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>Whether it is your present depends on a lot of factors. Usually money

OK. In my case, Pulse/Dir has been working reasonably well for my needs so far, and most importantly I was able to get it working with very limited (aka known) knowledge to start with.

However, since I chose the most simple/cheapest way using parport and basic Bob, I have no room to implement things that would be really useful, such as 4th axis, tool gauge, feedback to LinuxCNC, etc... Any solution that would remove these limitations would require money, so I might as well go for some sort of industry standard, or at least a solution that is not strictly dependent on a single vendor.

This discussion conforts me in the idea that EtherCAT seems a logical choice in this respect, so thank you all for sharing your knowledge and experience

rodw wrote:

Sorry, I have not had a chance to look at this over the weekend.
 

Yeah I figured that cos building an image with the 6.12.y branch fails when creating the final image. 6.1.y with the 6.1.69 kernel commit seems to build ok, image is created with Linuxcnc binaries and when patch has spi on at first boot. This was just seen by mounting the image and having a quick browse through the filesystem. Too effing late to test.

Another thing of interest there are still patches.
Directory listing of the patches that are for 6.12.8 none for 6.12.9 as you can see (6.12.8) has patches for sysfs entry and one to for enable arm rt.

So this looks like a very confusing kettle of fish.

-rw-rw-r-- 1 rmurphy rmurphy 1495 Jan 9 22:27 0001-arm-Disable-jump-label-on-PREEMPT_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 2447 Jan 9 22:27 0001-ARM-vfp-Provide-vfp_state_hold-for-VFP-locking.patch
-rw-rw-r-- 1 rmurphy rmurphy 3888 Jan 9 22:27 0001-drm-i915-Use-preempt_disable-enable_rt-where-recomme.patch
-rw-rw-r-- 1 rmurphy rmurphy 1382 Jan 9 22:27 0001-hrtimer-Use-__raise_softirq_irqoff-to-raise-the-soft.patch
-rw-rw-r-- 1 rmurphy rmurphy 3902 Jan 9 22:27 0001-powerpc-Add-preempt-lazy-support.patch
-rw-rw-r-- 1 rmurphy rmurphy 6700 Jan 9 22:27 0001-sched-Add-TIF_NEED_RESCHED_LAZY-infrastructure.patch
-rw-rw-r-- 1 rmurphy rmurphy 1384 Jan 9 22:27 0002-ARM-vfp-Use-vfp_state_hold-in-vfp_sync_hwstate.patch
-rw-rw-r-- 1 rmurphy rmurphy 3671 Jan 9 22:27 0002-drm-i915-Don-t-disable-interrupts-on-PREEMPT_RT-duri.patch
-rw-rw-r-- 1 rmurphy rmurphy 1511 Jan 9 22:27 0002-locking-rt-Remove-one-__cond_lock-in-RT-s-spin_trylo.patch
-rw-rw-r-- 1 rmurphy rmurphy 1286 Jan 9 22:27 0002-powerpc-Large-user-copy-aware-of-full-rt-lazy-preemp.patch
-rw-rw-r-- 1 rmurphy rmurphy 11004 Jan 9 22:27 0002-sched-Add-Lazy-preemption-model.patch
-rw-rw-r-- 1 rmurphy rmurphy 970 Jan 9 22:27 0002-timers-Use-__raise_softirq_irqoff-to-raise-the-softi.patch
-rw-rw-r-- 1 rmurphy rmurphy 3282 Jan 9 22:27 0002-tracing-Record-task-flag-NEED_RESCHED_LAZY.patch
-rw-rw-r-- 1 rmurphy rmurphy 1404 Jan 9 22:27 0003-ARM-vfp-Use-vfp_state_hold-in-vfp_support_entry.patch
-rw-rw-r-- 1 rmurphy rmurphy 1741 Jan 9 22:27 0003-drm-i915-Don-t-check-for-atomic-context-on-PREEMPT_R.patch
-rw-rw-r-- 1 rmurphy rmurphy 2853 Jan 9 22:27 0003-locking-rt-Add-sparse-annotation-for-RCU.patch
-rw-rw-r-- 1 rmurphy rmurphy 2660 Jan 9 22:27 0003-riscv-add-PREEMPT_LAZY-support.patch
-rw-rw-r-- 1 rmurphy rmurphy 3721 Jan 9 22:27 0003-sched-Enable-PREEMPT_DYNAMIC-for-PREEMPT_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 7638 Jan 9 22:27 0003-softirq-Use-a-dedicated-thread-for-timer-wakeups-on-.patch
-rw-rw-r-- 1 rmurphy rmurphy 3696 Jan 9 22:27 0004-ARM-vfp-Move-sending-signals-outside-of-vfp_state_ho.patch
-rw-rw-r-- 1 rmurphy rmurphy 2170 Jan 9 22:27 0004-drm-i915-Disable-tracing-points-on-PREEMPT_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 1319 Jan 9 22:27 0004-locking-rt-Annotate-unlock-followed-by-lock-for-spar.patch
-rw-rw-r-- 1 rmurphy rmurphy 2089 Jan 9 22:27 0004-sched-x86-Enable-Lazy-preemption.patch
-rw-rw-r-- 1 rmurphy rmurphy 3199 Jan 9 22:27 0005-drm-i915-gt-Use-spin_lock_irq-instead-of-local_irq_d.patch
-rw-rw-r-- 1 rmurphy rmurphy 8921 Jan 9 22:27 0005-sched-Add-laziest-preempt-model.patch
-rw-rw-r-- 1 rmurphy rmurphy 1305 Jan 9 22:27 0006-drm-i915-Drop-the-irqs_disabled-check.patch
-rw-rw-r-- 1 rmurphy rmurphy 1151 Jan 9 22:27 0007-drm-i915-guc-Consider-also-RCU-depth-in-busy-loop.patch
-rw-rw-r-- 1 rmurphy rmurphy 762 Jan 9 22:27 0008-Revert-drm-i915-Depend-on-PREEMPT_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 10272 Jan 9 22:27 0053-serial-8250-Switch-to-nbcon-console.patch
-rw-rw-r-- 1 rmurphy rmurphy 942 Jan 9 22:27 0054-serial-8250-Revert-drop-lockdep-annotation-from-seri.patch
-rw-rw-r-- 1 rmurphy rmurphy 379 Jan 9 22:27 Add_localversion_for_-RT_release.patch
-rw-rw-r-- 1 rmurphy rmurphy 1013 Jan 9 22:27 ARM__Allow_to_enable_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 1370 Jan 9 22:27 arm-Disable-FAST_GUP-on-PREEMPT_RT-if-HIGHPTE-is-als.patch
-rw-rw-r-- 1 rmurphy rmurphy 3310 Jan 9 22:27 ARM__enable_irq_in_translation_section_permission_fault_handlers.patch
-rw-rw-r-- 1 rmurphy rmurphy 7625 Jan 9 22:27 netfilter-nft_counter-Use-u64_stats_t-for-statistic.patch
-rw-rw-r-- 1 rmurphy rmurphy 1061 Jan 9 22:27 POWERPC__Allow_to_enable_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 1837 Jan 9 22:27 powerpc_kvm__Disable_in-kernel_MPIC_emulation_for_PREEMPT_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 3446 Jan 9 22:27 powerpc_pseries_iommu__Use_a_locallock_instead_local_irq_save.patch
-rw-rw-r-- 1 rmurphy rmurphy 903 Jan 9 22:27 powerpc-pseries-Select-the-generic-memory-allocator.patch
-rw-rw-r-- 1 rmurphy rmurphy 1120 Jan 9 22:27 powerpc_stackprotector__work_around_stack-guard_init_from_atomic.patch
-rw-rw-r-- 1 rmurphy rmurphy 1249 Jan 9 22:27 powerpc__traps__Use_PREEMPT_RT.patch
-rw-rw-r-- 1 rmurphy rmurphy 1762 Jan 9 22:27 riscv-add-PREEMPT_AUTO-support.patch
-rw-rw-r-- 1 rmurphy rmurphy 930 Jan 9 22:27 sched-Fixup-the-IS_ENABLED-check-for-PREEMPT_LAZY.patch
-rw-rw-r-- 1 rmurphy rmurphy 4049 Jan 9 22:27 series
-rw-rw-r-- 1 rmurphy rmurphy 1401 Jan 9 22:27 sysfs__Add__sys_kernel_realtime_entry.patch
-rw-rw-r-- 1 rmurphy rmurphy 2965 Jan 9 22:27 tracing-Remove-TRACE_FLAG_IRQS_NOSUPPORT.patch

