Remora - ethernet NVEM cnc board

inside mcuexpress i have the following error.

Probe Firmware: CMSIS-DAP_LU (jixin.pro)
Serial Number: LU_2022_8888
VID:PID: C251:F001
USB Path: \\?\hid#vid_c251&pid_f001&mi_02#7&723e913&0&0000#{4d1e55b2-f16f-11cf-88cb-001111000030}
Using memory from core 0 after searching for a good core
debug interface type = CoreSight DP (DAP DP ID 0BD11477) over SWD TAP 0
processor type = Cortex-M7 (CPU ID 00000C27) on DAP AP 0
number of h/w breakpoints = 8
number of flash patches = 0
number of h/w watchpoints = 4
Probe(0): Connected&Reset. DpID: 0BD11477. CpuID: 00000C27. Info: <None>
Debug protocol: SWD. RTCK: Disabled. Vector catch: Disabled.
Content of CoreSight Debug ROM(s):
RBASE E00FD000: CID B105100D PID 000008E88C ROM (type 0x1)
ROM 1 E00FE000: CID B105100D PID 04000BB4C8 ROM (type 0x1)
ROM 2 E00FF000: CID B105100D PID 04000BB4C7 ROM (type 0x1)
ROM 3 E000E000: CID B105E00D PID 04000BB00C Gen SCS (type 0x0)
ROM 3 E0001000: CID B105E00D PID 04000BB002 Gen DWT (type 0x0)
ROM 3 E0002000: CID B105E00D PID 04000BB00E Gen (type 0x0)
ROM 3 E0000000: CID B105E00D PID 04000BB001 Gen ITM (type 0x0)
ROM 2 E0041000: CID B105900D PID 04001BB975 CSt ARM ETMv4.0 type 0x13 Trace Source - Core
ROM 2 E0042000: CID B105900D PID 04004BB906 CSt type 0x14 Debug Control - Trigger, e.g. ECT
ROM 1 E0040000: CID B105900D PID 04000BB9A9 CSt type 0x11 Trace Sink - TPIU
ROM 1 E0043000: CID B105F00D PID 04001BB101 Sys (type 0x0)
NXP: MIMXRT1052xxxxB
DAP stride is 1024 bytes (256 words)
Inspected v.2 External Flash Device on SPI using SFDP JEDEC ID MIMXRT1050_SFDP_QSPI.cfx
Image 'iMXRT1050_SFDP_QSPI Mar 21 2023 13:24:31'
Opening flash driver MIMXRT1050_SFDP_QSPI.cfx
Sending VECTRESET to run flash driver
request to clear DAP error failed - status 5
After error Nn(05). Wire ACK Fault in DAP access -
Failed to read address register in DAP - Nn(05). Wire ACK Fault in DAP access
chip initialization failed - Em(17). Debug port inaccessible after access at location 0x20002800
failed to initialize flash driver MIMXRT1050_SFDP_QSPI.cfx
request to clear DAP error failed - status 5
request to clear DAP error failed - status 5
error closing down debug session - Nn(05). Wire ACK Fault in DAP access

I was able to get this to happen though just now.

