Remora - Rpi Software Stepping Using External Microcontroller via SPI

amanker
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Premium Member

18 Sep 2025 18:42 #335160 by amanker

Replied by amanker on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Finally I got it working. I shortened the spi cables, reduced spi frequency, tried erasing and flashing remora via stm32cube, nothing worked. But after some time it automagically started working. I don't know how it worked?

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Gusgus
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New Member

18 Sep 2025 19:04 #335163 by Gusgus

Replied by Gusgus on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Hello once again!

I haven't really been active but we got to testing once again and now I have encountered another issue I don't understand.

So now we get movement and stable connection to the octopus, we got an spi cable with shielding and that worked wonders, thank you tommylight for the suggestion and thanks Scotta for all the help.

The issue we are encountering now is that we have x y1 y2 and z, but we only get movement from x and y1, y2 and z are completely unresponsive, we have eliminated the drivers and their wiring since if we connect the y2 and z terminals to the x and y1 outputs on the octopus we get movement from them.

We have them wired to the octopus' Motor 4, 5, 6, and 7 ports, which are decleared in the following config:

[color=#d4d4d4]{[/color][color=#9cdcfe]"Board"[/color][color=#d4d4d4]: [/color][color=#ce9178]"BIGTREETECH Octopus Pro"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Modules"[/color][color=#d4d4d4]:[[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Reset Pin"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Reset pin"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PC_15"[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"eStop"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"eStop"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PG_12"[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PWM"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Spindle"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"SP[i]"[/color][color=#d4d4d4]: [/color][color=#b5cea8]3[/color][color=#d4d4d4],[/color][color=#9cdcfe]"PWM Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PB_0"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"PWM Max"[/color][color=#d4d4d4]: [/color][color=#b5cea8]255[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Hardware PWM"[/color][color=#d4d4d4]: [/color][color=#ce9178]"True"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Variable Freq"[/color][color=#d4d4d4]: [/color][color=#ce9178]"True"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Period SP[i]"[/color][color=#d4d4d4]: [/color][color=#b5cea8]1[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Period us"[/color][color=#d4d4d4]: [/color][color=#b5cea8]200[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Base"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Stepgen"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"X - Joint 0 step generator"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Joint Number"[/color][color=#d4d4d4]: [/color][color=#b5cea8]0[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Step Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PF_9"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Direction Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PF_10"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Enable Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PG_2"[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Base"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Stepgen"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Y1 - Joint 1 step generator"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Joint Number"[/color][color=#d4d4d4]: [/color][color=#b5cea8]1[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Step Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PC_13"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Direction Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PF_0"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Enable Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PF_1"[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Base"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Stepgen"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Y2 - Joint 1 step generator"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Joint Number"[/color][color=#d4d4d4]: [/color][color=#b5cea8]1[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Step Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PE_2"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Direction Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PE_3"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Enable Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PD_4"[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Base"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Stepgen"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Z - Joint 2 step generator"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Joint Number"[/color][color=#d4d4d4]: [/color][color=#b5cea8]2[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Step Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PE_6"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Direction Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PA_14"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Enable Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PE_0"[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Digital Pin"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"X min"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PG_6"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Mode"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Input"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Data Bit"[/color][color=#d4d4d4]: [/color][color=#b5cea8]0[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Digital Pin"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Y min"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PG_9"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Mode"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Input"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Data Bit"[/color][color=#d4d4d4]: [/color][color=#b5cea8]1[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Digital Pin"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Z min"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PG_10"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Mode"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Input"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Data Bit"[/color][color=#d4d4d4]: [/color][color=#b5cea8]2[/color][color=#d4d4d4]},[/color][color=#d4d4d4]{[/color][color=#9cdcfe]"Thread"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Servo"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Type"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Digital Pin"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Comment"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Probe"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Pin"[/color][color=#d4d4d4]: [/color][color=#ce9178]"PG_11"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Mode"[/color][color=#d4d4d4]: [/color][color=#ce9178]"Input"[/color][color=#d4d4d4],[/color][color=#9cdcfe]"Data Bit"[/color][color=#d4d4d4]: [/color][color=#b5cea8]3[/color][color=#d4d4d4]}[/color][color=#d4d4d4]][/color][color=#d4d4d4]}[/color]

