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Great job! I am building a CNC router in my spare time and I ended up using a raspberry pi 3 since I want to cram in a ton of features and esp32s and stm32s are simply not cutting it. And cutting the boot time is something I spend stupid amounts of time on. The best I was able to achieve was just under 8 seconds. I'll have to dig into this and see if there is something more I could do.

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Are you using the PREEPMT_RT kernel? Driving steppers or servos directly from the Raspberry?

If you're driving steppers, especially on something like a mill, I'd think it'd make sense to use something like a Beagleboard with its PRUs, or an auxiliary hard-realtime microcontroller.

You might be able to shave a little bit of time off, but if you need network, USB, or an init system then be warned that this article removes all of those.

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