PRU PID Motor Speed Controller Project at Github and

This project is based on a Texas Instruments demonstration project.
This project uses the RemoteProc and messaging framework to connect the PRUs to Linux user-space.
The PRU firmware code as published by TI was based on the “Mailboxes” which
was shortly thereafter changed to use the System interrupts.
A few minor changes were required to make the code compatible with the newer
RemoteProc system.

The project uses the PRUs to implement a “Proportional Integral Derivative” type DC motor speed controller.

In addition, a different Motor-encoder is recommended. Minor tweaks were required
to the firmware code to match the specs of the different motor-encoder.

The Github repository:

The main documentation file:

The project at

and a short introductory youtube video: