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I am a newbie and I not sure I am following this forum's rules.  First, is this the right place to ask Remora questions (I have read everything I could find for Remora documentation)?  I trying to build a RPI5 / SKR 1.3 system.  All of the Linuxcnc components compile cleanly *except* for the spi component which compiles but with about 15 warnings.  I pulled the latest off of github.   Any help appreciated and please let me know if I am using the forum incorrectly.  

How should (linear optical scale, 0.1 micron resolution) encoders be wired to a system using a LinuxCNC + Mesa 7i95T and ODrive Pro motor controllers for each axis? 

• Encoder wired in parallel to both Mesa and ODrive motor controller? (ground loop issues, etc?)
• Encoder wired only to Mesa with ODrive motor controller in open loop? (not recommended by ODrive)
• Encoder wired only to ODrive motor controller with LinuxCNC + Mesa in open loop? (loses the whole point of LinuxCNC and coordinated motion)
• Two encoders, one for each? (added cost and complexity)
• Something else?

ODrive recommends wiring the encoder to the ODrive as it is claimed to have much higher bandwidth and fidelity (8kHz) than the LinuxCNC system: discourse.odriverobotics.com/t/connectin...sa-vs-odrive/13208/9

In the future it may be possible for the ODrive to pass through / re-output the encoder readings via GPIO pins. This would seem to be an interesting option, but it is not currently implemented and it's not clear if there could be potential latency issues.

What is the recommendation from the LinuxCNC + Mesa perspective, and are there any pitfalls to watch out for?

I see that the EaserCAT-3000 board firmware has been updated on Github. As you mentioned earlier, you left out the step scale so it could be modified from the INI file. You also added enable pins, but I don't know how to use them. Could you explain these changes a little more?

Pretty sure LinuxCNC does not use Linux drivers for parallel port, it has it's own driver and all it needs is a memory address for it to work, but your results show strange addresses, so try 0 for address in the StepConf wizard, and if that does not work also try
1b80000000
and
0x1b80000000
Do reboot the RPI between tests.

Mazak can be seen on some of the videos here
www.youtube.com/@toma.cnc1/videos

Impressive!
Thx!
Video link to your Mazak lathe?
Greez
chris

Dear Hakan, 
thank you very much, 
Now everything is ok, and works good,

This encoder interface has no IO,
But I made another IO card, it has 12x Digital input, 12x Digital output, 4x Analog 0-10V input and 4x Analog 0-10V output,

It's very rare you need to install drivers for a parallel port in Linux. Most Vendor supplied ones are woefully out of date, and are usually for the vendor specific capabilities of the serial port. These cards are usually supported by the pc_serial Linux driver. Both chipsets you have tried are well established and work fine on the x86 platform with the Linux drivers that come with the kernel.

To tell the truth I'm not even sure the RPi5 kernel that is in the image even has support for a PC parallel port. When built the image I just used the RPi5 default config and enabled the options for real time.

Now the real issue is that the RPi SOC doesn't support BAR, I misspoke and stated ARM64.
If you had read the links I gave you would have seen this stated. Unless there have been major changes to the way the RPi5 manages IO ports and mapping them, unfortunately a PCIe parallel port is not going the work with the RPi5.
Yes it will see the adaptor but will not be able to use it as a PC would.

FYI... tried a different Parport card. however appears the drivers are missing and I am struggling to get the them installed.

cnc@raspberrypi:~$ sudo lspci -v
0000:00:00.0 PCI bridge: Broadcom Inc. and subsidiaries BCM2712 PCIe Bridge (rev 21) (prog-if 00 [Normal decode])
Flags: bus master, fast devsel, latency 0, IRQ 38
Bus: primary=00, secondary=01, subordinate=01, sec-latency=0
Memory behind bridge: 80000000-800fffff =1M% [32-bit]cnc@raspberrypi:~$ sudo lspci -v
0000:00:00.0 PCI bridge: Broadcom Inc. and subsidiaries BCM2712 PCIe Bridge (rev 21) (prog-if 00 [Normal decode])
    Flags: bus master, fast devsel, latency 0, IRQ 38
    Bus: primary=00, secondary=01, subordinate=01, sec-latency=0
    Memory behind bridge: 80000000-800fffff [size=1M] [32-bit]
    Prefetchable memory behind bridge: [disabled] [64-bit]
    Capabilities: [48] Power Management version 3
    Capabilities: [ac] Express Root Port (Slot-), MSI 00
    Capabilities: [100] Advanced Error Reporting
    Capabilities: [160] Virtual Channel
    Capabilities: [180] Vendor Specific Information: ID=0000 Rev=0 Len=028 <?>
    Capabilities: [240] L1 PM Substates
    Capabilities: [300] Secondary PCI Express
    Kernel driver in use: pcieport

0000:01:00.0 Serial controller: Nanjing Qinheng Microelectronics Co., Ltd. CH382L PCIe Parallel Port Adapter (rev 10) (prog-if 05 [16850])
    Subsystem: Nanjing Qinheng Microelectronics Co., Ltd. CH382L PCIe Parallel Port Adapter
    Flags: fast devsel, IRQ 38
    Memory at 1b80000000 (32-bit, prefetchable) [size=32K]
    Expansion ROM at 1b80008000 [virtual] [disabled] [size=32K]
    Capabilities: [60] Power Management version 3
    Capabilities: [68] MSI: Enable- Count=1/32 Maskable+ 64bit+
    Capabilities: [80] Express Legacy Endpoint, MSI 00
    Capabilities: [100] Advanced Error Reporting


 

halType="float-ieee" matches REAL type

Cool board, is there IO on the board as well?
I see you have this in the ESI fileYou might have a mixup on names, ESI file says ENC2RPM is at 0x0006:03
They are also specified here as UINT32. And you say float (Ethercat REAL type).
This doesn't match.
Make the datatype REAL for this variable, read it as a float in the processor and as float-ieee in hal (gous into a float type hal variable)

On the main menu, there is something like "startup" in the "preferences" submenu, use that for autostarting LinuxCNC.
Desktop entries will not autostart.

WKS-3D wrote:

 By the way, I've always wanted to ask you, what's with the goat in the picture? 

The internet uses G.O.A.T for "Greatest of All Times", and this is where it absolutely makes sense as PCW is the Greatest of All Times for support of it's products.
Asking for new firmware and having it in use in a single day, that is ultimate support.

Thanks 'unknown'. However, the post that you link to was prior to the pi5 release. The Pi5 now has a dedicated pcie port that the pi4 did not have.
I could be and am likely wrong here. However, Because this parport card is recognized, I do believe this is a permissions issue. Or a vendor ID issue. I am hopeful that getting this parport to work would open the door for me to use a parport along side the GPIOs and expanded capabilities of the pi5.

My Linux skills are rusty and lacking at best. So again any help is appreciated.

Axis can be modified a lot, this is Axis modified for PlasmaC by PhillC
www.youtube.com/shorts/ciVcxrlmMIA
This is Axis with PyVCP modified by me for a Mazak lathe

Hi , I am also trying to retrofit with Simodrive. Could you share the INI and HAL files, as well as the electrical connection diagram between Simodrive and the boards? Thank you, M Domingues