I've gone through the cookbook and it's very helpful. I'm still fuzzy on how to do what I need to do.
My main code for controlling the valves, getting user input, etc. is in C. I need to call a procedure in C that reads sensors. I will pass this procedure the number of milliseconds it should read the sensors and then return to the main program and turn the valves off. The number of milliseconds can, and will likely, change depending on what we are processing with these valves. I get that input at the start of the main program. My thought is that in the procedure that reads the sensors, it will grab a start time (doesn't have to be actual time) value from the PRU, read the sensors, and loop until the current time-start time equals the amount of time it should read the sensors. Then it will return to the main program. I just don't know how to read the PRU's clock to get the time values. I don't think I saw an example in the cookbook for 'branching' out from a main program to use the PRUs for this type of processing. Just point me in the right direction, please. Walter On Thursday, February 18, 2021 at 9:27:34 AM UTC-5 Walter Cromer wrote: > Mark , > > It is working with the updated OS. Thanks so much! > > Now I will explore how to get the simple timing that I need using the PRU. > > On Thursday, February 18, 2021 at 8:54:10 AM UTC-5 Walter Cromer wrote: > >> Mark, >> >> With the current OS there isn't a /dev/remoteproc even. >> >> I'm going to try the updated OS build this morning. >> >> Walter >> >> On Wednesday, February 17, 2021 at 5:34:37 PM UTC-5 Mark A. Yoder wrote: >> >>> I fired up the Beagle at home it the PRU works out of the box. >>> >>> What do you get running >>> *ls /dev/remoteproc* >>> >>> I get: >>> *ls -ls /dev/remoteproc* >>> total 0 >>> 0 lrwxrwxrwx 1 root root 33 Feb 17 17:26 pruss-core0 -> >>> /sys/class/remoteproc/remoteproc1 >>> 0 lrwxrwxrwx 1 root root 33 Feb 17 17:26 pruss-core1 -> >>> /sys/class/remoteproc/remoteproc2 >>> >>> If you are missing pruss-core0 and pruss-core1 you could try adding the >>> links by hand and see what happens. >>> >>> *cd /dev/remoteproc* >>> >>> *sudo ln -s /sys/class/remoteproc/remoteproc1 pruss-core0* >>> *sudo ln -s /sys/class/remoteproc/remoteproc2 pruss-core1* >>> On Wednesday, February 17, 2021 at 3:56:21 PM UTC-5 >>> [email protected] wrote: >>> >>>> I'll get this one onto an SD card and give it a try. If I can just >>>> get this configured I think I can make quick work of this problem! >>>> >>>> On Wednesday, February 17, 2021 at 3:47:04 PM UTC-5 Mark A. Yoder wrote: >>>> >>>>> Good point, it should work.... I'm running a newer test image[1], but >>>>> I took my Beagle home so I can't do a quick check on it until later. >>>>> >>>>> >>>>> --Mark >>>>> [1] >>>>> https://rcn-ee.com/rootfs/bb.org/testing/2021-02-15/buster-iot/bone-debian-10.8-iot-armhf-2021-02-15-4gb.img.xz >>>>> >>>>> >>>>> On Wednesday, February 17, 2021 at 2:46:35 PM UTC-5 >>>>> [email protected] wrote: >>>>> >>>>>> I asked because the ones on the page @ the link are older than the >>>>>> one I have installed. >>>>>> >>>>>> >>>>>> On Wednesday, February 17, 2021 at 2:30:58 PM UTC-5 Mark