[bleeding edge alert, researchy] Assuming one were to use the AM335x PRU realtime processors to, for instance, write a stepgen or encoder thread function, one had to do this in PRU assembler.
TI supplies an assembler program and the glue code to load, execute and interface with such PRU programs. However, no debug tools except the TI Development Environment (clunky licenseware) is provided. Without debugger, this is a fire-and-forget affair. Luckily its quite simple to access, inspect registers, step, halt, continue and reset the PRU's through a memory mapped interface. I've created a debugger which works as a HAL component, and has a GladeVCP UI to provide a basic debugger tool. The assumed scenario is like so: - there's some component (here: hal_pru) which loads, executes and interacts with some PRU code - the hal_prudebug component can be loaded separately, with a GladeVCP UI, to attach to the PRU and trace/singlestep/inspect the registers etc. - the UI component can read the .dbg output of the PASM assembler to correlate the source line and program counter. first, run 'make' in this directory, this will assemble the PRU source code and create the .bin and .dbg files then run this as: $ halcmd debugger-example.hal - in the file chooser, select pruexample.dbg (the assembler's debug output) - select stepping, contuous - step through program by clicking continue (on a beaglebone or some other AM335x CPU based board, that is - nothing else makes sense) screenshot: the result looks like so: http://static.mah.priv.at/public/prudebug.png --- the effort is moderate - roughly: 450loc C for hal_prudebug.c, 150 lines Python for the GladeVCP UI. the branch is here: http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/arm335x-hal-pru-module the example hal file: http://git.mah.priv.at/gitweb/emc2-dev.git/blob/67d2648163343012de14fdb8cbb6efc230e87774:/configs/pru-examples/debugger-example.hal the debug component: http://git.mah.priv.at/gitweb/emc2-dev.git/blob/67d2648163343012de14fdb8cbb6efc230e87774:/src/hal/components/hal_prudebug.c the ui Python code http://git.mah.priv.at/gitweb/emc2-dev.git/blob/67d2648163343012de14fdb8cbb6efc230e87774:/configs/pru-examples/ui.py with that tool it should be relatively easy to move a time critical function into a PRU. - Michael ps: this is a proof-of-concept with several warts. ------------------------------------------------------------------------------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial Remotely access PCs and mobile devices and provide instant support Improve your efficiency, and focus on delivering more value-add services Discover what IT Professionals Know. Rescue delivers http://p.sf.net/sfu/logmein_12329d2d _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
