Linux beaglebone 3.8.13-bone68 #1 SMP Sat Nov 22 02:12:03 UTC 2014 armv7l
GNU/Linux
I will put it in /lib/kernel
On Saturday, November 29, 2014 10:00:21 AM UTC-5, Peter Gregory wrote:
>
> I finally got my Beaglebone Black PRU C code project up and going.
> It took a lot of googling and posting, but I thought it would be nice to
> post a condensed version of the notes needed to get C code running on the
> BBB PRU.
> This is targeting Debian 3.8 kernel versions.
>
> ------------------------------------------------------------------------------
>
>
> Possible PRU pin mappings + values for device tree building + BBB conflict
> pins
> ------------------------------------------------------------------------------
>
>
> Bit pr1_pru0_pru_r30_? (out)
> 0 P9_31, gpio3[14], 0x190 , Mode 6
> 1 P9-29, gpio3[15], 0x194, Mode 6
> 2 P9-30, gpio3[16], 0x198, Mode 6 (HDMI, LCD)
> 3 P9-28, gpio3[17], 0x19c, Mode 6
> 4 P9-42, gpio3[14], 0x1a0, Mode 6
> 5 P9-27, gpio3[19], 0x1a4, Mode 6 (HDMI, LCD)
> 6 P9-41, gpio3[20], 0x1a8, Mode 6
> 7 P9-25, gpio3[21], 0x1ac, Mode 6
> 8
> 9
> 10
> 11
> 12
> 13
> 14 P8-12, gpio1[12], 0x030, Mode 6
> 15 P8-11, gpio1[13], 0x034, Mode 6
>
>
> Bit pr1_pru0_pru_r31_? (in)
> 0 P9-31, gpio3[14], 0x190, Mode 5
> 1 P9-29, gpio3[15], 0x194, Mode 5
> 2 P9-30, gpio3[16], 0x198, Mode 5 (HDMI, LCD)
> 3 P9-28, gpio3[17], 0x19c, Mode 5
> 4 P9-42, gpio3[14], 0x1a0, Mode 5
> 5 P9-27, gpio3[19], 0x1a4, Mode 5
> 6 P9-41, gpio3[20], 0x1a8, Mode 5
> 7 P9-25, gpio3[21], 0x1ac, Mode 5
> 8
> 9
> 10
> 11
> 12
> 13
> 14 P8-16, gpio1[14], 0x038, Mode 6
> 15 P8-15, gpio1[15], 0x03c, Mode 6
> 16 P9-24, gpio0[15], 0x0184, Mode 6 (HDMI, LCD)
> 16 P9-41, gpio3[20], 0x164, Mode 5
>
> Bit pr1_pru1_pru_r30_? (out)
> 0 P8-45, gpio2[6], 0x0a0, Mode 5 (HDMI, LCD)
> 1 P8-46, gpio2[7], 0x0a0, Mode 5 (HDMI, LCD)
> 2 P8-43, gpio2[8], 0x0a8, Mode 5 (HDMI, LCD)
> 3 P8-44, gpio2[9], 0x0ac, Mode 5 (HDMI, LCD)
> 4 P8-41, gpio2[10], 0x0b0, Mode 5 (HDMI, LCD)
> 5 P8-42, gpio2[11], 0x0b4, Mode 5 (HDMI, LCD)
> 6 P8-39, gpio2[12], 0x0b8, Mode 5 (HDMI, LCD)
> 7 P8-40, gpio2[13], 0x0bc, Mode 5 (HDMI, LCD)
> 8 P8-27, gpio2[22], 0x0e0, Mode 5 (HDMI, LCD)
> 9 P8-29, gpio2[23], 0x0e4, Mode 5 (HDMI, LCD)
> 10 P8-28, gpio2[24], 0x0e8, Mode 5 (HDMI, LCD)
> 11
> 12 P8-21, gpio1[30], 0x080, Mode 5 (HDMI, LCD)
> 13 P8-20, gpio1[31], 0x084, Mode 5 (HDMI, LCD)
> 14
> 15
> 16
>
> Bit pr1_pru1_pru_r31_? (in)
> 0 P8-45, gpio2[6], 0x0a0, Mode 6 (HDMI, LCD)
> 1 P8-46, gpio2[7], 0x0a0, Mode 6 (HDMI, LCD)
> 2 P8-43, gpio2[8], 0x0a8, Mode 6 (HDMI, LCD)
> 3 P8-44, gpio2[9], 0x0ac, Mode 6 (HDMI, LCD)
> 4 P8-41, gpio2[10], 0x0b0, Mode 6 (HDMI, LCD)
> 5 P8-42, gpio2[11], 0x0b4, Mode 6 (HDMI, LCD)
> 6 P8-39, gpio2[12], 0x0b8, Mode 6 (HDMI, LCD)
> 7 P8-40, gpio2[13], 0x0bc, Mode 6 (HDMI, LCD)
> 8 P8-27, gpio2[22], 0x0e0, Mode 6 (HDMI, LCD)
> 9 P8-29, gpio2[23], 0x0e4, Mode 6 (HDMI, LCD)
> 10 P8-28, gpio2[24], 0x0e8, Mode 6 (HDMI, LCD)
> 11
> 12 P8-21, gpio1[30], 0x080, Mode 6 (HDMI, LCD)
> 13 P8-20, gpio1[31], 0x084, Mode 6 (HDMI, LCD)
