The PRU program is genereted in C with the CCS IDE, the compiler is TI V2.1.2 en the linker command file is AM335x_PRU.cmd /****************************************************************************/ /* AM335x_PRU.cmd */ /* Copyright (c) 2015 Texas Instruments Incorporated */ /* */ /* Description: This file is a linker command file that can be used for */ /* linking PRU programs built with the C compiler and */ /* the resulting .out file on an AM335x device. */ /****************************************************************************/
-cr /* Link using C conventions */
/* Specify the System Memory Map */
MEMORY
{
PAGE 0:
PRU_IMEM : org = 0x00000000 len = 0x00002000 /* 8kB PRU0
Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /*
8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /*
8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /*
12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27
}
/* Specify the sections allocation into memory */
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 > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
}
It generates an SonarArray.out see attachment.
Op donderdag 13 oktober 2016 09:45:27 UTC+2 schreef TJF:
>
>
>
> Am Donnerstag, 13. Oktober 2016 09:16:31 UTC+2 schrieb Jelle Spijker:
>>
>> When I run the test as a normal user and output the return values to the
>> cout it returns
>> prussdrv_init returns: 0
>> prussdrv_open returns: -1
>> Segmentation fault (core dumped)
>>
>>
> I'm not sure ATM. It may also need write access for the interrupt
> specified in function call prussdrv_open(). That's /dev/uio0 in your
> case. Just make them all writeable for the group, to be on the save side.
>
> When I execute as sudo it gives the following output:
>> prussdrv_init returns: 0
>> prussdrv_open returns: 0
>> prussdrv_pruintc_init returns: 0
>> prussdrv_exec_program returns: -1
>>
>
> How did you generate the binary? Function prussdrv_exec_program()doesn't
> handle ELF format (generated by C compilers). It only loads raw code (as
> generated by pasm assembler).
>
>
>> When I try to remote debug as sudo by running gdbserver as follows:
>> su --command="export LD_LIBRARY_PATH=../lib && ldconfig && gdbserver
>> localhost:8080 ./runTests
>>
>> I still can't step through my shared library code
>>
>
> Sorry, can't help. I never used a debugger.
>
> It seems that you installed libprussdrv local, so you don't need ldconfig
> command
> here. (It's used once in case of system wide installation.)
>
> Regards
>
--
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SonarArray.out
Description: Binary data
