+ User Manual
Software
The + can be used with all BeagleBone versions. The classic (white) and the
BeagleBone Black are both hardware compatible with the +.
The + cape's on-board EEPROM holds configuration information for both the 3.2
kernel (I/O multiplexer settings) and the device tree based 3.8 kernels. The board identifies
itself as 'cape-bebopr-brdg'.
Linux operating system
BeagleBone (classic)
The first BeagleBone used kernel 3.2. This kernel used information from the EEPROM on the
BeBoPr to configure the I/O properly. The 3.8 kernel used for the BBB will also work on this
BeagleBone.
BeagleBone Black
The BBB uses device tree overlays to configure the processor's I/O subsystem. The proper
overlay is selected by configuration information in the EEPROM on the BeBoPr. The
BeagleBone Black needs kernel 3.8 or later.
3D-printer software
Open source BeBoPr code
An open source code repository to build a 3D printer with the + is available at
https://github.com/modmaker/BeBoPr
. This code uses one of the PRU coprocessors for the
step pulse generation and can freely be changed.
PRU stepper code
Each + comes with a license for use of the PRUSS stepper driver firmware. This
stepper driver is proprietary code that runs on a PRU co-processor and is stored in the
+'s on-board EEPROM. The driver handles deterministic and accurate timing of the
stepper pulses for all four axes simultaneously. It also generates the acceleration and
deceleration ramps. Via the API
, custom applications can easily generate accurate stepper
† The API can be found in the open source BeBoPr code.
version 1.4.9 (09/04/14)
page 14