>   Yes so far as I understand the PRU runs autonomously from the core and 
> they use DMA to transfer data. It is my understanding that there are no 
> interrupts that will influence the PRU's and they run smoothly. ...

Sound great. In sort of they have separate CPU without interrupts.

> I am also looking at machinekit all the time mainly because I am 
> developing other non cnc products on the same platform and the forum is 
> shared.

I have looked at STM32 because the small chips are available very cheap and 
kept away from the high end stuff which tend to change over time. The CNC 
machines I am working with where designed during the 70th or 80th so overall 
performance is not a problem but these kind of seldom occuring small random 
delays must dissappear in the long run.

Nicklas Karlsson

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