Le Thursday 16 April 2015, Frédéric a écrit :
> The idea, now, is to replace the Veyron servo driver by using the BBB
> PRUs.
>
> To deep into details, I need to generate 32 PWMs, and have a mecanism to
> make them vary together, in a synchronized way. Then, I need something
> to send the positionning command from linux to the low level code (a
> shared memory with a simple mailbox would be fine at first).
>
> Questions is: do you think it is possible to do that? What do you
> suggest to implement it: using one PRU to make the PWMs, and the other
> one to manage the speed/synchro? Or all on the same PRU? Are there some
> restriction when using both PRUs?
Hi,
I just wanted to say that my code is working :o) There are still things to
do, but the PRU are fast enough to do the job. My first code uses the 2
PRUs, as described above, but I'm re-writing it will fit in 1 PRU.
For the host-PRU com., using PRU Data Memory is enough and works fine.
I now have to design the cape to plug my servos ;o)
--
Frédéric
--
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