PRU Step Timings

I have had several folks ask me about the step timings.  The PRU code I've written is easily capable of rates up to about 50 KHz (with good timings), and could be pushed maybe 2-4x higher if necessary

The video shows the PRU generating 40 KHz step timings (500 mm/s with a standard MendelMax 80 steps/mm).  If you want a closer look at the waveforms, here are a couple of stills:

Changes from the code in git include reducing the PRU task period from 10 uS to 4 uS, and dialing up max velocity to 500 mm/S and acceleration to 5000 m/s/s