Remora - Rpi Software Stepping Using External Microcontroller via SPI

Bad SPI payload = 0

Bad SPI payload = ffffffff

Remora PRU - Programmable Realtime Unit
## Entering SETUP state
1. Reading json configuration file
Mounting the filesystem... OK
Opening "/fs/config.txt"... OK
Json config file lenght = 2381

Closing "/fs/config.txt"... 
2. Setting up DMA and threads
Creating thread 40000
Creating thread 1000

3. ParsiConfig deserialisation - Deserialization succeeded

Servo thread object
Reset pin
Make Reset Pinule
Creating Pin @
  portNumber = 1
  pin = 31

Base thread object
X - Joint 0 step generator

Creating a std module
Creating Pin @
  portNumber = 2
  pin = 1
Creating Pin @
  portNumber = 2
  pin = 2
Creating Pin @
  portNumber = 2
  pin = 6

Base thread r

Creating a std module
Creating Pin @
  portNumber = 2
  pin = 8
Creating Pin @
  portNumber = 0
  pin = 19
Creating Pin @
  portNumber = 0
  pin = 20

Base thread object
Z - Joint 2 step generator

Creating a std module
Creating Pin @
  portNumber = 0
  pin = 21
Creating Pin @
  portNumber = 0
  pin = 22
Creating Pin @
  portNumber = 2
  pin = 11

Base thread object
E0 - Joint 3 step generator

Creating a std module
Creating Pin @
  portNumber = 2
  pin = 12
Creating Pin @
  portNumber = 2
  pin = 13
Creating Pin @
  portNumber = 0
  pin = 11

Servo thread object
Make Temperature measurement object
Extruder tenperature sensor

Creating a slower module, updating every 1000 thread cycles
Creating Thermistor Tempearture measurement @ pin 0.23
Creating Pin @
  portNumber = 0
  pin = 23
Temperature sensor error, pin 0.23 reading = -273.15
Temperature sensor error, pin 0.23 reading = -86.8344
Start temperature = -86.8344

Base thread object
RC servo for probe
Make RC Servo at pin 2.0

Creating a slower module, updating every 4000 thread cycles
Creating RC servo at pin 2.0
Creating Pin @
  portNumber = 2
  pin = 0

Base thread object
Encoder
Creating Quadrature Encoder at pins 1.20 and 1.22
  Encoder has index at pin 8

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 20
Creating Pin @
  portNumber = 1
  pin = 22
Creating Pin @
  portNumber = 8

Servo thread object
X min
Make Digital Input at pin 1.29

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 29

Servo thread object
X max
Make Digital Input at pin 1.28

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 28

Servo thread object
Y min
Make Digital Input at pin 1.27

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 27

Servo thread object
Y max
Make Digital Input at pin 1.26

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 26

Servo thread object
Z min
Make Digital Input at pin 1.25

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 25

Servo thread object
Z max
Make Digital Input at pin 1.24

Creating a std module
Creating Pin @
  portNumber = 1
  pin = 24

Servo thread object
Extruder fan switch
Make Switch (On) at pin 0.0

Creating a std module
Creating a Switch @ pin 0.0
Creating Pin @
  portNumber = 0
  pin = 0

## Entering START state

Starting the BASE thread
Registering interrupt for interrupt number = 1
	power on timer
	timer set MCR
	timer set PR
	timer set PRO
	timer start


++ MbedOS Fault Handler ++

FaultType: HardFault

Context:
R0   : 10003C00
R1   : AA3DE7CC
R2   : 00000016
R3   : FEFFC713
R4   : 10003B78
R5   : 00000068
R6   : 00000001
R7   : 00000000
R8   : 00000000
R9   : 200801E0
R10  : 20081324
R11  : 00000006
R12  : 00C80000
SP   : 10007F80
LR   : 00010995
PC   : 0000FE8E
xPSR : 21000011
PSP  : C1688394
MSP  : 10007F60
CPUID: 412FC230
HFSR : 40000000
MMFSR: 00000000
BFSR : 00000082
UFSR : 00000000
DFSR : 00000000
AFSR : 00000000
BFAR : AA3DE7E0
Mode : Handler
Priv : Privileged
Stack: MSP

-- MbedOS Fault Handler --

Remora running now on RPi 4 without issues! The SPI clock is provided by the GPU so adding gpu_freq=200 into /boot/config.txt did the trick. I'll update the docs.