We are running this in our .ini file:

[color=#6a9955]# Basic LinuxCNC config for testing of Remora firmware[/color] [color=#d4d4d4][EMC][/color][color=#569cd6]MACHINE[/color][color=#d4d4d4] = Remora-XYZ[/color][color=#569cd6]DEBUG[/color][color=#d4d4d4] = 0[/color][color=#569cd6]VERSION[/color][color=#d4d4d4] = 1.1[/color] [color=#d4d4d4][DISPLAY][/color][color=#569cd6]DISPLAY[/color][color=#d4d4d4] = axis[/color][color=#569cd6]EDITOR[/color][color=#d4d4d4] = gedit[/color][color=#569cd6]POSITION_OFFSET[/color][color=#d4d4d4] = RELATIVE[/color][color=#569cd6]POSITION_FEEDBACK[/color][color=#d4d4d4] = ACTUAL[/color][color=#569cd6]ARCDIVISION[/color][color=#d4d4d4] = 64[/color][color=#569cd6]GRIDS[/color][color=#d4d4d4] = 10mm 20mm 50mm 100mm[/color][color=#569cd6]MAX_FEED_OVERRIDE[/color][color=#d4d4d4] = 1.2[/color][color=#569cd6]MIN_SPINDLE_OVERRIDE[/color][color=#d4d4d4] = 0.5[/color][color=#569cd6]MAX_SPINDLE_OVERRIDE[/color][color=#d4d4d4] = 1.2[/color][color=#569cd6]DEFAULT_LINEAR_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]MIN_LINEAR_VELOCITY[/color][color=#d4d4d4] = 0[/color][color=#569cd6]MAX_LINEAR_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]DEFAULT_ANGULAR_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]MIN_ANGULAR_VELOCITY[/color][color=#d4d4d4] = 0[/color][color=#569cd6]MAX_ANGULAR_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]INTRO_GRAPHIC[/color][color=#d4d4d4] = linuxcnc.gif[/color][color=#569cd6]INTRO_TIME[/color][color=#d4d4d4] = 5[/color][color=#569cd6]PROGRAM_PREFIX[/color][color=#d4d4d4] = ~/linuxcnc/nc_files[/color][color=#569cd6]INCREMENTS[/color][color=#d4d4d4] = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm[/color] [color=#d4d4d4][KINS][/color][color=#569cd6]JOINTS[/color][color=#d4d4d4] = 3[/color][color=#6a9955]#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH[/color][color=#569cd6]KINEMATICS[/color][color=#d4d4d4] =trivkins [/color][color=#569cd6]coordinates[/color][color=#d4d4d4]=XYZ[/color] [color=#d4d4d4][FILTER][/color][color=#569cd6]PROGRAM_EXTENSION[/color][color=#d4d4d4] = .py Python Script[/color][color=#569cd6]py[/color][color=#d4d4d4] = python[/color] [color=#d4d4d4][TASK][/color][color=#569cd6]TASK[/color][color=#d4d4d4] = milltask[/color][color=#569cd6]CYCLE_TIME[/color][color=#d4d4d4] = 0.010[/color] [color=#d4d4d4][RS274NGC][/color][color=#569cd6]PARAMETER_FILE[/color][color=#d4d4d4] = linuxcnc.var[/color] [color=#d4d4d4][EMCMOT][/color][color=#569cd6]EMCMOT[/color][color=#d4d4d4] = motmod[/color][color=#569cd6]COMM_TIMEOUT[/color][color=#d4d4d4] = 