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