/products/devtools/single-board-computers/next-genbeaglebone/b/blog/posts/beaglebone-control-stepper-motors---part-6a-use-pru-timer---preparationI&#39;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 shou...en-USTelligent Community 12https://community.element14.com/products/devtools/single-board-computers/next-genbeaglebone/b/blog/posts/beaglebone-control-stepper-motors---part-6a-use-pru-timer---preparationSat, 17 Aug 2019 14:19:42 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:8ff033fe-05f6-413e-aa83-ed96c0712ce0Jan Cumps0<p>note to self: this should not be in the parse command because it changes a running motor.</p><p>The parse should merely set the directory in the structure, without changing the pin.</p><p>Setting the direction pin should be done when the motor is ready to run the command, just before doing a first step.</p><p>&nbsp;</p><p>[embed:dc8ab71f-3b98-42d9-b0f6-e21e02a0f8e2:3ef06e6b-9b7d-4651-b12d-db8be7f5e991:type=c_cpp&amp;text=+++if+%28motors%5B0%5D.dir%29+%7B++%0A+++++__R30+%7C%3D+1UL+%3C%3C+motors%5B0%5D.pin_dir%3B++%0A+++%7D+else+%7B++%0A+++++__R30+%26%3D+%7E%281UL+%3C%3C++motors%5B0%5D.pin_dir%29%3B++%0A+++%7D+]</p><div></div><img src="https://community.element14.com/aggbug?PostID=7629&AppID=80&AppType=Weblog&ContentType=0" width="1" height="1">https://community.element14.com/products/devtools/single-board-computers/next-genbeaglebone/b/blog/posts/beaglebone-control-stepper-motors---part-6a-use-pru-timer---preparationSat, 17 Aug 2019 13:23:48 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:8ff033fe-05f6-413e-aa83-ed96c0712ce0clem570<p>Good video <span>[mention:acaf6a9338de4eef8f6717d5561ed01d:e9ed411860ed4f2ba0265705b8793d05]</span>. I use small steps, too. I often program incrementally proving each step to avoid complex debugging.</p><p>Clem</p><p>PS Also enjoyed reading your details.</p><img src="https://community.element14.com/aggbug?PostID=7629&AppID=80&AppType=Weblog&ContentType=0" width="1" height="1">