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I concur on tommylight's point 3. The Debian login can make it unclear whether it wants username or password.

S32 seems like an unusual choice for a velocity HAL pin.

The point of the branch is to have an easy(?) way to look at all the changes.
(As shown in the view linked above)

In some ways it doesn't look too bad, a lot of the change is contained in new files, which should make the merge easier.

On the plus side, it merges without conflicts.

On the minus side, it doesn't seem to build (but I have not actually tried building it locally, and it is possible that the build failure in the CI on Github is caused by something unrelated)

heaven wrote:

i think you have to build a new kinematic module for 3 axis robot because Genserkins can't be used for less than 6-axis robot.

This does seem to be true:

github.com/LinuxCNC/linuxcnc/blob/master...cs/genserfuncs.c#L99

But it doesn't look like it would be difficult to make it a load-time parameter. 
See how trivkins uses RTAPI_MP_STRING:
github.com/LinuxCNC/linuxcnc/blob/master...atics/trivkins.c#L48

link_num could be defined the same way with RTAPI_MP_INT
linuxcnc.org/docs/stable/html/man/man3/RTAPI_MP_INT.3rtapi.html