Walter: It's good to hear you have the PRUs working. I still think if all you need is millisecond timing the PRUs are over kill.
In C you can use *usleep()* and pass it the number of microseconds you want to pause. --Mark On Thursday, February 18, 2021 at 10:00:10 AM UTC-5 [email protected] wrote: > 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/272f5cd8-4b15-4413-96b6-b6e68e6ad6f5n%40googlegroups.com.
