Description of the program:
An LED toggles on and off from a set delay time in R2.
A separate C program loads the PRU program, starts the core and then
prompts the user for a Time to do a delay. Upon the user entering a time,
the c program writes that value to dataram and reads back the mapped memory
from the PRU to show.
The PRU loop does a SBBO each time as well as a LBBO for a single R2 . My
LBBO call however is not returning the proper value, I am likely using the
wrong pointer value.
Here is where I believe the problem is, how I interpret what register
address to start at by setting an arbitrary r9 to the start.
*ldi r9, 9 // offset to the start of the third 32 bit value *
*lbbo r2, r9, 0 ,4 // read 4 bytes from there and store it into r2*
*After I write from C into the dataram for *
Here is the pru program
#define CONST_PRUCFG 0xC4
#define CPU_HZ (200 * 1000 * 1000)
//lbco r3, CONST_PRUCFG, 4, 4
.text
.section .init0, "x"
.global __start
__start:
/* Initialize stack pointer. */
ldi sp, %lo(__stack_top)
ldi sp.w2, %hi_rlz(__stack_top)
r2 = 0x0BEBC200 // set r2 to a default of 200,000,000
jmp main
.text
.section .text
main:
// init
ldi r0, 0
ldi r1, 0xffff
ldi r3, 777
ldi r4, 777
ldi r8, 1000
ldi r5, 10000
main_loop:
//Load value of PRU data memory in general register r2
ldi r9, 9 // offset to the start of the third
lbbo r2, r9, 0 ,4
mov r6, r2 // to prove in the c program that data arrived and is
correct when displayed R2 should equal R6- debug
mov r2, r6
sbbo r0, r0, 0 , 48 // copy all 12 registers to memory R0...R11
.
// the goal is for R2 to get set in a C program outside theis
assembly. Thus changing the speed of the
// blinking LED - defualt is set to 1 second = 200,000,000 cycles
in CPU delay.
// led on
mov r30, r1
ldi r14, %lo( r2 )
ldi r14.w2, %hi_rlz(r2)
call delay_n2_cycles
// led off
mov r30, r0
ldi r14, %lo(r2)
ldi r14.w2, %hi_rlz(r2 )
call delay_n2_cycles
jmp main_loop
delay_n2_cycles:
sub r14, r14, 1
qbne delay_n2_cycles, r14, 0
ret
my_resource_table:
.word 1, 0, 0, 0 /* struct resource_table base */
.word 0 /* uint32_t offset[1] */
Here is the c program
#include <stdio.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <err.h>
#include <sys/mman.h>
#include <libelf.h>
#include "prussdrv.h"
#include "pruss_intc_mapping.h"
#define AM33XX_PRUSS_IRAM_SIZE 8192
#define AM33XX_PRUSS_DRAM_SIZE 8192
#define PRU_NUM 0
#define ADDEND1 0x98765400u
#define ADDEND2 0x12345678u
#define ADDEND3 0x10210210u
#define LOOPS 30
#define DDR_BASEADDR 0x80000000
#define OFFSET_DDR 0x00001000
#define OFFSET_SHAREDRAM 0x00000000 //equivalent with 0x00002000
#define PRUSS0_SHARED_DATARAM 4
static int LOCAL_exampleInit ( );
static unsigned short LOCAL_examplePassed ( unsigned short pruNum,
unsigned int millis );
static int mem_fd;
static void *ddrMem, *sharedMem;
static unsigned int *sharedMem_int;
static int counter ;
int main (int argc, char *argv[])
{
counter = 0 ;
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
int ret;
printf("Initializing the PRUs...\n");
prussdrv_init();
/* Open PRU Interrupt */
ret = prussdrv_open(PRU_EVTOUT_0);
if (ret)
errx(EXIT_FAILURE, "prussdrv_open open failed\n");
/* Get the interrupt initialized */
prussdrv_pruintc_init(&pruss_intc_initdata);
printf("\tINFO: Initializing example. - Writing Data to Local CPU DDR Ram
\r\n");
LOCAL_exampleInit(PRU_NUM);
printf("Starting ...\n");
prussdrv_pru_enable(0);
