Ive started an Openpnp/Duet config/gcode page for the Openpnp group. Please help keep the page accurate and up to date. The current example is based off my current machine a CHMT36V using a 6HC and x2 1XD's.
Thanks Wayne

@dc42
Ok got comms sorted. I got this initially

Looks like the MISO line isnt pulled up locally on the the BTT board. I guess this makes sense as the board is meant to plug into 'step stick port' on a BTT driver board. In all the literature I read from BTT/Biqu makes no mention of pullups or active line jumpering. Any way pulled the MISO line up to 3V via 10k and now I get the following;

DWC is also reporting semi resonable values so now just some tuning and firmer wiring to get the ball rolling. I have a Duet PT100 dtr board coming from filastruda and I dont think ill have it for a week. I also ordered an Adafruit MAX31865 bob that should be here tomorrow so Ill follow up this thread on how that gos.

Huge thanks for this Forum and support, the best

@Phaedrux "You MIGHT be able to get away with longer length if you used a shielded twisted pair cable instead of a flat ribbon, but even so, SPI isn't meant for long runs."

I dont think shielding will help. The issue is increased capacitance and resistance with long wire runs and screws up the spi signal timing. The quickest check would be what others have suggested. Simply move the SBC closer to the 6HC using the original cable. If that fixes your issue no amount of shielding is going solve your problem. You will need to relocate the SBC next to the 6HC.

@owend
Will do, I need to get the mechanicals back together first.
If you dont know what this is, it's the aftermath drag pin machine crash. The pin with the bent tip slides up and down within the blue coil of the selenoid with the bent frame.

I hope to get fixed tonight and put some of my new and improved RRF commands to work

Thanks again.

@fcwilt THANK YOU! The schem answers all questions.
For my app I will drive an off board FET driver board via V_OUT's set to 12V.

@infiniteloop
Thanks. The issue I've had has been in regard to reseller sales/shipping itself and not Duet itself or 2ndary integration. Duet is without peer, and I have 7 different production machines using Duet controllers. I'm located in USA CA and have attempted to use a CA based vendor twice for Duet and each time the order has been filled incorrectly. This is extremely frustrating. Conversely, I started using Filastruda located on the opposite side of the country in GA. Ive had 6 different Duet orders with Filastruda with no issues and have received the orders much quicker than the CA base vendor.

This is just my experience and I don't know if posting this is of any help to anyone else.

...end of rant.

Just an Fyi re the new M260.2/M261.2 commands in RRF 3.6. I was stuck for a couple days trying to leverage the 6HC Aux comm port to get/set parameters of a foc motor and report them back to Openpnp via the Main comm port.

Im sending/receiving data on the Aux port as;

M260.2 P1 B{0x52, 0x5A, 0x0D}
G4 10
M261.2 P1 B6

The expected Rx data on the Main port is simply a byte array;

{0x5a, 0x65, 0x72, 0x6f,0x3a, 0x5a}

M261.2 indeed reports the data to the Main comm port, but is prepended with" Received (hex) " and the rx bytes are space seperated; ' ' ;

2024-11-25 22:38:29.200 GcodeDriver$ReaderThread TRACE:
[GcodeAsyncDriver:COM13] << Received (hex) 5a 65 72 6f 3a 5a

This needs to be understood, but not explicitly stared in M261.2 if anyone is planning to parse the rx data as one would using regex. For my application the regex

^.*( [0-9a-f]{2}){5} (?<Value>[0-9a-f]{2})

Groups the correct Value for me.

Any rate the new commands work great now that I understand the output.

@dc42
Your Duet solution sounds interesting, but bus loading sounds like a potential issue and I don't have the know how to analyze any performance hits to the CAN bus. I do appreciate your answer though as it reinforces my confidence in my work around.

The rationale for vacuum sensing to determine whether a part was successfully 'picked' or not. Vacuum sensing is not mandatory, and I have been running without it for sometime, but it can substantially increase machine efficiency. Efficiency is increased by not allowing the machine to run every potential pick to the vision system 100's mm away.

As you note, Openpnp doesn't necc need to know the actual vacuum value, but whether a part is 'on' or 'off' the nozzle. The challenge in qualifying if a part is 'on' vs 'off' include;

• Different nozzle tips have different vacuum 'on', but part 'off' values
• Different part packages have different 'on' values for the same tip
• The vacuum signal in general is very noisy and slow to build to maximum.

Openpnp has some pretty comprehensive functions to analyze and differentiate vacuum states for all vacuum part/tip parameters. But my machine initially had weak diaphragm pump that was slow and noisy. I couldn't get the Openpnp functions to work consistently in a practical way. I've since upgraded to vacuum ejectors, and I no longer have any of the original control electronics.

