[Emc-users] BeagleBone + BeBoPr 3D Printing

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So I finally got enough of the pieces put together to run a print on
my MendelMax 3D printer using the BeagleBone with the BeBoPr cape and
LinuxCNC.  This is using the 3.2 Xenomai kernel from Michael Haberler
to get LinuxCNC working well on the 'Bone, and custom PRU code doing
step/dir and pwm generation.  Thanks also to Ian for the bb_gpio
module, which came in very handy.

Video or it didn't happen...

My first ever 3D print from the BeagleBone, second print using
LinuxCNC (the first LinuxCNC print used an x86 running preempt-rt).
The X axis is mirrored and the configuration and slicing settings need
to be tweaked to improve print quality, but overall it came out pretty
good:

http://www.youtube.com/watch?v=n2IoHOZipLU

...I particularly like the acceleration control in LinuxCNC.  It seems
smoother than the Arduino code.  Now if I could just get a slicing
program that outputs true arcs and nurbs...  :)

Code is in the arm335x-hal-pru-tasks branch of Michael's git repository:

http://git.mah.priv.at/gitweb?p=emc2-dev.git;a=shortlog;h=refs/heads/arm335x-hal-pru-tasks

Up next is the great migration to a 3.8 kernel, where I get to craft
the magic device tree fragments necessary to get this all working again.

- -- 
Charles Steinkuehler
ch...@st...
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