This is the first image with Pi 5 support, based on LinuxCNC 2.9.3. There are quite a few changes in the Remora firmware and component vs. the previous image.
The changes in this version include:
- The default UI has been migrated from probe_basic to qtdragon_hd.
- Inverted 'not' pins have been added to the digital inputs to simplify HAL configuration. The format is '[InputName].not'. They are visible in halshow for setup/debugging your configuration.
- Pi 5 support has been added to the Flexi component via rp1lib
- Both the firmware and component have been updated to pass raw counts between the Remora firmware and the component via SPI rather than the DDS value.
- The deadband implementation has been reworked in the component; deadband is no longer added to the error, and instead zeros error and skips calculating velocity command updates while within the deadband. This allows for higher FF1 gains without hunting, and makes it possible to more easily tune the following error to the expected amount within 1 servo period. If you had previously tuned your gains using the previous firmware, you will need to tweak them with the new component.
- The reference config has been updated for our new Bookworm based Pi images, which have different mapping of the UARTs for the Pi 4.
- Scripts have been added for flashing the Flexi-HAL with the Pi 5. The Pi images will have the correct variant pre-installed.
Performance is also improved on the Pi 4 with the new image and configurations. If you are upgrading from the previous Pi 4 image or if you had previously flashed your board with Remora, you will need to reflash your board using the updated firmware. There are scripts in the home directory and some instructions in the README on the desktop to get you started.
2024-11-12 - The Pi 4 image has been updated to fix an error with the scripts that flash the Remora firmware to the Flexi. Only the Pi 4 image was affected; it wasn't worth doing another release of both to correct this.