MCUXpresso IDE RedlinkMulti Driver v11.7 (Mar 22 2023 09:52:55 - crt_emu_cm_redlink build 13)
Found chip XML file in C:/Users/Geramy/Documents/GitHub/Remora-RT1052/remora-rt1052/Debug\MIMXRT1052xxxxB.xml
( 5) Remote configuration complete
Reconnected to existing LinkServer process.
============= SCRIPT: RT1050_connect.scp =============
RT1050 Connect Script
DpID = 0BD11477
APID = 0x04770041
Disabling MPU
Configure FlexRAM for 256KB OC RAM, 128KB I-TCM, 128KB D-TCM
Finished
============= END SCRIPT =============================
Probe Firmware: CMSIS-DAP_LU (jixin.pro)
Serial Number: LU_2022_8888
VID:PID: C251:F001
USB Path: \\?\hid#vid_c251&pid_f001&mi_02#7&723e913&0&0000#{4d1e55b2-f16f-11cf-88cb-001111000030}
Using memory from core 0 after searching for a good core
debug interface type = CoreSight DP (DAP DP ID 0BD11477) over SWD TAP 0
processor type = Cortex-M7 (CPU ID 00000C27) on DAP AP 0
number of h/w breakpoints = 8
number of flash patches = 0
number of h/w watchpoints = 4
Probe(0): Connected&Reset. DpID: 0BD11477. CpuID: 00000C27. Info: <None>
Debug protocol: SWD. RTCK: Disabled. Vector catch: Disabled.
Content of CoreSight Debug ROM(s):
RBASE E00FD000: CID B105100D PID 000008E88C ROM (type 0x1)
ROM 1 E00FE000: CID B105100D PID 04000BB4C8 ROM (type 0x1)
ROM 2 E00FF000: CID B105100D PID 04000BB4C7 ROM (type 0x1)
ROM 3 E000E000: CID B105E00D PID 04000BB00C Gen SCS (type 0x0)
ROM 3 E0001000: CID B105E00D PID 04000BB002 Gen DWT (type 0x0)
ROM 3 E0002000: CID B105E00D PID 04000BB00E Gen (type 0x0)
ROM 3 E0000000: CID B105E00D PID 04000BB001 Gen ITM (type 0x0)
ROM 2 E0041000: CID B105900D PID 04001BB975 CSt ARM ETMv4.0 type 0x13 Trace Source - Core
ROM 2 E0042000: CID B105900D PID 04004BB906 CSt type 0x14 Debug Control - Trigger, e.g. ECT
ROM 1 E0040000: CID B105900D PID 04000BB9A9 CSt type 0x11 Trace Sink - TPIU
ROM 1 E0043000: CID B105F00D PID 04001BB101 Sys (type 0x0)
NXP: MIMXRT1052xxxxB
DAP stride is 1024 bytes (256 words)
Inspected v.2 External Flash Device on SPI using SFDP JEDEC ID MIMXRT1050_SFDP_QSPI.cfx
Image 'iMXRT1050_SFDP_QSPI Mar 21 2023 13:24:31'
Opening flash driver MIMXRT1050_SFDP_QSPI.cfx
Sending VECTRESET to run flash driver
Flash variant 'JEDEC_SFDP_Device' detected (4MB = 64*64K at 0x60000000)
Closing flash driver MIMXRT1050_SFDP_QSPI.cfx
Connected: was_reset=false. was_stopped=true
Awaiting telnet connection to port 3330 ...
GDB nonstop mode enabled
Opening flash driver MIMXRT1050_SFDP_QSPI.cfx (already resident)
Sending VECTRESET to run flash driver
Flash variant 'JEDEC_SFDP_Device' detected (4MB = 64*64K at 0x60000000)
Writing 117460 bytes to address 0x60000000 in Flash
60004000 done 13% (16384 out of 117460)
60008000 done 27% (32768 out of 117460)
6000C000 done 41% (49152 out of 117460)
60010000 done 55% (65536 out of 117460)
60014000 done 69% (81920 out of 117460)
60018000 done 83% (98304 out of 117460)
6001C000 done 97% (114688 out of 117460)
60020000 done 100% (131072 out of 117460)
Sectors written: 2, unchanged: 0, total: 2
Erased/Wrote sector 0-1 with 117460 bytes in 7811msec
Closing flash driver MIMXRT1050_SFDP_QSPI.cfx
Flash Write Done
Flash Program Summary: 117460 bytes in 7.81 seconds (14.69 KB/sec)
Starting execution using system reset and halt target
request to clear DAP error failed - status 5
following reset read of core registers failed - Nn(05). Wire ACK Fault in DAP access
Target error from Commit Flash write: Nn(05). Wire ACK Fault in DAP access
request to clear DAP error failed - status 5
After error Nn(05). Wire ACK Fault in DAP access -
Failed to read address register in DAP - Nn(05). Wire ACK Fault in DAP access
request to clear DAP error failed - status 5
After error Em(17). Debug port inaccessible after access at location 0x0020D134 -
Failed to read address register in DAP - Nn(05). Wire ACK Fault in DAP access
Target error from Read Memory: Em(17). Debug port inaccessible after access at location 0x0020D134
GDB stub (C:\nxp\MCUXpressoIDE_11.7.1_9221\ide\plugins\com.nxp.mcuxpresso.tools.bin.win32_11.7.1.202303220859\binaries\crt_emu_cm_redlink) terminating - GDB protocol problem: Pipe has been closed by GDB.
request to clear DAP error failed - status 5
request to clear DAP error failed - status 5
error closing down debug session - Nn(05). Wire ACK Fault in DAP access

