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A friend of mine made a G-code interpreter for the Beaglebone. It opens up a circular buffer and passes commands to a small program running on the PRU: https://github.com/hzeller/beagleg

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That's awesome! Sounds like with the PID/PWM loops in the works he's well on his way to a working 3D printer solution!

I've added an enhancement issue to OpenGB for adding BeagleG support: https://github.com/re-3D/opengb/issues/17

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