Teensy based CNC board

More on the Teensy4.1 just no git repo
forum.linuxcnc.org/24-hal-components/39813-teensy-4-1-linuxcnc

I wrote realtime HAL component for communication with Teensy from LinuxCNC. Run from LinuxCNC, I am able to achieve 60us roundtrips with 40byte payload. I have written a simple HAL example for a simple servo loop, and have tested the servo loop on a single axis kinematic stage, equipped with high-precision encoder and a DC motor run by a small H-bridge driver.

I did some serious testing at 1ms servo-threads over several hours with no problems whatsoever.

I was also able to run servo-thread with 150us (6600Hz) without any problems, but I haven't spent much time testing it and don't know how stable it really is at this speeds.

 

Bari wrote:

More on the Teensy4.1 just no git repo
forum.linuxcnc.org/24-hal-components/39813-teensy-4-1-linuxcnc

I wrote realtime HAL component for communication with Teensy from LinuxCNC. Run from LinuxCNC, I am able to achieve 60us roundtrips with 40byte payload. I have written a simple HAL example for a simple servo loop, and have tested the servo loop on a single axis kinematic stage, equipped with high-precision encoder and a DC motor run by a small H-bridge driver.

I did some serious testing at 1ms servo-threads over several hours with no problems whatsoever.

I was also able to run servo-thread with 150us (6600Hz) without any problems, but I haven't spent much time testing it and don't know how stable it really is at this speeds.

That Thread is dead and the guy never shared anything. I've been looking into grblHAL and personally I think it would be well worth it for one of the LinuxCNC programming gurus to port it into a Mesa hm2 style implementation. From what I understand, the gcode interpreter is already broken off the hardware drivers, which is what separates it from grbl. That was done so that supporting different MCUs is easy. There's alot more than just the NXP from a Teensy supported in there.

I started a discussion about this on the grblHAL github page. Aparrently there's mainly only one guy doing the programming so he doesn't have time for it but he's pretty accessible. I'd love to do a Teensy 4.1 IO board with an ethernet interface, but I also just pondered the idea of using a RPI CM4 with a Teensy 4.1 over SPI on the same PCB, that'd be a pretty awesome little all in one controller. Unfortunately I don't do any sort of programming

How do we beg the LinuxCNC programming wizards to take this on?

Well there are a few other similar projects that are already working:

www.forum.linuxcnc.org/18-computer/39037...-orange-pi-allwincnc

www.forum.linuxcnc.org/18-computer/42276...rocontroller-via-spi

www.forum.linuxcnc.org/18-computer/42414...ethernet-using-esp32

www.forum.linuxcnc.org/27-driver-boards/44422-colorcnc

Someone will probably get around to the Teensy 4.1 sooner or later.

With the exception of Remora it's just a bunch of fragmented projects. The actual question was about porting the relevant portions of grblHAL into LinuxCNC, if you look at the repositiories list you can see how many different MCUs it supports.

Personally I'm only interested in the Teensy 4.x so maybe I'll hijack that remora thread and see what he says there. The standalone projects always die and fall off so I'm not holding my breath on that.

If you want to port or have questions about grblHAL then ask on their forums.

For use with LCNC then someone needs to port the stepgens, Encoders and DMA to the i.MX RT1060 ARM SOC. The projects are listed yesterday are all LCNC projects that use a micropntroller for stepping over SPI or Ethernet.. Some just do a poor job of explaining this on their wiki.

This is why this different thread for the Teensy 4.1 is the forum, so to not hijack another thread.

Well rather than being a thread Nazi, how about going back to the first thing I said.

That Thread is dead and the guy never shared anything. 

Neither that thread nor this one mentions getting the Teensy supported in Remora. Since the main person involved in that seems to post there I may as well ask. Or do you answer for him?