Remora - Rpi Software Stepping Using External Microcontroller via SPI

Bad SPI payload = 0

Bad SPI payload = ffffffff

Remora PRU - Programmable Realtime Unit ## Entering SETUP state 1. Reading json configuration file Mounting the filesystem... OK Opening "/fs/config.txt"... OK Json config file lenght = 2381 Closing "/fs/config.txt"... 2. Setting up DMA and threads Creating thread 40000 Creating thread 1000 3. ParsiConfig deserialisation - Deserialization succeeded Servo thread object Reset pin Make Reset Pinule Creating Pin @ portNumber = 1 pin = 31 Base thread object X - Joint 0 step generator Creating a std module Creating Pin @ portNumber = 2 pin = 1 Creating Pin @ portNumber = 2 pin = 2 Creating Pin @ portNumber = 2 pin = 6 Base thread r Creating a std module Creating Pin @ portNumber = 2 pin = 8 Creating Pin @ portNumber = 0 pin = 19 Creating Pin @ portNumber = 0 pin = 20 Base thread object Z - Joint 2 step generator Creating a std module Creating Pin @ portNumber = 0 pin = 21 Creating Pin @ portNumber = 0 pin = 22 Creating Pin @ portNumber = 2 pin = 11 Base thread object E0 - Joint 3 step generator Creating a std module Creating Pin @ portNumber = 2 pin = 12 Creating Pin @ portNumber = 2 pin = 13 Creating Pin @ portNumber = 0 pin = 11 Servo thread object Make Temperature measurement object Extruder tenperature sensor Creating a slower module, updating every 1000 thread cycles Creating Thermistor Tempearture measurement @ pin 0.23 Creating Pin @ portNumber = 0 pin = 23 Temperature sensor error, pin 0.23 reading = -273.15 Temperature sensor error, pin 0.23 reading = -86.8344 Start temperature = -86.8344 Base thread object RC servo for probe Make RC Servo at pin 2.0 Creating a slower module, updating every 4000 thread cycles Creating RC servo at pin 2.0 Creating Pin @ portNumber = 2 pin = 0 Base thread object Encoder Creating Quadrature Encoder at pins 1.20 and 1.22 Encoder has index at pin 8 Creating a std module Creating Pin @ portNumber = 1 pin = 20 Creating Pin @ portNumber = 1 pin = 22 Creating Pin @ portNumber = 8 Servo thread object X min Make Digital Input at pin 1.29 Creating a std module Creating Pin @ portNumber = 1 pin = 29 Servo thread object X max Make Digital Input at pin 1.28 Creating a std module Creating Pin @ portNumber = 1 pin = 28 Servo thread object Y min Make Digital Input at pin 1.27 Creating a std module Creating Pin @ portNumber = 1 pin = 27 Servo thread object Y max Make Digital Input at pin 1.26 Creating a std module Creating Pin @ portNumber = 1 pin = 26 Servo thread object Z min Make Digital Input at pin 1.25 Creating a std module Creating Pin @ portNumber = 1 pin = 25 Servo thread object Z max Make Digital Input at pin 1.24 Creating a std module Creating Pin @ portNumber = 1 pin = 24 Servo thread object Extruder fan switch Make Switch (On) at pin 0.0 Creating a std module Creating a Switch @ pin 0.0 Creating Pin @ portNumber = 0 pin = 0 ## Entering START state Starting the BASE thread Registering interrupt for interrupt number = 1 power on timer timer set MCR timer set PR timer set PRO timer start ++ MbedOS Fault Handler ++ FaultType: HardFault Context: R0 : 10003C00 R1 : AA3DE7CC R2 : 00000016 R3 : FEFFC713 R4 : 10003B78 R5 : 00000068 R6 : 00000001 R7 : 00000000 R8 : 00000000 R9 : 200801E0 R10 : 20081324 R11 : 00000006 R12 : 00C80000 SP : 10007F80 LR : 00010995 PC : 0000FE8E xPSR : 21000011 PSP : C1688394 MSP : 10007F60 CPUID: 412FC230 HFSR : 40000000 MMFSR: 00000000 BFSR : 00000082 UFSR : 00000000 DFSR : 00000000 AFSR : 00000000 BFAR : AA3DE7E0 Mode : Handler Priv : Privileged Stack: MSP -- MbedOS Fault Handler --

Remora running now on RPi 4 without issues! The SPI clock is provided by the GPU so adding gpu_freq=200 into /boot/config.txt did the trick. I'll update the docs.