I've done something similar for a client with a PiZeroW that took 18 seconds to boot but the logging of CAN messages was required on power up. I ended up using a PIC32 since it had enough RAM and it also used a SPI interface to transfer data once the Pi was awake and ready to talk. Even Python on the Pi was way too slow to keep up with the data so the Pi Code was C. The PIC32 code was C.
Well, you have programmed a Pi in C using SPI. Arduino uses C/C++ you should be pretty comfortable having a go at making your own LinuxCNC step module. Writing your own hal modules is pretty easy. Take a look at the documentation for halcompile <http://linuxcnc.org/docs/html/hal/comp.html>. Halcompile does a lot of the hard work for you.
If you consider that LinuxCNC, (and so many of the other Linux applications) which are done by volunteers, likely have Completion time set as the principal goal. After all, they have busy lives and have other interesting things to do too so finishing and getting it out there as quickly as possible certainly makes sense.
Not really. LCNC's source is reasonably well documented. The LinuxCNC core developers are unlikely to accept submissions that are difficult to understand. Generally it is more a case of people working on things that they need or they are particularly interested in. For instance I needed a carousel tool changer module for two of my machines. I couldn't find anything in LCNC that suited so I wrote one. After tidying it up a bit and documenting it I submitted it to be added to LCNC.
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