prussdrv_pru_enable(1);
unsigned int blinkySpeed = 1000;
while (counter < LOOPS){
printf("Please Enter a blinky speed in milliseconds:");
scanf("%d" , &blinkySpeed );
LOCAL_examplePassed(PRU_NUM, blinkySpeed );
//usleep(5 * 1000 * 1000);
counter = counter + 1;
}
fflush(stdout);
/* Disable PRU and close memory mapping*/
prussdrv_pru_disable(PRU_NUM);
//munmap(ddrMem, 0x0FFFFFFF);
//close(mem_fd);
prussdrv_exit();
printf("Program done.\n");
return EXIT_SUCCESS;
}
static int LOCAL_exampleInit ( )
{
void *DDR_regaddr1, *DDR_regaddr2, *DDR_regaddr3;
/* open the device */
mem_fd = open("/dev/mem", O_RDWR);
if (mem_fd < 0) {
printf("Failed to open /dev/mem (%s)\n", strerror(errno));
return -1;
}
/* map the DDR memory */
ddrMem = mmap(0, 0x0FFFFFFF, PROT_WRITE | PROT_READ, MAP_SHARED,
mem_fd, DDR_BASEADDR);
if (ddrMem == NULL) {
printf("Failed to map the device (%s)\n", strerror(errno));
close(mem_fd);
return -1;
}
/* Store Addends in DDR memory location */
DDR_regaddr1 = ddrMem + OFFSET_DDR;
DDR_regaddr2 = ddrMem + OFFSET_DDR + 0x00000004;
DDR_regaddr3 = ddrMem + OFFSET_DDR + 0x00000008;
*(unsigned long*) DDR_regaddr1 = ADDEND1;
*(unsigned long*) DDR_regaddr2 = ADDEND2;
*(unsigned long*) DDR_regaddr3 = ADDEND3;
return(0);
}
static unsigned short LOCAL_examplePassed ( unsigned short pruNum, unsigned
int millis )
{
unsigned int result_0, result_1, result_2,
result_3,result_4,result_5,result_6,result_7,result_8,result_9,result_10,result_11;
/* Allocate PRU Dataram memory. */
prussdrv_map_prumem(PRUSS0_PRU0_DATARAM, &sharedMem);
sharedMem_int = (unsigned int*) sharedMem;
// set R2 which hold our delay valy for the blinky action in the pru
sharedMem_int[4] = (millis * 1000 * 200);
// read all the current data ram fields in
result_0 = sharedMem_int[ 0];
result_1 = sharedMem_int[ 1];
result_2 = sharedMem_int[ 2];
result_3 = sharedMem_int[ 3];
result_4 = sharedMem_int[ 4];
result_5 = sharedMem_int[ 5];
result_6 = sharedMem_int[ 6];
result_7 = sharedMem_int[ 7];
result_8 = sharedMem_int[ 8];
result_9 = sharedMem_int[ 9];
result_10 = sharedMem_int[ 10];
result_11 = sharedMem_int[ 11];
printf("-------------------------------------\n");
//printf("%p\n", (void *) &sharedMem_int[0]);
printf("value R0 = %d\n ", result_0);
printf("value R1 = %d\n", result_1);
printf("value R2 = %d\n", result_2);
printf("value R3 = %d\n ", result_3);
printf("value R4 = %d\n", result_4);
printf("value R5 = %d\n", result_5);
printf("value R6 = %d\n ", result_6);
printf("value R7 = %d\n", result_7);
printf("value R8 = %d\n", result_8);
printf("value R9 = %d\n ", result_9);
printf("value R10 = %d\n", result_10);
printf("value R11 = %d\n", result_11);
//return ((result_0 == ADDEND1) & (result_1 == ADDEND2) & (result_2 ==
ADDEND3)) ;
return 1;
}
Ok so maybe I am messing up R2 in how I assign it trying to set it to a 32
bit value.
I must bee missing a concept on how to get the LBBO working to read back
what the user writes into the data ram.
On Sunday, November 27, 2016 at 2:09:27 PM UTC-7, [email protected] wrote:
>
> Hi, check my comments inline.
>
> On Sunday, November 27, 2016 at 10:15:00 PM UTC+2, Neil Jubinville wrote:
>>
>> Thx Charles, that was it. I was treating the registers as application
>> of dataram memory.
>>
>> In the assembly loop: I did a : * sbbo r0, r0, 0 , 48*
>>
>> and like magic my c pru memap dumped out values I have stuffed in some of
>> the registers.
