Can Asus Tinker Board run LINUXCNC

That has to be compiled and installed before use, did you do that?

I have do the halcompile command before.
The result are
Do it means the compile is already done? Or there are something I have to do before I tried to do the loadrt command?

No, that has installed and compiled.

It has also, fairly clearly, run. It has got as far as talking to the Mesa card but has not seen the response expected. I would suspect an issue with physical wiring, or possibly the SPI needs enabling in firmware? This certainly needs to be done with the Pi.

Reading between the lines here: tinkerboarding.co.uk/forum/thread-85-post-1285.html

You may need to edit /boot/hw_intf.conf

Has anyone tried the Tinkerboard with the 7C80 or 7C81?

The 7C80 or 7C81 should be identical in behavior to a 7I90 as far as the SPI interface goes, The fact that mesaflash works suggest you have the correct SPI wiring (unless the driver uses a different port)

Are you sure the driver is a hal component? That seems a bit odd