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Mehta_123 wrote:

how to hand edit input output (GPIO) in hal and ini? 
please give me one example.
Thanks!!!!!
 

I am not sure if I undestand your question correct; but:
The *.hal and *.ini-files are plain text-files. you can edit them using any editor (notepad++ for instance).
I attached an excample for a *.hal- and *.ini-file. These excamples are for a RaspberryPi5 using only the GPIO-Port (useing the "Generic driver for any GPIO supported by gpiod" described here: linuxcnc.org/docs/stable/html/drivers/hal_gpio.html)

I hope this is helpfull.

I have a raspberry pi5 and this is the code of how I started the SPI communication of the RPI5 - TangNano9K. (Not yet machine tested)

OS: 

• LinuxCNC 2.9.2  Raspberry Pi 5 OS based on Debian Bookworm  Raspberry Pi 5 Uspace compatible with Mesa Ethernet and SPI interface boards.

In /boot/broadcom/config.txt check is SPI is enabled (reboot if not)

# uncomment some or all of these to enable the optional hardware interfaces
#dtparam=i2c_arm=on
#dtparam=i2s=on
dtparam=spi=on

In /dev/
Check do you have listed spidev0.0, should be!

In RIO.h define:

#define TRANSPORT_SPI5

In RIO C add lines:

#ifdef TRANSPORT_SPI5
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#endif

/***********************************************************************
*                STRUCTURES AND GLOBAL VARIABLES                       *
************************************************************************/

#ifdef TRANSPORT_SPI5
int spifd;
static uint8_t mode = SPI_MODE_0;
static uint8_t bits = 8;
static uint32_t speed = 1500000;
#endif

/***********************************************************************
*                       INIT AND EXIT CODE                             *
************************************************************************/

#ifdef TRANSPORT_SPI5
    rtapi_print("Info: Initialize SPI5 connection\n");
    spifd = open("/dev/spidev0.0", O_RDWR);
    if (spifd < 0) {
        rtapi_print_msg(RTAPI_MSG_ERR,"Failed to open SPI device\n");
        return -1;
    }

    // Set SPI mode
    if (ioctl(spifd, SPI_IOC_WR_MODE, &mode) == -1) {
        rtapi_print_msg(RTAPI_MSG_ERR,"Failed to set SPI mode\n");
        close(spifd);
        return -1;
    }

    // Set bits per word
    if (ioctl(spifd, SPI_IOC_WR_BITS_PER_WORD, &bits) == -1) {
        rtapi_print_msg(RTAPI_MSG_ERR,"Failed to set bits per word\n");
        close(spifd);
        return -1;
    }

    // Set max speed
    if (ioctl(spifd, SPI_IOC_WR_MAX_SPEED_HZ, &speed) == -1) {
        rtapi_print_msg(RTAPI_MSG_ERR,"Failed to set max speed\n");
        close(spifd);
        return -1;
    }
#endif

//Edit rtapi_app_exit function, add close(spifd)

void rtapi_app_exit(void)
{
    close(spifd);
    hal_exit(comp_id);
}

//In fuction void rio_transfer()  near end of it add: 

#ifdef TRANSPORT_SPI5

    struct spi_ioc_transfer tr = {
        //.tx_buf = (uint64_t)tx_buf,
        //.rx_buf = (uint64_t)rx_buf,
        .tx_buf = (uint64_t)txData.txBuffer,
        .rx_buf = (uint64_t)rxData.rxBuffer, 
        .len = SPIBUFSIZE,
        .speed_hz = speed,
        .delay_usecs = 0,
        .bits_per_word = bits,
    };

    // Perform SPI transfer
    if (ioctl(spifd, SPI_IOC_MESSAGE(1), &tr) == -1) {
rtapi_print_msg(RTAPI_MSG_ERR,"Failed to perform SPI transfer\n");
        //close(spifd);
        //return -1;
    }

#endif

//Save and do hallcompile...
 

