diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3b6c29656bddb7aff214d38955a9ba0e503943be..6fc1d3772050c46d7fda04c23f710513fa323b67 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -6,6 +6,7 @@ stages:
pages:
stage: deploy
script:
+ - pip install sphinx_design
- sphinx-build -b html . public
- sphinx-build -M latexpdf . public
- mv public/latex/beagleboard-docs.pdf public/
diff --git a/Dockerfile b/Dockerfile
index af84c4d64aab1451224c234bc01ff92bfe15fe82..6131d5228d5f8da9f499fa3731b38575cc3c7a92 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -2,6 +2,7 @@ FROM python:3.9-alpine as sphinx-build-env
RUN apk update
RUN python -m pip install --upgrade pip
RUN pip install -U sphinx
+RUN pip install -U sphinx_design
RUN pip install sphinxcontrib-svg2pdfconverter
RUN apk add librsvg
RUN pip install sphinx_rtd_theme
diff --git a/bone-cook-book/01basics/basics.rst b/beaglebone-cookbook/01basics/basics.rst
similarity index 92%
rename from bone-cook-book/01basics/basics.rst
rename to beaglebone-cookbook/01basics/basics.rst
index 9dc35327fda0b322d41307158cf549921a04dd72..b85bd045ab1fe60ba6651a9c310c8c4c960f60e8 100644
--- a/bone-cook-book/01basics/basics.rst
+++ b/beaglebone-cookbook/01basics/basics.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-basics:
+.. _beaglebone-cookbook-basics:
Basics
#######
@@ -9,8 +9,8 @@ Introduction
When you buy BeagleBone Black, pretty much everything you need to get going comes with it.
You can just plug it into the USB of a host computer, and it works. The goal of this
chapter is to show what you can do with your Bone, right out of the box. It has enough
-information to carry through the next three chapters on sensors (:ref:`sensors <bone-cook-book-sensors>`),
-displays (:ref:`display <bone-cook-book-display>`), and motors (:ref:`motors <bone-cook-book-motors>`).
+information to carry through the next three chapters on sensors (:ref:`sensors <beaglebone-cookbook-sensors>`),
+displays (:ref:`display <beaglebone-cookbook-display>`), and motors (:ref:`motors <beaglebone-cookbook-motors>`).
Picking Your Beagle
---------------------
@@ -57,7 +57,8 @@ a new USB drive appear on your host computer. :ref:`figure below <basics_01getti
shows how it will appear on a Windows host, and Linux and Mac hosts will look similar.
The Bone acting like a USB drive and the files you see are located on the Bone.
-.. todo:: Update
+.. todo::
+ Update
.. _basics_01gettingStarted_fig:
@@ -172,6 +173,7 @@ perform physical computing tasks without first learning Linux.
Solution
***********
+
Plug your board into the USB of your host computer and browse to
http://192.168.7.2:3000 using Google Chrome or Firefox (as shown in
:ref:`basics of out of the box <basics_out_of_the_box>`). In the left
@@ -346,7 +348,8 @@ with *am57xx-debian-* is for programming the Beagle AI's.
The onboard flash is often called the *eMMC* memory. We just call it *onboard flash*, but you'll
often see *eMMC* appearing in filenames of images used to update the onboard flash.
-Click the image you want to use and it will download. The images are some 500M, so it might take a while.
+Click the image you want to use and it will download.
+The images are some 500M, so it might take a while.
Discussion
************
@@ -370,9 +373,16 @@ If you boot the Bone with a microSD card inserted with a valid boot image,
it will boot from the microSD card. If you boot without the microSD card
installed, it will boot from the onboard flash.
-.. tip:: If you want to reflash the onboard flash memory, see :ref:`basic onboard flash <basics_onboard_flash>`.
+.. tip::
+ If you want to reflash the onboard flash memory,
+ see :ref:`basic onboard flash <basics_onboard_flash>`.
-.. note:: I instruct my students to use the microSD for booting. I suggest they keep an extra microSD flashed with the current OS. If they mess up the one on the Bone, it takes only a moment to swap in the extra microSD, boot up, and continue running. If they are running off the onboard flash, it will take much longer to reflash and boot from it.
+.. note::
+ I instruct my students to use the microSD for booting. I suggest they
+ keep an extra microSD flashed with the current OS. If they mess up the
+ one on the Bone, it takes only a moment to swap in the extra microSD,
+ boot up, and continue running. If they are running off the onboard flash,
+ it will take much longer to reflash and boot from it.
Download the image you found in :ref:`basic find image <basics_find_image>`. It's more than 500 MB,
so be sure to have a fast Internet connection. Then go to http://beagleboard.org/getting-started#update and
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diff --git a/bone-cook-book/02sensors/figures/Adafruit Xbee Adapter v1.1.fzpz b/beaglebone-cookbook/02sensors/figures/Adafruit Xbee Adapter v1.1.fzpz
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diff --git a/bone-cook-book/02sensors/figures/pushbutton.fzz b/beaglebone-cookbook/02sensors/figures/pushbutton.fzz
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diff --git a/bone-cook-book/02sensors/figures/rotaryEncoder.fzz b/beaglebone-cookbook/02sensors/figures/rotaryEncoder.fzz
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diff --git a/bone-cook-book/02sensors/figures/sensorTag.jpg b/beaglebone-cookbook/02sensors/figures/sensorTag.jpg
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diff --git a/bone-cook-book/02sensors/figures/testSerial-2014-04-11.zip b/beaglebone-cookbook/02sensors/figures/testSerial-2014-04-11.zip
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diff --git a/bone-cook-book/02sensors/figures/vsc-bash-tab.png b/beaglebone-cookbook/02sensors/figures/vsc-bash-tab.png
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rename to beaglebone-cookbook/02sensors/figures/vsc-bash-tab.png
diff --git a/bone-cook-book/02sensors/sensors.rst b/beaglebone-cookbook/02sensors/sensors.rst
similarity index 96%
rename from bone-cook-book/02sensors/sensors.rst
rename to beaglebone-cookbook/02sensors/sensors.rst
index 5c3007acc48d1236d49e2f29b6ddaca05ed1d5ba..1a92078cb45a0772206330d45cb921ecff2c2ca5 100644
--- a/bone-cook-book/02sensors/sensors.rst
+++ b/beaglebone-cookbook/02sensors/sensors.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-sensors:
+.. _beaglebone-cookbook-sensors:
Sensors
########
@@ -57,7 +57,8 @@ You want to acquire and attach a sensor and need to understand your basic option
Solution
*********
-:ref:`sensor cape headers<sensors_cape_headers>` shows many of the possibilities for connecting a sensor.
+:ref:`sensor cape headers<sensors_cape_headers>`
+shows many of the possibilities for connecting a sensor.
.. _sensors_cape_headers:
@@ -170,7 +171,8 @@ or both on the Bone, as shown in :ref:`figure below <js_pushbutton_fig>`.
Bone with pushbutton
-The code in :ref:`js pushbutton code<js_pushbutton_code>` reads GPIO port *P9_42*, which is attached to the pushbutton.
+The code in :ref:`js pushbutton code<js_pushbutton_code>`
+reads GPIO port *P9_42*, which is attached to the pushbutton.
.. _py_pushbutton_code:
@@ -528,6 +530,7 @@ Here, we'll use the *eQEP2* encoder via the Linux +count+ subsystem.
Then run the following commands:
+
.. code-block:: bash
bone$ config-pin P8_11 qep
diff --git a/bone-cook-book/03displays/code/externLED.js b/beaglebone-cookbook/03displays/code/externLED.js
similarity index 100%
rename from bone-cook-book/03displays/code/externLED.js
rename to beaglebone-cookbook/03displays/code/externLED.js
diff --git a/bone-cook-book/03displays/code/externLED.py b/beaglebone-cookbook/03displays/code/externLED.py
similarity index 100%
rename from bone-cook-book/03displays/code/externLED.py
rename to beaglebone-cookbook/03displays/code/externLED.py
diff --git a/bone-cook-book/03displays/code/fadeLED.js b/beaglebone-cookbook/03displays/code/fadeLED.js
similarity index 100%
rename from bone-cook-book/03displays/code/fadeLED.js
rename to beaglebone-cookbook/03displays/code/fadeLED.js
diff --git a/bone-cook-book/03displays/code/fadeLED.py b/beaglebone-cookbook/03displays/code/fadeLED.py
similarity index 100%
rename from bone-cook-book/03displays/code/fadeLED.py
rename to beaglebone-cookbook/03displays/code/fadeLED.py
diff --git a/bone-cook-book/03displays/code/internLED.js b/beaglebone-cookbook/03displays/code/internLED.js
similarity index 100%
rename from bone-cook-book/03displays/code/internLED.js
rename to beaglebone-cookbook/03displays/code/internLED.js
diff --git a/bone-cook-book/03displays/code/internLED.py b/beaglebone-cookbook/03displays/code/internLED.py
similarity index 100%
rename from bone-cook-book/03displays/code/internLED.py
rename to beaglebone-cookbook/03displays/code/internLED.py
diff --git a/bone-cook-book/03displays/code/matrixLEDi2c.js b/beaglebone-cookbook/03displays/code/matrixLEDi2c.js
similarity index 100%
rename from bone-cook-book/03displays/code/matrixLEDi2c.js
rename to beaglebone-cookbook/03displays/code/matrixLEDi2c.js
diff --git a/bone-cook-book/03displays/code/matrixLEDi2c.py b/beaglebone-cookbook/03displays/code/matrixLEDi2c.py
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rename from bone-cook-book/03displays/code/matrixLEDi2c.py
rename to beaglebone-cookbook/03displays/code/matrixLEDi2c.py
diff --git a/bone-cook-book/03displays/code/neoPixel.sh b/beaglebone-cookbook/03displays/code/neoPixel.sh
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rename from bone-cook-book/03displays/code/neoPixel.sh
rename to beaglebone-cookbook/03displays/code/neoPixel.sh
diff --git a/bone-cook-book/03displays/code/nokia5110.js b/beaglebone-cookbook/03displays/code/nokia5110.js
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rename from bone-cook-book/03displays/code/nokia5110.js
rename to beaglebone-cookbook/03displays/code/nokia5110.js
diff --git a/bone-cook-book/03displays/code/nokia5110Test.js b/beaglebone-cookbook/03displays/code/nokia5110Test.js
similarity index 100%
rename from bone-cook-book/03displays/code/nokia5110Test.js
rename to beaglebone-cookbook/03displays/code/nokia5110Test.js
diff --git a/bone-cook-book/03displays/code/pwmTest.sh b/beaglebone-cookbook/03displays/code/pwmTest.sh
similarity index 100%
rename from bone-cook-book/03displays/code/pwmTest.sh
rename to beaglebone-cookbook/03displays/code/pwmTest.sh
diff --git a/bone-cook-book/03displays/code/speak.js b/beaglebone-cookbook/03displays/code/speak.js
similarity index 100%
rename from bone-cook-book/03displays/code/speak.js
rename to beaglebone-cookbook/03displays/code/speak.js
diff --git a/bone-cook-book/03displays/displays.rst b/beaglebone-cookbook/03displays/displays.rst
similarity index 84%
rename from bone-cook-book/03displays/displays.rst
rename to beaglebone-cookbook/03displays/displays.rst
index 1078ffb476c72eb6333e781b2298982d62af73c3..c796ba35bbdd089bf0de0f0f125d2ac637d35321 100644
--- a/bone-cook-book/03displays/displays.rst
+++ b/beaglebone-cookbook/03displays/displays.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-displays:
+.. _beaglebone-cookbook-displays:
Displays and Other Outputs
###########################
@@ -8,7 +8,8 @@ Introduction
In this chapter, you will learn how to control physical hardware via
BeagleBone Black's general-purpose input/output (GPIO) pins. The Bone has
-65 GPIO pins that are brought out on two 46-pin headers, called +P8+ and +P9+, as shown in :ref:`<js_P8P9_fig>>.
+65 GPIO pins that are brought out on two 46-pin headers, called
++P8+ and +P9+, as shown in :ref:`<js_P8P9_fig>>.
.. note::
All the examples in the book assume you have cloned the
@@ -42,6 +43,7 @@ You want to know how to flash the four LEDs that are next to the Ethernet port o
Solution
*************
+
Locate the four onboard LEDs shown in :ref:`<js_internLED_fig>>.
They are labeled +USR0+ through +USR3+, but we'll refer to them as the +USER+ LEDs.
@@ -80,8 +82,9 @@ Using an internal LED (internLED.js)
In the +bash+ command window, enter the following commands:
.. code-block:: bash
+
bone$ cd ~/BoneCookbook/docs/03displays/code
-bone$ ./internLED.js
+ bone$ ./internLED.js
The +USER0+ LED should now be flashing.
@@ -108,10 +111,17 @@ Connect an LED to one of the GPIO pins using a series resistor to limit the curr
* 220 Ω to 470 Ω resistor (see :ref:`app resistor <app_resistor>`)
* LED (see :ref:`app opto <app_opto>`)
-.. WARNING:: The value of the current limiting resistor depends on the LED you are using. The Bone can drive only 4 to 6 mA, so you might need a larger resistor to keep from pulling too much current. A 330 Ω or 470 Ω resistor might be better.
+.. WARNING::
+ The value of the current limiting resistor depends on the LED you are using.
+ The Bone can drive only 4 to 6 mA, so you might need a larger resistor to keep
+ from pulling too much current. A 330 Ω or 470 Ω resistor might be better.
-:ref:`<displays_externLED_fig>` shows how you can wire the LED to pin 14 of the +P9+ header (+P9_14+). Every circuit in this book (:ref:`<basics_wire_breadboard>>) assumes you have already wired the rightmost bus to ground (+P9_1+) and the next bus to the left to the 3.3 V (+P9_3+) pins on the header. Be sure to get the polarity right on the LED. The _short_ lead always goes to ground.
+:ref:`<displays_externLED_fig>` shows how you can wire the LED to pin 14 of
+the +P9+ header (+P9_14+). Every circuit in this book (:ref:`<basics_wire_breadboard>>)
+assumes you have already wired the rightmost bus to ground (+P9_1+) and the next bus to
+the left to the 3.3 V (+P9_3+) pins on the header. Be sure to get the polarity right on
+the LED. The _short_ lead always goes to ground.