>>
>> see below
>>
>> -------------------------------------
>> value R0 = 0
>> value R1 = 65535
>> value R2 = 8192
>> value R3 = 16
>> value R4 = 777
>> value R5 = 25
>> value R6 = -136853601
>> value R7 = 2146680819
>> value R8 = 1
>> value R9 = -45491713
>> value R10 = -89
>> value R11 = -1345356802
>>
>> ------------------------------------
>>
>> I do have a more basic question though about the value in R2 = 8192. My
>> understanding is the general purpose registers are 32 bit.
>>
>> In my assembly I set
>>
>> *r2 = 0x0BEBC200 // *decimal 200,000,000 to reflect the core
>> frequency.
>>
>> however as you can see the R2 after the mem copy to dataram shows 8192.
>> Why is it not reading 200,000,000 in R2 after the transfer?
>>
>
> Could you share your full source code?
>
>>
>> ---------
>>
>> Also, another question. Syntax wise the first *r0 *in the statement
>> below 'should' have &r0 but I get unknown register error when compiling.
>> If I leave out the & it works and the transfer does occur. Is this a
>> nuance of the gcc-pru compiler vs a direct pasm compile?
>>
>> *sbbo r0, r0, 0 , 48*
>>
> Yes, the & is not needed for pru-gcc. But for the sake of compatibility
> I'll make it optional with the next release.
>
>
>
>>
>>
>> Yet another question: the second argument of *r0* reflects the starting
>> address point in dataram. I would have expected dataram as a free for all
>> address space that I managed. Is the reference of an Rn type syntax
>> simply a convenience for addressing in dataram and dataram has the notion
>> of its own register mapping?
>>
> Dataram has no register mapping. It is simply memory. Consider the
> following example:
> ldi r1, 101
> ldi r2, 64
> sbbo r1, r2, 0, 4
> Converted to C syntax, it would look like:
> unsigned int r1 = 101;
> unsigned int *r2 = (void *)64;
> r2[0] = r1;
>
>
>
>
>>
>>
>> <https://lh3.googleusercontent.com/-PR6M_jNKhu4/WDs-tnOriEI/AAAAAAAAASU/VTpqCAMst9wgqHo1G8r1mmuserz0ZOprwCLcB/s1600/Screen%2BShot%2B2016-11-27%2Bat%2B1.13.55%2BPM.png>
>>
>>
>>
>> *Thx! *
>>
>>
>>
>>
>>
>>
>> On Saturday, November 26, 2016 at 12:43:37 PM UTC-7, Charles Steinkuehler
>> wrote:
>>>
>>> On 11/26/2016 1:33 PM, Neil Jubinville wrote:
>>> >
>>> > Here is my basic understanding - Focusing on PRU0:
>>> >
>>> > Each PRU has 8K of 'dataram' - This is where I expect R1,R2,R3 ----
>>> R31 to be
>>> > stored. *Is this true? I see many people changing the reference at
>>> *0x0000_0n00,
>>> > n = c24_blk_index[3:0], do I need to set where the Rn's lay down in
>>> memory?
>>>
>>> NO
>>>
>>> The data ram is what it says...data ram. The registers are what they
>>> say...registers. Registers are *NOT* data ram. If you want the
>>> register values to appear in memory, you have to write them out using
>>> the SBBO instruction.
>>>
>>> > Docs also state that the PRU 0 Data ram starts at *0x4a300000*;
>>> >
>>> > int registerStart;
>>> > registerStart = *(int*)0x4a300000;
>>> > printf("--> R0 = %d" + registerStart);
>>> >
>>> > However I get a seg fault trying to print what is in R0 that way.
>>> That was more
>>> > to just do a direct look see if possible and go around all the
>>> interfaces.
>>>
>>> 0x4a300000 is a physical address. You can use that if you are
>>> directly accessing memory (via /dev/mem, bus-mastering DMA, or
>>> something that doesn't use an MMU like the PRU core). If you try to
>>> access a physical address from a standard application that has not
>>> been mapped into your process memory space, the MMU will forbid access
>>> and your program seg-faults.
>>>
>>> To access the PRU memory in your application, use the address provided
>>> to you by the prussdrv_map_prumem function.
>>>
>>> --
>>> Charles Steinkuehler
>>> [email protected]
>>>
>>
--
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