thgerner/linuxcnc-pru

PRU hal Komponenten

This is a PRU component for LinuxCNC running on a BeagleBone Black. It contains a stepgen, an encoder and a pwmgen using a PRU.

Build the component

The asm build needs the latest PRU CGT from TI: https://www.ti.com/tool/PRU-CGT

The hal build needs an installed LinuxCNC development package.

To build on a BeagelBone black type:

PRU_CGT=/usr/share/ti/cgt-pru make

Install the component:

sudo PRU_CGT=/usr/share/ti/cgt-pru make install

The pru code installs to /lib/firmware, the hal component to /usr/lib/linuxcnc/modules

Using the component

loadrt hal_pru_generic prucode=pru_generic-pru1.fw pru=1 num_stepgens=3 step_class=s,s,s

Currently there is no documentaion. Please look at the code.