Remora - Rpi Software Stepping Using External Microcontroller via SPI

I was using remora on BTT Octopus pro board. Few days back I had to remove the board for some reason. Now it's not working. Nothing has changed. I tried erasing and reflashing remora by stm32 programmer. Tried changing spi cable from board to rpi4. I can see remora firmware is working on board. I added blink module to verify remora, it's working. I can see via UART console that remora ha loaded correctly and comes to idle state.
But on LinuxCNC side machine don't comes out of estop. No configuration changed. Tried new trixie image but can't compile remora due to incomplete pointer error. Don't know what's going wrong? 

amanker wrote:

I was using remora on BTT Octopus pro board. Few days back I had to remove the board for some reason. Now it's not working. Nothing has changed. I tried erasing and reflashing remora by stm32 programmer. Tried changing spi cable from board to rpi4. I can see remora firmware is working on board. I added blink module to verify remora, it's working. I can see via UART console that remora ha loaded correctly and comes to idle state.
But on LinuxCNC side machine don't comes out of estop. No configuration changed. Tried new trixie image but can't compile remora due to incomplete pointer error. Don't know what's going wrong?  
 

Hi,

I'm not sure I can help for the estop state in lcnc. I would start by checking the payloads in both BTT firmware and hal component.

For the compilation error, I ran into the same error when I was trying to compile my TMC5160 component and solved the problem by changing the code a bit. As I'm not a coder, I have no big idea what I'm doing, but sounds like a casting problem to me. You can try following changes in the rp1lib.c of the linuxcnc component:

Replace the lines:

dws = &inst->spi[spi_num];
spi = &inst->spi_dev[spi_num];

with

dws = (struct dw_spi*)&inst->spi[spi_num];
spi = (struct spi_device*)&inst->spi_dev[spi_num];

and:

dws = &inst->spi[spi_num];
cfg = &inst->spi_cfg[spi_num];
dev = &inst->spi_dev[spi_num];

with:

dws = (struct dw_spi*)&inst->spi[spi_num];
cfg = (struct dw_spi_cfg*)&inst->spi_cfg[spi_num];
dev = (struct spi_device*)&inst->spi_dev[spi_num];

After those changes I was again able to compile my component and could use it. BUT I didn't try it on a RPi5 actually using the rp1 lib, just on a RPi4.
Hope it helps.

Thanks for reply. That changes resolved the issue of not compiling on trixie, there was also some error on line 505 column 69 of remora-spi.c. I edited that, I don't if that's correct, but that line will only be used in case of using rpi5, don't bothered and compiled the remora component. But still same issue on trixie and bookworm.

Hope some will help.