1.0[/color][color=#569cd6]COMM_WAIT[/color][color=#d4d4d4] = 0.010[/color][color=#569cd6]BASE_PERIOD[/color][color=#d4d4d4] = 0[/color][color=#569cd6]SERVO_PERIOD[/color][color=#d4d4d4] = 5000000[/color] [color=#d4d4d4][HAL][/color][color=#569cd6]HALFILE[/color][color=#d4d4d4] = remora-xyz.hal[/color][color=#569cd6]POSTGUI_HALFILE[/color][color=#d4d4d4] = postgui_call_list.hal[/color] [color=#d4d4d4][TRAJ][/color][color=#569cd6]COORDINATES[/color][color=#d4d4d4] = X Y Z [/color][color=#569cd6]LINEAR_UNITS[/color][color=#d4d4d4] = mm[/color][color=#569cd6]ANGULAR_UNITS[/color][color=#d4d4d4] = degree[/color][color=#569cd6]CYCLE_TIME[/color][color=#d4d4d4] = 0.010[/color][color=#569cd6]DEFAULT_LINEAR_VELOCITY[/color][color=#d4d4d4] = 4.17[/color][color=#569cd6]MAX_LINEAR_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]NO_FORCE_HOMING[/color][color=#d4d4d4] = 1 [/color] [color=#d4d4d4][EMCIO][/color][color=#569cd6]EMCIO[/color][color=#d4d4d4] = io[/color][color=#569cd6]CYCLE_TIME[/color][color=#d4d4d4] = 0.100[/color][color=#569cd6]TOOL_TABLE[/color][color=#d4d4d4] = tool.tbl[/color] [color=#6a9955]#*** AXIS_X *******************************[/color][color=#d4d4d4][AXIS_X][/color][color=#569cd6]MAX_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]MAX_ACCELERATION[/color][color=#d4d4d4] = 287.0[/color][color=#569cd6]MIN_LIMIT[/color][color=#d4d4d4] = -0.001[/color][color=#569cd6]MAX_LIMIT[/color][color=#d4d4d4] = 1080.0[/color] [color=#d4d4d4][JOINT_0][/color][color=#569cd6]TYPE[/color][color=#d4d4d4] = LINEAR[/color][color=#569cd6]HOME[/color][color=#d4d4d4] = 0.0[/color][color=#569cd6]MIN_LIMIT[/color][color=#d4d4d4] = -0.001[/color][color=#569cd6]MAX_LIMIT[/color][color=#d4d4d4] = 1080.0[/color][color=#569cd6]MAX_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]MAX_ACCELERATION[/color][color=#d4d4d4] = 287.0[/color][color=#569cd6]STEPGEN_MAXACCEL[/color][color=#d4d4d4] = 1000.0[/color][color=#569cd6]SCALE[/color][color=#d4d4d4] = 100.0[/color][color=#569cd6]FERROR[/color][color=#d4d4d4] = 5.0[/color][color=#569cd6]MIN_FERROR[/color][color=#d4d4d4] = 5.0[/color][color=#569cd6]HOME_OFFSET[/color][color=#d4d4d4] = 0.000000[/color][color=#569cd6]HOME_SEARCH_VEL[/color][color=#d4d4d4] = -45.000000[/color][color=#569cd6]HOME_LATCH_VEL[/color][color=#d4d4d4] = -2.500000[/color][color=#569cd6]HOME_SEQUENCE[/color][color=#d4d4d4] = 1[/color][color=#6a9955]#******************************************[/color] [color=#6a9955]#*** AXIS_Y *******************************[/color][color=#d4d4d4][AXIS_Y][/color][color=#569cd6]MAX_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]MAX_ACCELERATION[/color][color=#d4d4d4] = 