On 12/21/2013 9:12 AM, Andrew wrote: > 2013/8/9 Charles Steinkuehler <char...@steinkuehler.net> > >> Any I/O pins that are not already used by something else. The PRU code >> is capable of driving any pin in the 4 32-bit banks of GPIO, as well as >> the 16 directly-connected low-latency PRU output pins. >> >> To calculate a pin number to use for the GPIO banks: >> >> Pin# = ((gpio_bank + 1) * 32) + pin_number >> >> ...this is the same as the kernel pin numbering scheme, except one is >> added to the GPIO bank so that zero results in an invalid pin number and >> means "don't drive any pin". This is to keep things safe since all pin >> numbers default to zero the way HAL shared memory gets initialized, you >> have to explicitly set a pin number before the PRU actually tries to >> twiddle something. >> > > Hello! > > I'm figuring out 6-axis config based on BeBoPr-Bridge. > Say I would like to use 6 pairs of PRU pins on P8: > 46 to 39 for step0, dir0.... step3, dir3 > 16, 15, 12, 11 for step4, dir4, step5, dir5 > > I try calculating the pin numbers. For instance > 43(PRU1.out2) is gpio2.8, thus > > Pin# = ((gpio_bank + 1) * 32) + pin_number > Pin#=(2+1)*32 + 8 = 104 = *0x68* > > comparing to BeBoPr config > # P8.43 PRU1.out2 > setp [PRUCONF](DRIVER).stepgen.00.steppin *0x4C* > > I can not figure out how you get 0x4C, something doesn't add up. > Where do I go wrong?
Sorry, the comments are out of date. 0x4C is GPIO bank 1, pin 12, which is on connector P8 pin 12 and is used for the x-step signal on the Bridge version of the BeBoPr. The comment refers to connector P8 pin 43, which is GPIO Bank 2 pin 8, or 0x68, which is where the x-step signal *USED* to be on the non-bridge version of the BeBoPr. Sorry for the confusion. -- Charles Steinkuehler char...@steinkuehler.net
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