> 14
> 15
> 16 P9-26, gpio1[29], 0x180, Mode 6
> ------------------------------------------------------------------------------
>
>
> Beaglebone Black Kernel 3.8 Device Tree Overlay - map GPIO pins directly
> to PRU R30 or R31
> Create overlay file /lib/kernel/myoverlay-00A0.dts using contents below.
> Compile using device tree compiler (dtc):
> #sudo apt-get install device-tree-compiler
> #sudo dtc -O dtb -o /lib/firmware/myoverlay-00A0.dtbo -b 0 -@
> /lib/firmware/myoverlay-00A0.dts
> Modify cape manager file in /etc/default/capemgr to load overlay during
> boot:
> #sudo nano /etc/default/capemgr
> CAPE=myoverlay
> Edit /etc/modules and append text
> #sudo nano /etc/modules
> uio_pruss
> ------------------------------------------------------------------------------
>
>
> /dts-v1/;
> /plugin/;
>
> / {
> compatible = "ti,beaglebone", "ti,beaglebone-black";
>
> /* identification */
> part-number = "MYOVERLAY";
> version = "00A0";
>
> /* state the resources this cape uses */
> exclusive-use =
> // PRU resources used
> "pruss",
> "pru0",
> // PRU Input pins
> "P8.16","pr1_pru0_pru_r31_14", // PIN Name and the PRU
> port it maps to (see table above)
> // PRU Output pins
> "P9.31","pr1_pru0_pru_r30_0";
>
> // MUX Bit Maps:
> // 0x40 = slow slew (0 = fast slew)
> // 0x20 = input (0 = output)
> // 0x10 = pullup, 0x08 = disabled (0 = pulldown)
> // 0x01 to 0x07 = mode 1 to 7
> fragment@8 {
> target = <&am33xx_pinmux>;
> __overlay__ {
>
> pruss_pins: pruss_pins {
> pinctrl-single,pins = <
> 0x038 0x36 // P8_16, gpio3[14] mode 6, input pull-up
> 0x190 0x15 // P9_31 gpio1[19] mode 5, output,
> pull-down
> >;
> };
> };
> };
>
> fragment@10 {
> target = <&pruss>;
> __overlay__ {
> status = "okay"; // This enables the PRU
> pinctrl-names = "default";
> pinctrl-0 = <&pruss_pins>; // This uses our custom mapping
> (see above definition)
>
> // This is for documentation only. You can see the pin
> mappings by:
> // sudo cat /sys/kernel/debug/gpio
> any_name1 { // Grouping of pins under this name
> pin-names = "Input pin description"; // one name
> per pin defined in gpios. Multiple entries are comma seperated;
> gpios = <&gpio4 14 1>; // &gpio? (One based: 1-4
> instead of 0-3) bit(0-31) input(1)/output(0). Multiple entries seperated
> by a space
> };
> any_name2 {
> pin-names = "Output pin description";
> gpios = <&gpio2 19 0>;
> };
> };
> };
> };
> ------------------------------------------------------------------------------
>
>
> PRU C Code – compile using clpru & hexpru
> ------------------------------------------------------------------------------
>
>
> // C library Installed by: apt-get install am335x-pru-package
> ti-pru-cgt-installer
> #include <stdint.h>
> // PRU support libraries Installed from home directory with: git clone
> git://
> git.ti.com/pru-software-support-package/pru-software-support-package.git
> pru_support
> #include <pru_cfg.h>
>
> #define PRU0_ARM_INTERRUPT 19 // Interrupt used to signal to host we have
> halted
>