287.0[/color][color=#569cd6]MIN_LIMIT[/color][color=#d4d4d4] = -0.001[/color][color=#569cd6]MAX_LIMIT[/color][color=#d4d4d4] = 950.0[/color] [color=#d4d4d4][JOINT_1][/color][color=#569cd6]TYPE[/color][color=#d4d4d4] = LINEAR[/color][color=#569cd6]HOME[/color][color=#d4d4d4] = 0.0[/color][color=#569cd6]MIN_LIMIT[/color][color=#d4d4d4] = -0.001[/color][color=#569cd6]MAX_LIMIT[/color][color=#d4d4d4] = 950.0[/color][color=#569cd6]MAX_VELOCITY[/color][color=#d4d4d4] = 28.7[/color][color=#569cd6]MAX_ACCELERATION[/color][color=#d4d4d4] = 287.0[/color][color=#569cd6]STEPGEN_MAXACCEL[/color][color=#d4d4d4] = 1000.0[/color][color=#569cd6]SCALE[/color][color=#d4d4d4] = 100.0[/color][color=#569cd6]FERROR[/color][color=#d4d4d4] = 5.0[/color][color=#569cd6]MIN_FERROR[/color][color=#d4d4d4] = 5.0[/color][color=#569cd6]HOME_OFFSET[/color][color=#d4d4d4] = 0.000000[/color][color=#569cd6]HOME_SEARCH_VEL[/color][color=#d4d4d4] = -45.000000[/color][color=#569cd6]HOME_LATCH_VEL[/color][color=#d4d4d4] = 2.500000[/color][color=#569cd6]HOME_SEQUENCE[/color][color=#d4d4d4] = 2[/color][color=#6a9955]#******************************************[/color] [color=#6a9955]#*** AXIS_Z *******************************[/color][color=#d4d4d4][AXIS_Z][/color][color=#569cd6]MAX_VELOCITY[/color][color=#d4d4d4] = 20.0[/color][color=#569cd6]MAX_ACCELERATION[/color][color=#d4d4d4] = 150.0[/color][color=#569cd6]MIN_LIMIT[/color][color=#d4d4d4] = -125.0[/color][color=#569cd6]MAX_LIMIT[/color][color=#d4d4d4] = 0.001[/color] [color=#d4d4d4][JOINT_2][/color][color=#569cd6]TYPE[/color][color=#d4d4d4] = LINEAR[/color][color=#569cd6]HOME[/color][color=#d4d4d4] = 0.0[/color][color=#569cd6]MIN_LIMIT[/color][color=#d4d4d4] = -125.0[/color][color=#569cd6]MAX_LIMIT[/color][color=#d4d4d4] = 0.001[/color][color=#569cd6]MAX_VELOCITY[/color][color=#d4d4d4] = 20[/color][color=#569cd6]MAX_ACCELERATION[/color][color=#d4d4d4] = 150.0[/color][color=#569cd6]STEPGEN_MAXACCEL[/color][color=#d4d4d4] = 187.5[/color][color=#569cd6]SCALE[/color][color=#d4d4d4] = 800.0[/color][color=#569cd6]FERROR[/color][color=#d4d4d4] = 5.0[/color][color=#569cd6]MIN_FERROR[/color][color=#d4d4d4] = 5.0[/color][color=#569cd6]HOME_OFFSET[/color][color=#d4d4d4] = 0.000000[/color][color=#569cd6]HOME_SEARCH_VEL[/color][color=#d4d4d4] = 15.000000[/color][color=#569cd6]HOME_LATCH_VEL[/color][color=#d4d4d4] = 0.625000[/color][color=#569cd6]HOME_SEQUENCE[/color][color=#d4d4d4] = 0[/color][color=#6a9955]#******************************************[/color]