Looks like that did it, I got my system back up and running, the 3.3v connected to BOOT_M0 power on and clicking flash at the same time is what did it. Tomorrow I’m gonna see if I get full connection again with the daplink and try to debug it, when i use Linux cnc and try to go above 450mm/m i get a joint error, i assume i need to adjust the core speed right? Does the system use the hardware pwm to drive the stepper signal? Any idea how to fix the ack problem I’m not sure it will persist but it might once I’m out of boot_m0 mode.

Great to hear you are back up and running. Software step generation, so your max speed will be dependent on your joint scale (steps/mm) and the base thread frequency. Default is 40kHz but also runs stable up to +80kHz. This can be set on you HAL command line.

forum.linuxcnc.org/18-computer/44828-rem...ard?start=910#274797

Perfect at the moment i can accomplish around 450mm/m with my 5120 steps per mm, running a ballscrew cnc, which means 80kHz should top me at around 900mm/m right? How can I help you with the DMA changes for the RT1052? I have been around the block in C++ with embedded projects and i'd love to help you get it finished if i can, turns out something with my laptop or the power supply causing instability. Turned on my lab power supply and now problems flashing, other one was 12v maybe that’s why, who knows? I keep getting joint error not sure why? I’m using the default configs except for the scale is set to 5120 since my steppers are set to 25,600 micro steps.

Keep an eye on the DMAstepgen branch. I need to push some recent work which is showing promise. The RT1052 is capable of doing the DDS calculations for 6 axes for 500kHz step generation in about 0.6 of the servo period, so it looks like we will be in business! I need to get the ping-pong buffers working correctly with the DMA callback. Just need some time...

For your joint errors, try increasing your Pgain to see if that helps.

Awesome, ill take a look at the Pgain, and i know what you mean about time haha. A long time ago I was working on the freebsd ath10k driver with another guy and I barely had the time to work on it. But was working on a lot of synchronous bugs because we all know how multi-threading can be in drivers haha, not easy. Just let me know I can lend a hand, I dont wanna go over something thats already done either I did enough of that in my programming career ages ago haha.

Dropped my accuracy down to 0.0005mm per step about 10,000 pulses per per full rotation being 5mm.
With those changes I can accomplish the speeds i was doing last time at around 65khz on the stepper frequency with the links you gave me.
That all worked great and i'm happy with it, I was gonna flip anyways to 10,000 steps per full rotation anyways to give me some more force on my steppers. Now i'm trying to configure PWM for the spindle and the input, when i configure the input though it says no such pin found for remora.input.4 am i doing something wrong in my hal, and does someone have some small examples for the probe input and spindle pwm, without indexer? Thanks so much scott! I'm gonna take a look at your dma commit in a bit now, just saw the latest push.

it probably needs to be remora.input.04 instead of .4

Oh yeah I forgot about that, your right. How about the spindle/pwm do you have any examples that would work? 24,000rpm without index?