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@Arciera,

Attached a gcode sample. A cw and a ccw square. That contains the problem.

Extra torsion turn:
 

No extra torsion turn:
 

The investegation, i printed the clothoid result and take a look at the theta values, and compared them :
** where != means is not.

If clothoid output is like this, fit is ok:

• theta10 Z != 0
• theta 20 XY = 0
• theta 14 Z = 0
• theta 24 XY = 0

If clothoid output is like this, fit is not ok:

• theta10 Z != 0
• theta 20 XY = 0
• theta 14 Z = 0
• theta 24 XY != 0

This let me think about how to solve this. When you have the not ok situation,
you can introduce a tiny error to get the fit off-plane. A off plane fit seems to solves this issue.

So when you add 1e-6 (ultra tiny error) to one off the trimmed line's z-position, it goes off plane. Problem is solved.
So when lines have no intersection, there is no extra torsion turn.

Now i did not test any further. So i hope this is it.

Just so you guys know, I host my own 6.12 PREEMPT_RT sources with all the necessary real-time bits applied, including those for the i915 driver.

github.com/NTULINUX/linux

The 6.12 PREEMPT_RT kernel can lag behind so I manually update my sources to the latest 6.12 mainline kernel more often. My tree also allows building with the -O3 flag (compiler optimization flag) to speed up context switching, a typical culprit for latency spikes.

Just be sure you use the ntulinux/6.12.y-rt branch.

Cheers!

Hi  scotta , I am based in the UK, and I am considering buying a few EC300 boards, flashing them with your amazing firmware and putting them on eBay as a LinuxCNC compatible controller. I think this would ease the way for some people into the LinuxCNC world. Would you have anything against it, or do you know if it is against any license agreements? 

When I was looking for a LinuxCNC compatible controller, the only sensible option I found at the time was the Mesa boards, which are quite expensive and require shipment from the USA to the UK. Also, probably not everyone wants to play with flashing the boards.

Let me know what you think. Thanks!

Please note that the signal in the drive P1 connector is inhibit, so when the input floats the drive is enabled. This means that in order to disable the drive, you need to provide 5V (from P1 #1) to P1 #11.
For a machine like that, I would just wire a single ”enable” to the drives. Either use the existing relay (most likely NC contacts between P1 #1/#11) or reverse the logic in lcnc.
Relay probably better so that drives are disabled when there is no control to the relay.