Im all Duet3 now with robust pneumatics, I'm pretty confident I could use Duet3 Temp/analog sensing to leverage the Openpnp functions. But this seems like it will be slow especially given the Duet 4Hz sampling rate. This is a full custom system now and I think a purpose-built vacuum sensor feedback system would be much quicker. I don't want to slow the system by packing dwells into the pick/feed process waiting for a stable Temp reading.

This is all just speculation. I don't have the sensor circuit designed or in place yet. I have no idea what the sensor hw actual transfer fxn will look like and or if it'll need filering.

Regardless of the vacuum sensing hw, I like the idea of abstracting the Openpnp fxns and performing them locally on a dedicated vac board mcu. The mcu is updated on the current part/nozzle via Duet3 aux comm and allowed to free run sampling the sensors, only flagging the Duet/Openpnp system via IO_x.in on any state changes.

I've built a custom Duet Exp3 board using the Duet SAME5x that handles x3 motors, the limits and the outputs. The only thing missing is x2 vacuum analog sensing and I don't think I'll be able to use the Duet control algorithm as the analog/heat task is only 4Hz. There is also some vac based logic processing that needs to take place and I'd like to keep the Duet focused on digital signals and kinematics.

My solution is to use a secondary vacuum sensor board with a dedicated non-Duet mcu to monitor sensor levels and that will set digital io on the Duet inputs. Sensor thresholds will be dynamically set via Openpnp/Duet Aux comm via RS485. Openpnp will simply ask the state of the associated Duet input...

Am I over complicating this? Am I missing a fully native Duet solution?

Current Duet based machine

New Duet based machine, Vacumm sensor board in question

Any input appreciated

@dc42 Ah ok, I thought any digital input simply had to be assigned a unique 0-15 Exint. Makes sense now. Ill review the DS and see if I can sort it out.

Thanks for the help

@dc42 @gloomyandy @oliof

I got it sorted :). I was suspecting the INT pin irq was not getting called because both of my newly declared io0 and io1 pins aren't getting flagged in OM. I tried setting other gpio as inputs and the first pin I found that the OM would flag I set to the LIS3 INT1 and now everything works;

/** Doesnt work **//
//constexpr Pin Lis3dhInt1Pin = PortAPin(12);
//{ TcOutput::none,	TccOutput::tcc1_2F,	AdcInput::none,		SercomIo::none,		sercom2cPad0,		4,	nullptr 	}, // PA12

/** Works! **//
constexpr Pin Lis3dhInt1Pin = PortBPin(3);	
{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_15,	SercomIo::sercom5d,	SercomIo::none,		3,	nullptr		},// PB03

The proof

Now I just have to sort out what is going in the config.h, with none of my inputs working as I initally set. All the outputs work fine.

Any rate pleased to announce Duet3Exp SPI works Thanks for the help guys!

@dc42

I still not getting any data in the accelerometer files. But Im pretty confident in the sam to lis3 spi comm. Heres some screen grabs of the comm. Im not familiar with accelerometers or this chip so I need to review. One thing I do notice is INT1 is staying high. I would assume this should be cleared once the sam reads the data.

Anyrate heres what I'm seeing;

Boot, post pwr reset of the 6HC and 1HCL;

Get data

compressed

expanded

Logs

Once I do the M956 command, I am unable to repeat the command;

@dc42
Ok, thanks for the info. I'll give testing on the bread board a go now that I have that working. I have 2 diff BOBs that both supposedly support i2C and SPI. I only chose spi on personal preference. If it becomes too difficult to implement Ill revert back i2C.

Thank you

@dc42
1, point taken and thank you for the heads up.
2, yes this is by design
3, I presumed as much, thanks for confirming as I was having trouble following the revs to understand the relationship

I finally got a blank chip flashed and running w the bootloader and able to tie into the Duet CAN system. The issue was improper fuse setting. To fix I simply set the USER_WORD_x fuses as I read from the OE 1HCL chip;

USER_WORD_0 = 0xFE9AE239 (valid)
USER_WORD_1 = 0xAEECFFB1 (valid)
USER_WORD_2 = 0xFFFFFFFF (valid)

This is good because I can now debug on the bread board which I can't do in circuit. I proceeded to order my untested circuit because I couldn't get the bootloader to work on the breadboard. I thought this was because the chip carriers got don't have a provision for the bottom solder pad. I assumed that pad was an essential ground that when missing was causing all of my problems. Fortunately not the case.

Thanks for the help David!

