Is a parport fast enough?

loadrt trivkins loadrt motmod base_period=1000000 servo_period=1000000 # Load parallel port drivers loadrt hal_parport cfg="0x378 out 0x278 out" # Define DAC (AD664JN-BIP) control and data pins net dac-data <= parport.0.pin-02-09 net dac-wr => parport.0.pin-10-out net dac-cs => parport.0.pin-11-out # Define quadrature encoders net x-pos-a => parport.0.pin-12-in net x-pos-b => parport.0.pin-13-in net y-pos-a => parport.0.pin-14-in net y-pos-b => parport.0.pin-15-in net z-pos-a => parport.0.pin-16-in net z-pos-b => parport.0.pin-17-in net spindle-pos-a => parport.1.pin-10-in net spindle-pos-b => parport.1.pin-11-in # Define limit and home switches net x-neg-limit => parport.1.pin-12-in net x-pos-limit => parport.1.pin-13-in net x-home => parport.1.pin-14-in net y-neg-limit => parport.1.pin-15-in net y-pos-limit => parport.1.pin-16-in net y-home => parport.1.pin-17-in net z-neg-limit => parport.1.pin-18-in net z-pos-limit => parport.1.pin-19-in net z-home => parport.1.pin-20-in # Define global enable output net global-enable => parport.0.pin-01-out # Define GPIO pins net gpio-in-00 <= parport.1.pin-02-in net gpio-in-01 <= parport.1.pin-03-in net gpio-in-02 <= parport.1.pin-04-in net gpio-in-03 <= parport.1.pin-05-in net gpio-in-04 <= parport.1.pin-06-in net gpio-in-05 <= parport.1.pin-07-in net gpio-out-00 => parport.1.pin-08-out net gpio-out-01 => parport.1.pin-09-out net gpio-out-02 => parport.1.pin-15-out net gpio-out-03 => parport.1.pin-16-out net gpio-out-04 => parport.1.pin-01-out net gpio-out-05 => parport.1.pin-14-out addf parport.0.read base-thread addf parport.1.read base-thread addf parport.0.write base-thread addf parport.1.write base-thread start

#include "hal.h" #include "rtapi.h" #include "rtapi_app.h" #include "rtapi_bitops.h" #include "hal_parport.h" // Define pins and parameters static int comp_id; static hal_float_t *x_output; static hal_float_t *y_output; static hal_float_t *z_output; static hal_float_t *spindle_output; static hal_bit_t *global_enable; static hal_bit_t *x_home; static hal_bit_t *y_home; static hal_bit_t *z_home; // Limit switches static hal_bit_t *x_neg_limit, *x_pos_limit; static hal_bit_t *y_neg_limit, *y_pos_limit; static hal_bit_t *z_neg_limit, *z_pos_limit; // Quadrature encoder positions static hal_bit_t *x_pos_a, *x_pos_b; static hal_bit_t *y_pos_a, *y_pos_b; static hal_bit_t *z_pos_a, *z_pos_b; static hal_bit_t *spindle_pos_a, *spindle_pos_b; // GPIO pins static hal_bit_t *gpio_in_00, *gpio_in_01, *gpio_in_02, *gpio_in_03, *gpio_in_04, *gpio_in_05; static hal_bit_t *gpio_out_00, *gpio_out_01, *gpio_out_02, *gpio_out_03, *gpio_out_04, *gpio_out_05; // Previous states for quadrature decoding static int prev_x_pos = 0, prev_y_pos = 0, prev_z_pos = 0, prev_spindle_pos = 0; // Position counters static int x_counter = 0, y_counter = 0, z_counter = 0, spindle_counter = 0; #define SCALE_FACTOR 204.8 // Scale factor for 12-bit DAC with ±10V range // Lookup table for quadrature decoding const int quad_table[16] = {     0, -1,  1,  0,     1,  0,  