I'm not familiar with the Parallel Pi Hat but looking at the config files in this post it seems to me that you may need to load a gpio component to get it working. I'm not sure that the StepConf Wizard does that for you.
forum.linuxcnc.org/9-installing-linuxcnc...i-5?start=180#297833

I have been using G-code sender with a FluidNC board successfully.  Decided to give LinuxCNC a try.  Current setup is Raspberry PI5 to a Byte2bot parallel port RaspberryPI Hat to a generic 5-axis breakout board.  Connected a DM556T digital stepper drive from Steppersonline to Nema23 motor.  I followed the instructions on creating a setup using the LinuxCNC Stepconf Wizard then replacing the hal file with the one downloaded from Byte2bot.  When I get to the motor test screen the motor doesn't jog.  I've tried several other setups for machines, Sherline, Tormach, ...  So it seems my software configuration is not setup right.  this forum has a lot of discussion areas.  Which would be the best to start a conversation about trouble shooting my setup issue?  I've watched too many videos and read a lot of documentation files that have not yield a good result.  Appreciate some direction.

It looks like the answer might be the Wayland version of xrandr, wlr-randr.

This is based solely on forums.raspberrypi.com/viewtopic.php?t=357766 and I don't have a Pi to hand right now to test.

At a glance a MDR and LRS Meanwell have similar specs with the LRS being cheaper.  Din rail mount is nice, but I'm trying to keep cost down.  

Any technical reason not to use a RS or LRS PSU for a Mesa board and Raspberry Pi?

StoneB wrote:

Hello all, 
first thanks so much for building this image - it really works nicely (although I still need to get my touchscreen working but assuming this is just a driver issue).

The main question I have before connecintg and configuring a MESA card is that my latency looks decidedly wrong - I am wondering if I have the RT kernel enabled at all? When I make uname -r, I get this, which doesn't mention RT:
6.6.28+rpt-rpi-2712

All I did was load the GDrive image a few posts ago, and run a update && upgrade.

Is there any way to check and correct?

 

Blindly running an update is not a good idea.

The easiest way is to reflash the image. The kernel really should have been "pinned" to prevent updates. The RT kernel is a "custom" one.
So you really shouldn't be updating, it's fine as is.

If you are the type that "must update" read this
www.snel.com/support/how-to-block-packag...l-updates-in-debian/

The <SHIFT> key may drop the Pi into diagnostic boot mode.  <ESC> likewise does not work on the Rpi.  From what I'm reading at places like raspberrypi.stackexchange.com/questions/...which-kernel-to-load changing the kernel is more than tricky on the Pi and involves moving/building kernel images manually and editing config.txt.  It would certainly be easiest to just use the ready-made Debian Rpi 4/5 LinuxCNC build found here: linuxcnc.org/downloads/  Just burn it using your favorite flashing software (Rpi Imager, Balena Etcher, etc.)

Do note that the Rpi 5 uses a new and incompatible SPI chip, so vendor boards which use SPI are currently a no-go.  Rpi said they may release the details of their new chip sometime in the future, but not anytime soon.

No RPI so not sure how this works ofr it, but for normal Linux this will need editing the GRUB config file so the RT kernel boots instead of the 6.6 that is booting now.
On a PC, holding down the shift keys will show the GRUB menu at boot time so you can choose the kernel to boot, does this work on RPI?

well, that explains that. I found the in an earlier post the command to install the rt kerne (I think), but I do seem to have the RT kernel already installed because a command
sudo apt install -y linux-image-rt-arm64 linux-headers-rt-arm64
returns a "already at newest version".

But I can't seem to figure out from earlier posts what command instructs to use this kernel?

Thanks for your help!

Yeah, that's a normal (non-RT)  kernel

Hello all, 
first thanks so much for building this image - it really works nicely (although I still need to get my touchscreen working but assuming this is just a driver issue).

The main question I have before connecintg and configuring a MESA card is that my latency looks decidedly wrong - I am wondering if I have the RT kernel enabled at all? When I make uname -r, I get this, which doesn't mention RT:
6.6.28+rpt-rpi-2712

All I did was load the GDrive image a few posts ago, and run a update && upgrade.

Is there any way to check and correct?
 

Hello Krister,
Did you resolve this?
NaN

Hi.

Can anyone help where to start to control a custom delta robot with raspberry pie?

I dont know where to start

Hello dear members, I reinstalled it maybe 50 times and when it restarted, ethercat master raspberry pi 4 8gb ==== Failed to obtain number of masters:
Failed to open master device /dev/EtherCAT0" No such file or directory
There is no problem before restarting, it sees the server, everything is fine. Is this a raspberry pi problem?????
I tried many times before writing here, no matter what I did, Linuxcnc 2.9.2 Rasberry Pi is installed, please help.