.. _displays_externLED_fig:
@@ -121,7 +131,8 @@ Diagram for using an external LED
:align: center
:alt: External LED
-After you've wired it, start VSC (see :ref:`basic vsc<basics_vsc>`) and find the code shown in :ref:`<py_externLED_code>>.
+After you've wired it, start VSC (see :ref:`basic vsc<basics_vsc>`)
+and find the code shown in :ref:`<py_externLED_code>>.
.. _py_externLED_code:
@@ -159,13 +170,15 @@ You want to control a device that runs at 120 V.
Solution
*************
-Working with 120 V can be tricky--even dangerous--if you aren't careful. Here's a safe way to do it.
+Working with 120 V can be tricky--even dangerous--if
+you aren't careful. Here's a safe way to do it.
To make this recipe, you will need:
* PowerSwitch Tail II (see :ref:`<app_misc>>)
-:ref:`<displays_powerSwitch_fig>` shows how you can wire the PowerSwitch Tail II to pin +P9_14+.
+:ref:`<displays_powerSwitch_fig>` shows how you can wire
+the PowerSwitch Tail II to pin +P9_14+.
.. _displays_powerSwitch_fig:
@@ -221,6 +234,7 @@ Code for using an external LED (fadeLED.js)
Discussion
*************
+
The Bone has several outputs that can be use as pwm's as shown in :ref:`<cape-headers-pwm_fig>>.
There are three +EHRPWM+'s which each has a pair of pwm channels. Each pair must have the same period.
@@ -237,6 +251,7 @@ The pwm's are accessed through +/dev/bone/pwm+
.. todo:: Should this be /dev/bone/pwm?
.. code-block:: bash
+
bone$ cd /dev/bone/pwm
bone$ ls
0 1 2
@@ -244,6 +259,7 @@ The pwm's are accessed through +/dev/bone/pwm+
Here we see six pwmchips that can be used, each has two channels. Explore one.
.. code-block:: bash
+
bone$ cd 1
bone$ ls
a b
@@ -255,13 +271,15 @@ Here we see six pwmchips that can be used, each has two channels. Explore one.
Attach in LED to P9_14 and if you set the period long enough you can see the LED flash.
.. code-block:: bash
+
bone$ echo 1000000000 > period
bone$ echo 500000000 > duty_cycle
bone$ echo 1 > enable
Your LED should now be flashing.
-:ref:`<display_pwm_mapping>` are the mapping I've figured out so far. I don't know how to get to the timers.
+:ref:`<display_pwm_mapping>` are the mapping I've figured out
+so far. I don't know how to get to the timers.
.. _display_pwm_mapping:
@@ -296,6 +314,7 @@ You have an I^2^C-based LED matrix to interface.
Solution
*************
+
There are a number of nice LED matrices that allow you to control several LEDs via one interface.
This solution uses an `Adafruit Bicolor 8x8 LED Square Pixel Matrix w/I^2^C Backpack <http://www.adafruit.com/products/902>`_.
@@ -336,11 +355,13 @@ Using I^2^C command-line tools to discover the address of the display
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: 70 -- -- -- -- -- -- --
-Here, you can see a device at +0x49+ and +0x70+. I know I have a temperature sensor at +0x49+, so the LED matrix must be at +0.70+.
+Here, you can see a device at +0x49+ and +0x70+. I know I have a temperature
+sensor at +0x49+, so the LED matrix must be at +0.70+.
Find the code in :ref:`<displays_matrix_i2c>` and run it by using the following command:
.. code-block:: bash
+
bone$ pip install smbus # (Do this only once.)
bone$ ./matrixLEDi2c.py
@@ -379,16 +400,19 @@ You have a 5 V device to drive, and the Bone has 3.3 V outputs.
Solution
*************
-If you are lucky, you might be able to drive a 5 V device from the Bone's 3.3 V output. Try it and see if it works. If not, you need a level translator.
+If you are lucky, you might be able to drive a 5 V device from the Bone's 3.3 V output.
+Try it and see if it works. If not, you need a level translator.
What you will need for this recipe:
* A PCA9306 level translator (see :ref:`app ic<app_ic>`)
* A 5 V power supply (if the Bone's 5 V power supply isn't enough)
-The PCA9306 translates signals at 3.3 V to 5 V in both directions. It's meant to work with I^2^C devices that have a pull-up resistor, but it can work with anything needing translation.
+The PCA9306 translates signals at 3.3 V to 5 V in both directions. It's meant to work with
+I^2^C devices that have a pull-up resistor, but it can work with anything needing translation.
-:ref:`<displays_i2cMatrixLevelTrans_fig>` shows how to wire a PCA9306 to an LED matrix. The left is the 3.3 V side and the right is the 5 V side. Notice that we are using the Bone's built-in 5 V power supply.
+:ref:`<displays_i2cMatrixLevelTrans_fig>` shows how to wire a PCA9306 to an LED matrix.
+The left is the 3.3 V side and the right is the 5 V side. Notice that we are using the Bone's built-in 5 V power supply.
.. _displays_i2cMatrixLevelTrans_fig:
@@ -410,12 +434,14 @@ Writing to a NeoPixel LED String Using the PRUs
Problem
*************
-You have an :ref:`Adafruit NeoPixel LED string <http://www.adafruit.com/products/1138>`_ or `Adafruit NeoPixel LED matrix <http://www.adafruit.com/products/1487>`_ and want to light it up.
+You have an :ref:`Adafruit NeoPixel LED string <http://www.adafruit.com/products/1138>`_ or
+`Adafruit NeoPixel LED matrix <http://www.adafruit.com/products/1487>`_ and want to light it up.
Solution
*************
-The PRU Cookbook has a nice discussion (https://markayoder.github.io/PRUCookbook/05blocks/blocks.html#blocks_ws2812[WS2812 (NeoPixel) driver]) on driving NeoPixels.
+The PRU Cookbook has a nice discussion
+(https://markayoder.github.io/PRUCookbook/05blocks/blocks.html#blocks_ws2812[WS2812 (NeoPixel) driver]) on driving NeoPixels.
.. _py_neoPixelMatrix_fig:
@@ -474,6 +500,7 @@ Solution
Just install the _flite_ text-to-speech program:
.. code-block:: bash
+
bone$ sudo apt install flite
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diff --git a/bone-cook-book/04motors/motors.rst b/beaglebone-cookbook/04motors/motors.rst
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index 78f6e23c60fa380a0df7539c33c0d3fa49bf5a6b..b5fb69abef7b0a2711b1a49776e4882dcb269ee3 100644
--- a/bone-cook-book/04motors/motors.rst
+++ b/beaglebone-cookbook/04motors/motors.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-motors:
+.. _beaglebone-cookbook-motors:
Motors
########
@@ -21,11 +21,19 @@ The type of motor you use depends on the type of motion you want:
When you know which type of motor to use, interfacing is easy. This chapter shows how to interface with each of these motors.
-.. note:: Motors come in many sizes and types. This chapter presents some of the more popular types and shows how they can interface easily to the Bone. If you need to turn on and off a 120 V motor, consider using something like the PowerSwitch presented in :ref:`<displays_powerSwitch>`.
+.. note::
+ Motors come in many sizes and types. This chapter presents some of the more popular
+ types and shows how they can interface easily to the Bone. If you need to turn on and
+ off a 120 V motor, consider using something like the PowerSwitch presented in :ref:`<displays_powerSwitch>`.
-.. note:: The Bone has built-in 3.3 V and 5 V supplies, which can supply enough current to drive some small motors. Many motors, however, draw enough current that an external power supply is needed. Therefore, an external 5 V power supply is listed as optional in many of the recipes.
+.. note::
+ The Bone has built-in 3.3 V and 5 V supplies, which can supply enough current to drive
+ some small motors. Many motors, however, draw enough current that an external power
+ supply is needed. Therefore, an external 5 V power supply is listed as optional in many of the recipes.
-.. note:: All the examples in the book assume you have cloned the Cookbook repository on www.github.com. Go here :ref:`<basics_repo>` for instructions.
+.. note::
+ All the examples in the book assume you have cloned the Cookbook repository on
+ www.github.com. Go here :ref:`<basics_repo>` for instructions.
.. _motors_servo:
@@ -50,11 +58,16 @@ To make the recipe, you will need:
* 1 kΩ resistor (optional, see :ref:`<app_resistor>`)
* 5 V power supply (optional, see :ref:`<app_misc>`)
-The 1 kΩ resistor isn't required, but it provides some protection to the general-purpose input/output (GPIO) pin in case the servo fails and draws a large current.
+The 1 kΩ resistor isn't required, but it provides some protection to the general-purpose
+input/output (GPIO) pin in case the servo fails and draws a large current.
Wire up your servo, as shown in :ref:`<motors_servoMotor>`.
-.. note:: There is no standard for how servo motor wires are colored. One of my servos is wired like :ref:`<motors_servoMotor>`: red is 3.3 V, black is ground, and yellow is the control line. I have another servo that has red as 3.3 V and ground is brown, with the control line being orange. Generally, though, the 3.3 V is in the middle. Check the datasheet for your servo before wiring.
+.. note::
+ There is no standard for how servo motor wires are colored. One of my servos is wired
+ like :ref:`<motors_servoMotor>`: red is 3.3 V, black is ground, and yellow is the control line.
+ I have another servo that has red as 3.3 V and ground is brown, with the control line being orange.
+ Generally, though, the 3.3 V is in the middle. Check the datasheet for your servo before wiring.
.. _motors_servoMotor:
@@ -64,7 +77,8 @@ Wire up your servo, as shown in :ref:`<motors_servoMotor>`.
Driving a servo motor with the 3.3 V power supply
-The code for controlling the servo motor is in _servoMotor.py_, shown in :ref:`<py_servoMotor_code>`. You need to configure the pin for PWM.
+The code for controlling the servo motor is in _servoMotor.py_, shown
+in :ref:`<py_servoMotor_code>`. You need to configure the pin for PWM.
.. code-block:: bash
@@ -77,12 +91,14 @@ The code for controlling the servo motor is in _servoMotor.py_, shown in :ref:`<
.. _py_servoMotor_code:
Code for driving a servo motor (servoMotor.py)
+
.. code-block:: python
include::code/servoMotor.py[]
.. _motors_servoMotor_code:
+
Code for driving a servo motor (servoMotor.js)
.. code-block:: JavaScript
@@ -111,6 +127,7 @@ Combine the code from :ref:`<digital_rotaryEncoder_js>` and :ref:`<motors_servo>
.. code-block:: bash
+
bone$ <strong>config-pin P9_16 pwm</strong>
bone$ <strong>config-pin P8_11 eqep</strong>
bone$ <strong>config-pin P8_12 eqep</strong>
@@ -127,7 +144,7 @@ Code for driving a servo motor with a rotary encorder(servoEncoder.py)
.. _motors_dcSpeed:
Controlling the Speed of a DC Motor
---------------------------------------------
+-------------------------------------
Problem
**************
@@ -137,9 +154,13 @@ You have a DC motor (or a solenoid) and want a simple way to control its speed,
Solution
**********
-It would be nice if you could just wire the DC motor to BeagleBone Black and have it work, but it won't. Most motors require more current than the GPIO ports on the Bone can supply. Our solution is to use a transistor to control the current to the bone.
+It would be nice if you could just wire the DC motor to BeagleBone Black and have it work,
+but it won't. Most motors require more current than the GPIO ports on the Bone can supply.
+Our solution is to use a transistor to control the current to the bone.
-Here we configure the encoder to returns value between 0 and 180 inclusive. This value is then mapped to a value between +min+ (0.6 ma) and +max+ (2.5 ms). This number is converted from milliseconds and nanoseconds (time 1000000) and sent to the servo motor via the pwm.
+Here we configure the encoder to returns value between 0 and 180 inclusive. This value is then
+mapped to a value between +min+ (0.6 ma) and +max+ (2.5 ms). This number is converted from
+milliseconds and nanoseconds (time 1000000) and sent to the servo motor via the pwm.
