Oh, and there is also bitbanged pwm in there as well, if you go up a directory. The files in control_alg are the ones being actively developed, and demonstrates a (rough) control algorithm for our quadcopter, which hasn't actually flown yet. But it does show how to use the PWM and i2c PRU functions.
On Thursday, January 2, 2014 1:15:20 AM UTC, Christopher Hopwood wrote: > > I checked our project's wiki, and oddly I don't see the PRU calling > conventions documented there anymore. Here's the jist of it: > --all registers are to be preserved upon exit from a functions > (besides the retval registers) > --the stack grows downwards. > > If you have any other questions about the code, feel free to ask! > > On Thursday, January 2, 2014 1:04:57 AM UTC, Christopher Hopwood wrote: >> >> Here it is: >> >> https://github.com/mcdonamp/RH_ROBO_Quadcopter/blob/master/i2c_bitbang/pru_sw/example_apps/control_alg/imu.p >> >> I wrote it so we could communicate with an MPU6050 IMU via PRU for part >> of my senior design project. It's a little rough, and was programmed with >> the MPU6050 in mind, and has been only tested with that IMU and a TMP101, >> so YMMV. >> It supports single byte reads and single byte writes to addresses at a >> time. It doesn't support reading multiple bytes, clock stretching, doesn't >> really wait for an ACK, and I'm sure I ignored a few other features of i2c. >> >> Take a look at conventions.hp as well. I made up my own conventions for >> calling the functions since I couldn't find any established calling >> conventions for the PRU. The calling conventions are also documented >> (though slightly out of date, there are now more arg and ret val registers). >> >> On Tuesday, December 31, 2013 1:58:02 AM UTC, liyaoshi wrote: >>> >>> Ti i2c master up 2 3.4Mbps >>> >>> And with Bitbang ,what ever with ARM or PRU, I dont think you can get so >>> high speed . >>> >>> >>> 2013/12/31 Andrew Dai <[email protected]> >>> >>>> I am eagerly awaiting your link :) >>>> >>>> >>>> On Tuesday, October 22, 2013 1:10:17 AM UTC-4, Christopher Hopwood >>>> wrote: >>>>> >>>>> I stopped trying to utilize the i2c modules and just bitbanged it >>>>> myself. If you need i2c bitbanging on the PRU, I can drop the link to the >>>>> git for it tomorrow. >>>> >>>> -- >>>> For more options, visit http://beagleboard.org/discuss >>>> --- >>>> You received this message because you are subscribed to the Google >>>> Groups "BeagleBoard" group. >>>> To unsubscribe from this group and stop receiving emails from it, send >>>> an email to [email protected]. >>>> For more options, visit https://groups.google.com/groups/opt_out. >>>> >>> >>> -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. For more options, visit https://groups.google.com/groups/opt_out.
