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I'm trying here is to let the real-time units of the BeagleBone generate the signals for a stepper motor. In chapters 1 to 5, I developed PRU firmware that works for 1 stepper motor   In part 6, I switch to a timer controlled version, that should allow for more motors and smoother start and end. Here in post 6a: refactoring the code a first time to extract motor dependent logic from the main loop:   Prepare for More Motors and Motor State  I created the shell for a structur ...
Introduction The PocketBeagle single board computer (SBC) is really tiny. Apart from the size, there are lots of similarities with the larger BeagleBone Black, and there are also some differences.   In terms of performance, it is identical. It has the same amount of memory, and runs using the same processor and the same Linux image too!   To get the size down, it is of course missing many connectors but a lot of functionality within the main chip is brought out onto the two 36-way ...
Introduction History How is it used for GPIO? Isn’t there some Stinkyness with Device Tree or Overlays? How to Install the Library? Running your Application How Fast is it? How is SPI used? Adding Another SPI Interface (SPI 1) How is I2C used? Which pins can I control with the GPIO, I2C and SPI functions? What Doesn’t Work? I Need More Pins PocketBeagle Specifics SPI with the PocketBeagle I2C with the PocketBeagle Summar ...
The PRU modules of the BeagleBone's Sitara controller have a timer. In this short post, I'm trying if I can get it to work.     The future plan is to use it in an algorithm for stepper motor control. I'd like to make a smart algorithm that recalculates acceleration/deceleration of the stepper motor while that motor is running.     PRU Timer  It's a component of the unit's Industrial Ethernet Peripheral but can be repurposed as a generic timer within the real time ...
Introduction What Do You Need? What Software is Needed? Creating the Micro SD card First Boot Powering Off and On Configuring Linux Creating a Superuser Password Changing the default debian user password Creating a New User Increasing the micro SD Partition Size Connecting to a Wireless Network Connecting to Ethernet Problems? Use the Serial Console Summary   Introduction This blog post describes how to get the BeagleBone Black (or ...
I'm trying here is to let the real-time units of the BeagleBone generate the signals for a stepper motor. In this post: it works! Let's put everything together.     Initialise the Sleep and Reset Signals  The pins P9_11 and P9_13 are used. I'm controlling them from the Linux command line.   BB MUX BB P9 Driver function GPIO_30 11 nSleep GPIO_31 13 Reset   To start, set sleep on and reset off   sudo -i # sleep on echo out > /sys/class/gpio/gpio30/directio ...
I'm trying here is to let the real-time units of the BeagleBone generate the signals for a stepper motor. In this post: configure the stepper motor driver via the SPI interface.   This is virtually the same code as used in my Hercules real-time stepper driver project. I'm using the DRV8711 SPI interface to set its registers. They determine the driver's behaviour. The only difference is that I now use the BB's Linux SPI interface to talk to it instead of the Hercules SPI module. I've ...

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