Here's what you will need:
diff --git a/bone-cook-book/05tips/code/blinkLED.c b/beaglebone-cookbook/05tips/code/blinkLED.c
similarity index 100%
rename from bone-cook-book/05tips/code/blinkLED.c
rename to beaglebone-cookbook/05tips/code/blinkLED.c
diff --git a/bone-cook-book/05tips/code/blinkLED.py b/beaglebone-cookbook/05tips/code/blinkLED.py
similarity index 100%
rename from bone-cook-book/05tips/code/blinkLED.py
rename to beaglebone-cookbook/05tips/code/blinkLED.py
diff --git a/bone-cook-book/05tips/code/ipMasquerade.sh b/beaglebone-cookbook/05tips/code/ipMasquerade.sh
similarity index 100%
rename from bone-cook-book/05tips/code/ipMasquerade.sh
rename to beaglebone-cookbook/05tips/code/ipMasquerade.sh
diff --git a/bone-cook-book/05tips/code/setDNS.sh b/beaglebone-cookbook/05tips/code/setDNS.sh
similarity index 100%
rename from bone-cook-book/05tips/code/setDNS.sh
rename to beaglebone-cookbook/05tips/code/setDNS.sh
diff --git a/bone-cook-book/05tips/figures/FTDIPins.png b/beaglebone-cookbook/05tips/figures/FTDIPins.png
similarity index 100%
rename from bone-cook-book/05tips/figures/FTDIPins.png
rename to beaglebone-cookbook/05tips/figures/FTDIPins.png
diff --git a/bone-cook-book/05tips/figures/FTDIcable.jpg b/beaglebone-cookbook/05tips/figures/FTDIcable.jpg
similarity index 100%
rename from bone-cook-book/05tips/figures/FTDIcable.jpg
rename to beaglebone-cookbook/05tips/figures/FTDIcable.jpg
diff --git a/bone-cook-book/05tips/figures/FTDIconnector.jpg b/beaglebone-cookbook/05tips/figures/FTDIconnector.jpg
similarity index 100%
rename from bone-cook-book/05tips/figures/FTDIconnector.jpg
rename to beaglebone-cookbook/05tips/figures/FTDIconnector.jpg
diff --git a/bone-cook-book/05tips/figures/cape-headers-digital.png b/beaglebone-cookbook/05tips/figures/cape-headers-digital.png
similarity index 100%
rename from bone-cook-book/05tips/figures/cape-headers-digital.png
rename to beaglebone-cookbook/05tips/figures/cape-headers-digital.png
diff --git a/bone-cook-book/05tips/figures/gedit.png b/beaglebone-cookbook/05tips/figures/gedit.png
similarity index 100%
rename from bone-cook-book/05tips/figures/gedit.png
rename to beaglebone-cookbook/05tips/figures/gedit.png
diff --git a/bone-cook-book/05tips/figures/hdmiConverter.jpg b/beaglebone-cookbook/05tips/figures/hdmiConverter.jpg
similarity index 100%
rename from bone-cook-book/05tips/figures/hdmiConverter.jpg
rename to beaglebone-cookbook/05tips/figures/hdmiConverter.jpg
diff --git a/bone-cook-book/05tips/figures/internLED.png b/beaglebone-cookbook/05tips/figures/internLED.png
similarity index 100%
rename from bone-cook-book/05tips/figures/internLED.png
rename to beaglebone-cookbook/05tips/figures/internLED.png
diff --git a/bone-cook-book/05tips/figures/latest-images.png b/beaglebone-cookbook/05tips/figures/latest-images.png
similarity index 100%
rename from bone-cook-book/05tips/figures/latest-images.png
rename to beaglebone-cookbook/05tips/figures/latest-images.png
diff --git a/bone-cook-book/05tips/figures/leafpad.png b/beaglebone-cookbook/05tips/figures/leafpad.png
similarity index 100%
rename from bone-cook-book/05tips/figures/leafpad.png
rename to beaglebone-cookbook/05tips/figures/leafpad.png
diff --git a/bone-cook-book/05tips/figures/nano.png b/beaglebone-cookbook/05tips/figures/nano.png
similarity index 100%
rename from bone-cook-book/05tips/figures/nano.png
rename to beaglebone-cookbook/05tips/figures/nano.png
diff --git a/bone-cook-book/05tips/figures/network.png b/beaglebone-cookbook/05tips/figures/network.png
similarity index 100%
rename from bone-cook-book/05tips/figures/network.png
rename to beaglebone-cookbook/05tips/figures/network.png
diff --git a/bone-cook-book/05tips/figures/npm.png b/beaglebone-cookbook/05tips/figures/npm.png
similarity index 100%
rename from bone-cook-book/05tips/figures/npm.png
rename to beaglebone-cookbook/05tips/figures/npm.png
diff --git a/bone-cook-book/05tips/figures/vi.png b/beaglebone-cookbook/05tips/figures/vi.png
similarity index 100%
rename from bone-cook-book/05tips/figures/vi.png
rename to beaglebone-cookbook/05tips/figures/vi.png
diff --git a/bone-cook-book/05tips/figures/vnc1.png b/beaglebone-cookbook/05tips/figures/vnc1.png
similarity index 100%
rename from bone-cook-book/05tips/figures/vnc1.png
rename to beaglebone-cookbook/05tips/figures/vnc1.png
diff --git a/bone-cook-book/05tips/figures/vnc2.png b/beaglebone-cookbook/05tips/figures/vnc2.png
similarity index 100%
rename from bone-cook-book/05tips/figures/vnc2.png
rename to beaglebone-cookbook/05tips/figures/vnc2.png
diff --git a/bone-cook-book/05tips/figures/vnc3.png b/beaglebone-cookbook/05tips/figures/vnc3.png
similarity index 100%
rename from bone-cook-book/05tips/figures/vnc3.png
rename to beaglebone-cookbook/05tips/figures/vnc3.png
diff --git a/bone-cook-book/05tips/figures/wicd.png b/beaglebone-cookbook/05tips/figures/wicd.png
similarity index 100%
rename from bone-cook-book/05tips/figures/wicd.png
rename to beaglebone-cookbook/05tips/figures/wicd.png
diff --git a/bone-cook-book/05tips/figures/wicdConfig.png b/beaglebone-cookbook/05tips/figures/wicdConfig.png
similarity index 100%
rename from bone-cook-book/05tips/figures/wicdConfig.png
rename to beaglebone-cookbook/05tips/figures/wicdConfig.png
diff --git a/bone-cook-book/05tips/figures/wicdConnected.png b/beaglebone-cookbook/05tips/figures/wicdConnected.png
similarity index 100%
rename from bone-cook-book/05tips/figures/wicdConnected.png
rename to beaglebone-cookbook/05tips/figures/wicdConnected.png
diff --git a/bone-cook-book/05tips/figures/wicdPassword.png b/beaglebone-cookbook/05tips/figures/wicdPassword.png
similarity index 100%
rename from bone-cook-book/05tips/figures/wicdPassword.png
rename to beaglebone-cookbook/05tips/figures/wicdPassword.png
diff --git a/bone-cook-book/05tips/figures/wicdPrefs.png b/beaglebone-cookbook/05tips/figures/wicdPrefs.png
similarity index 100%
rename from bone-cook-book/05tips/figures/wicdPrefs.png
rename to beaglebone-cookbook/05tips/figures/wicdPrefs.png
diff --git a/bone-cook-book/05tips/figures/wicdSecure.png b/beaglebone-cookbook/05tips/figures/wicdSecure.png
similarity index 100%
rename from bone-cook-book/05tips/figures/wicdSecure.png
rename to beaglebone-cookbook/05tips/figures/wicdSecure.png
diff --git a/bone-cook-book/05tips/tips.rst b/beaglebone-cookbook/05tips/tips.rst
similarity index 84%
rename from bone-cook-book/05tips/tips.rst
rename to beaglebone-cookbook/05tips/tips.rst
index d78d3c7ffe2539a0aa0eab3f36201e836627a81a..89ff503d37fa6dc721d9c96e1284a56b6f5569a1 100644
--- a/bone-cook-book/05tips/tips.rst
+++ b/beaglebone-cookbook/05tips/tips.rst
@@ -1,21 +1,27 @@
-.. _bone-cook-book-tips:
+.. _beaglebone-cookbook-tips:
Beyond the Basics
##################
Introduction
-------------------------
-In :ref:`<basics>`, you learned how to set up BeagleBone Black, and :ref:`<sensors>`, :ref:`<displays>`, and :ref:`<motors>` showed how to interface to the physical world. The remainder of the book moves into some more exciting advanced topics, and this chapter gets you ready for them.
+---------------
+
+In :ref:`<basics>`, you learned how to set up BeagleBone Black, and
+:ref:`<sensors>`, :ref:`<displays>`, and :ref:`<motors>` showed how to
+interface to the physical world. The remainder of the book moves into some
+more exciting advanced topics, and this chapter gets you ready for them.
-The recipes in this chapter assume that you are running Linux on your host computer (:ref:`<tips_pick_os>`) and are comfortable with using Linux. We continue to assume that you are logged in as +debian+ on your Bone.
+The recipes in this chapter assume that you are running Linux on your host
+computer (:ref:`<tips_pick_os>`) and are comfortable with using Linux. We
+continue to assume that you are logged in as +debian+ on your Bone.
.. _tips_hdmi:
Running Your Bone Standalone
-------------------------
+-----------------------------
Problem
-*************
+*********
You want to use BeagleBone Black as a desktop computer with keyboard, mouse, and an HDMI display.
@@ -32,9 +38,14 @@ To make this recipe, you will need:
* USB keyboard and mouse
* Powered USB hub (see :ref:`<app_misc>`)
-.. note:: The microHDMI adapter is nice because it allows you to use a regular HDMI cable with the Bone. However, it will block other ports and can damage the Bone if you aren't careful. The microHDMI-to-HDMI cable won't have these problems.
+.. note::
+ The microHDMI adapter is nice because it allows you to use a regular HDMI cable
+ with the Bone. However, it will block other ports and can damage the Bone if you
+ aren't careful. The microHDMI-to-HDMI cable won't have these problems.
-.. tip:: You can also use an HDMI-to-DVI cable (:ref:`<app_misc>`) and use your Bone with a DVI-D display.
+.. tip::
+ You can also use an HDMI-to-DVI cable (:ref:`<app_misc>`)
+ and use your Bone with a DVI-D display.
The adapter looks something like :ref:`<tips_HDMI_adaptor_fig>`.
@@ -60,24 +71,25 @@ If nothing appears after the reboot, edit the _/boot/uEnv.txt_ file. Search for
Then reboot.
-////
-PRODUCTION: in the following tip, we're trying to display the hash symbol (#), all by itself, in constant width. Using +#+ produces an empty space in the build, and I don't know how to escape special characters within what should be literal strings.
+.. PRODUCTION: in the following tip, we're trying to display the hash symbol (#), all by itself, in constant width. Using +#+ produces an empty space in the build, and I don't know how to escape special characters within what should be literal strings.
-Adding to my confusion, the # signs are dropped in the first paragraph of the tip, but not in the second, which is formatted in the same exact way.
+.. Adding to my confusion, the # signs are dropped in the first paragraph of the tip, but not in the second, which is formatted in the same exact way.
+
+.. Also, using ## in the code italicizes the second # and everything after it in the line, which should not happen.
-Also, using ## in the code italicizes the second # and everything after it in the line, which should not happen.
-////
The _/boot/uEnv.txt_ file contains a number of configuration commands that are executed at boot time. The +#+ character is used to add comments; that is, everything to the right of a +# is ignored by the Bone and is assumed to be for humans to read. In the previous example, +###Disable auto loading+ is a comment that informs us the next line(s) are for disabling things. Two +disable_uboot_overlay+ commands follow. Both should be commented-out and won't be executed by the Bon
Why not just remove the line? Later, you might decide you need more general-purpose input/output (GPIO) pins and don't need the HDMI display. If so, just remove the +#+ from the +disable_uboot_overlay_video=1+ command. If you had completely removed the line earlier, you would have to look up the details somewhere to re-create it.
When in doubt, comment-out; don't delete.
-.. note:: If you want to re-enable the HDMI audio, just comment-out the line you added.
+.. note::
+ If you want to re-enable the HDMI audio, just comment-out the line you added.
The Bone has only one USB port, so you will need to get either a keyboard with a USB hub (see :ref:`<app_misc>`) or a USB hub. Plug the USB hub into the Bone and then plug your keyboard and mouse in to the hub. You now have a Beagle workstation; no host computer is needed.
-.. tip:: A powered hub is recommended because USB can supply only 500 mA, and you'll want to plug many things into the Bone.
+.. tip::
+ A powered hub is recommended because USB can supply only 500 mA, and you'll want to plug many things into the Bone.
Discussion
*************
@@ -124,7 +136,9 @@ Solution
*************
-:ref:`<basics_vsc_IDE>` shows how to run shell commands in the Visual Studio Code +bash+ tab. However, the Bone has Secure Shell (SSH) enabled right out of the box, so you can easily connect by using the following command to log in as user +debian+, (note the +$+ at the end of the prompt):
+:ref:`<basics_vsc_IDE>` shows how to run shell commands in the Visual Studio Code +bash+ tab.
+However, the Bone has Secure Shell (SSH) enabled right out of the box, so you can easily
+connect by using the following command to log in as user +debian+, (note the +$+ at the end of the prompt):
.. code-block:: bash
@@ -184,7 +198,7 @@ Looks like I'm already in the group, but if you aren't, just add yourself to the
.. code-block:: bash
-host$ sudo adduser $USER dialout
+ host$ sudo adduser $USER dialout
You have to run +adduser+ only once. Your host computer will remember the next time you boot up. Now, install and run the +screen+ command:
@@ -228,9 +242,13 @@ To make this recipe, you will need:
* 3.3 V FTDI cable (see :ref:`<app_misc>`)
-.. warning:: Be sure to get a 3.3 V FTDI cable (shown in :ref:`<tips_FTDIcable_fig>`), because the 5 V cables won't work.
+.. warning::
+ Be sure to get a 3.3 V FTDI cable (shown in :ref:`<tips_FTDIcable_fig>`),
+ because the 5 V cables won't work.
-.. tip:: The Bone's Serial Debug J1 connector has Pin 1 connected to ground, Pin 4 to receive, and Pin 5 to transmit. The other pins are not attached.
+.. tip::
+ The Bone's Serial Debug J1 connector has Pin 1 connected to ground,
+ Pin 4 to receive, and Pin 5 to transmit. The other pins are not attached.
.. _tips_FTDIcable_fig:
@@ -241,7 +259,8 @@ To make this recipe, you will need:
FTDI cable
-Look for a small triangle at the end of the FTDI cable (:ref:`<tips_FTDIconnector_fig>`). It's often connected to the black wire.
+Look for a small triangle at the end of the FTDI cable (:ref:`<tips_FTDIconnector_fig>`).
+It's often connected to the black wire.
.. _tips_FTDIconnector_fig:
@@ -252,9 +271,9 @@ Look for a small triangle at the end of the FTDI cable (:ref:`<tips_FTDIconnecto
FTDI connector
-Next, look for the FTDI pins of the Bone (labeled +J1+ on the Bone),
-shown in :ref:`<tips_black_hardware_details_fig>`.
-They are next to the P9 header and begin near pin 20. There is a white dot near P9_20.
+Next, look for the FTDI pins of the Bone (labeled +J1+ on the Bone), shown in
+:ref:`<tips_black_hardware_details_fig>`. They are next to the P9 header
+and begin near pin 20. There is a white dot near P9_20.
.. _tips_black_hardware_details_fig:
@@ -286,7 +305,9 @@ Now, run the following commands on your host computer:
beaglebone login:
-.. note:: Your screen might initially be blank. Press Enter a couple times to see the login prompt.
+.. note::
+ Your screen might initially be blank. Press Enter
+ a couple times to see the login prompt.
Discussion
*************
@@ -313,7 +334,9 @@ Log in to your Bone and enter the following command:
Discussion
*************
-:ref:`<basics_latest_os>` shows how to open the _ID.txt_ file to see the OS version. The _/etc/dogtag_ file has the same contents and is easier to find if you already have a command prompt. See :ref:`<basics_install_os>` if you need to update your OS.
+:ref:`<basics_latest_os>` shows how to open the _ID.txt_ file to see the OS version.
+The _/etc/dogtag_ file has the same contents and is easier to find if you already
+have a command prompt. See :ref:`<basics_install_os>` if you need to update your OS.
Controlling the Bone Remotely with a VNC
------------------------
@@ -382,9 +405,13 @@ Click Connect to start graphical access to your Bone, as shown in :ref:`<tips_vn
The Remmina Remote Desktop Client showing the BeagleBone desktop
-.. tip:: You might need to resize the VNC screen on your host to see the bottom menu bar on your Bone.
