On Friday, March 17, 2017 at 4:24:14 PM UTC-4, beezerlm wrote: > > -Jason > > This looks exciting! Do the encoder inputs run through eQEP? >
3 use the eQEP. 1 is implemented in the PRU due to the lack of availability of a 4th eQEP. > Can they directly interrupt the PRU? > I don't know if we can get the eQEP to generate events to the PRU. I hate to call them interrupts, because the PRU interrupt controller is just an event registration/prioritization bit of hardware and the PRU never actually stops a running task to context save and execute an interrupt vector. This is actually good for real-time, but is a misnomer to call an interrupt. For most cases, you don't need to feed it into the PRU "interrupt controller" if you can simply poll the pins, etc. > I am looking to monitor a 10Khz pulse train for motion control project > described > here: https://groups.google.com/forum/#!topic/beagleboard/udSAm7Afe9s > I'll have to look at that some day when I have a bit more time. > > I have been attempting to program the BBB's PRU's using CCSv6. I worked > through the hands on labs, but I think it is still a little over my head. > > Would the BBblue be a better fit for my project? > Hard to say. Depends on the rest of your requirements. The biggest advantage from a novice PRU developer's view point is that the libroboticscape source (https://github.com/StrawsonDesign/Robotics_Cape_Installer) includes PRU code for each of the PRUs and they are associated with pins, one set as outputs for the PWM/PPM/ESC and one set as inputs for the fourth quadrature encoder. That means you can simply start swapping out working code rather than needing to work up a build/install infrastructure of your own. Also, the device tree is already setup for those PRU configurations. Otherwise, Black is more flexible for PRU development (more available pins). -- 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]. To view this discussion on the web visit https://groups.google.com/d/msgid/beagleboard/27f7a707-d0c6-4eda-9294-0cbd9141a10a%40googlegroups.com. For more options, visit https://groups.google.com/d/optout.
