Remora for RP2040

I'll need to update the firmware with the absolute position feedback and spike filter like we've done in the NVEM / EC300 / EC500 firmware and in the dev version of the original Remora. Solves those following error spikes.

Thanks! I wait for.

HI Scott and others working on Remora,
This project looks amazing, thank you for your work on it!
I've looked through as much as I could of the Remora docs and forum threads here, and can't see what I'm looking for: a hardware combination that uses Remora to drive 4 or 5 steppers with a high resolution encoder each, plus spindle & encoder, plus all the various IO for controls, coolant etc. that I'd like to implement. All the 3DP boards seem to have only one encoder input. Somewhere along the line you and Expatria guy were talking about the possibility of running two RP2040s for expanded IO - if we could run 2x the Picobob-dlx with one handling input, for example, and the 2 boards could both speak to a PC linuxcnc host via 2x ethernet ports, would that work? Sorry if the question's a bit unfocused, I've been reading the forums for about 5hrs straight at this point trying to work it out.  Or is there other hardware that will do this via remora? Thanks & all the best,
Andy

Interesting idea. With the RT1052 we max out on 4 high speed encoder inputs.

The RP2040 version, currently is a software encoder module (low speed).

1. The PIO side would need to be developed to get high speed encoder input
2. The LinuxCNC component would need to be modified to allow two instances to run with different controller board IP addresses.
3. Testing to see if all the communication can be handled within the Servo period. The W5500 ethernet to spi bridge does slow things down.

One thing Drew and I talked about was running 2 instances of remora, but run the stepgen on the SPI version and other IO/encoders on the W5500 ethernet version. I have both components loading, but I cannot get the IO to work on both at the same time.  

Or running 2 SPI remora instances on both RPi SPI channels, so you can use 4 hardware encoders on one STM32F4 board, and run the rest on another board



The W5500 pico, as well as the W5500 STM32 both need some work. I am trying to get other modules running like encoder and PWM but I am having no luck adding the SP and PV data pointers to the new pingpong buffer system.

Don't mean to hijack this thread but look at this new board:

linuxgizmos.com/low-profile-radxa-x2l-sb...040-microcontroller/

Celeron cpu and rp2040 for $50!
arace.tech/products/radxa-x2l

Not sure how they are connected to each other yet. Fingers crossed for SPI.

I'd have thought you'd want to have per-axis stepgen/encoder pairs running on the same interface as each other, to keep the control loop timing as tight as possible, but perhaps threads are running fast enough that that's not a concern?

Also, with apologies for splitting the thread topic, is there anything like a pre-rolled config to use with RPI 4 -> STM NucleoF411RE -> arduino cnc shield, and if not where should I start?

start here forum.linuxcnc.org/18-computer/42276-rem...er-via-spi?start=770

hi, please help me add output don't work, the rp2040 with linuxcnc only inputs it's ok but add oudput then rp2040 freeze also blink pin die.
the file config-txt it's
{
"Board": "PICOBOB",
"Modules":[
{
"Thread": "Servo",
"Type": "Blink",
"Comment": "Blinky",
"Pin": "GP26",
"Frequency": 5
},
{
"Thread": "Base",
"Type": "Stepgen",
"Comment": "X - Joint 0 step generator",
"Joint Number": 0,
"Step Pin": "GP25",
"Direction Pin": "GP09"
},
{
"Thread": "Base",
"Type": "Stepgen",
"Comment": "Y - Joint 1 step generator",
"Joint Number": 1,
"Step Pin": "GP23",
"Direction Pin": "GP10"
},
{
"Thread": "Base",
"Type": "Stepgen",
"Comment": "Z - Joint 2 step generator",
"Joint Number": 2,
"Step Pin": "GP24",
"Direction Pin": "GP11"
},
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "X_Limit",
"Pin": "GP12",
"Mode": "Input",
"Data Bit": 0,
"Invert": "False"
} ,
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Y_Limit",
"Pin": "GP13",
"Mode": "Input",
"Data Bit": 1,
"Invert": "True"
},
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Z_Limit",
"Pin": "GP28",
"Mode": "Input",
"Data Bit": 2,
"Invert": "False"
}
,
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "outy",
"Pin": "GP27",
"Mode": "Output",
"Data Bit": 0,
"Invert": "False"
}

]
}
and connect serial port for debug freeze with this

outy
Make Digital Output at pin GP27

Creating a std module
Creating Pin @
  pin = GP27
 

Just putting the finishing touches on the PicoHAL, which can be used as a Remora stepgen, amongst other things.  Probably a bit easier for hacking around than PiocBOB.