+.. tip::
+ You might need to resize the VNC screen on your
+ host to see the bottom menu bar on your Bone.
-.. note:: You need to have X Windows installed and running for the VNC to work. Here's how to install it. This needs some 250M of disk space and 19 minutes to install.
+.. note::
+ You need to have X Windows installed and running for the VNC to work.
+ Here's how to install it. This needs some 250M of disk space and 19 minutes to install.
.. code-block:: bash
@@ -504,14 +531,18 @@ You want to run an editor to change a file.
Solution
*************
-The Bone comes with a number of editors. The simplest to learn is +nano+. Just enter the following command:
+The Bone comes with a number of editors. The simplest to learn is +nano+.
+Just enter the following command:
.. code-block:: bash
-bone$ nano file
+ bone$ nano file
-You are now in nano (:ref:`<tips_nano_fig>`). You can't move around the screen using the mouse, so use the arrow keys. The bottom two lines of the screen list some useful commands. Pressing ˄G (Ctrl-G) will display more useful commands. ˄X (Ctrl-X) exits nano and gives you the option of saving the file.
+You are now in nano (:ref:`<tips_nano_fig>`). You can't move around the screen
+using the mouse, so use the arrow keys. The bottom two lines of the screen
+list some useful commands. Pressing ˄G (Ctrl-G) will display more useful
+commands. ˄X (Ctrl-X) exits nano and gives you the option of saving the file.
.. _tips_nano_fig:
@@ -522,7 +553,9 @@ You are now in nano (:ref:`<tips_nano_fig>`). You can't move around the screen u
Editing a file with nano
-.. tip:: By default, the file you create will be saved in the directory from which you opened +nano+.
+.. tip::
+ By default, the file you create will be saved
+ in the directory from which you opened +nano+.
Discussion
*************
@@ -557,7 +590,8 @@ and the other end into your home hub/router. The yellow and green link lights on
The RJ45 port on the Bone
-If your router is already configured to run DHCP (Dynamical Host Configuration Protocol), it will automatically assign an IP address to the Bone.
+If your router is already configured to run DHCP (Dynamical Host Configuration Protocol),
+it will automatically assign an IP address to the Bone.
.. warning:: It might take a minute or two for your router to detect the Bone and assign the IP address.
@@ -602,9 +636,12 @@ The +inet+ field shows that my Internet address is +10.0.5.144+ for the RJ45 con
On my university campus, you must register your MAC address before any device will work on the network.
The +HWaddr+ field gives the MAC address. For +eth0+, it's +c8:a0:30:a6:26:e8+.
-The IP address of your Bone can change. If it's been assigned by DHCP, it can change at any time. The MAC address, however, never changes; it is assigned to your ethernet device when it's manufactured.
+The IP address of your Bone can change. If it's been assigned by DHCP, it can change at any time.
+The MAC address, however, never changes; it is assigned to your ethernet device when it's manufactured.
-.. warning:: When a Bone is connected to some networks it becomes visible to the _world_. If you don't secure your Bone, the world will soon find it. See :ref:`<tips_passwords>` and :ref:`<tips_firewall
+.. warning::
+ When a Bone is connected to some networks it becomes visible to the _world_. If you don't secure your Bone,
+ the world will soon find it. See :ref:`<tips_passwords>` and :ref:`<tips_firewall
On many home networks, you will be behind a firewall and won't be as visible.
@@ -658,7 +695,9 @@ To make this recipe, you will need:
* USB Wifi adapter (see :ref:`<app_misc>`)
* 5 V external power supply (see :ref:`<app_misc>`)
-.. warning:: Most adapters need at least 1 A of current to run, and USB supplies only 0.5 A, so be sure to use an external power supply. Otherwise, you will experience erratic behavior and random crashes.
+.. warning::
+ Most adapters need at least 1 A of current to run, and USB supplies only 0.5 A, so be sure to use an
+ external power supply. Otherwise, you will experience erratic behavior and random crashes.
First, plug in the WiFi adapter and the 5 V external power supply and reboot.
@@ -723,7 +762,7 @@ If no name appears, try +ip a+:
.. code-block:: bash
-bone$ sudo nano /etc/wpa_supplicant/wpa_supplicant-wlan0.conf
+ bone$ sudo nano /etc/wpa_supplicant/wpa_supplicant-wlan0.conf
In the file you'll see:
@@ -870,7 +909,8 @@ Web servers typically listen to port +80+. First, look up the IP address of your
It's the number following +inet addr:+, which in my case is +137.112.41.35+.
-.. tip:: If you are on a wireless network, find the IP address associated with +wlan0+.
+.. tip::
+ If you are on a wireless network, find the IP address associated with +wlan0+.
Then run the following, using your host's IP address:
@@ -909,6 +949,7 @@ Check out https://www.howtogeek.com/devops/how-to-secure-your-linux-server-with-
I'll summarize the initial setup here.
First install and check the status:
+
.. code-block:: bash
bone$ sudo apt install ufw
@@ -917,6 +958,7 @@ First install and check the status:
Now turn off everything coming in and leave on all outgoing. Note, this won't take effect until +ufw+ is enabled.
+
.. code-block:: bash
bone$ sudo ufw default deny incoming
@@ -924,6 +966,7 @@ Now turn off everything coming in and leave on all outgoing. Note, this won't t
Don't enable yet, make sure +ssh+ still has access
+
.. code-block:: bash
bone$ sudo ufw allow 22
@@ -973,8 +1016,8 @@ The firewall will remain on, even after a reboot. Disable it now if you don't wa
.. code-block:: bash
-bone$ sudo ufw disable
-Firewall stopped and disabled on system startup
+ bone$ sudo ufw disable
+ Firewall stopped and disabled on system startup
See the How-To Geek article for more examples.
@@ -995,7 +1038,9 @@ You want to do more cool things with your BeagleBone by installing more programs
Solution
*************
-.. warning:: Your Bone needs to be on the network for this to work. See :ref:`<networking_wired>`, :ref:`<networking_wireless>`, or :ref:`<networking_usb>`.
+.. warning::
+ Your Bone needs to be on the network for this to work. See :ref:`<networking_wired>`,
+ :ref:`<networking_wireless>`, or :ref:`<networking_usb>`.
The easiest way to install more software is to use +apt+:
@@ -1005,7 +1050,10 @@ The easiest way to install more software is to use +apt+:
bone$ sudo apt install "name of software"
-A +sudo+ is necessary since you aren't running as +root+. The first command downloads package lists from various repositories and updates them to get information on the newest versions of packages and their dependencies. (You need to run it only once a week or so.) The second command fetches the software and installs it and all packages it depends on.
+A +sudo+ is necessary since you aren't running as +root+. The first command downloads
+package lists from various repositories and updates them to get information on the
+newest versions of packages and their dependencies. (You need to run it only once a week or so.)
+The second command fetches the software and installs it and all packages it depends on.
How do you find out what software you can install? Try running this:
@@ -1027,7 +1075,7 @@ Suppose that you would like to install an online dictionary (+dict+). Just run t
.. code-block:: bash
-bone$ sudo apt install dict
+ bone$ sudo apt install dict
Now you can run +dict+.
@@ -1035,12 +1083,10 @@ Now you can run +dict+.
Discussion
*************
-
-
.. _tips_apt_remove:
Removing Packages Installed with apt
-------------------------
+-------------------------------------
Problem
*************
@@ -1054,18 +1100,18 @@ Solution
.. code-block:: bash
-bone$ sudo apt remove dict
-Reading package lists... Done
-Building dependency tree
-Reading state information... Done
-The following packages were automatically installed and are no longer required:
- libmaa3 librecode0 recode
-Use 'apt autoremove' to remove them.
-The following packages will be REMOVED:
- dict
-0 upgraded, 0 newly installed, 1 to remove and 27 not upgraded.
-After this operation, 164 kB disk space will be freed.
-Do you want to continue [Y/n]? y
+ bone$ sudo apt remove dict
+ Reading package lists... Done
+ Building dependency tree
+ Reading state information... Done
+ The following packages were automatically installed and are no longer required:
+ libmaa3 librecode0 recode
+ Use 'apt autoremove' to remove them.
+ The following packages will be REMOVED:
+ dict
+ 0 upgraded, 0 newly installed, 1 to remove and 27 not upgraded.
+ After this operation, 164 kB disk space will be freed.
+ Do you want to continue [Y/n]? y
Discussion
@@ -1162,7 +1208,9 @@ Removing preinstalled packages
You might not need a few things that come preinstalled in the Debian image, including such things as OpenCV, the Chromium web browser, and some documentation.
-.. note:: The Chromium web browser is the open source version of Google's Chrome web browser. Unless you are using the Bone as a desktop computer, you can probably remove it.
+.. note::
+ The Chromium web browser is the open source version of Google's Chrome web browser.
+ Unless you are using the Bone as a desktop computer, you can probably remove it.
Here's how you can remove these:
@@ -1288,7 +1336,7 @@ Discussion
.. _misc_libsoc:
Using C to Interact with the Physical World
-------------------------
+--------------------------------------------
Problem
*************
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rename to beaglebone-cookbook/06iot/figures/node-disc-out-setup.png
diff --git a/bone-cook-book/06iot/figures/node-disc-out.png b/beaglebone-cookbook/06iot/figures/node-disc-out.png
similarity index 100%
rename from bone-cook-book/06iot/figures/node-disc-out.png
rename to beaglebone-cookbook/06iot/figures/node-disc-out.png
diff --git a/bone-cook-book/06iot/figures/node-red.png b/beaglebone-cookbook/06iot/figures/node-red.png
similarity index 100%
rename from bone-cook-book/06iot/figures/node-red.png
rename to beaglebone-cookbook/06iot/figures/node-red.png
diff --git a/bone-cook-book/06iot/figures/node-twitter-auth.png b/beaglebone-cookbook/06iot/figures/node-twitter-auth.png
similarity index 100%
rename from bone-cook-book/06iot/figures/node-twitter-auth.png
rename to beaglebone-cookbook/06iot/figures/node-twitter-auth.png
diff --git a/bone-cook-book/06iot/figures/node-twitter-auth2.png b/beaglebone-cookbook/06iot/figures/node-twitter-auth2.png
similarity index 100%
rename from bone-cook-book/06iot/figures/node-twitter-auth2.png
rename to beaglebone-cookbook/06iot/figures/node-twitter-auth2.png
diff --git a/bone-cook-book/06iot/figures/node-twitter-auth3.png b/beaglebone-cookbook/06iot/figures/node-twitter-auth3.png
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rename from bone-cook-book/06iot/figures/node-twitter-auth3.png
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diff --git a/bone-cook-book/06iot/figures/node-twitter-beagle.png b/beaglebone-cookbook/06iot/figures/node-twitter-beagle.png
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diff --git a/bone-cook-book/06iot/figures/node-twitter-debug.png b/beaglebone-cookbook/06iot/figures/node-twitter-debug.png
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diff --git a/bone-cook-book/06iot/figures/node-twitter.png b/beaglebone-cookbook/06iot/figures/node-twitter.png
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diff --git a/bone-cook-book/06iot/figures/nodeServer.png b/beaglebone-cookbook/06iot/figures/nodeServer.png
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rename from bone-cook-book/06iot/figures/nodeServer.png
rename to beaglebone-cookbook/06iot/figures/nodeServer.png
diff --git a/bone-cook-book/06iot/figures/nodeTest.png b/beaglebone-cookbook/06iot/figures/nodeTest.png
similarity index 100%
rename from bone-cook-book/06iot/figures/nodeTest.png
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diff --git a/bone-cook-book/06iot/figures/processingDemo.html b/beaglebone-cookbook/06iot/figures/processingDemo.html
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rename from bone-cook-book/06iot/figures/processingDemo.html
rename to beaglebone-cookbook/06iot/figures/processingDemo.html
diff --git a/bone-cook-book/06iot/figures/xbee.fzz b/beaglebone-cookbook/06iot/figures/xbee.fzz
similarity index 100%
rename from bone-cook-book/06iot/figures/xbee.fzz
rename to beaglebone-cookbook/06iot/figures/xbee.fzz
diff --git a/bone-cook-book/06iot/figures/xbee_bb.png b/beaglebone-cookbook/06iot/figures/xbee_bb.png
similarity index 100%
rename from bone-cook-book/06iot/figures/xbee_bb.png
rename to beaglebone-cookbook/06iot/figures/xbee_bb.png
diff --git a/bone-cook-book/06iot/iot.rst b/beaglebone-cookbook/06iot/iot.rst
similarity index 94%
rename from bone-cook-book/06iot/iot.rst
rename to beaglebone-cookbook/06iot/iot.rst
index aad754c7b3f1397a5b0ef7671788558f0906b4f7..22df18ea064dab4b23928be7100ee4f893b18c71 100644
--- a/bone-cook-book/06iot/iot.rst
+++ b/beaglebone-cookbook/06iot/iot.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-iot:
+.. _beaglebone-cookbook-iot:
Internet of Things
####################
@@ -13,7 +13,7 @@ wirelessly (:ref:`<networking_wireless>`), or through the USB to a host and then
Now that you're online, this chapter offers various things to do with your connection.
Accessing Your Host Computer's Files on the Bone
----------------------------------------------
+-------------------------------------------------
Problem
*********
@@ -65,7 +65,7 @@ and then access:
Here, we are accessing the files on the Bone as +debian+. We’ve mounted the entire file system, starting with +/+, so you can access any file. Of course, with great power comes great responsibility, so be careful.
Discussion
-*********
+************
The +sshfs+ command gives you easy access from one computer to another. When you are done, you can unmount the files by using the following commands:
@@ -107,7 +107,9 @@ A sample web page (test.html)
You will see the web page shown in :ref:`<networking_node_page>`.
.. _networking_node_page:
-.test.html as served by nginx
+
+test.html as served by nginx
+
.. figure:: figures/nginxTest.png
:align: center
:alt: test.html served by nginx
@@ -356,7 +358,8 @@ or
http://192.168.7.2:8081/ledRed/off
-For the above example, *ledRed* is the “deviceName†and *on* or *off* are examples of possible “actionâ€. Those routes will be identified and properly “workedâ€. The main steps are:
+For the above example, *ledRed* is the “deviceName†and *on* or *off* are examples of
+possible “actionâ€. Those routes will be identified and properly “workedâ€. The main steps are:
* Convert the string “ledREDâ€, for example, on its equivalent GPIO pin.
