I have a simple PRU app to control 2 stepper motors.
I'm on a Beaglebone Black
#uname -a
Linux beaglebone 3.8.13-bone67 #1 SMP Wed Sep 24 21:30:03 UTC 2014 armv7l
GNU/Linux
I've enable the PRU module by appending the following to modules. lsmod
shows it active
#sudo nano /etc/modules
uio_pruss
I've installed the PRU c compiler and installer
#sudo apt-get install make gcc g++ am335x-pru-package ti-pru-cgt-installer
I copied my source to a directory and created the linker commands:
#nano AM3359_PRU.cmd
-cr
-stack 0x100
-heap 0x100
MEMORY
{
PAGE 0:
PRUIMEM: o = 0x00000000 l = 0x00002000 /* 8kB PRU0 Instruction
RAM */
PAGE 1:
PRUDMEM: o = 0x00000000 l = 0x00002000 /* 8kB PRU Data RAM 0 */
}
SECTIONS
{
GROUP: load = PRUIMEM
{
.text:_c_int00* :
.text :
}
.stack > PRUDMEM, PAGE 1
.bss > PRUDMEM, PAGE 1
.cio > PRUDMEM, PAGE 1
.const > PRUDMEM, PAGE 1
.data > PRUDMEM, PAGE 1
.switch > PRUDMEM, PAGE 1
.sysmem > PRUDMEM, PAGE 1
.cinit > PRUDMEM, PAGE 1
}
I then compile and link the source code by issuing the following:
#clpru --silicon_version=3 -o1 pru_steppers.c -z AM3359_PRU.cmd -o
pru_steppers.out -m pru_steppers.map
However, it fails to find the C libraries:
<Linking>
warning: automatic RTS selection: attempt to automatically link in index
library "libc.a" failed; file not found
error: no input section is linked in
warning: entry-point symbol "_c_int00" undefined
warning: no suitable entry-point found; setting to 0
error: errors encountered during linking; "pru_steppers.out" not built
>> Compilation failure
where is libc.a located for the PRU? Is that installed with the compiler
somewhere?
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