Hi All,
I'm running Arch Linux on my BBB, so no remoteproc for me :-( when working with
the PRU.
In my setup I'm developing a shared library that loads a simple PRU program via
a unittest to verify if it works. Because I work with prussdrv the program
should be run with sudo. If that it is the case the shared library can't be
found, so I have to export LD_LIBRARY=../lib/ for my super user. Now debugging
works for unit test, but as soon as I have to step into the code of the shared
library, it doesn't show the code, so I can't figure out where my program hangs.
If anybody knows how to load a PRU firmware with out being root it is much
preferred.
I'm currently executing gdbserver with the following command:
su --command="export LD_LIBRARY_PATH=../lib && gdbserver localhost:8080
./runTests"
My current code is one of the most basic pieces just to load a PRU program,
which toggles a pin, to drive a steppermotor, but I can't see any a pattern on
my scope, so I assume it doesn't get load, which I can't verify.
Fragment of the devicetree:
/ {
compatible = "ti,beaglebone", "ti,beaglebone-black", "ti,beaglebone-green";
// identification
part-number = "MTI-CATAMARAN";
version = "00A0";
// resources this cape uses
exclusive-use =
"P9.39", // AIN0
"P9.40", // AIN1
"P9.37", // AIN2
"P9.38", // AIN3
"P9.33", // AIN4
"P9.36", // AIN5
"P9.35", // AIN6
"P8.44", /* Sonar front */
"P8.45", /* Sonar SB */
"P8.46", /* Sonar PS */
"P8.41", /* Sonar front Step */
"P8.42", /* Sonar front Dir */
"P9.13", /* uart4_txd IMU */
"P9.11", /* uart4_rxd IMU */
"tscadc", // hardware ip used
"pruss";
fragment@0 {
target = <&tscadc>;
__overlay__ {
status = "okay";
adc {
ti,adc-channels = <0 1 2 3 4 5 6>;
ti,chan-step-avg = <0x16 0x16 0x16 0x16 0x16 0x16 0x16>;
ti,chan-step-opendelay = <0x98 0x98 0x98 0x98 0x98 0x98 0x98>;
ti,chan-step-sampledelay = <0x0 0x0 0x0 0x0 0x0 0x0 0x0>;
};
};
};
fragment@1 {
target = <&pruss>;
__overlay__ {
status = "okay";
};
};
fragment@2 {
target = <&am33xx_pinmux>;
__overlay__ {
pru_pru_pins: pinmux_pru_pru_pins {
pinctrl-single,pins = <
BONE_P8_41 (PIN_OUTPUT_PULLDOWN | MUX_MODE5) /*
lcd_data5.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU, Sonar front Dir */
BONE_P8_42 (PIN_OUTPUT_PULLDOWN | MUX_MODE5) /*
lcd_data4.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU, Sonar front Step */
BONE_P8_44 (PIN_INPUT_PULLDOWN | MUX_MODE6) /*
lcd_data3.pr1_pru1_pru_r31_3, MODE6 | INPUT | PRU, Sonar front */
BONE_P8_45 (PIN_INPUT_PULLDOWN | MUX_MODE6) /*
lcd_data1.pr1_pru1_pru_r31_0, MODE6 | INPUT | PRU, Sonar PS */
BONE_P8_46 (PIN_INPUT_PULLDOWN | MUX_MODE6) /*
lcd_data0.pr1_pru1_pru_r31_1, MODE6 | INPUT | PRU, Sonar SB */
>;
};
bb_uart4_pins: pinmux_bb_uart4_pins {
pinctrl-single,pins = <
BONE_P9_13 (PIN_OUTPUT | MUX_MODE6) // gpmc_wpn.uart4_txd_mux2
BONE_P9_11 (PIN_INPUT | MUX_MODE6) // gpmc_wait0.uart4_rxd_mux2
>;
};
};
};
fragment@3 {
target = <&uart4>;
__overlay__ {
status = "okay";
pinctrl-names = "default";
pinctrl-0 = <&bb_uart4_pins>;
};
};
};
The PRU firmware:
#include <stdint.h>
#include "resource_table_empty.h"
volatile register unsigned int __R31, __R30;
int main(void)
{
unsigned int i;
for (i = 0; i < 200; i++) {
__R30 = __R30 | (1 << 5); // HIGH
__delay_cycles(60000000);
__R30 = __R30 & ~(1 << 5); // LOW
__delay_cycles(60000000);
}
__R31 = 32 | 3; // send interrupt to host
__halt();
/* Should never return */
return 0;
}
Fragment of the UnitTest (Google test) (This code I can step through with my
IDE):
TEST(Controller, PRU_Toggle) {
using namespace oCpt::components::controller;
using namespace oCpt;
World::ptr world = World::ptr(new World());
BBB::ptr controller = BBB::ptr(new BBB(world));
BBB *bbb = static_cast<BBB*>(controller.get());
bbb->loadPRUfirmware(1,"./SonarArray.out");
}
Fragment of the Shared library:
void BBB::loadPRUfirmware(const unsigned int &number, const std::string
&firmwareLocation) {
//Initialize structure used by prussdrv_pruintc_intc
tpruss_intc_initdata pruss__intc_initdata = PRUSS_INTC_INITDATA;
//Allocate and initialize memory
prussdrv_init();
prussdrv_open(PRU_EVTOUT0);
//Map PRU's interrupts
prussdrv_pruintc_init(&pruss__intc_initdata);
//Load and execute the PRU program on the PRU
prussdrv_exec_program(number, firmwareLocation.c_str());
// Wait for event completion from PRU, returns PRU_EVTOUT_0 number
//int n = prussdrv_pru_wait_event(PRU_EVTOUT0);
//prussdrv_pru_disable(number);
//prussdrv_exit();
}
Any help is much appreciated
best regards,
Jelle
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