On the QNX side, I got the licenses all worked out and the host software installed and compiling the 5200 BSP. The setup is kind of a host/target arrangement, where you develop on a (Win/Linux/QNX/Solaris) host, then just download the final executables to the QNX target. However, the EFIKA version of the Lite5200 requires some tweaks to the bplan firmware, which are classified as Beta and haven't come through yet.

In the meantime, I've ironed out a number of hardware bugs by installing Debian on the EFIKA. I've had a recalcitrant hard drive, four graphics cards that don't work as well on (my?) EFIKA as they ought to, and a minor power supply issue. BTW, the final video card is an ATI Radeon 9250 AGP, the CompUSA house brand. I'll likely remove it once I get the installs over with - it takes almost as much power as the EFIKA itself (9W vs 12W)!

I've chosen Devantech's MD23 Motor Controller (talking I2C) to power my motors/process the encoders. I'm getting both the Devantech USB-I2C dongle and the diolan U2C-12 unit. The Devantech is smaller and more compact, but the diolan can process GPIO as well, which may become useful later. Hopefully these will get ordered today.