[Fab] Bealgebone Black PRU as stepper control
c1 at caseyc.net
Tue Jan 28 00:08:33 UTC 2014
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
On 1/27/14, 3:44 PM, xalg wrote:
> 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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