and this in our .hal file:


# load the realtime components

    loadrt [KINS]KINEMATICS
    loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

    loadrt remora-spi SPI_num=0 CS_num=0 SPI_freq=2000000
    #loadrt remora_lpc chip_type=LPC SPI_clk_div=64


# estop loopback, SPI comms enable and feedback
    net user-enable-out     <= iocontrol.0.user-enable-out        => remora.SPI-enable
    net user-request-enable <= iocontrol.0.user-request-enable    => remora.SPI-reset
    net remora-status     <= remora.SPI-status             => iocontrol.0.emc-enable-in
    

# add the remora and motion functions to threads

    addf remora.read servo-thread
    addf motion-command-handler servo-thread
    addf motion-controller servo-thread
    addf remora.update-freq servo-thread
    addf remora.write servo-thread


# Joint 0 setup

    setp remora.joint.0.scale         [JOINT_0]SCALE
    setp remora.joint.0.maxaccel     [JOINT_0]STEPGEN_MAXACCEL

    net xpos-cmd         <= joint.0.motor-pos-cmd     => remora.joint.0.pos-cmd  
    net j0pos-fb         <= remora.joint.0.pos-fb     => joint.0.motor-pos-fb
    net j0enable         <= joint.0.amp-enable-out     => remora.joint.0.enable


# Joint 1 setup

    setp remora.joint.1.scale         [JOINT_1]SCALE
    setp remora.joint.1.maxaccel     [JOINT_1]STEPGEN_MAXACCEL

    net j1pos-cmd         <= joint.1.motor-pos-cmd     => remora.joint.1.pos-cmd
    net j1pos-fb         <= remora.joint.1.pos-fb     => joint.1.motor-pos-fb 
    net j1enable         <= joint.1.amp-enable-out     => remora.joint.1.enable


# Joint 2 setup

    setp remora.joint.2.scale         [JOINT_2]SCALE
    setp remora.joint.2.maxaccel     [JOINT_2]STEPGEN_MAXACCEL

    net j2pos-cmd         <= joint.2.motor-pos-cmd     => remora.joint.2.pos-cmd
    net j2pos-fb         <= remora.joint.2.pos-fb     => joint.2.motor-pos-fb
    net j2enable         <= joint.2.amp-enable-out     => remora.joint.2.enable

# inputs
    #endstops
    net X-min remora.input.01 => joint.0.home-sw-in 
    net Y-min remora.input.00 => joint.1.home-sw-in 
    net Z-min remora.input.02 => joint.2.home-sw-in

We flashed this firmware to it: github.com/scottalford75/Remora/tree/mai...in/STM32F446/BTT_446

and are running the above mentioned config file.

we also tried looking at the debug info but nothing came up, here's the printout:

Creating a std module                                                                                                                                 
                                                                                                                                                      
Remora PRU - Programmable Realtime Unit                                                                                                               
                                                                                                                                                    
 Mbed-OS6                                                                                                                                           
                                                                                
 Remora-spi Driver                                                              
                                                                                
## Entering SETUP state                                                         
1. Reading json configuration file                                              
Mounting the filesystem... OK                                                   
Opening "/fs/config.txt"... OK                                                  
Json config file lenght = 1996                                                  
Closing "/fs/config.txt"... 
2. Setting up DMA and threads
Initialising SPI1 slave
Initialising DMA for SPI

3. Parsing json configuration file
Config deserialisation - Deserialization succeeded

4. Config threads
Creating thread 40000
Creating thread 1000
Creating thread 57600

5. Loading modules

Servo thread object
Reset pin
Make Reset Pin at pin PC_15

Creating a std module
Creating Pin @
  port = GPIOC
  pin = 15

Servo thread object
eStop
Make eStop at pin PG_12

Creating a std module
Creating Pin @
  port = GPIOG
  pin = 12

Servo thread object
Spindle
Make PWM at pin PB_0

Creating a std module
Creating variable frequency Hardware PWM at pin PB_0
Creating Pin @
  port = GPIOB
  pin = 0

Base thread object
X - Joint 0 step generator

Creating a std module
Creating Pin @
  port = GPIOG
  pin = 2
Creating Pin @
  port = GPIOF
  pin = 9
Creating Pin @
  port = GPIOF
  pin = 10

Base thread object
Y1 - Joint 1 step generator

Creating a std module
Creating Pin @
  port = GPIOF
  pin = 1
Creating Pin @
  port = GPIOC
  pin = 13
Creating Pin @
  port = GPIOF
  pin = 0

Base thread object
Y2 - Joint 1 step generator

Creating a std module
Creating Pin @
  port = GPIOD
  pin = 4
Creating Pin @
  port = GPIOE
  pin = 2
Creating Pin @
  port = GPIOE
  pin = 3

