[Fab] Bealgebone Black PRU as stepper control

xalg find.me at xalg.im
Mon Jan 27 23:44:40 UTC 2014

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Congrats on some really nice work!

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