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This stuff looks awesome. I've been eyeing your PRU code for a while
now -- I'm trying to write a PID cruise-control system for a RC car,
and I suspect the RasPi isn't going to cut it. Time to think about
porting it to pasm...<br>
<br>
--Casey<br>
<br>
<br>
On 1/27/14, 3:44 PM, xalg wrote:<br>
<blockquote type="cite">Congrats on some really nice work!<br>
<br>
On 1/27/14, 3:13 PM, Henner Zeller wrote:<br>
> Hi, Some hack in progress someone might be interested in.<br>
<br>
> Over the holidays I was playing with the Beaglebone Black PRU
<br>
> ('programmable realtime unit') to see if it can be utilized
to<br>
> generate precisely timed step frequencies for stepper motors.
It<br>
> looked promising, so I added a G-Code interpreter.<br>
<br>
> This can control 8 stepmotors in parallel in a controlled
move. Up<br>
> to 1Mhz step frequency (if you find motors/drivers that can
do that<br>
> :) ), and full acceleration/deceleration profile for each<br>
> line-segment generated by the PRU, so the host-CPU uses less
than<br>
> 1% CPU idling around and parsing G-code.<br>
<br>
> Fast forward 4 weekends, this now is close to be useful, so I<br>
> connected the regular RAMPS driver to my beaglebone:<br>
<br>
> <a class="moz-txt-link-freetext" href="http://www.youtube.com/watch?v=hIEY9077D64">http://www.youtube.com/watch?v=hIEY9077D64</a><br>
<br>
> This can't run the full 3D printer yet: missing is heating
control<br>
> (sensor, PID and PWM) and optimized planning to not entirely<br>
> decelerate at each line-segment. Nice to work with, as you
can just<br>
> telnet into it and talk G-Code with it. My goal at this point
is to<br>
> make it fully replace the 3D printer arduino based hardware
and<br>
> have all software (e.g. OctoPrint, maybe even a slicer) run
on the<br>
> Beaglebone to have one compact network connected 3D printer
without<br>
> the trouble of too slow serial lines and with less expensive
<br>
> hardware.<br>
<br>
> work in progress: <a class="moz-txt-link-freetext" href="https://github.com/hzeller/beagleg">https://github.com/hzeller/beagleg</a><br>
<br>
> -h<br>
<br>
<br>
<br>
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</blockquote>
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