A. Yoder >>>>>> wrote: >>>>>> >>>>>>> On newer versions of the SD card image /var/lib/cloud9 is a git repo >>>>>>> which you can do a git pull to update. Your version is too old. >>>>>>> >>>>>>> Follow the instructions at: >>>>>>> https://markayoder.github.io/PRUCookbook/02start/start.html#_installing_the_latest_os_on_your_bone >>>>>>> >>>>>>> to download and install an updated version of the SD card image. >>>>>>> >>>>>>> --Mark >>>>>>> >>>>>>> On Wednesday, February 17, 2021 at 2:25:40 PM UTC-5 >>>>>>> [email protected] wrote: >>>>>>> >>>>>>>> Mark, >>>>>>>> >>>>>>>> git pull on /var/lib/cloud9 fails with 'fatal: Not a git repository >>>>>>>> (or any of the parent directories): .git >>>>>>>> >>>>>>>> I'm such a neophyte on git. What do I need to do? >>>>>>>> >>>>>>>> And, what do you mean by updating to a new version of the SD card? >>>>>>>> The OS is booting from the SD card and the version.sh information >>>>>>>> posted >>>>>>>> earlier is based on that. >>>>>>>> >>>>>>>> >>>>>>>> On Wednesday, February 17, 2021 at 2:02:55 PM UTC-5 Mark A. Yoder >>>>>>>> wrote: >>>>>>>> >>>>>>>>> I suggest updating to a new version of the SD card. It looks like >>>>>>>>> the PRUs are getting started at boot time, but the path isn't setup >>>>>>>>> right. >>>>>>>>> I think we setup some links so the path* >>>>>>>>> /dev/remoteproc/pruss-core0/state >>>>>>>>> *points to the right place. >>>>>>>>> >>>>>>>>> You could also try: >>>>>>>>> *cd */var/lib/cloud9 >>>>>>>>> *git* pull >>>>>>>>> to update cloud9 folders. >>>>>>>>> >>>>>>>>> --Mark >>>>>>>>> >>>>>>>>> On Wednesday, February 17, 2021 at 1:53:35 PM UTC-5 >>>>>>>>> [email protected] wrote: >>>>>>>>> >>>>>>>>>> Mark, >>>>>>>>>> >>>>>>>>>> I got the latest PRUCookbook downloaded and when trying to make >>>>>>>>>> the hello.pru0.c program in 1.6, I got this error. >>>>>>>>>> >>>>>>>>>> *debian@beaglebone:/var/lib/cloud9/PRUCookbook/docs/02start/code$ >>>>>>>>>> make TARGET=hello.pru0* >>>>>>>>>> */var/lib/cloud9/common/Makefile:29: >>>>>>>>>> MODEL=TI_AM335x_BeagleBone_Black,TARGET=hello.pru0* >>>>>>>>>> *- Stopping PRU 0* >>>>>>>>>> */bin/sh: 1: cannot create /dev/remoteproc/pruss-core0/state: >>>>>>>>>> Directory nonexistent* >>>>>>>>>> *Cannot stop 0* >>>>>>>>>> *CC hello.pru0.c* >>>>>>>>>> *"/var/lib/cloud9/common/prugpio.h", line 53: warning #1181-D: >>>>>>>>>> #warning directive: "Found am335x"* >>>>>>>>>> *LD /tmp/cloud9-examples/hello.pru0.o* >>>>>>>>>> *- copying firmware file >>>>>>>>>> /tmp/cloud9-examples/hello.pru0.out to /lib/firmware/am335x-pru0-fw* >>>>>>>>>> *cp: cannot create regular file '/lib/firmware/am335x-pru0-fw': >>>>>>>>>> Permission denied* >>>>>>>>>> */var/lib/cloud9/common/Makefile:180: recipe for target 'install' >>>>>>>>>> failed* >>>>>>>>>> *make: *** [install] Error 1* >>>>>>>>>> *rm /tmp/cloud9-examples/hello.pru0.o* >>>>>>>>>> >>>>>>>>>> Initially, I did not have a folder called >>>>>>>>>> /var/lib/cloud9/common. To remedy this I copied the contents of >>>>>>>>>> /var/lib/cloud9/PRUCookbook/docs/common to /var/lib/cloud9/common. >>>>>>>>>> Maybe >>>>>>>>>> this created a problem?Nevertheless, I found some other discussions >>>>>>>>>> that >>>>>>>>>> suggested updating the scripts and kernels from >>>>>>>>>> beagleboard.org/upgrade which I did. I am now running... >>>>>>>>>> >>>>>>>>>> Linux beaglebone 4.14.108-ti-r137 #1stretch SMP PREEMPT Tue Aug >>>>>>>>>> 25 01:48:39 UTC 2020 armv7l GNU/Linux >>>>>>>>>> >>>>>>>>>> And the output of version.sh is >>>>>>>>>> >>>>>>>>>> *debian@beaglebone:/$ sudo opt/scripts/tools/version.sh* >>>>>>>>>> *[sudo] password for debian:* >>>>>>>>>> *git:/opt/scripts/:[e4e4854ef8ff9ada5c85553376043ee7679167ca]* >>>>>>>>>> *eeprom:[A335BNLT00C04417BBBK1847]* >>>>>>>>>> *model:[TI_AM335x_BeagleBone_Black]* >>>>>>>>>> *dogtag:[BeagleBoard.org Debian Image 2018-10-07]* >>>>>>>>>> *bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot SPL >>>>>>>>>> 2018.09-00002-g0b54a51eee (Sep 10 2018 - 19:41:39 -0500)]:[location: >>>>>>>>>> dd >>>>>>>>>> MBR]* >>>>>>>>>> *bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot >>>>>>>>>> 2018.09-00002-g0b54a51eee]:[location: dd MBR]* >>>>>>>>>> *bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot SPL >>>>>>>>>> 2018.03-00002-gac9cce7c6a (Apr 05 2018 - 13:07:46 -0500)]:[location: >>>>>>>>>> dd >>>>>>>>>> MBR]* >>>>>>>>>> *bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot >>>>>>>>>> 2018.03-00002-gac9cce7c6a]:[location: dd MBR]* >>>>>>>>>> *UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]* >>>>>>>>>> *kernel:[4.14.108-ti-r137]* >>>>>>>>>> *nodejs:[v6.14.4]* >>>>>>>>>> */boot/uEnv.txt Settings:* >>>>>>>>>> *uboot_overlay_options:[enable_uboot_overlays=1]* >>>>>>>>>> >>>>>>>>>> *uboot_overlay_options:[uboot_overlay_addr0=/lib/firmware/BB-W1-P9.12-00A0.dtbo]* >>>>>>>>>> *uboot_overlay_options:[disable_uboot_overlay_video=1]* >>>>>>>>>> >>>>>>>>>> *uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo]* >>>>>>>>>> *uboot_overlay_options:[enable_uboot_cape_universal=1]* >>>>>>>>>> *pkg check: to individually upgrade run: [sudo apt install >>>>>>>>>> --only-upgrade <pkg>]* >>>>>>>>>> *pkg:[bb-cape-overlays]:[4.4.20180928.0-0rcnee0~stretch+20180928]* >>>>>>>>>> *pkg:[bb-customizations]:[1.20180815-0rcnee0~stretch+20180815]* >>>>>>>>>> *WARNING:pkg:[bb-usb-gadgets]:[NOT_INSTALLED]* >>>>>>>>>> *pkg:[bb-wl18xx-firmware]:[1.20180517-0rcnee0~stretch+20180517]* >>>>>>>>>> *pkg:[kmod]:[23-2rcnee1~stretch+20171005]* >>>>>>>>>> >>>>>>>>>> *pkg:[librobotcontrol]:[1.0.3-git20181005.0-0rcnee0~stretch+20181005]* >>>>>>>>>> >>>>>>>>>> *pkg:[firmware-ti-connectivity]:[20170823-1rcnee1~stretch+20180328]* >>>>>>>>>> *groups:[debian : debian adm kmem dialout cdrom floppy audio dip >>>>>>>>>> video plugdev users systemd-journal i2c bluetooth netdev cloud9ide >>>>>>>>>> gpio pwm >>>>>>>>>> eqep admin spi tisdk weston-launch xenomai]* >>>>>>>>>> *cmdline:[console=ttyO0,115200n8 >>>>>>>>>> bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro >>>>>>>>>> rootfstype=ext4 >>>>>>>>>> rootwait coherent_pool=1M net.ifnames=0 quiet]* >>>>>>>>>> *dmesg | grep remote* >>>>>>>>>> *[ 1.147260] remoteproc remoteproc0: wkup_m3 is available* >>>>>>>>>> *[ 1.231303] remoteproc remoteproc0: powering up wkup_m3* >>>>>>>>>> *[ 1.231426] remoteproc remoteproc0: Booting fw image >>>>>>>>>> am335x-pm-firmware.elf, size 