[beagleboard] BBB PRU example program

Eren Basturk Mon, 21 Apr 2014 03:00:56 -0700

Hi All,

I have spent a  few days to run an example on PRU.  I have followed many 
articles and at last, I found an useful article.


http://vabi-robotics.blogspot.com/2013/11/the-pru-of-beaglebone-black.html?showComment=1398070305336#c7873266465091598724
. 
Note: Some steps are historic but fixed it.

But i would like to know that for example,

I prepared a device tree file and i added it.

and 

I prepared a  pru program as .p extension . You can find these below. I 
want to use *P8_p12* pin to get an output.

/dts-v1/;
/plugin/;

*here is the device tree file.*
/ {
  compatible = "ti,beaglebone", "ti,beaglebone-black";

 
  part-number = "BB-BONE-PRU";
  version = "00A0";

  exclusive-use =
    "P8.12";

  fragment@0 {
    target = <&am33xx_pinmux>;
    __overlay__ {
      mygpio: pinmux_mygpio{
        pinctrl-single,pins = <
          0x30 0x06
          >;
      };
    };
  };

  fragment@1 {
    target = <&ocp>;
    __overlay__ {
      test_helper: helper {
        compatible = "bone-pinmux-helper";
        pinctrl-names = "default";
        pinctrl-0 = <&mygpio>;
        status = "okay";
      };
    };
  };

  fragment@2{
  target = <&pruss>;
    __overlay__ {
      status = "okay";
    };
  };
};


*here is the .p extension file*
.setcallreg r29.w0
.origin 0
.entrypoint START

#define AM33XX
#define PRU0_PRU1_INTERRUPT     17
#define PRU1_PRU0_INTERRUPT     18
#define PRU0_ARM_INTERRUPT      19
#define PRU1_ARM_INTERRUPT      20
#define ARM_PRU0_INTERRUPT      21
#define ARM_PRU1_INTERRUPT      22

#define CONST_PRUDRAM   C24
#define CONST_L3RAM     C30
#define CONST_DDR       C31
#define GPIO1 0x4804c000
#define GPIO_CLEARDATAOUT 0x190
#define GPIO_SETDATAOUT 0x194
#define CONST_PRUSHAREDRAM   C28
#define CTBIR_0         0x22020
// Address for the Constant table Block Index Register (CTBIR)
#define CTBIR          0x22020

// Address for the Constant table Programmable Pointer Register 0(CTPPR_0) 
#define CTPPR_0         0x22028 

// Address for the Constant table Programmable Pointer Register 1(CTPPR_1) 
#define CTPPR_1         0x2202C  
#define sp r24
#define lr r23


START:
LBCO      r0, C4, 4, 4
CLR     r0, r0, 4         // Clear SYSCFG[STANDBY_INIT] to enable OCP 
master port
SBCO      r0, C4, 4, 4
LOOPN:
MOV r3, 0x00012000
LBBO r4, r3, 0, 4
QBEQ EXIT, r4, 255
SET r30, 14
MOV r2, r4
CALL DEL
CLR r30, 14
MOV r2, 2000
CALL DEL
JMP LOOPN



DEL: //delay r2 * 10 us
MOV r5, 1000
INDEL:
SUB r5, r5, 1
QBNE INDEL, r5, 0
SUB r2, r2, 1
QBNE DEL, r2, 0
RET
EXIT:
MOV R31.b0, PRU0_ARM_INTERRUPT+16t
HALT 

firstly i compiled .dts file.
and i copied .dtbo file to* /lib/firmware* location
and i run it with echo commands.
and i checked it  with cat commands.

after device tree activation

I run .p file with this command
*pasm -p prufile.p*

and i got 0 errors after compilation and also i have prufile.bin file.

The question is  how can i run *prufile.bin* file on the processor?

Best Regards,
Eren Basturk

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[beagleboard] BBB PRU example program

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