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# Add the encoder to HAL and attach it to threads.
loadrt encoder num_chan=4
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread

# Set the HAL encoder to 100 pulses per revolution.
setp encoder.3.position-scale 100

# Set the HAL encoder to non-quadrature simple counting using A only.
setp encoder.3.counter-mode true

# Connect the HAL encoder outputs to LinuxCNC.
net spindle-position encoder.3.position => spindle.0.revs
net spindle-velocity encoder.3.velocity => spindle.0.speed-in
net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable

# Connect the HAL encoder inputs to the real encoder.
net spindle-phase-a encoder.3.phase-A <= parport.0.pin-10-in
net spindle-phase-b encoder.3.phase-B
net spindle-index encoder.3.phase-Z <= parport.0.pin-11-in

xk7130@xk7130:~$ sudo lshw -class netork
[sudo] password for xk7130: 
xk7130@xk7130:~$ lshw -class network
WARNING: you should run this program as super-user.
  *-network                 
       description: Ethernet interface
       product: Ethernet Connection (2) I218-V
       vendor: Intel Corporation
       physical id: 19
       bus info: pci@0000:00:19.0
       logical name: enp0s25
       version: 00
       serial: d0:50:99:5c:61:57
       size: 100Mbit/s
       capacity: 1Gbit/s
       width: 32 bits
       clock: 33MHz
       capabilities: bus_master cap_list ethernet physical tp 10bt 10bt-fd 100bt 100bt-fd 1000bt-fd autonegotiation
       configuration: autonegotiation=on broadcast=yes driver=e1000e driverversion=6.1.0-13-rt-amd64 duplex=full firmware=0.1-4 ip=10.10.10.11 latency=0 link=yes multicast=yes port=twisted pair speed=100Mbit/s
       resources: irq:26 memory:efc00000-efc1ffff memory:efc34000-efc34fff ioport:f080(size=32)
  *-network
       description: Wireless interface
       physical id: 11
       bus info: usb@2:11
       logical name: wlx5ca6e641710d
       serial: 5c:a6:e6:41:71:0d
       capabilities: ethernet physical wireless
       configuration: broadcast=yes driver=r8188eu driverversion=6.1.0-13-rt-amd64 ip=192.168.1.197 multicast=yes wireless=IEEE 802.11bgn
WARNING: output may be incomplete or inaccurate, you should run this program as super-user.
xk7130@xk7130:~$ ping -i .2 -c 4 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
64 bytes from 10.10.10.10: icmp_seq=1 ttl=64 time=0.226 ms
64 bytes from 10.10.10.10: icmp_seq=2 ttl=64 time=0.150 ms
64 bytes from 10.10.10.10: icmp_seq=3 ttl=64 time=0.149 ms
64 bytes from 10.10.10.10: icmp_seq=4 ttl=64 time=0.150 ms

--- 10.10.10.10 ping statistics ---
4 packets transmitted, 4 received, 0% packet loss, time 609ms
rtt min/avg/max/mdev = 0.149/0.168/0.226/0.033 ms
xk7130@xk7130:~$ sudo chrt 99 ping -i .001 -q 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
355710 packets transmitted, 355710 received, 0% packet loss, time 355709ms
rtt min/avg/max/mdev = 0.077/0.122/0.330/0.009 ms
xk7130@xk7130:~$