Installing on RPi with GPIO and software stepping

rufino wrote:

Is a working image of linuxcnc using gpio already available?

Yes, refer to the Drivers section in the 2.9 docs for the gpiod driver 
It works for the Pi 4 & Pi 5 (the 5 may need different pin values)

rufino wrote:

Is a working image of linuxcnc using gpio already available?

Yes: www.linuxcnc.org/downloads/

but were is rpi 3 and 4 linuxcnc os.

No RPI3 image, for RPI4 and RPI5 see here
www.linuxcnc.org/iso/

The hal_gpio driver will only work with the bookworm images and not with the recent Trixie images due to incompatibility issues with libgpiod2 supplied with bookworm and libgpiod3 supplied with Trixie.
I raised this issue on GitHub and it is on the to do list.
So what it means is that for gpios builds use the images dated around Jan 2025 or earlier.