docker build -t linuxcnc .

docker run -it --rm -v $HOME/dev/plasma/TMC-API:/TMC-API -e C_INCLUDE_PATH=/TMC-API linuxcnc halcompile --compile /hotshot/hotshot.comp

apt update apt install -y curl build-essential gdb curl -O https://www.linuxcnc.org/dists/bookworm/2.9-uspace/binary-arm64/linuxcnc-uspace_2.9.1_arm64.deb curl -O https://www.linuxcnc.org/dists/bookworm/2.9-uspace/binary-arm64/linuxcnc-uspace-dev_2.9.1_arm64.deb curl -O https://www.linuxcnc.org/dists/bookworm/2.9-uspace/binary-arm64/linuxcnc-uspace-dbgsym_2.9.1_arm64.deb dpkg -i linuxcnc-uspace_2.9.1_arm64.deb linuxcnc-uspace-dev_2.9.1_arm64.deb linuxcnc-uspace-dbgsym_2.9.1_arm64.deb || true apt --fix-broken -y install

git clone https://github.com/trinamic/TMC-API.git

sudo apt -y install libcap2 libcap-dev cd ~ curl -O http://www.airspayce.com/mikem/bcm2835/bcm2835-1.73.tar.gz tar xvfz bcm2835-1.73.tar.gz cd bcm2835-1.73 CFLAGS="-DBCM2835_HAVE_LIBCAP" ./configure make sudo make install sudo setcap cap_sys_rawio+ep $(which linuxcnc) sudo adduser $USER kmem echo 'SUBSYSTEM=="mem", KERNEL=="mem", GROUP="kmem", MODE="0660"' | sudo tee /etc/udev/rules.d/98-mem.rules

gcc -g -O0 -v -da -Q -o plasma -I TMC-API TMC-API/tmc/ic/TMC5041/TMC5041.c tmcapi.c OR gcc -g -O0 -da -Q -o plasma bcm.c -lbcm2835 -I $HOME/dev/plasma/TMC-API && sudo ./plasma

gdb plasma

(gdb) run

ssh linuxcnc.local cd dev/plasma/hotshot/hotshot-driver-linuxcnc ./install.sh

halrun -i my-plasma/my-plasma.ini -f my-plasma/my-plasma.hal

halrun loadrt threads name1=servo-thread period1=1000000 loadrt hotshot addf hotshot.0 servo-thread

start

useradd -m linuxcnc export RTAPI_UID=id -u linuxcnc RTAPI_FIFO_PATH=/home/linuxcnc/.rtapi_fifo

halrun loadrt threads name1=servo-thread period1=1000000 loadrt hotshot addf hotshot.0.calibrate servo-thread setp hotshot.0.axis-x-velocity-cmd 50.0 setp hotshot.0.axis-x-acceleration-cmd 1500.0 setp hotshot.0.axis-x-sgt 5 start

rsync -uav --delete /home/alangibson/dev/plasma linuxcnc.local:/home/alangibson/dev

sudo usermod -a -G gpio $USER sudo usermod -a -G kmem $USER # required for /dev/mem access sudo chmod g+w /dev/mem halrun

PID explanation: https://forum.linuxcnc.org/10-advanced-configuration/14483-servo-tuning-pid-and-ffn