0, -1,    -1,  0,  0,  1,     0,  1, -1,  0 }; static void write_dac_value(uint8_t data) {     hal_parport_write_data(0, data);     hal_parport_write_pin(0, 11, 0); // CS low     hal_parport_write_pin(0, 10, 0); // WR low     hal_parport_write_pin(0, 10, 1); // WR high     hal_parport_write_pin(0, 11, 1); // CS high } static void update(void *arg, long period) {     uint16_t x_value = (uint16_t)((*x_output + 10.0) * SCALE_FACTOR); // Scaling from -10V to 10V     uint16_t y_value = (uint16_t)((*y_output + 10.0) * SCALE_FACTOR);     uint16_t z_value = (uint16_t)((*z_output + 10.0) * SCALE_FACTOR);     uint16_t spindle_value = (uint16_t)((*spindle_output + 10.0) * SCALE_FACTOR);     // Send data to DAC for each axis in sequence     write_dac_value((x_value >> 4) & 0xFF); // Send upper 8 bits     write_dac_value((x_value << 4) & 0xF0); // Send lower 4 bits     write_dac_value((y_value >> 4) & 0xFF); // Send upper 8 bits     write_dac_value((y_value << 4) & 0xF0); // Send lower 4 bits     write_dac_value((z_value >> 4) & 0xFF); // Send upper 8 bits     write_dac_value((z_value << 4) & 0xF0); // Send lower 4 bits     write_dac_value((spindle_value >> 4) & 0xFF); // Send upper 8 bits     write_dac_value((spindle_value << 4) & 0xF0); // Send lower 4 bits     hal_parport_write_pin(0, 1, *global_enable);     // Read limit and home switches     *x_neg_limit = hal_parport_read_pin(1, 12);     *x_pos_limit = hal_parport_read_pin(1, 13);     *x_home = hal_parport_read_pin(1, 14);     *y_neg_limit = hal_parport_read_pin(1, 15);     *y_pos_limit = hal_parport_read_pin(1, 16);     *y_home = hal_parport_read_pin(1, 17);     *z_neg_limit = hal_parport_read_pin(1, 18);     *z_pos_limit = hal_parport_read_pin(1, 19);     *z_home = hal_parport_read_pin(1, 20);     // Read quadrature encoder inputs     int x_pos = hal_parport_read_pin(0, 12) | (hal_parport_read_pin(0, 13) << 1);     int y_pos = hal_parport_read_pin(0, 14) | (hal_parport_read_pin(0, 15) << 1);     int z_pos = hal_parport_read_pin(0, 16) | (hal_parport_read_pin(0, 17) << 1);     int spindle_pos = hal_parport_read_pin(1, 10) | (hal_parport_read_pin(1, 11) << 1);     // Quadrature decoding     int x_delta = quad_table[(prev_x_pos << 2) | x_pos];     int y_delta = quad_table[(prev_y_pos << 2) | y_pos];     int z_delta = quad_table[(prev_z_pos << 2) | z_pos];     int spindle_delta = quad_table[(prev_spindle_pos << 2) | spindle_pos];     x_counter += x_delta;     y_counter += y_delta;     z_counter += z_delta;     spindle_counter += spindle_delta;     prev_x_pos = x_pos;     prev_y_pos = y_pos;     prev_z_pos = z_pos;     prev_spindle_pos = spindle_pos;     // Update GPIO output pins     hal_parport_write_pin(1, 8, *gpio_out_00);     hal_parport_write_pin(1, 9, *gpio_out_01);     hal_parport_write_pin(1, 15, *gpio_out_02);     hal_parport_write_pin(1, 16, *gpio_out_03);     hal_parport_write_pin(1, 1, *gpio_out_04);     hal_parport_write_pin(1, 14, *gpio_out_05);     // Read GPIO input pins     *gpio_in_00 = hal_parport_read_pin(1, 2);     *gpio_in_01 = hal_parport_read_pin(1, 