Base thread object
Z - Joint 2 step generator

Creating a std module
Creating Pin @
  port = GPIOE
  pin = 0
Creating Pin @
  port = GPIOE
  pin = 6
Creating Pin @
  port = GPIOA
  pin = 14

Servo thread object
X min
Make Digital Input at pin PG_6

Creating a std module
  Setting pin as No Pull
Creating Pin @
  port = GPIOG
  pin = 6

Servo thread object
Y min
Make Digital Input at pin PG_9

Creating a std module
  Setting pin as No Pull
Creating Pin @
  port = GPIOG
  pin = 9

Servo thread object
Z min
Make Digital Input at pin PG_10

Creating a std module
  Setting pin as No Pull
Creating Pin @
  port = GPIOG
  pin = 10

Servo thread object
Probe
Make Digital Input at pin PG_11

Creating a std module
  Setting pin as No Pull
Creating Pin @
  port = GPIOG
  pin = 11

## Entering START state

Starting the BASE thread
Registering interrupt for interrupt number = 24
        power on Timer 9

Starting the SERVO thread
Registering interrupt for interrupt number = 25
        power on Timer 10

## Entering IDLE state

## Entering RUNNING state

## Entering RESET state
   Resetting rxBuffer

## Entering IDLE state

All the pins are generated in the correct order it seem's, we are gonna test next the output signal strength, maybe the drivers don't have enough power on high state to start moving, even if everything is connected to the same ground.

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Gusgus
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New Member

18 Sep 2025 19:08 #335165 by Gusgus

Replied by Gusgus on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

{
	"Board": "BIGTREETECH Octopus Pro",
	"Modules":[
	{
	"Thread": "Servo",
	"Type": "Reset Pin",
		"Comment":			"Reset pin",
		"Pin":				"PC_15"
	},
		{
	"Thread": "Servo",
	"Type": "eStop",
		"Comment":			"eStop",
		"Pin":				"PG_12"
	},
	{
    "Thread": "Servo",
    "Type": "PWM",
            "Comment":                      "Spindle",
            "SP[i]":                        3,
            "PWM Pin":                      "PB_0",
            "PWM Max":                      255,
            "Hardware PWM":                 "True",
            "Variable Freq":                "True",
            "Period SP[i]":         1,
            "Period us":                    200
    },
	{
	"Thread": "Base",
	"Type": "Stepgen",
		"Comment":			"X - Joint 0 step generator",
		"Joint Number":		0,
		"Step Pin": 		"PF_9",
		"Direction Pin": 	"PF_10",
		"Enable Pin": 		"PG_2"
	},
	{
	"Thread": "Base",
	"Type": "Stepgen",
		"Comment":			"Y1 - Joint 1 step generator",
		"Joint Number":		1,
		"Step Pin": 		"PC_13",
		"Direction Pin": 	"PF_0",
		"Enable Pin": 		"PF_1"
	},
	{
	"Thread": "Base",
	"Type": "Stepgen",
		"Comment":			"Y2 - Joint 1 step generator",
		"Joint Number":		1,
		"Step Pin": 		"PE_2",
		"Direction Pin": 	"PE_3",
		"Enable Pin": 		"PD_4"
	},
	{
	"Thread": "Base",
	"Type": "Stepgen",
		"Comment":			"Z - Joint 2 step generator",
		"Joint Number":		2,
		"Step Pin": 		"PE_6",
		"Direction Pin": 	"PA_14",
		"Enable Pin": 		"PE_0"
	},
	{
	"Thread": "Servo",
	"Type": "Digital Pin",
		"Comment":			"X min",
		"Pin":				"PG_6",
		"Mode":				"Input",
		"Data Bit":			0
	},
	{
	"Thread": "Servo",
	"Type": "Digital Pin",
		"Comment":			"Y min",
		"Pin":				"PG_9",
		"Mode":				"Input",
		"Data Bit":			1
	},
	{
	"Thread": "Servo",
	"Type": "Digital Pin",
		"Comment":			"Z min",
		"Pin":				"PG_10",
		"Mode":				"Input",
		"Data Bit":			2
	},
	{
	"Thread": "Servo",
	"Type": "Digital Pin",
		"Comment":			"Probe",
		"Pin":				"PG_11",
		"Mode":				"Input",
		"Data Bit":			3
	}
	]
}