I don't what your doing different but using the rpi-linux source from their github repo, I cloned the whole repo, I'm getting this, unpatched sources.
Just out of interest are you working from the same kernel source as myself.

iv not really had issue using UVW on my lathe with two turrets
only part i miss is running them together todo parts, as 2nd has to sit around while other is machining then swop over.. but thats a limit of single path controlls.

as for spindle control
i think the issue with sub spindle, or infact more than 1 spindle is there is no standard when it comes to Mcodes for direction or sync codes also

the only part that remains normal on machiens i find is S1, S2 etc , 1 is always main, 2 is sub and 3,4 etc tend to be turret power tooling etc.

one of my machiens for spindle sync has this code
G114.1 H1 D-2 R0
M77 (wait & check for sync to complete)

G114.1 spindle sync active,
H define which is the master spindle
D which spindle is doing the following
R phase offset from spindle axis zero

M77
follow by M77 makes the machine wait for sync to finish before processing more code, if no R is used can skip M77

this can sync to a already running spindle or both can syn from M5 and start together etc.. ovbisly can sync power tooling to a spindle, spindle to power tooling etc.. so gear hobbing , polygon is possible.

there is also a torque code you can issue to limit torque of spindles on pickup or check the part did part off fully before retract etc.

G114.2-Polygon machining command. There are many unique ways to use
polygon machining. Not just for hex or square shapes. Side slots,
Phillips screw driver shapes and whatever else can benefit from the
live tool synchronized with the part while cutting. Use G113 to
cancel.
G114.2 H3 D1 E3 L6 (R15.)
H3 = Master spindle or S3(gang live tool) S4 U121B option
D1= Slave spindle. Could be 1,-1, 2, -1 - is for direction.
E3 = Rotation rate. Number of teeth of the cutter.
L6= Number of flats to be cut on the part.
R15. = Phase shifting amount in degrees.(only on 1:1 ratio
spindles)
G114.3-(option) Gear hobbing command. With a special holder this command
will
time the cutter(S3) and spindle(S1C1) to constantly hold position
so all we do is feed across the part as if we were turning and a
gear shape is cut. A "C" axis is also needed! Use G113 to cancel.
G114.3 H3 D-9 E1 L18 (P0) (Q1.)
H3 = Master spindle or S3(gang live tool)
D-9= Slave spindle or 9= Caxis -9 = reverse
E1 = Rotation rate. Always set to one. Not sure exactly why!
L18= Number of gear teeth to be on the part.
P0 = Helix angle -89.000 to 89.000 for helical gears. Leave off
or set to P0 for spur(straight) gears.