@@ -876,6 +879,7 @@ Installing Node-RED
To install Node-RED, run the following commands:
.. code-block:: bash
+
bone$ cd # Change to home directory
bone$ git clone https://github.com/node-red/node-red.git
bone$ cd node-red/
@@ -955,7 +959,8 @@ Node-RED twitter authorization, step 2
.. [start=5]
-- Click the "here" link, as shown in :ref:`<networking_node_twitter_auth2_fig>`, and you'll be taken to Twitter to authorize Node-RED.
+- Click the "here" link, as shown in :ref:`<networking_node_twitter_auth2_fig>`, and you'll
+be taken to Twitter to authorize Node-RED.
- Log in to Twitter and click the "Authorize app" button (:ref:`<networking_node_twitter_auth3_fig>`).
@@ -969,7 +974,9 @@ Node-RED Twitter site authorization
.. [start=7]
-- When you're back to Node-RED, click the Add button, add your Twitter credentials, enter the hashtags to respond to (:ref:`<networking_node_twitter_beagle_fig>`), and then click the Ok pass:[<span class="keep-together">button</span>].
+- When you're back to Node-RED, click the Add button, add your Twitter credentials,
+enter the hashtags to respond to (:ref:`<networking_node_twitter_beagle_fig>`), and then
+click the Ok pass:[<span class="keep-together">button</span>].
.. _networking_node_twitter_beagle_fig:
@@ -1034,7 +1041,7 @@ Click Ok and then Deploy.
Test again. The LED will toggle every time the hashtag +#BeagleBone+ is tweeted. With a little more exploring, you should be able to have your Bone ringing a bell or spinning a motor in response to tweets.
Discussion
-*********
+***********
Communicating over a Serial Connection to an Arduino or LaunchPad
-------------------------------------------------------------------
@@ -1065,9 +1072,8 @@ Wiring a LaunchPad to a Bone via the common serial port
:align: center
:alt: MSP430 LaunchPad
-Add the code (or _sketch_, as it's called in Arduino-speak) in
-:ref:`<js_launchPad_code>` to a file called _launchPad.ino_
-and run it on your LaunchPad.
+Add the code (or _sketch_, as it's called in Arduino-speak) in :ref:`<js_launchPad_code>`
+to a file called _launchPad.ino_ and run it on your LaunchPad.
.. _js_launchPad_code:
@@ -1128,7 +1134,7 @@ Code for communicating via the UART (launchPad.js)
Table of UART outputs
Discussion
-*********
+************
When you run the script in :ref:`<js_launchPadBeagle_code>`, the Bone opens up the
serial port and every second sends a new command, either +r+ or +g+.
diff --git a/bone-cook-book/07kernel/code/Makefile b/beaglebone-cookbook/07kernel/code/Makefile
similarity index 100%
rename from bone-cook-book/07kernel/code/Makefile
rename to beaglebone-cookbook/07kernel/code/Makefile
diff --git a/bone-cook-book/07kernel/code/Makefile.display b/beaglebone-cookbook/07kernel/code/Makefile.display
similarity index 100%
rename from bone-cook-book/07kernel/code/Makefile.display
rename to beaglebone-cookbook/07kernel/code/Makefile.display
diff --git a/bone-cook-book/07kernel/code/hello.c b/beaglebone-cookbook/07kernel/code/hello.c
similarity index 100%
rename from bone-cook-book/07kernel/code/hello.c
rename to beaglebone-cookbook/07kernel/code/hello.c
diff --git a/bone-cook-book/07kernel/code/hello.patch b/beaglebone-cookbook/07kernel/code/hello.patch
similarity index 100%
rename from bone-cook-book/07kernel/code/hello.patch
rename to beaglebone-cookbook/07kernel/code/hello.patch
diff --git a/bone-cook-book/07kernel/code/helloWorld.c b/beaglebone-cookbook/07kernel/code/helloWorld.c
similarity index 100%
rename from bone-cook-book/07kernel/code/helloWorld.c
rename to beaglebone-cookbook/07kernel/code/helloWorld.c
diff --git a/bone-cook-book/07kernel/figures/KernelConfig3.16.png b/beaglebone-cookbook/07kernel/figures/KernelConfig3.16.png
similarity index 100%
rename from bone-cook-book/07kernel/figures/KernelConfig3.16.png
rename to beaglebone-cookbook/07kernel/figures/KernelConfig3.16.png
diff --git a/bone-cook-book/07kernel/figures/cape-headers-digitalGPIO7.png b/beaglebone-cookbook/07kernel/figures/cape-headers-digitalGPIO7.png
similarity index 100%
rename from bone-cook-book/07kernel/figures/cape-headers-digitalGPIO7.png
rename to beaglebone-cookbook/07kernel/figures/cape-headers-digitalGPIO7.png
diff --git a/bone-cook-book/07kernel/kernel.rst b/beaglebone-cookbook/07kernel/kernel.rst
similarity index 88%
rename from bone-cook-book/07kernel/kernel.rst
rename to beaglebone-cookbook/07kernel/kernel.rst
index 359f4c5463a6a8e0fe5ca1946b1faa95f6cfd34a..7b0966b78ba324c9bc7d0e1104b96856f8fdcdb3 100644
--- a/bone-cook-book/07kernel/kernel.rst
+++ b/beaglebone-cookbook/07kernel/kernel.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-kernel:
+.. _beaglebone-cookbook-kernel:
The Kernel
###########
@@ -16,11 +16,13 @@ can have multiple kernels on your system at the same time and select from among
// TODO is this still true?
-.. note:: We assume here that you are logged on to your Bone as +root+ and superuser privileges. You also need to be logged in to your Linux host computer as a nonsuperuser.
+.. note::
+ We assume here that you are logged on to your Bone as +root+ and superuser privileges.
+ You also need to be logged in to your Linux host computer as a nonsuperuser.
Updating the Kernel
----------------------------------
+---------------------
Problem
***********
@@ -109,13 +111,16 @@ When compiling on the Bone, all you need to do is load the Kernel Headers for th
.. code-block:: bash
-bone$ sudo apt install linux-headers-`uname -r`
+ bone$ sudo apt install linux-headers-`uname -r`
-.. note:: ((("` character (backtick)")))((("backtick (`) character")))The quotes around +`uname -r`+ are backtick characters. On a United States keyboard, the backtick key is to the left of the 1 key.
+.. note::
+ The quotes around +`uname -r`+ are backtick characters. On a United States keyboard,
+ the backtick key is to the left of the 1 key.
-This took a little more than three minutes on my Bone. The +`uname -r`+ part of the command looks up what version of the kernel you are running and loads the headers for it.
+This took a little more than three minutes on my Bone. The +`uname -r`+ part of the command
+looks up what version of the kernel you are running and loads the headers for it.
Next, add the code in :ref:`<kernel_Makefle>` to a file called _Makefile_.
@@ -129,7 +134,9 @@ Simple Kernel Module (_Makefile_)
-.. note:: Replace the two instances of +<TAB>+ with a tab character (the key left of the Q key on a United States keyboard). The tab characters are very important to makefiles and must appear as shown.
+.. note::
+ Replace the two instances of +<TAB>+ with a tab character (the key left of the Q key on a United States keyboard).
+ The tab characters are very important to makefiles and must appear as shown.
Now, compile the kernel module by using the +make+ command:
@@ -262,6 +269,7 @@ First, you need to map the +P9+ header location to GPIO number using :ref:`<kern
.. _kernel_gpio_map_fig:
.Mapping P9_42 header position to GPIO 7
+
.. figure:: figures/cape-headers-digitalGPIO7.png
:align: center
:alt: Mapping Header Position to GPIO Numbers
@@ -367,7 +375,9 @@ Solution
This is easier than it sounds, thanks to some very powerful scripts.
-.. warning:: Be sure to run this recipe on your host computer. The Bone has enough computational power to compile a module or two, but compiling the entire kernel takes lots of time and resourses.
+.. warning::
+ Be sure to run this recipe on your host computer. The Bone has enough computational
+ power to compile a module or two, but compiling the entire kernel takes lots of time and resourses.
Downloading and Compiling the Kernel
@@ -456,12 +466,15 @@ Now, while in the _bb-kernel_ directory, run the following command:
Are you 100% sure, on selecting [/dev/sdb] (y/n)? y
-The script lists the partitions it sees and asks if you have the correct one. If you are sure, press Y, and the script will uncompress and copy the files to the correct locations on your card. When this is finished, eject your card, plug it into the Bone, and boot it up. Run +uname -a+, and you will see that you are running your compiled kernel.
+The script lists the partitions it sees and asks if you have the correct one.
+If you are sure, press Y, and the script will uncompress and copy the files to
+the correct locations on your card. When this is finished, eject your card, plug
+it into the Bone, and boot it up. Run +uname -a+, and you
+will see that you are running your compiled kernel.
Discussion
***********
-
.. _kernel_using_cross_compiler:
Using the Installed Cross Compiler
@@ -470,7 +483,8 @@ Using the Installed Cross Compiler
Problem
***********
-You have followed the instructions in :ref:`<kernel_compiling>` and want to use the cross compiler it has downloaded.
+You have followed the instructions in :ref:`<kernel_compiling>`
+and want to use the cross compiler it has downloaded.
[TIP]
@@ -488,7 +502,10 @@ Then skip down to :ref:`<kernel_skip_to_here>`.
Solution
***********
-:ref:`<kernel_compiling>` installs a cross compiler, but you need to set up a couple of things so that it can be found. :ref:`<kernel_compiling>` installed the kernel and other tools in a directory called _bb-kernel_. Run the following commands to find the path to the cross compiler:
+:ref:`<kernel_compiling>` installs a cross compiler, but you need to set up a
+couple of things so that it can be found. :ref:`<kernel_compiling>` installed the
+kernel and other tools in a directory called _bb-kernel_. Run the
+following commands to find the path to the cross compiler:
.. code-block:: bash
@@ -498,7 +515,8 @@ Solution
gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux.tar.xz
-Here, the path to the cross compiler contains the version number of the compiler. Yours might be different from mine. +cd+ into it:
+Here, the path to the cross compiler contains the version number
+of the compiler. Yours might be different from mine. +cd+ into it:
.. code-block:: bash
@@ -532,7 +550,8 @@ At this point, we are interested in what's in _bin_:
arm-linux-gnueabihf-gdb arm-linux-gnueabihf-strip
-What you see are all the cross-development tools. You need to add this directory to the +$PATH+ the shell uses to find the commands it runs:
+What you see are all the cross-development tools. You need to add this directory
+to the +$PATH+ the shell uses to find the commands it runs:
.. code-block:: bash
@@ -545,7 +564,9 @@ What you see are all the cross-development tools. You need to add this directory
/usr/games:/usr/local/games
-The first command displays the path to the directory where the cross-development tools are located. The second shows which directories are searched to find commands to be run. Currently, the cross-development tools are not in the +$PATH+. Let's add it:
+The first command displays the path to the directory where the cross-development
+tools are located. The second shows which directories are searched to find commands
+to be run. Currently, the cross-development tools are not in the +$PATH+. Let's add it:
.. code-block:: bash
@@ -557,7 +578,8 @@ The first command displays the path to the directory where the cross-development
/usr/games:/usr/local/games
-.. note:: Those are backtick characters (left of the "1" key on your keyboard) around +pwd+.((("` character (backtick)")))((("backtick (`) character")))
+.. note::
+ Those are backtick characters (left of the "1" key on your keyboard) around +pwd+.
The second line shows the +$PATH+ now contains the directory with the cross-development tools.
@@ -658,7 +680,8 @@ Look in the _hello_ directory to see what was created:
Discussion
***********
-:ref:`<kernel_building_modules>` shows how to build and install a module, and :ref:`<kernel_create_patch>` shows how to create your own patch file.
+:ref:`<kernel_building_modules>` shows how to build and install a module, and :ref:`<kernel_create_patch>`
+shows how to create your own patch file.