@dc42
hmm doesn't appear to be working. I am able to set the command and create the .csv file, but the file stays empty;

Here is the config setup

M955 P50.0 I20
;M955 P50.0 C"spi.cs1+spi.cs0" I10 ; configure accelerometer on exp using SPI pins and specify orientation 

Again, this is custom FW on custom HW. I'm fairly confident in the HW. Not so confident in my FW config.
I have set things for;

• x3 dumb drivers; all 3 step signals working but dir on driver2 not working, HW correctly ohms out
• x2 outs; all work
• x2 io inputs; appear functional but not working as expected. Input changes are not reflected in the OM. I'm sure the HW is wired correctly as setting them as pullup via config '^' pulls them to vddd otherwise, they float.
• x1 spi for LIS3. under review

Here the FW config

#if SUPPORT_LIS3DH

# if SUPPORT_I2C_SENSORS

#  define ACCELEROMETER_USES_SPI			(0)				// accelerometer is connected via I2C
constexpr Pin Lis3dhInt1Pin = PortAPin(20);					// same as io1.in

# else

#  define ACCELEROMETER_USES_SPI			(1)				// accelerometer is connected via SPI
constexpr Pin Lis3dhCsPin = PortAPin(18);					// same as encoder CS pin
constexpr Pin Lis3dhInt1Pin = PortAPin(12);					// same as io1.in

# endif

#endif

// Shared SPI (used for interface to encoders, not for temperature sensors)
constexpr uint8_t SspiSercomNumber = 1;
constexpr uint32_t SspiDataInPad = 3;
constexpr Pin SSPIMosiPin = PortAPin(16);
constexpr GpioPinFunction SSPIMosiPinPeriphMode = GpioPinFunction::C;

constexpr Pin SSPISclkPin = PortAPin(17);
constexpr GpioPinFunction SSPISclkPinPeriphMode = GpioPinFunction::C;

constexpr Pin SSPIMisoPin = PortAPin(19);
constexpr GpioPinFunction SSPIMisoPinPeriphMode = GpioPinFunction::C;

//**REMAPPED we use the decoder pins for other things
// Position decoder
//constexpr Pin PositionDecoderPins[] = { PortAPin(24), PortAPin(25), PortBPin(22) };
//constexpr GpioPinFunction PositionDecoderPinFunction = GpioPinFunction::G;

// Clock generator pin for TMC2160
constexpr uint8_t ClockGenGclkNumber = 5;
constexpr Pin ClockGenPin = PortBPin(11);
constexpr GpioPinFunction ClockGenPinPeriphMode = GpioPinFunction::M;

// Brake On pin for version 2.0 board. If the BrakwPwmPort is configured as the brake pin in M569.7 then the BrakeOnPin is used implicitly as well.
//**REMAPP**//constexpr Pin BrakePwmPin = PortBPin(10);
//**REMAPP**//constexpr Pin BrakeOnPin = PortAPin(20);

constexpr auto sercom2cPad0 = SercomIo::sercom2c + SercomIo::pad0;
constexpr auto sercom2cPad1 = SercomIo::sercom2c + SercomIo::pad1;

// Table of pin functions that we are allowed to use
constexpr PinDescription PinTable[] =
{
	//	TC					TCC					ADC					SERCOM in			SERCOM out	  Exint PinName
	// Port A
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		0,	"spi.cs1"		},	// PA00 CAN reset jumper on V0 boards, spi.cs1 on V1 boards
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		0,	nullptr			},	// PA00 //**REMAPPED CAN RST**//
//	{ TcOutput::tc2_1,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out0"			},	// PA01 OUT0 /**REMAPP**/
	{ TcOutput::tc2_1,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA01 //**REMAPPED**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_0,	SercomIo::none,		SercomIo::none,		Nx,	"ate.vin"		},	// PA02 VIN monitor
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_1,	SercomIo::none,		SercomIo::none,		Nx, nullptr			},	// PA03 board type
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_4,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA04 VREF_MON
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA05 driver ENN
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_6,	SercomIo::none,		SercomIo::none,		Nx,	"ate.v12"		},	// PA06 12v monitor
//	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_7,	SercomIo::none,		SercomIo::none,		7,	"temp1"			},	// PA07 TEMP1 /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},  // PA07 //**REMAPPED driver2 DIR**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA08 driver MOSI /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out1"			},	// PA08 //**REMAPPED out1	**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA09 driver SCLK /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out0"			},	// PA09 //**REMAPPED "out0" **//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA10 driver CS /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		13,	"io1.in"		},	// PA10 driver CS //**REMAPPED "io1.in"**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA11 driver MISO /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		3,	"io0.in"		},	// PA11 driver MISO //**REMAPPED "io0.in"**//
//	{ TcOutput::none,	TccOutput::tcc1_2F,	AdcInput::none,		SercomIo::none,		sercom2cPad0,		Nx,	"io1.out" 		},	// PA12 IO1 out, I2C capable /**REMAPP**/
	{ TcOutput::none,	TccOutput::tcc1_2F,	AdcInput::none,		SercomIo::none,		sercom2cPad0,		1,	nullptr 		},	// PA12 //**REMAPPED ACCEL_INT**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		sercom2cPad1,		SercomIo::none,		13,	"io1.in"		},	// PA13 IO1 in, I2C capable /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		sercom2cPad1,		SercomIo::none,		Nx,	nullptr			},	// PA13 //**REMAPPED 	**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA14 crystal
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA15 crystal
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA16 AS5047/SPI MOSI (SERCOM1.0)
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA17 AS5047/SPI SCK (SERCOM1.1)
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		2,	"spi.cs0,ate.spi.cs" },	// PA18 AS5047/SPI CS (SERCOM1.2)
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA19 AS5047/SPI MISO (SERCOM1.3)
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa20,brake.pos"},	//**REMAPP**// // PA20 test pad/spare on V1, Brake On on V2
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},  // PA20 //**REMAPPED driver1 EN** //
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		5,	"ate.d0.diag"	},	// PA21 driver DIAG /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA21 //**REMAPPED**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA22 CAN0 Tx
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA23 CAN0 Rx
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		8,	"pdec.a"		},	// PA24 PDEC0 /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA24 //**REMAPPED  driver1 DIR**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		9,	"pdec.b"		},	// PA25 PDEC1 /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA25	//**REMAPPED  driver0 EN**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA26 not on chip
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"ate.d0.dir"	},	// PA27 driver DIR /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA27 //**REMAPPED  driver0 DIR**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA28 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA29 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA30 swclk and LED0
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA31 swdio and LED1

