weenyPRU
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Ethernet and PC ?
There is https://github.com/multigcs/LinuxCNC-RIO project. It was intended for Raspberry and SPI transport too, but there is possibility to use PC and Ethernet to SPI converter module (eg. WT32-ETH01) and UDP transport. I suspect, there is possibility to write some code for this project, and use STM32 driver with PC computer...