.. _kernel_create_patch:
@@ -671,6 +694,7 @@ You made a few changes to the kernel, and you want to share them with your frien
Solution
***********
+
Create a patch file that contains just the changes you have made. Before making your changes, check out a new branch:
.. code-block:: bash
diff --git a/bone-cook-book/08realtime/code/pushLED.c b/beaglebone-cookbook/08realtime/code/pushLED.c
similarity index 100%
rename from bone-cook-book/08realtime/code/pushLED.c
rename to beaglebone-cookbook/08realtime/code/pushLED.c
diff --git a/bone-cook-book/08realtime/code/pushLED.js b/beaglebone-cookbook/08realtime/code/pushLED.js
similarity index 100%
rename from bone-cook-book/08realtime/code/pushLED.js
rename to beaglebone-cookbook/08realtime/code/pushLED.js
diff --git a/bone-cook-book/08realtime/code/pushLED.py b/beaglebone-cookbook/08realtime/code/pushLED.py
similarity index 100%
rename from bone-cook-book/08realtime/code/pushLED.py
rename to beaglebone-cookbook/08realtime/code/pushLED.py
diff --git a/bone-cook-book/08realtime/code/pushLEDmmap.c b/beaglebone-cookbook/08realtime/code/pushLEDmmap.c
similarity index 100%
rename from bone-cook-book/08realtime/code/pushLEDmmap.c
rename to beaglebone-cookbook/08realtime/code/pushLEDmmap.c
diff --git a/bone-cook-book/08realtime/code/pushLEDmmap.h b/beaglebone-cookbook/08realtime/code/pushLEDmmap.h
similarity index 100%
rename from bone-cook-book/08realtime/code/pushLEDmmap.h
rename to beaglebone-cookbook/08realtime/code/pushLEDmmap.h
diff --git a/bone-cook-book/08realtime/code/rt/cyclictest.png b/beaglebone-cookbook/08realtime/code/rt/cyclictest.png
similarity index 100%
rename from bone-cook-book/08realtime/code/rt/cyclictest.png
rename to beaglebone-cookbook/08realtime/code/rt/cyclictest.png
diff --git a/bone-cook-book/08realtime/code/rt/hist.gen b/beaglebone-cookbook/08realtime/code/rt/hist.gen
similarity index 100%
rename from bone-cook-book/08realtime/code/rt/hist.gen
rename to beaglebone-cookbook/08realtime/code/rt/hist.gen
diff --git a/bone-cook-book/08realtime/code/rt/hist.plt b/beaglebone-cookbook/08realtime/code/rt/hist.plt
similarity index 100%
rename from bone-cook-book/08realtime/code/rt/hist.plt
rename to beaglebone-cookbook/08realtime/code/rt/hist.plt
diff --git a/bone-cook-book/08realtime/code/rt/install.sh b/beaglebone-cookbook/08realtime/code/rt/install.sh
similarity index 100%
rename from bone-cook-book/08realtime/code/rt/install.sh
rename to beaglebone-cookbook/08realtime/code/rt/install.sh
diff --git a/bone-cook-book/08realtime/code/rt/setup.sh b/beaglebone-cookbook/08realtime/code/rt/setup.sh
similarity index 100%
rename from bone-cook-book/08realtime/code/rt/setup.sh
rename to beaglebone-cookbook/08realtime/code/rt/setup.sh
diff --git a/bone-cook-book/08realtime/figures/kernel_update.png b/beaglebone-cookbook/08realtime/figures/kernel_update.png
similarity index 100%
rename from bone-cook-book/08realtime/figures/kernel_update.png
rename to beaglebone-cookbook/08realtime/figures/kernel_update.png
diff --git a/bone-cook-book/08realtime/figures/pushLED.fzz b/beaglebone-cookbook/08realtime/figures/pushLED.fzz
similarity index 100%
rename from bone-cook-book/08realtime/figures/pushLED.fzz
rename to beaglebone-cookbook/08realtime/figures/pushLED.fzz
diff --git a/bone-cook-book/08realtime/figures/pushLED_bb.png b/beaglebone-cookbook/08realtime/figures/pushLED_bb.png
similarity index 100%
rename from bone-cook-book/08realtime/figures/pushLED_bb.png
rename to beaglebone-cookbook/08realtime/figures/pushLED_bb.png
diff --git a/bone-cook-book/08realtime/figures/pushLEDmmap.fzz b/beaglebone-cookbook/08realtime/figures/pushLEDmmap.fzz
similarity index 100%
rename from bone-cook-book/08realtime/figures/pushLEDmmap.fzz
rename to beaglebone-cookbook/08realtime/figures/pushLEDmmap.fzz
diff --git a/bone-cook-book/08realtime/figures/pushLEDmmap_bb.png b/beaglebone-cookbook/08realtime/figures/pushLEDmmap_bb.png
similarity index 100%
rename from bone-cook-book/08realtime/figures/pushLEDmmap_bb.png
rename to beaglebone-cookbook/08realtime/figures/pushLEDmmap_bb.png
diff --git a/bone-cook-book/08realtime/figures/pushLEDpru.fzz b/beaglebone-cookbook/08realtime/figures/pushLEDpru.fzz
similarity index 100%
rename from bone-cook-book/08realtime/figures/pushLEDpru.fzz
rename to beaglebone-cookbook/08realtime/figures/pushLEDpru.fzz
diff --git a/bone-cook-book/08realtime/figures/pushLEDpru_bb.png b/beaglebone-cookbook/08realtime/figures/pushLEDpru_bb.png
similarity index 100%
rename from bone-cook-book/08realtime/figures/pushLEDpru_bb.png
rename to beaglebone-cookbook/08realtime/figures/pushLEDpru_bb.png
diff --git a/bone-cook-book/08realtime/old/pruSpeak.py b/beaglebone-cookbook/08realtime/old/pruSpeak.py
similarity index 100%
rename from bone-cook-book/08realtime/old/pruSpeak.py
rename to beaglebone-cookbook/08realtime/old/pruSpeak.py
diff --git a/bone-cook-book/08realtime/old/thumb.patch b/beaglebone-cookbook/08realtime/old/thumb.patch
similarity index 100%
rename from bone-cook-book/08realtime/old/thumb.patch
rename to beaglebone-cookbook/08realtime/old/thumb.patch
diff --git a/bone-cook-book/08realtime/old/xenomaiConfig.png b/beaglebone-cookbook/08realtime/old/xenomaiConfig.png
similarity index 100%
rename from bone-cook-book/08realtime/old/xenomaiConfig.png
rename to beaglebone-cookbook/08realtime/old/xenomaiConfig.png
diff --git a/bone-cook-book/08realtime/realtime.rst b/beaglebone-cookbook/08realtime/realtime.rst
similarity index 89%
rename from bone-cook-book/08realtime/realtime.rst
rename to beaglebone-cookbook/08realtime/realtime.rst
index c7ed6bb72b8e7bc3e38280eea1cb3f39bd604348..a69b133b4a1727a080f67e9e312c4c0aae364d47 100644
--- a/bone-cook-book/08realtime/realtime.rst
+++ b/beaglebone-cookbook/08realtime/realtime.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-realtime:
+.. _beaglebone-cookbook-realtime:
Real-Time I/O
###############
@@ -162,7 +162,8 @@ Your C code isn't responding fast enough to the input signal. You want to read t
Solution
**********
-The solution is to use a simple utility called +devmem2+, with which you can read and write registers from the command line.
+The solution is to use a simple utility called +devmem2+, with which
+you can read and write registers from the command line.
.. warning::
@@ -179,7 +180,8 @@ First, download and install +devmem2+:
bone$ <strong>sudo mv devmem2 /usr/bin</strong>
This solution will read a pushbutton attached to +P9_42+ and flash an LED attached to +P9_13+. Note that this is a
-change from the previous solutions that makes the code used here much simpler. Wire up your Bone as shown in :ref:`<realtime_pushLEDmmap_fig>`.
+change from the previous solutions that makes the code used here much simpler. Wire up your Bone as
+shown in :ref:`<realtime_pushLEDmmap_fig>`.
.. _realtime_pushLEDmmap_fig:
@@ -204,7 +206,11 @@ Finding +P9_13+ at GPIO 31, export GPIO 31 and make it an output:
The LED will turn on when +1+ is echoed into +value+ and off when +0+ is echoed.
-Now that you know the LED is working, look up its memory address. This is where things get very detailed. First, download the http://bit.ly/1B4Cm45[AM335x Technical Reference Manual]. Look up +GPIO0+ in the Memory Map chapter (sensors). Table 2-2 indicates that +GPIO0+ starts at address +0x44E0_7000+. Then go to Section 25.4.1, "GPIO Registers." This shows that +GPIO_DATAIN+ has an offset of +0x138+, +GPIO_CLEARDATAOUT+ has an offset of +0x190+, and +GPIO_SETDATAOUT+ has an offset of +0x194+.
+Now that you know the LED is working, look up its memory address. This is where things get very detailed.
+First, download the http://bit.ly/1B4Cm45[AM335x Technical Reference Manual]. Look up +GPIO0+ in the
+Memory Map chapter (sensors). Table 2-2 indicates that +GPIO0+ starts at address +0x44E0_7000+. Then
+go to Section 25.4.1, "GPIO Registers." This shows that +GPIO_DATAIN+ has an offset of +0x138+, +GPIO_CLEARDATAOUT+
+has an offset of +0x190+, and +GPIO_SETDATAOUT+ has an offset of +0x194+.
This means you read from address +0x44E0_7000+ + +0x138+ = +0x44E0_7138+ to see the status of the LED:
@@ -216,7 +222,9 @@ This means you read from address +0x44E0_7000+ + +0x138+ = +0x44E0_7138+ to see
Value at address 0x44E07138 (0xb6f8e138): 0xC000C404
-The returned value +0xC000C404+ (+1100 0000 0000 0000 1100 0100 0000 0100+ in binary) has bit 31 set to +1+, which means the LED is on. Turn the LED off by writing +0x80000000+ (+1000 0000 0000 0000 0000 0000 0000 0000+ binary) to the +GPIO_CLEARDATA+ register at +0x44E0_7000+ + +0x190+ = +0x44E0_7190+:
+The returned value +0xC000C404+ (+1100 0000 0000 0000 1100 0100 0000 0100+ in binary) has bit 31 set to +1+,
+which means the LED is on. Turn the LED off by writing +0x80000000+ (+1000 0000 0000 0000 0000 0000 0000 0000+ binary)
+to the +GPIO_CLEARDATA+ register at +0x44E0_7000+ + +0x190+ = +0x44E0_7190+:
.. code-block:: bash
@@ -334,7 +342,8 @@ Solution
The Kernel can be compiled with PREEMPT_RT enabled which reduces the delay from when a thread is scheduled to when it runs.
-Switching to a PREEMPT_RT kernel is rather easy, but be sure to follow the steps in the Discussion to see how much the latencies are reduced.
+Switching to a PREEMPT_RT kernel is rather easy, but be sure to follow the steps in the
+Discussion to see how much the latencies are reduced.
* First see which kernel you are running:
@@ -349,6 +358,7 @@ Switching to a PREEMPT_RT kernel is rather easy, but be sure to follow the steps
.. _realtime_kernel_update_fig:
The regular and RT kernels
+
.. figure:: figures/kernel_update.pn
:align: centerg
:alt: The regular and RT kernels
@@ -403,7 +413,8 @@ Cyclictest
**********
+cyclictest+ is one tool for measuring the latency from when a thread is schduled and when it runs.
-The +code/rt+ directory in the git repo has some scripts for gathering latency data and plotting it. Here's how to run the scripts.
+The +code/rt+ directory in the git repo has some scripts for gathering latency data and plotting it.
+Here's how to run the scripts.
* First look in :ref:`<realtime_install_fig>` to see what to install.
@@ -420,7 +431,8 @@ The +code/rt+ directory in the git repo has some scripts for gathering latency d
bone$ <strong>time sudo ./hist.gen > nort.hist</strong>
-:ref:`<realtime_hist_gen_fig>` shows what's being run. It defaults to 100,000 loops, so it takes a while. The data is saved in +nort.hist+, which stands for no RT histogram.
+:ref:`<realtime_hist_gen_fig>` shows what's being run. It defaults to 100,000 loops, so it takes a while.
+The data is saved in +nort.hist+, which stands for no RT histogram.
.. _realtime_hist_gen_fig:
@@ -461,7 +473,9 @@ try running ./setup.sh. If that doesn't work try:
Congratulations you are running the RT kernel.
-.. note:: If the Beagle appears to be running (the LEDs are flashing) but you are having trouble connecting via +ssh 192.168.7.2+, you can try connecting using the approach shown in :ref:`<tips_FTDI>`.
+.. note::
+ If the Beagle appears to be running (the LEDs are flashing) but you are having trouble connecting
+ via +ssh 192.168.7.2+, you can try connecting using the approach shown in :ref:`<tips_FTDI>`.
Now run the scipt again (note it's being saved in +rt.hist+ this time.)
diff --git a/bone-cook-book/09capes/capes.rst b/beaglebone-cookbook/09capes/capes.rst
similarity index 94%
rename from bone-cook-book/09capes/capes.rst
rename to beaglebone-cookbook/09capes/capes.rst
index 02cefbb30133dc3acb99d21c4f9ed16473475193..796d056e9b12f3622d70a739bdcdf14805a1016d 100644
--- a/bone-cook-book/09capes/capes.rst
+++ b/beaglebone-cookbook/09capes/capes.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-capes:
+.. _beaglebone-cookbook-capes:
Capes
#####
@@ -18,7 +18,8 @@ A cape is simply a board--often a printed circuit board (PCB) that connects to t
and +P9+ headers and follows a few standard pin usages. You can stack up to four capes onto the
Bone. Capes can range in size from Bone-sized (:ref:`<capes_miniDisplay>`) to much larger than the Bone (:ref:`<capes_7inLCD>`).
-This chapter shows how to attach a couple of capes, move your design to a protoboard, then to a PCB, and finally on to mass production.
+This chapter shows how to attach a couple of capes, move your design to a protoboard, then to a PCB,
+and finally on to mass production.
.. _capes_7inLCD:
@@ -39,7 +40,10 @@ from `CircuitCo http://circuitco.com/`_ (shown in :ref:`<capes_7inLCD_fig>`) to
.. _capes_7inLCD_fig:
-.. note:: Seven-inch LCD from CircuitCo, :ref:`<capes_7inLCD_fig>` was originally posted by CircuitCo at http://elinux.org/File:BeagleBone-LCD7-Front.jpg under a `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_.
+.. note::
+ Seven-inch LCD from CircuitCo, :ref:`<capes_7inLCD_fig>` was originally posted by CircuitCo
+ at http://elinux.org/File:BeagleBone-LCD7-Front.jpg under a
+ `Creative Commons Attribution-ShareAlike 3.0 Unported License <http://creativecommons.org/licenses/by-sa/3.0/>`_.
.. figure:: figures/LCD.png
:align: center
@@ -72,7 +76,7 @@ Discussion
.. _capes_miniDisplay:
Using a 128 x 128-Pixel LCD Cape
------------------------------
+---------------------------------
Problem
***********
@@ -82,7 +86,8 @@ You want to use a small LCD to display things other than the desktop.
Solution
***********
-The http://bit.ly/1xd0r8p[MiniDisplay] is a 128 x 128 full-color LCD cape that just fits on the Bone, as shown in :ref:`<capes_miniDisplay_fig>`.
+The http://bit.ly/1xd0r8p[MiniDisplay] is a 128 x 128 full-color LCD cape that just fits on the
+Bone, as shown in :ref:`<capes_miniDisplay_fig>`.
.. _capes_miniDisplay_fig:
@@ -99,6 +104,7 @@ To make this recipe, you will need:
Attach to the Bone and apply power. Then run the following commands:
.. code-block:: bash
+
# From http://elinux.org/CircuitCo:MiniDisplay_Cape
# Datasheet:
# https://www.crystalfontz.com/products/document/3277/ST7735_V2.1_20100505.pdf
@@ -125,6 +131,7 @@ The `manufacturer's website <http://bit.ly/1xd0r8p>`_ suggests enabling SPI0 by
Hmmm, something isn't working here. Here's how to see what happened:
.. code-block:: bash
+
bone$ <strong>dmesg | tail</strong>
[ 625.334497] bone_capemgr.9: part_number 'BB-SPIDEV0', version 'N/A'
[ 625.334673] bone_capemgr.9: slot #11: generic override
@@ -278,7 +285,7 @@ Discussion
.. _capes_soldering:
Moving from a Breadboard to a Protoboard
------------------------------
+-----------------------------------------
Problem
***********
@@ -579,7 +586,6 @@ Looking at the stimulus you'll generate *before* you connect up your hardware wi
Discussion
***********
-
.. _capes_layout:
Laying Out Your Cape PCB
@@ -621,7 +627,9 @@ through what's called a _via_. One of the goals of PCB design is to minimize the
:ref:`<capes_quickRobo_pcb>` wasn't my first try or my last. My approach was to see what was needed to hook where and
move the components around to make it easier for the autorouter to carry out its job.