> volatile register uint32_t __R30; // Output pins
> volatile register uint32_t __R31; // Input pins
>
> // Mapping Constant table register to variable
> volatile pruCfg CT_CFG __attribute__((cregister("CFG", near),
> peripheral)); // PRU CFG register pointer loaded from constants table (see
> lnk.cmd)
>
> int main(void) {
> // Enable OCP master ports - this enables pinmux pins to R30 & R31 &
> host ram access (all the BBB GPIO ports & such)
> CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
>
> // Do work - write your code here
>
> // Signal the process has completed (this will wake up the loader to
> tell it work is done)
> __R31 = (__R31 & ~0xff) | (PRU0_ARM_INTERRUPT+16);
> return 0;
> }
> ------------------------------------------------------------------------------
>
>
> lnk.cmd – linker command file defines physical address mappings
> ------------------------------------------------------------------------------
>
>
> -cr
> -stack 0x100
> -heap 0x100
>
> MEMORY
> {
> PAGE 0:
> PRUIMEM : org = 0x00000000 len = 0x00002000 /* 8kB
> PRU0 Instruction RAM */
>
> PAGE 1:
> PRUDMEM : org = 0x00000000 len = 0x00002000 /* 8kB
> PRU Data RAM 0 */
> SHAREDMEM : org = 0x00010000 len = 0x00003000 /* 12kB
> Shared RAM */
> PRU0_CTRL : org = 0x00022000 len = 0x00000030
> PRU1_CTRL : org = 0x00024000 len = 0x00000030
>
> /* Constant Table Memory directives. */
>
> INTC : org = 0x00020000 len =
> 0x00001504 CREGISTER=0
> DMTIMER2 : org = 0x48040000 len =
> 0x00000100 CREGISTER=1
> I2C1 : org = 0x4802A000 len =
> 0x00000100 CREGISTER=2
> ECAP : org = 0x00030000 len =
> 0x00000100 CREGISTER=3
> CFG : org = 0x00026000 len =
> 0x00000100 CREGISTER=4
> MMCHS0 : org = 0x48060000 len =
> 0x00000100 CREGISTER=5
> MCSPI0 : org = 0x48030000 len =
> 0x00000100 CREGISTER=6
> UART0 : org = 0x00028000 len =
> 0x00000100 CREGISTER=7
> MCASP0_DMA : org = 0x46000000 len =
> 0x00000100 CREGISTER=8
> GEMAC : org = 0x4A100000 len =
> 0x00000100 CREGISTER=9
> RSVD10 : org = 0x48318000 len =
> 0x00000100 CREGISTER=10
> UART1 : org = 0x48022000 len =
> 0x00000100 CREGISTER=11
> UART2 : org = 0x48024000 len =
> 0x00000100 CREGISTER=12
> RSVD13 : org = 0x48310000 len =
> 0x00000100 CREGISTER=13
> DCAN0 : org = 0x481CC000 len =
> 0x00000100 CREGISTER=14
> DCAN1 : org = 0x481D0000 len =
> 0x00000100 CREGISTER=15
> MCSPI1 : org = 0x481A0000 len =
> 0x00000100 CREGISTER=16
> I2C2 : org = 0x4819C000 len =
> 0x00000100 CREGISTER=17
> EHRPWM1 : org = 0x48300000 len =
> 0x00000100 CREGISTER=18
> EHRPWM2 : org = 0x48302000 len =
> 0x00000100 CREGISTER=19
> EHRPWM3 : org = 0x48304000 len =
> 0x00000100 CREGISTER=20
> MDIO : org = 0x00032400 len =
> 0x00000100 CREGISTER=21
> MBX0 : org = 0x480C8000 len =
> 0x00000100 CREGISTER=22
> SPINLOCK : org = 0x480CA000 len =
> 0x00000100 CREGISTER=23
> /* PRU0_1 : org = 0x00000000 len =
> 0x00000100 CREGISTER=24
> PRU1_0 : org = 0x00000000 len =
> 0x00000100 CREGISTER=25 */
> IEP : org = 0x0002E000 len =
> 0x0000031C CREGISTER=26
> /* MII_RT : org = 0x00032000 len =
