Remora - Rpi Software Stepping Using External Microcontroller via SPI

{     "Board": "BIGTREETECH SKR v3",     "Modules":[     {     "Thread": "Servo",     "Type": "Reset Pin",         "Comment":            "Reset pin",         "Pin":                "PC_4"     },     {         "Thread": "Servo",         "Type": "Blink",             "Pin":                      "PA_13",             "Frequency":                2         },     {     "Thread": "Base",     "Type": "Stepgen",         "Comment":            "X - Joint 0 step generator",         "Joint Number":        0,         "Step Pin":         "PD_4",         "Direction Pin":     "PD_3",         "Enable Pin":         "PD_6"     },     {     "Thread": "Base",     "Type": "Stepgen",         "Comment":            "Y - Joint 1 step generator",         "Joint Number":        1,         "Step Pin":         "PA_15",         "Direction Pin":     "PA_8",         "Enable Pin":         "PD_1"     },     {     "Thread": "Base",     "Type": "Stepgen",         "Comment":            "Z - Joint 2 step generator",         "Joint Number":        2,         "Step Pin":         "PE_2",         "Direction Pin":     "PE_3",         "Enable Pin":         "PE_0"     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "X min",         "Pin":                "PC_1",         "Mode":                "Input",         "Data Bit":            0     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "X max",         "Pin":                "PC_2",         "Mode":                "Input",         "Data Bit":            1     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Y min",         "Pin":                "PC_3",         "Mode":                "Input",         "Data Bit":            2     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Y max",         "Pin":                "PA_0",         "Mode":                "Input",         "Data Bit":            3     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Z min",         "Pin":                "PC_0",         "Mode":                "Input",         "Data Bit":            4     },     {     "Thread": "Servo",     "Type": "Digital Pin",         "Comment":            "Z max",         "Pin":                "PC_15",         "Mode":                "Input",         "Data Bit":            5     }     ] }

# load the realtime components loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt remora-spi SPI_num=0 CS_num=0 SPI_freq=2000000 #loadrt remora_lpc chip_type=LPC SPI_clk_div=64 # estop loopback, SPI comms enable and feedback net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI-enable net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset net remora-status <= remora.SPI-status => iocontrol.0.emc-enable-in # add the remora and motion functions to threads addf remora.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf remora.update-freq servo-thread addf remora.write servo-thread # Joint 0 setup setp remora.joint.0.scale [JOINT_0]SCALE setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp remora.joint.0.pgain [JOINT_0]P_GAIN setp remora.joint.0.ff1gain [JOINT_0]FF1_GAIN setp remora.joint.0.deadband [JOINT_0]DEADBAND net xpos-cmd <= joint.0.motor-pos-cmd => remora.joint.0.pos-cmd   net j0pos-fb <= remora.joint.0.pos-fb => joint.0.motor-pos-fb net j0enable <= joint.0.amp-enable-out => remora.joint.0.enable # Joint 1 setup setp remora.joint.1.scale [JOINT_1]SCALE setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp remora.joint.1.pgain [JOINT_1]P_GAIN setp remora.joint.1.ff1gain [JOINT_1]FF1_GAIN setp remora.joint.1.deadband [JOINT_1]DEADBAND net j1pos-cmd <= joint.1.motor-pos-cmd => remora.joint.1.pos-cmd net j1pos-fb <= remora.joint.1.pos-fb => joint.1.motor-pos-fb  net j1enable <= joint.1.amp-enable-out => remora.joint.1.enable # Joint 2 setup setp remora.joint.2.scale [JOINT_2]SCALE setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp remora.joint.2.pgain [JOINT_2]P_GAIN setp remora.joint.2.ff1gain [JOINT_2]FF1_GAIN setp remora.joint.2.deadband [JOINT_2]DEADBAND net j2pos-cmd <= joint.2.motor-pos-cmd => remora.joint.2.pos-cmd net j2pos-fb <= remora.joint.2.pos-fb => joint.2.motor-pos-fb net j2enable <= joint.2.amp-enable-out => remora.joint.2.enable # end-stops net X-home remora.input.00 => joint.0.home-sw-in  net Y-home remora.input.01 => joint.1.home-sw-in 

# Basic LinuxCNC config for testing of Remora firmware [EMC] MACHINE = Remora-XY DEBUG = 5 VERSION = 1.1 [DISPLAY] DISPLAY = axis USER_COMMAND_FILE = usercommand_regularmac_800.py EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm MAX_FEED_OVERRIDE = 1.2 #MIN_SPINDLE_OVERRIDE = 0.5 #MAX_SPINDLE_OVERRIDE = 1.2 DEFAULT_LINEAR_VELOCITY = 5.00 MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 10.00 DEFAULT_ANGULAR_VELOCITY = 36.00 MIN_ANGULAR_VELOCITY = 0 MAX_ANGULAR_VELOCITY = 45.00 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = ~/linuxcnc/nc_files INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm [KINS] JOINTS = 3 #KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH KINEMATICS =trivkins coordinates=XYZ [FILTER] PROGRAM_EXTENSION = .py Python Script py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 1000000 SERVO_PERIOD = 5000000 [HAL] HALFILE = remora-xyz.hal POSTGUI_HALFILE = postgui_call_list.hal [TRAJ] COORDINATES =  X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_LINEAR_VELOCITY = 50.00 MAX_LINEAR_VELOCITY = 200.00 NO_FORCE_HOMING = 1  [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [AXIS_X] MAX_VELOCITY = 150 MAX_ACCELERATION = 750 MIN_LIMIT = 0.0 MAX_LIMIT = 25.0 [JOINT_0] TYPE = LINEAR HOME = 27.5 MIN_LIMIT = 0.0 MAX_LIMIT = 28.0 MAX_VELOCITY = 250.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 800 FERROR = 2 MIN_FERROR = 2.0 HOME_OFFSET = 27.5 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL = 2.0 HOME_SEQUENCE = 0 P_GAIN= 300 FF1_GAIN= 0.1 DEADBAND= 0.001 [AXIS_Y] MAX_VELOCITY = 150 MAX_ACCELERATION = 750 MIN_LIMIT = 0.0 MAX_LIMIT = 26.0 [JOINT_1] TYPE = LINEAR HOME = 25.5 MIN_LIMIT = 0.0 MAX_LIMIT = 26.0 MAX_VELOCITY = 250.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 800.0 FERROR = 9.0 MIN_FERROR = 5.0 HOME_OFFSET = 25.5 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL = 2.0 HOME_SEQUENCE = 1 P_GAIN= 300 FF1_GAIN= 0.1 DEADBAND= 0.001 [AXIS_Z] OFFSET_AV_RATIO = 0.2 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 20.0 MIN_LIMIT = 0 MAX_LIMIT = 28 [JOINT_2] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = 0 MAX_LIMIT = 28 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 300.0 SCALE = 400.0 FERROR = 5 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 P_GAIN= 300 FF1_GAIN= 0.1 DEADBAND= 0.001