+net y2step <= stepgen.3.step
+net y2dir <= stepgen.3.dir
+net y2enable joint.3.amp-enable-out => stepgen.3.enable
+net min-home-y2 => joint.3.home-sw-in
+net min-home-y2 => joint.3.neg-lim-sw-in
 
 net estop-out <= iocontrol.0.user-enable-out
 net estop-out => iocontrol.0.emc-enable-in