Rpi4 + LinuxCNC +MESA 7c81 + HW356 + HQ-LB60-12A-V1

Hello Everybody,I am very new to linuxcnc and am having problems understanding it all.I bought a 2nd hand 3040 Frame including steppers drivers and Spindle.I then bought a RPI4, 7c81, screen and Keyboard.Nothing was working and I was scared I might have bricked the MESA card.I recently with the help of this thread managed to get the x, y and z Axis working on the RPI4 with the 7c81 and the HW356 (China Board).
But I am still having problems with the following:

• PWM signal for Spindle (Spindle just turns on when I start up Linux CNC and am not able to turn off)
• Z axis is going in the wrong direction
• Setting up End stops for XYZ axis.

I tried to edit the HAL file but I can not find any documentation on how to reference the GPIO pins.
My main question is:
How can I assign pins on the 7c81 to varibles in linux CNC?
How can I chose which pin is responsible for example Spindle PWM?
How can I change the direction of the Z axis in the HAL or INI files?
Is there some documentation with examples on this?

The link to Basic Hal Tutorial  in  this thread seems to be broken...I tried searching the forum and couldn't find an answer. I would just be happy if someone could point me to some documentation I can read so that I can understand how linux CNC is linked and how to edit these parameters.

Daniel

How can I assign pins on the 7c81 to varibles in linux CNC?

With a net command

How can I chose which pin is responsible for example Spindle PWM?

This is determined by the firmware (you should use firmware that matches your breakout board)

How can I change the direction of the Z axis in the HAL or INI files?

Either change the sign of the stepgen scale:
setp hm2_7c81.0.stepgen.0N.position-scale XXXX
or invert the Z Axis direction output:
setp hm2_7c81.0.stepgen.00.direction.invert_output true

Is there some documentation with examples on this?

 linuxcnc.org/docs/html/hal/tutorial.html
man hostmot2

 

Thank you!!!