Software

In this section of the Remora documentation, the installation, setup and configuration of LinuxCNC and the Remora component are covered.

• LinuxCNC basics
  • LinuxCNC task threads
  • Hardware Abstraction Layer (HAL)
• LinuxCNC installation
  • Recommended premade Raspberry Pi Linuxcnc image
  • Deprecated instructions preserved for posterity
• Installing the Remora component
• Ethernet Setup
  • Configure Ethernet Port
• LinuxCNC configuration
  • Sample Configuration Files
  • Understanding the LinuxCNC configuration
• HAL Examples
  • Stepper motor basic example
  • Stepper motor Closed Loop example
  • PWM to 0-10v spindle control simple
  • PWM to 0-10v spindle control with inverted lincurve compensation.
  • Spindle control and coolant signal outputs
  • QEI Encoder without index
  • QEI Encoder with index
  • Endstops + home switches
• Remora HAL Component
  • ctrl_type[JOINTS]
  • chip_type
  • SPI_clk_div
  • PRU_base_freq
  • *SPIenable;
  • *SPIreset;
  • *PRUreset;
  • SPIresetOld;
  • *SPIstatus;
  • *stepperEnable[JOINTS];
  • pos_mode[JOINTS];
  • *pos_cmd[JOINTS];
  • *vel_cmd[JOINTS];
  • *pos_fb[JOINTS]
  • *count[JOINTS]
  • pos_scale[JOINTS]
  • freq[JOINTS]
  • *freq_cmd[JOINTS]
  • maxvel[JOINTS]
  • maxaccel[JOINTS]
  • *pgain[JOINTS]
  • *ff1gain[JOINTS]
  • *deadband[JOINTS]
  • old_pos_cmd[JOINTS]
  • old_pos_cmd_raw[JOINTS]
  • old_scale[JOINTS]
  • scale_recip[JOINTS]
  • prev_cmd[JOINTS];
  • cmd_d[JOINTS]
  • *setPoint[VARIABLES]
  • *processVariable[VARIABLES]
  • *outputs[DIGITAL_OUTPUTS]
  • *inputs[DIGITAL_INPUTS]
• PRUencoder HAL Component
  • Connecting the encoder
  • Sample Configuration Files
  • Understanding the LinuxCNC configuration
• NVMPG HAL Component
  • Sample Configuration Files
  • Understanding the LinuxCNC configuration