have a look at machinekit (linuxcnc-fork): https://github.com/machinekit/machinekit-hal/tree/master/src/hal/drivers/hal_pru_generic https://github.com/machineki

have a look at machinekit (linuxcnc-fork): https://github.com/machinekit/machinekit-hal/tree/master/src/hal/drivers/hal_pru_generic https://github.com/machinekit/machinekit-hal/tree/master/src...