-.. note:: There are entire books and websites dedicated to creating PCB layouts. Look around and see what you can find. http://bit.ly/1wXTLki[SparkFun's guide to making PCBs] is particularly useful.
+.. note::
+ There are entire books and websites dedicated to creating PCB layouts. Look around and see
+ what you can find. http://bit.ly/1wXTLki[SparkFun's guide to making PCBs] is particularly useful.
Customizing the Board Outline
*******************************
@@ -657,7 +665,8 @@ Outline SVG for BeagleBone cape (beaglebone_cape_boardoutline.svg)
.. </dl>
.. ++++
-The measurements are taken from the http://bit.ly/1C5rSa8[BeagleBone Black System Reference Manual], as shown in :ref:`<capes_dimensions_fig>`.
+The measurements are taken from the http://bit.ly/1C5rSa8[BeagleBone Black System Reference Manual],
+as shown in :ref:`<capes_dimensions_fig>`.
.. _capes_dimensions_fig:
@@ -775,6 +784,7 @@ Windows, Mac, and Linux, but it has three `limitations <http://bit.ly/1E5Kh3l>`_
You can install Eagle PCB on your Linux host by using the following command:
.. code-block:: bash
+
host$ <strong>sudo apt install eagle</strong>
Reading package lists... Done
Building dependency tree
@@ -840,7 +850,8 @@ The Eagle start screen
Ensure that the correct version number appears.
-If you are moving a design from Fritzing to Eagle, see :ref:`<capes_schematic_migration>` for tips on converting from one to the other.
+If you are moving a design from Fritzing to Eagle, see :ref:`<capes_schematic_migration>`
+for tips on converting from one to the other.
*DesignSpark PCB*
@@ -851,13 +862,16 @@ but it runs only on Windows. Also, it doesn't seem to have the following of Eagl
*Upverter*
-In addition to free solutions you run on your desktop, you can also work with a browser-based tool called https://upverter.com/[Upverter]. With Upverter, you can collaborate easily, editing your designs from anywhere on the Internet. It also provides many conversion options and a PCB fabrication service.
+In addition to free solutions you run on your desktop, you can also work with a browser-based
+tool called https://upverter.com/[Upverter]. With Upverter, you can collaborate easily, editing
+your designs from anywhere on the Internet. It also provides many conversion options and a PCB fabrication service.
-.. note:: Don't confuse Upverter with Upconverter (:ref:`<capes_schematic_migration>`). Though their names differ by only three letters, they differ greatly in what they do.
+.. note::
+ Don't confuse Upverter with Upconverter (:ref:`<capes_schematic_migration>`).
+ Though their names differ by only three letters, they differ greatly in what they do.
.. _capes_kicad:
-
*Kicad*
Unlike the previously mentioned free (no-cost) solutions, `Kicad <http://bit.ly/1b2bnBg >`_
@@ -885,6 +899,7 @@ to convert the Fritzing file for the diagram shown in :ref:`<capes_quickRobo_fig
I found it necessary to install +libfreetype6+ and +freetype-py+ onto my system, but you might not need this first step:
.. code-block:: bash
+
host$ <strong>sudo apt install libfreetype6</strong>
Reading package lists... Done
Building dependency tree
@@ -902,7 +917,9 @@ I found it necessary to install +libfreetype6+ and +freetype-py+ onto my system,
Cleaning up...
-.. note:: All these commands are being run on the Linux-based host computer, as shown by the +host$+ prompt. Log in as a normal user, not +root+.
+.. note::
+ All these commands are being run on the Linux-based host computer, as shown by the +host$+ prompt.
+ Log in as a normal user, not +root+.
Now, install the +schematic-file-converter+ tool:
@@ -1037,7 +1054,9 @@ To make this recipe, you will need:
* Multimeter (see :ref:`app misc<app_misc>`)
* Your other components
-Upload your design to http://oshpark.com[OSH Park] and order a few boards. :ref:`<capes_oshpark_share>` shows a resulting http://bit.ly/1MtlzAp[shared project page for the quickBot cape] created in :ref:`<capes_layout>`. We'll proceed to break down how this design was uploaded and shared to enable ordering fabricated PCBs.
+Upload your design to http://oshpark.com[OSH Park] and order a few boards. :ref:`<capes_oshpark_share>`
+shows a resulting http://bit.ly/1MtlzAp[shared project page for the quickBot cape] created in
+:ref:`<capes_layout>`. We'll proceed to break down how this design was uploaded and shared to enable ordering fabricated PCBs.
.. _capes_oshpark_share:
diff --git a/bone-cook-book/09capes/code/quickBot_motor_test.js b/beaglebone-cookbook/09capes/code/quickBot_motor_test.js
similarity index 100%
rename from bone-cook-book/09capes/code/quickBot_motor_test.js
rename to beaglebone-cookbook/09capes/code/quickBot_motor_test.js
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rename from bone-cook-book/09capes/figures/BBB_GPS_Cape.fzz
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index 546860fb45b214c6cc85114272a595ae86475d82..ea216041df7dc647a03890c9f5a25de721047f3c 100644
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+++ b/beaglebone-cookbook/10parts/parts.rst
@@ -1,4 +1,4 @@
-.. _bone-cook-book-parts:
+.. _beaglebone-cookbook-parts:
Parts and Suppliers
####################
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--- a/bone-cook-book/index.rst
+++ b/beaglebone-cookbook/index.rst
@@ -22,4 +22,3 @@ A cookbook for programming Beagles
07kernel/kernel.rst
08realtime/realtime.rst
09capes/capes.rst
- 10parts/parts.rst
diff --git a/conf.py b/conf.py
index 9d653802b5b7cc0a8fef39fbc171748c2db6c077..b60c51e29f5b66628aa71fea34079b82e6586297 100644
--- a/conf.py
+++ b/conf.py
@@ -25,7 +25,7 @@ author = 'BeagleBoard.org Foundation'
# -- General configuration ---------------------------------------------------
extensions = [
- "sphinxcontrib.rsvgconverter",
+ "sphinxcontrib.rsvgconverter", "sphinx_design"
]
templates_path = ['_templates']
diff --git a/index-tex.rst b/index-tex.rst
index 6a93bc866ea5f031ead06473d1f70806dd51d417..da8ac563c3156e28064968075866eb2711aeea2b 100644
--- a/index-tex.rst
+++ b/index-tex.rst
@@ -17,5 +17,5 @@ BeagleBoard Docs
beaglebone-blue/index.rst
beagleconnect/index.rst
simppru/index.rst
- bone-cook-book/index.rst
-
+ beaglebone-cookbook/index.rst
+ pru-cookbook/index.rst
diff --git a/index.rst b/index.rst
index 9b7f6f0bf8aaea134c3f0b0eb2f8ed69a1b6ab3e..3d9e4de14601ffdfb1666eef43a835d87f2830a1 100644
--- a/index.rst
+++ b/index.rst
@@ -39,7 +39,8 @@ Sections
:maxdepth: 1
:caption: Books
- bone-cook-book/index.rst
+ beaglebone-cookbook/index.rst
+ pru-cookbook/index.rst
Indices and tables
############################
diff --git a/pru-cookbook/01case/case.rst b/pru-cookbook/01case/case.rst
new file mode 100644
index 0000000000000000000000000000000000000000..8082060ee5bcc66e3c66810087ca20a35deb448f
--- /dev/null
+++ b/pru-cookbook/01case/case.rst
@@ -0,0 +1,1122 @@
+.. _pru-cookbook-case:
+
+Case Studies - Introduction
+#############################
+
+It's an exciting time to be making projects that use embedded processors.
+Make:'s `Makers' Guide to Boards <https://makezine.com/comparison/boards/>`_ shows
+many of the options that are available and groups them into different types.
+*Single board computers* (SBCs) generally run Linux on some sort of `ARM <https://www.arm.com/>`_
+processor. Examples are the BeagleBoard and the Raspberry Pi. Another type
+is the *microcontroller*, of which the `Arduino <https://www.arduino.cc/>`_ is
+popular.
+
+The SBCs are used because they have an operating system to manage files, I/O,
+and schedule when things are run, all while possibly talking to the Internet.
+Microcontrollers shine when things
+being interfaced require careful timing and can't afford to have an OS preempt an
+operation.
+
+But what if you have a project that needs the flexibility of an OS and the timing
+of a microcontroller? This is where the BeagleBoard excels since it has both
+an ARM procssor running Linux and two footnote:[Four if you are on the BeagleBone AI];
+**P**rogrammable **R**eal-Time **U**nits (PRUs).
+The PRUs have 32-bit cores which run
+independently of the ARM processor, therefore they can
+be programmed to respond quickly to inputs and produce very precisely timed
+outputs.
+
+There are many :ref:`Projects <pru-cookbook-projects>` that use the PRU.
+They are able to do things that can't be done with just a SBC or just a microcontroller.
+Here we present some case studies that give a high-level view of using the PRUs. In later
+chapters you will see the details of how they work.
+
+Here we present:
+
+.. TODO Switch from LEDscape to FPP
+
+* `Robotics Control Library <http://strawsondesign.com/docs/roboticscape/>`_
+* `BeagleLogic <https://github.com/abhishek-kakkar/BeagleLogic/wiki>`_
+* `NeoPixels -- 5050 RGB LEDs with Integrated Drivers (Falcon Christmas) <http://falconchristmas.com>`_
+* `RGB LED Matrix (Falcon Christmas) <http://falconchristmas.com>`_
+* `simpPRU -- A python-like language for programming the PRUs`_ <https://github.com/VedantParanjape/simpPRU>
+.. * `MachineKit <http://www.machinekit.io/>`_
+.. * `ArduPilot <http://ardupilot.org/>, <http://ardupilot.org/dev/docs/beaglepilot.html>`_
+.. * `BeagleScope <https://github.com/ZeekHuge/BeagleScope>`_
+
+The following are resources used in this chapter.
+
+.. admonition:: Resources
+
+ * `Pocket Beagle System Reference Manual https://github.com/beagleboard/pocketbeagle/wiki/System-Reference-Manual#673_PRUICSS_Pin_Access`_
+ * `BeagleBone Black P8 Header Table https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf`_
+ * `BeagleBone Black P9 Header Table https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf`_
+ * `BeagleBone AI System Reference Manual https://github.com/beagleboard/beaglebone-ai/wiki/System-Reference-Manual`_
+
+
+Robotics Control Library
+-------------------------
+
+Robotics is an embedded application that often requires both an SBC to control the
+high-level tasks (such as path planning, line following, communicating with the user)
+*and* a microcontroller to handle the low-level tasks (such as telling motors how fast
+to turn, or how to balance in response to an IMU input). The
+`EduMIP <https://www.ucsdrobotics.org/edumip>`_ balancing
+`robot <https://www.hackster.io/edumip/edumip-13a29c>`_
+demonstrates that by using the PRU, the Blue can handle both the high
+and low -level tasks without an additional microcontroller. The EduMIP is shown
+in :ref:`<case_blue>`.
+
+.. _case_blue:
+
+Blue balancing
+~~~~~~~~~~~~~~~
+
+.. figure:: figures/blue.png
+ :align: center
+ :alt: Blue balancing
+
+The `Robotics Control Library <http://strawsondesign.com/docs/roboticscape/>`_ is a
+package that is already installed on the Beagle
+that contains a C library and example/testing programs. It uses the PRU to extend the
+real-time hardware of the Bone by adding eight addional servo channels and one
+addition real-time encoder input.
+
+The following examples show how easy it is to use the PRU for robotics.
+
+Controlling Eight Servos
+*************************
+
+Problem
+~~~~~~~~
+
+You need to control eight servos, but the Bone doesn't have enough pulse width
+modulation (PWM) channels
+and you don't want to add hardware.
+
+Solution
+~~~~~~~~~
+
+The Robotics Control Library provides eight additional PWM channels
+via the PRU that can be used out of the box.
+
+.. note::
+ The I/O pins on the Beagles have a mutliplexer that lets you select what I/O
+ appears on a given pin. The Blue has the mux already configured to to run these
+ examples. Follow the instructions in
+ :ref:`../03details/details.html#details_configure_servos, Configuring Pins for Controlling Servos`
+ to configure the pins for the Black and the Pocket.
+
+
+.. * TODO - verify these commands
+
+Just run:
+
+.. code-block:: bash
+
+ bone$ sudo rc_test_servos -f 10 -p 1.5
+
+The ``-f 10`` says to use a frequency of 10 Hz and the ``-p 1.5`` says to set the position to ``1.5``. The range of positions is
+``-1.5`` to ``1.5``. Run ``rc_test_servos -h`` to see all the options.
+
+.. code-block:: bash
+
+ bone$ rc_test_servos -h
+
+ Options
+ -c {channel} Specify one channel from 1-8.
+ Otherwise all channels will be driven equally
+ -f {hz} Specify pulse frequency, otherwise 50hz is used
+ -p {position} Drive servo to a position between -1.5 & 1.5
+ -w {width_us} Send pulse width in microseconds (us)
+ -s {limit} Sweep servo back/forth between +- limit
+ Limit can be between 0 & 1.5
+ -r {ch} Use DSM radio channel {ch} to control servo
+ -h Print this help messege
+
+ sample use to center servo channel 1:
+ rc_test_servo -c 1 -p 0.0
+
+Discussion
+~~~~~~~~~~~
+
+The BeagleBone Blue sends these eight outputs to it's servo channels. The others use the pins shown in the
+:ref:`case__register_to_pin_table`.
