Here, this is a link for some resources. http://elinux.org/Ti_AM33XX_PRUSSv2
My knowledge of the PRUs is rather limited, and I'd hate to give you bad information. That link has external resource links where you can find lots of projects / information. The "TRM" ( technical reference manual ) will probably be a big help. On Fri, Apr 17, 2015 at 11:49 AM, William Hermans <[email protected]> wrote: > PRUs are 200Mhz with many single cycle instructions > > On Fri, Apr 17, 2015 at 9:45 AM, Frédéric <[email protected]> wrote: > >> Le Friday 17 April 2015, William a écrit : >> >> Thanks for your answer. >> >> > I think what you want to do is possible, but really depends largely >> > on how fast you expect it to be. The PRUs have access to many pins on >> > the board, a few of which can be accessed in a single cycle, if >> > memory serves me correctly. Less than 32 total between both PRU's I >> > think. >> > >> > For those who know much more than I on this subject to answer, I >> > think you will have to provide a bit more information. At least how >> > fast you expect your setup to be. >> >> Servos are driven with a 500µs-2500µs pulse width, every 20ms; the >> pulse width gives the servo position (1500µs for neutral). >> >> For the sync. variation, I don't know exactly what speed I use. I may >> send a new position to all legs (18 servos) every 0.1s (I think I'm >> limited by the python side, as I have to recompute all positions). >> >> If we use 1000 intermediate points (which is huge), it will need a >> refresh of pulses widths every 100µs, which allows thousands PRUs >> intructions! >> >> > With that said however, I do not think the rPI can even come close to >> > how fast this could be done on the BBB . . . >> >> Yes, the RPi solution way was to keep the Veyron servo controller, >> which does the servo sync. >> >> BTW, this board uses a stm32F103; don't know how fast it is compared >> to PRUs... >> >> -- >> Frédéric >> >> -- >> 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/d/optout. >> > > -- 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/d/optout.