# Basic LinuxCNC config for testing of Remora firmware

[EMC]
MACHINE = Remora-XYZ
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 28.7
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 28.7
DEFAULT_ANGULAR_VELOCITY = 28.7
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 28.7
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm

[KINS]
JOINTS = 3
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
KINEMATICS =trivkins coordinates=XYZ

[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 5000000

[HAL]
HALFILE = remora-xyz.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Y Z 
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 4.17
MAX_LINEAR_VELOCITY = 28.7
NO_FORCE_HOMING = 1 

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#*** AXIS_X *******************************
[AXIS_X]
MAX_VELOCITY = 28.7
MAX_ACCELERATION = 287.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1080.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1080.0
MAX_VELOCITY = 28.7
MAX_ACCELERATION = 287.0
STEPGEN_MAXACCEL = 1000.0
SCALE = 100.0
FERROR = 5.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -45.000000
HOME_LATCH_VEL = -2.500000
HOME_SEQUENCE = 1
#******************************************


#*** AXIS_Y *******************************
[AXIS_Y]
MAX_VELOCITY = 28.7
MAX_ACCELERATION = 287.0
MIN_LIMIT = -0.001
MAX_LIMIT = 950.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 950.0
MAX_VELOCITY = 28.7
MAX_ACCELERATION = 287.0
STEPGEN_MAXACCEL = 1000.0
SCALE = 100.0
FERROR = 5.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -45.000000
HOME_LATCH_VEL = 2.500000
HOME_SEQUENCE = 2
#******************************************


#*** AXIS_Z *******************************
[AXIS_Z]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = -125.0
MAX_LIMIT = 0.001

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -125.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 20
MAX_ACCELERATION = 150.0
STEPGEN_MAXACCEL = 187.5
SCALE = 800.0
FERROR = 5.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 15.000000
HOME_LATCH_VEL = 0.625000
HOME_SEQUENCE = 0
#******************************************

sorry i had a formatting error

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scotta
Offline
Platinum Member

18 Sep 2025 20:40 #335167 by scotta

Replied by scotta on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

I would suggest setting up a configuration for 4 joints X Y Y Z. You should not be pointing multiple step generators at the same frequency command or command feedback.

Take a look at this 5 joint config where there are two joints assigned to the Z axis. You can do the same for your dual Y axes.

github.com/scottalford75/Remora/tree/mai...figSamples/hypercube

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fatih.d
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New Member

20 Oct 2025 16:18 #336754 by fatih.d

Replied by fatih.d on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Hi all, first post.

Could anyone point me to the right direction about using a 446 based board (Fysetc S6) with no SD card slot?

What would be the best, going with static config approach (I don't know how to do it or use which version/fork) or using an SD card adapter and have them talk over SPI? Using SDIO/SDMMC interface would not be so straightforward I guess.

Many thanks to those who made this project real. It was a fun read and I've learned so much. (Not a software guy)

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Fred2560
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New Member

24 Oct 2025 02:41 #337017 by Fred2560

Replied by Fred2560 on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Is QEI working ?
I have a RPI 4 SPI connected to a BLACK_407VE and an encoder with index connected to PE9, PE11, PE13. All works well except QEI, remora.PV.2 never changes, always = 0. Am I missing something ?
config txt :
{
"Thread": "Servo",
"Type": "QEI",
"Comment": "Spindle encoder",
"PV": 2,
"Data Bit": 7,
"Enable Index": "True"
}
Debug output:
Servo thread object
Spindle encoder
Creating QEI, hardware quadrature encoder interface
Encoder has index

Creating a std module
Initialising hardware QEI module

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