3);     *gpio_in_02 = hal_parport_read_pin(1, 4);     *gpio_in_03 = hal_parport_read_pin(1, 5);     *gpio_in_04 = hal_parport_read_pin(1, 6);     *gpio_in_05 = hal_parport_read_pin(1, 7); } int rtapi_app_main(void) {     comp_id = hal_init("my_driver");     if (comp_id < 0)     {         return comp_id;     }     hal_pin_float_new("my_driver.x-output", HAL_OUT, &x_output, comp_id);     hal_pin_float_new("my_driver.y-output", HAL_OUT, &y_output, comp_id);     hal_pin_float_new("my_driver.z-output", HAL_OUT, &z_output, comp_id);     hal_pin_float_new("my_driver.spindle-output", HAL_OUT, &spindle_output, comp_id);     hal_pin_bit_new("my_driver.global-enable", HAL_OUT, &global_enable, comp_id);     hal_pin_bit_new("my_driver.x-home", HAL_IN, &x_home, comp_id);     hal_pin_bit_new("my_driver.y-home", HAL_IN, &y_home, comp_id);     hal_pin_bit_new("my_driver.z-home", HAL_IN, &z_home, comp_id);     hal_pin_bit_new("my_driver.x-neg-limit", HAL_IN, &x_neg_limit, comp_id);     hal_pin_bit_new("my_driver.x-pos-limit", HAL_IN, &x_pos_limit, comp_id);     hal_pin_bit_new("my_driver.y-neg-limit", HAL_IN, &y_neg_limit, comp_id);     hal_pin_bit_new("my_driver.y-pos-limit", HAL_IN, &y_pos_limit, comp_id);     hal_pin_bit_new("my_driver.z-neg-limit", HAL_IN, &z_neg_limit, comp_id);     hal_pin_bit_new("my_driver.z-pos-limit", HAL_IN, &z_pos_limit, comp_id);     hal_pin_bit_new("my_driver.x-pos-a", HAL_IN, &x_pos_a, comp_id);     hal_pin_bit_new("my_driver.x-pos-b", HAL_IN, &x_pos_b, comp_id);     hal_pin_bit_new("my_driver.y-pos-a", HAL_IN, &y_pos_a, comp_id);     hal_pin_bit_new("my_driver.y-pos-b", HAL_IN, &y_pos_b, comp_id);     hal_pin_bit_new("my_driver.z-pos-a", HAL_IN, &z_pos_a, comp_id);     hal_pin_bit_new("my_driver.z-pos-b", HAL_IN, &z_pos_b, comp_id);     hal_pin_bit_new("my_driver.spindle-pos-a", HAL_IN, &spindle_pos_a, comp_id);     hal_pin_bit_new("my_driver.spindle-pos-b", HAL_IN, &spindle_pos_b, comp_id);     hal_pin_bit_new("my_driver.gpio-in-00", HAL_IN, &gpio_in_00, comp_id);     hal_pin_bit_new("my_driver.gpio-in-01", HAL_IN, &gpio_in_01, comp_id);     hal_pin_bit_new("my_driver.gpio-in-02", HAL_IN, &gpio_in_02, comp_id);     hal_pin_bit_new("my_driver.gpio-in-03", HAL_IN, &gpio_in_03, comp_id);     hal_pin_bit_new("my_driver.gpio-in-04", HAL_IN, &gpio_in_04, comp_id);     hal_pin_bit_new("my_driver.gpio-in-05", HAL_IN, &gpio_in_05, comp_id);     hal_pin_bit_new("my_driver.gpio-out-00", HAL_OUT, &gpio_out_00, comp_id);     hal_pin_bit_new("my_driver.gpio-out-01", HAL_OUT, &gpio_out_01, comp_id);     hal_pin_bit_new("my_driver.gpio-out-02", HAL_OUT, &gpio_out_02, comp_id);     hal_pin_bit_new("my_driver.gpio-out-03", HAL_OUT, &gpio_out_03, comp_id);     hal_pin_bit_new("my_driver.gpio-out-04", HAL_OUT, &gpio_out_04, comp_id);     hal_pin_bit_new("my_driver.gpio-out-05", HAL_OUT, &gpio_out_05, comp_id);     rtapi_snprintf(name, sizeof(name), "my_driver.update");     hal_periodic_func_new(update, NULL, 1000000);     hal_ready(comp_id);     return 0; } void rtapi_app_exit(void) {     hal_exit(comp_id); }