Stepper motor control from the rp2040 for LinuxCNC.
See BUILD.txt for details on building the RP firmware and the LinuxCNC driver.
The IP address of the RP2040 is 192.168.12.2. I use a straight point-to-point ethernet connecton to an empty network interface on the LinuxCNC host. I use 192.168.12.1 for the LinuxCNC host.
There's a sample LinuxCNC .hal and .ini file in the src/driver/ folder.
The KP value in the .ini file governs the ammount of software smoothing applied to step generation.
Technically valid ranges are from 1.0 - 0.0 but at 1.0 osilations are too large to be usable and at 0.0 no actual update will occur.
KP = 0.2 is a good balance between smoothing with very little added latency.
- Configurable step pulse polartiy.
- GPIO native
- GPIO i2c
- RS-485 support.
- RP side max speed and acceleration. Clamp values up to a set threashold. Error if over threashold.
- LinuxCNC side feedback checking.
- RP configuration confirmation. Currently there's no way to prove a UDP configuration packet arrived on the RP.
- Test with dropped packets.
- Test with mis-timed packets.
- Test with all 4 axis. (Only 3 tested so far.)
- Diagram documenting SW layout.
- SPI support.
- SPI attached child RP2040 for more joints.
- Test with multiple RP2040 on same network segment. Would need some driver work.