	// Port B
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB00 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB01 not on chip
//	{ TcOutput::none,	TccOutput::tcc2_2F,	AdcInput::none,		SercomIo::none,		SercomIo::sercom5d,	Nx,	"io0.out"		},	// PB02 IO0 out, UART available /**REMAPP**/
	{ TcOutput::none,	TccOutput::tcc2_2F,	AdcInput::none,		SercomIo::none,		SercomIo::sercom5d,	Nx,	nullptr			},	// PB02	//**REMAPPED  driver2 EN**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_15,	SercomIo::sercom5d,	SercomIo::none,		3,	"io0.in"		},	// PB03 IO0 in, UART available /**REMAPP**/
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_15,	SercomIo::sercom5d,	SercomIo::none,		Nx,	nullptr			},	// PB03	//**REMAPPED**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB04 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB05 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB06 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB07 not on chip
//	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_2,	SercomIo::none,		SercomIo::none,		Nx,	"temp0"			},	// PB08 TEMP0	//**REMAPP**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_2,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB08 //**REMAPPED  driver2 step**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_3,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB09 VSSA monitor
//	{ TcOutput::none,	TccOutput::tcc0_4F,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out1,brake,brake.neg"	},	// PB10 OUT1 //**REMAPP**//
	{ TcOutput::none,	TccOutput::tcc0_4F,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB10 OUT1 //**REMAPP**//
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB11 CLKOUT
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB12 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB13 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB14 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB15 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB16 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB17 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB18 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB19 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB20 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB21 not on chip
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		6,	"pdec.n"		},	// PB22 PDEC2
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB22 //**REMAPPED  driver1 step**//
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"ate.d0.step"	},	// PB23 driver STEP
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB23 //**REMAPPED  driver0 step**//
};

static constexpr size_t NumPins = ARRAY_SIZE(PinTable);
static constexpr size_t NumRealPins = 32 + 24;			// 32 pins on port A (some missing), 24 on port B
static_assert(NumPins == NumRealPins);					// no virtual pins in this table

Thanks for the help on this

@dc42
I got the custom main FW running on the custom PCB and Looks like the lis3d chip is chatting w the mcu via spi. How do I bench test the lis3 functioning? I briefly tried the DWC input shaper plugin, but it complains about the machine not being homed. There are no kinematics/limits hooked up at the moment I just want to confirm on the bench the HW/FW are really working. How do I go about this?

Thanks for any help guys

After transfering the Duet 1HCL chip onto my custom pcb I was able to boot load my custom main FW and it mostly works as expected as an CAN expansion node.

I still don't know what is going on with the bootlaoder FW not working on the blank chip. After comparing the Boot FW 2.4 to 2.11 I wasn't coming to any conclusions and I impulsively swapped the OE Deut chip out for my blank chip to see if the 2.4 Boot FW would make a difference. Still no worky I know the custom HW is fine and the Bootloader FW ver doesnt seem to make a difference so it must be the fuses. Before I swapped the mcus the last go I took screen shots at the fuse settings. They appear different, but I dont know what or how to interpret them or if it is imperative that they match exactly.

Heres a comparison of the blank chip fuse setting on the L and the Duet 1HCL chip on the R. the different values are underscored red. Should I just set them to match? If anyone has any advice on setting the fuses would be greatly appreciated

Thank You