> 0x00000100 CREGISTER=27
> SHARED_RAM : org = 0x00000000 len =
> 0x00000100 CREGISTER=28 */
> TPCC : org = 0x49000000 len =
> 0x000010A0 CREGISTER=29
> L3OCMC : org = 0x40000000 len =
> 0x00010000 CREGISTER=30
> DDR : org = 0x80000000 len =
> 0x00000100 CREGISTER=31
> }
>
> SECTIONS {
> /* Forces _c_int00 to the start of PRU IRAM. Not necessary when
> loading
> an ELF file, but useful when loading a binary */
> .text:_c_int00* > 0x0, PAGE 0
>
> .text > PRUIMEM, PAGE 0
> .stack > PRUDMEM, PAGE 1
> .bss > PRUDMEM, PAGE 1
> .cio > PRUDMEM, PAGE 1
> .data > PRUDMEM, PAGE 1
> .switch > PRUDMEM, PAGE 1
> .sysmem > PRUDMEM, PAGE 1
> .cinit > PRUDMEM, PAGE 1
> .rodata > PRUDMEM, PAGE 1
> .rofardata > PRUDMEM, PAGE 1
> .farbss > PRUDMEM, PAGE 1
> .fardata > PRUDMEM, PAGE 1
> .PRU0_CTRL > PRU0_CTRL, PAGE 1
> .resource_table > PRUDMEM, PAGE 1
> }
> ------------------------------------------------------------------------------
>
>
> bin.cmd – used by hexpru to generate text.bin and data.bin
> ------------------------------------------------------------------------------
>
>
> -b
> -image
> ROMS {
> PAGE 0:
> text: o = 0x0, l = 0x1000, files={text.bin}
> PAGE 1:
> data: o = 0x0, l = 0x1000, files={data.bin}
> }
> ------------------------------------------------------------------------------
>
>
> Compile command:
> ------------------------------------------------------------------------------
>
>
> clpru -i /usr/share/ti/cgt-pru/lib -i ~/pru_support/include -i .
> --endian=little --define am3359 --define pru0 --silicon_version=3 -o1
> source.c -z lnk.cmd -o source.out -m source.map
> hexpru bin.cmd pru_cblink.out
> ------------------------------------------------------------------------------
>
>
> pru_loader.c – host side code to load the text.bin image to pru 0.
> Compile with: gcc -o pru_loader pru_loader.c -lprussdrv
> Run from linux command prompt to deploy text.bin to PRU 0 and run it
> (text.bin must be in the current directory)
> ------------------------------------------------------------------------------
>
>
> #include <stdio.h>
> #include <stdlib.h>
>
> #include <prussdrv.h>
> #include <pruss_intc_mapping.h>
>
> #define PRU_NUM 0
> #define AM33XX
>
> int main (int argc, char **argv)
> {
> unsigned int ret;
> tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
>
> /* Initialize the PRU */
> prussdrv_init ();
>
> /* Open PRU Interrupt */
> ret = prussdrv_open(PRU_EVTOUT_0);
> if (ret) {
> printf("prussdrv_open open failed\n");
> return (ret);
> }
>
> /* Get the interrupt initialized */
> prussdrv_pruintc_init(&pruss_intc_initdata);
>
> /* Execute example on PRU */
> prussdrv_exec_program (PRU_NUM, "./text.bin");
>
> /* Wait until PRU0 has finished execution */
> prussdrv_pru_wait_event (PRU_EVTOUT_0);
> prussdrv_pru_clear_event (PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
>
> /* Disable PRU and close memory mapping*/
> prussdrv_pru_disable (PRU_NUM);
> prussdrv_exit ();
>
> return(0);
> }
>
--
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