217168* >>>>>>>>>> *[ 1.233981] remoteproc remoteproc0: remote processor wkup_m3 >>>>>>>>>> is now up* >>>>>>>>>> *[ 108.634522] remoteproc remoteproc1: 4a334000.pru is available* >>>>>>>>>> *[ 108.656634] remoteproc remoteproc2: 4a338000.pru is available* >>>>>>>>>> *dmesg | grep pru* >>>>>>>>>> *[ 108.019424] pruss 4a300000.pruss: creating PRU cores and >>>>>>>>>> other child platform devices* >>>>>>>>>> *[ 108.634522] remoteproc remoteproc1: 4a334000.pru is available* >>>>>>>>>> *[ 108.634642] pru-rproc 4a334000.pru: PRU rproc node >>>>>>>>>> /ocp/pruss_soc_bus@4a326004/pruss@0/pru@34000 probed successfully* >>>>>>>>>> *[ 108.656634] remoteproc remoteproc2: 4a338000.pru is available* >>>>>>>>>> *[ 108.656808] pru-rproc 4a338000.pru: PRU rproc node >>>>>>>>>> /ocp/pruss_soc_bus@4a326004/pruss@0/pru@38000 probed successfully* >>>>>>>>>> *dmesg | grep pinctrl-single* >>>>>>>>>> *[ 0.783913] pinctrl-single 44e10800.pinmux: 142 pins at pa >>>>>>>>>> f9e10800 size 568* >>>>>>>>>> *dmesg | grep gpio-of-helper* >>>>>>>>>> *[ 0.796624] gpio-of-helper ocp:cape-universal: ready* >>>>>>>>>> *lsusb* >>>>>>>>>> *Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub* >>>>>>>>>> *END* >>>>>>>>>> >>>>>>>>>> Any ideas? >>>>>>>>>> >>>>>>>>>> On Wednesday, February 17, 2021 at 10:10:53 AM UTC-5 Mark A. >>>>>>>>>> Yoder wrote: >>>>>>>>>> >>>>>>>>>>> The PRUs can give you 10's of ns timing, which is more than good >>>>>>>>>>> enough for milliseconds, but might be over kill. >>>>>>>>>>> >>>>>>>>>>> I'd think using C on the ARM processor should be fast enough. >>>>>>>>>>> I'd use gpiod[1]. >>>>>>>>>>> >>>>>>>>>>> If you really want the ns timing of the PRUs, check out the PRU >>>>>>>>>>> Cookbook[2] >>>>>>>>>>> >>>>>>>>>>> --Mark >>>>>>>>>>> >>>>>>>>>>> [1] https://github.com/starnight/libgpiod-example >>>>>>>>>>> [2] https://github.com/MarkAYoder/PRUCookbook >>>>>>>>>>> >>>>>>>>>>> On Tuesday, February 16, 2021 at 10:51:11 AM UTC-5 >>>>>>>>>>> [email protected] wrote: >>>>>>>>>>> >>>>>>>>>>>> Depending on how precise you need to be, I would go for the >>>>>>>>>>>> PRU-ICSS. They can control the GPIOs pretty easily. >>>>>>>>>>>> >>>>>>>>>>>> Le mardi 16 février 2021 à 10:03:47 UTC-5, >>>>>>>>>>>> [email protected] a écrit : >>>>>>>>>>>> >>>>>>>>>>>>> I have a BBB Wireless running Linux beaglebone >>>>>>>>>>>>> 4.14.108-ti-r106 #1 SMP PREEMPT Fri May 24 22:12:34 UTC 2019 >>>>>>>>>>>>> armv7l >>>>>>>>>>>>> GNU/Linux >>>>>>>>>>>>> >>>>>>>>>>>>> I am writing in C. >>>>>>>>>>>>> >>>>>>>>>>>>> I turn a valve on and then need to read some sensors for N >>>>>>>>>>>>> milliseconds and then turn the valve off. >>>>>>>>>>>>> >>>>>>>>>>>>> What's the best way to read milliseconds on the BBBw? I don't >>>>>>>>>>>>> have a RTC on this particular unit but could add one using I2C. >>>>>>>>>>>>> I have an >>>>>>>>>>>>> Adafruit 4282 with a DS3231 RTC on it on another BBBw that I >>>>>>>>>>>>> could use >>>>>>>>>>>>> temporarily to prove it works. What other options are available? >>>>>>>>>>>>> >>>>>>>>>>>>> >>>>>>>>>>>>> -- 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/6edd3d19-4b8e-4b7d-be37-eba8dced19cen%40googlegroups.com.
