Remora - Rpi Software Stepping Using External Microcontroller via SPI

amanker wrote:

I was using Octopus Pro Board for LinuxCNC. That one is giving some problems. So I bought new board BTT SKR3 so that I can use TMC5160. Can anyone help me setting up its config.txt and LinuxCNC configuration. And connection diagram. I have wired it as per SKR2 board. Pinouts of both boards seems similar. I cant get Machine out of estop. I think there is no communication between rpi and skr3.
Remora.ini

Code:

# 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 = 50.00 MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 200.00 DEFAULT_ANGULAR_VELOCITY = 36.00 MIN_ANGULAR_VELOCITY = 0 MAX_ANGULAR_VELOCITY = 45.00 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 = 1000000 [HAL] HALFILE = remora.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 = 50.00 MAX_LINEAR_VELOCITY = 200.00 NO_FORCE_HOMING = 1  [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [AXIS_X] MAX_VELOCITY = 500 MAX_ACCELERATION = 1000.0 MIN_LIMIT = -500 MAX_LIMIT = 500.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -500.0 MAX_LIMIT = 500.0 MAX_VELOCITY = 500.0 MAX_ACCELERATION = 1000.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 200.0 FERROR = 2 MIN_FERROR = 2.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Y] MAX_VELOCITY = 250.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -300.0 MAX_LIMIT = 300.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -300.0 MAX_LIMIT = 300.0 MAX_VELOCITY = 250.0 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 80.0 FERROR = 9.0 MIN_FERROR = 5.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Z] OFFSET_AV_RATIO = 0.2 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -280 MAX_LIMIT = 280 [JOINT_2] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -280 MAX_LIMIT = 280 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 200.0 STEPGEN_MAXACCEL = 3000.0 SCALE = 400.0 FERROR = 5 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 remora.hal [code]# 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     #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.SP.0  joint.0.motor-pos-fb #    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 config.txt [code]{     "Board": "BIGTREETECH SKR v3",     "Modules":[     {     "Thread": "Servo",     "Type": "Reset Pin",         "Comment":            "Reset pin",         "Pin":                "PC_4"     },     {     "Thread": "On load",     "Type": "Motor Power",         "Comment": "Enable motor power SKR2",         "Pin":                     "PC_13"     },     {     "Thread": "Base",     "Type": "Stepgen",         "Comment":            "X - Joint 0 step generator",         "Joint Number":        0,         "Step Pin":         "PD_4",         "Direction Pin":     "PD_3",         "Enable Pin":         "PD_6"     },     {     "Thread": "Base",     "Type": "Stepgen",         "Comment":            "Y - Joint 1 step generator",         "Joint Number":        1,         "Step Pin":         "PA_15",         "Direction Pin":     "PA_8",         "Enable Pin":         "PD_1"     },     {     "Thread": "Base",     "Type": "Stepgen",         "Comment":            "Z - Joint 2 step generator",         "Joint Number":        2,         "Step Pin":         "PE_2",         "Direction Pin":     "PE_3",         "Enable Pin":         "PE_0"     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "X min",         "Pin":                "PC_1",         "Mode":                "Input",         "Data Bit":            0     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "X max",         "Pin":                "PC_2",         "Mode":                "Input",         "Data Bit":            1     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Y min",         "Pin":                "PC_3",         "Mode":                "Input",         "Data Bit":            2     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Y max",         "Pin":                "PA_0",         "Mode":                "Input",         "Data Bit":            3     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Z min",         "Pin":                "PC_0",         "Mode":                "Input",         "Data Bit":            4     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Z max",         "Pin":                "PC_15",         "Mode":                "Input",         "Data Bit":            5     }     ] }

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