+
+.. _case__register_to_pin_table:
+
+PRU register to pin table
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-----------+--------+---------+----------+-------+
+ |PRU pin |Blue pin|Black pin|Pocket pin|AI pin |
+ +===========+========+=========+==========+=======+
+ |pru1_r30_8 |1 |P8_27 |P2.35 | |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_10|2 |P8_28 |P1.35 |P9_42 |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_9 |3 |P8_29 |P1.02 |P8_14 |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_11|4 |P8_30 |P1.04 |P9_27 |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_6 |5 |P8_39 | |P8_19 |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_7 |6 |P8_40 | |P8_13 |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_4 |7 |P8_41 | | |
+ +-----------+--------+---------+----------+-------+
+ |pru1_r30_5 |8 |P8_42 | |P8_18 |
+ +-----------+--------+---------+----------+-------+
+
+
+You can find these details in the
+`P8 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf>`_,
+`P9 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf>`_,
+`Pocket Beagle System Reference Manual <https://github.com/beagleboard/pocketbeagle/wiki/System-Reference-Manual#673_PRUICSS_Pin_Access>`_
+(Here is a more usable version of the `table <https://docs.google.com/spreadsheets/d/1FRGvYOyW1RiNSEVprvstfJAVeapnASgDXHtxeDOjgqw/edit?usp=sharing>`_.)
+and
+`BeagleBone AI System Reference Manual <https://github.com/beagleboard/beaglebone-ai/wiki/System-Reference-Manual>`_.
+(Here is a more usable version of the `table <https://docs.google.com/spreadsheets/d/1dFSBVem86vAUD7MLXvqdS-N0Efi8_g_O1iTqzql8DAo/edit#gid=0>`_.)
+
+
+Be default the PRUs are already loaded with the code needed to run the
+servos. All you have to do is run the command.
+
+.. [/opt/source/Robotics_Cape_Installer/pru_firmware/src/pru1-servo.asm]
+
+Controlling Individual Servos
+******************************
+
+Problem
+~~~~~~~~~
+
+``rc_test_servos`` is nice, but I need to control the servos individually.
+
+Solution
+~~~~~~~~~
+
+You can modify ``rc_test_servos.c``. You'll find it on the bone online at
+https://github.com/beagleboard/librobotcontrol/blob/master/examples/src/rc_test_servos.c.
+
+Just past line 250 you'll find a ``while`` loop that has calls to ``rc_servo_send_pulse_normalized(ch,servo_pos)`` and
+``rc_servo_send_pulse_us(ch, width_us)``. The first call sets the pulse width relative to the pulse period; the other
+sets the width to an absolute time. Use whichever works for you.
+
+Controlling More Than Eight Channels
+*************************************
+
+Problem
+~~~~~~~~~~
+
+I need more than eight PWM channels, or I need less jitter on the off time.
+
+Solution
+~~~~~~~~~~
+
+This is a more advanced problem and required reprograming the PRUs. See
+:ref:`../05blocks/blocks.html#blocks_pwm, PWM Generator` for an example.
+
+Reading Hardware Encoders
+**************************
+
+Problem
+~~~~~~~~~~
+
+I want to use four encoders to measure four motors, but I only see hardware for three.
+
+Solution
+~~~~~~~~~~
+
+The forth encoder can be implemented on the PRU. If you run ``rc_test_encoders_eqep`` on the Blue, you will see the output of
+encoders E1-E3 which are connected to the eEQP hardware.
+
+.. code-block:: bash
+
+ bone$ *rc_test_encoders_eqep*
+
+ Raw encoder positions
+ E1 | E2 | E3 |
+ 0 | 0 | 0 |^C
+
+You can also access these hardware encoders on the Black and Pocket using the
+pins shown in :ref:`case_pin_mapping`.
+
+.. _case_pin_mapping:
+
+eQEP to pin mapping
+~~~~~~~~~~~~~~~~~~~~
+.. table::
+
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ |eQEP|Blue pin|Black pin A|Black pin B|AI pin A|AI pin B|Pocket pin A|Pocket pin B |
+ +====+========+===========+===========+========+========+============+=============+
+ |0 |E1 |P9_42B |P9_27 | | |P1.31 |P2.24 |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ |1 |E2 |P8_35 |P8_33 |P8_35 |P8_33 |P2.10 | |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ |2 |E3 |P8_12 |P8_11 |P8_12 |P8_11 |P2.24 |P2.33 |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ |2 | |P8_41 |P8_42 |P9_19 |P9_41 | | |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ | |E4 |P8_16 |P8_15 | | |P2.09 |P2.18 |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ |3 | | | |P8_25 |P8_24 | | |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+ |3 | | | |P9_42 |P9_27 | | |
+ +----+--------+-----------+-----------+--------+--------+------------+-------------+
+
+.. note::
+
+ The I/O pins on the Beagles have a mutliplexer that lets you select what I/O
+ appears on a given pin. The Blue has the mux already configured to to run these
+ examples. Follow the instructions in
+ :ref:`../03details/details.html#details_configure_encoders, Configuring Pins for Controlling Encoders`
+ to configure the pins for the Black and the Pocket.
+
+
+Reading PRU Encoder
+*********************
+
+Problem
+~~~~~~~~
+
+I want to access the PRU encoder.
+
+Solution
+~~~~~~~~~
+
+The forth encoder is implemented on the PRU and accessed with `sudo rc_test_encoders_pru`
+.. note::
+ This command needs root permission, so the `sudo` is needed.
+
+Here's what you will see
+
+.. code-block:: bash
+
+ bone$ *sudo rc_test_encoders_pru*
+ [sudo] password for debian:
+
+ Raw encoder position
+ E4 |
+ 0 |^C
+
+.. note::
+
+ If you aren't running the Blue you will have to configure the pins as shown
+ in the note above.
+
+
+BeagleLogic -- a 14-channel Logic Analyzer
+-------------------------------------------
+
+Problem
+********
+
+I need a 100Msps, 14-channel logic analyzer
+
+Solution
+*********
+
+`BeagleLogic <https://beaglelogic.readthedocs.io/en/latest/>`_ is a 100Msps,
+14-channel logic analyzer that runs on the Beagle.
+
+.. admonition:: information
+
+ BeagleLogic turns your BeagleBone [Black] into a 14-channel, 100Msps Logic
+ Analyzer. Once loaded, it presents itself as a character device node */dev/beaglelogic*.
+ The core of the logic analyzer is the 'beaglelogic' kernel module that
+ reserves memory for and drives the two Programmable Real-Time Units
+ (PRU) via the remoteproc interface wherein the PRU directly writes logic
+ samples to the System Memory (DDR RAM) at the configured sample rate
+ one-shot or continuously without intervention from the ARM core.
+
+ https://github.com/abhishek-kakkar/BeagleLogic/wiki
+
+
+The quickest solution is to get the `no-setup-required image <https://github.com/abhishek-kakkar/BeagleLogic/wiki/BeagleLogic-%22no-setup-required%22-setup:-Introducing-System-Image!>`_. It points to an older image
+(beaglelogic-stretch-2017-07-13-4gb.img.xz) but should still work.
+
+If you want to be running a newer image, there are instructions on the site for `installing BeagleLogic <https://beaglelogic.readthedocs.io/en/latest/install.html>`_, but I had to do the additional steps in :ref:`case_installing_beaglelogic`.
+
+.. TODO - Recheck
+
+.. _case_installing_beaglelogic:
+
+Installing BeagleLogic
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+ bone$ *git clone https://github.com/abhishek-kakkar/BeagleLogic*
+ bone$ *cd BeagleLogic/kernel*
+ bone$ *mv beaglelogic-00A0.dts beaglelogic-00A0.dts.orig*
+ bone$ *wget https://gist.githubusercontent.com/abhishek-kakkar/0761ef7b10822cff4b3efd194837f49c/raw/eb2cf6cfb59ff5ccb1710dcd7d4a40cc01cfc050/beaglelogic-00A0.dts*
+ bone$ *make overlay*
+ bone$ *sudo cp beaglelogic-00A0.dtbo /lib/firmware/*
+ bone$ *sudo update-initramfs -u -k \`uname -r`*
+ bone$ *sudo reboot*
+
+Once the Bone has rebooted, browse to 192.168.7.2:4000 where you'll see
+:ref:`case_beaglelogic_capture`. Here you can easily select the sample
+rate, number of samples, and which pins to sample.
+Then click *Begin Capture* to capture your data, at up to 100 MHz!
+
+.. _case_beaglelogic_capture:
+
+BeagleLogic Data Capture
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/beaglelogic_capture.png
+ :align: center
+ :alt: BeagleLogic Data Capture
+
+
+Discussion
+************
+
+BeagleLogic is a complete system that includes firmware for the PRUs,
+a kernel module and a web interface that create a powerful 100 MHz
+logic analyzer on the Bone with no additional hardware needed.
+
+.. tip::
+
+ If you need buffered inputs, consider
+ http://standalone.beaglelogic.net/en/latest/[BeagleLogic Standalone],
+ a turnkey Logic Analyzer built on top of BeagleLogic.
+
+
+The kernel interface makes it easy to control the PRUs through the
+command line. For example
+
+.. code-block:: bash
+
+ bone$ *dd if=/dev/beaglelogic of=mydump bs=1M count=1*
+
+will capture a binary dump from the PRUs. The sample rate and number of
+bits per sample can be controlled through ``/sys/``.
+
+.. code-block:: bash
+
+ bone$ *cd /sys/devices/virtual/misc/beaglelogic*
+ bone$ *ls*
+ buffers filltestpattern power state uevent
+ bufunitsize lasterror samplerate subsystem
+ dev memalloc sampleunit triggerflags
+ bone$ *cat samplerate*
+ 1000
+ bone$ *cat sampleunit*
+ 8bit
+
+You can set the sample rate by simply writing to ``samplerate``.
+
+.. code-block:: bash
+
+ bone$ *echo 100000000 > samplerate*
+
+`sysfs attributes Reference <https://beaglelogic.readthedocs.io/en/latest/sysfs_attributes.html>`_
+has more details on configuring via sysfs.
+
+If you run ``dmesg -Hw`` in another window you can see when a capture
+is started and stopped.
+
+.. code-block:: bash
+
+ bone$ *dmesg -Hw*
+ [Jul25 08:46] misc beaglelogic: capture started with sample rate=100000000 Hz, sampleunit=1, triggerflags=0
+ [ +0.086261] misc beaglelogic: capture session ended
+
+
+BeagleLogic uses the two PRUs to sample at 100Msps. Getting a PRU running at 200Hz to sample at 100Msps is a slick trick.
+`The Embedded Kitchen <http://theembeddedkitchen.net/beaglelogic-building-a-logic-analyzer-with-the-prus-part-1/449>`_ has a nice article
+explaining how the PRUs get this type of performance.
+
+
+NeoPixels -- 5050 RGB LEDs with Integrated Drivers (Falcon Christmas)
+----------------------------------------------------------------------
+
+Problem
+*********
+
+You have an `Adafruit NeoPixel LED string <http://www.adafruit.com/products/1138>`_,
+`Adafruit NeoPixel LED matrix <http://www.adafruit.com/products/1487>`_ or
+any other type of
+`WS2812 LED <https://cdn-shop.adafruit.com/datasheets/WS2812.pdf>`_
+and want to light it up.
+
+.. TODO Show how to drive ws2812's with FPP.
+
+Solution
+*********
+
+If you are driving just one string you can write your own code
+(See :ref:`../05blocks/blocks.adoc#blocks_ws2812, WS2812 Driver`)
+If you plan to drive multiple strings, then consider
+Falcon Christmas (`FPP <https://falconchristmas.com/>`_).
+FPP can be used to drive both LEDs with an integrated
+driver (neopixels) or without an integrated driver. Here we'll show you how to
+set up for the integrated drive and in the next section the no driver LEDs will be
+show.
+
+Hardware
+*********
+
+For this setup we'll wire a single string of NeoPixels to the Beagle.
+I've attached the black wire on the string to ground on the Beagle
+and the red wire to a 3.3V pin on the Beagle.
+The yellow data in line is attached to P1.31 (I'm using a PocketBeagle.).
+
+How did I know to attach to P1.31? The FalconChristmas git repo
+(https://github.com/FalconChristmas/fpp) has files that tell which pins
+attach to which port. https://github.com/FalconChristmas/fpp/blob/master/capes/pb/strings/F8-B-20.json
+has a list of 20 ports and where they are connected. Pin P1.31 appears on
+line 27. It's the 20th entry in the list. You could pick any of the others
+if you'd rather.
+
+Software Setup
+***************
+
+Assuming the PocketBeagle is attached via the USB cable,
+on your host computer browse to <http://192.168.7.2/> and you will see
+:ref:`case_fpp_program_control2`.
+
+.. _case_fpp_program_control2:
+
+Falcon Play Program Control
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_program_control.png
+ :align: center
+ :alt: Falcon Play Program Control
+
+You can test the display by first setting up the Channel Outputs and then
+going to *Display Testing*. :ref:`case_channel_outputs_menu2` shows where to
+select Channel Outputs and :ref:`case_channel_outputs2` shows which settings to use.
+
+.. _case_channel_outputs_menu2:
+
+Selecting Channel Outputs
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_channel_outputs_menu.png
+ :align: center
+ :alt: Selecting Channel Outputs
+
+.. _case_channel_outputs2:
+
+Channel Outputs Settings
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_channel_outputs_strings.png
+ :align: center
+ :alt: Channel Outputs Settings
+
+Click on the *Pixel Strings* tab. Earlier we noted that *P1.31* is attached
+to port 20. Note that at the bottom of the screen, port 20 has a PIXEL COUNT
+of 24. We're telling FPP our string has 24 NeoPixels and they are attached
+to port 2 which in *P1.31*.
+
+Be sure to check the *Enable String Cape*.
+
+Next we need to test the display. Select **Display Testing** shown in
+:ref:`case_display_testing_menu2`.
+
+.. _case_display_testing_menu2:
+
+Selecting Display Testing
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_display_testing_menu2.png
+ :align: center
+ :alt: Selecting Display Testing
+
+Set the *End Channel* to *72*. (72 is 3*24)
+Click *Enable Test Mode* and your matrix should light up. Try the different
+testing patterns shown in :ref:`case_display_testing2`.
+
+.. note::
+
+ Clicking on the *-3* will subtract three from the End Channel, which should
+ then display three fewer LEDs which is one NeoPixel. The last of your NeoPixels
+ should go black. This is an easy way to make sure you have the correct pixel
+ count.
+
+.. _case_display_testing2:
+
+Display Testing Options
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_display_testing2.png
+ :align: center
+ :alt: Display Testing Options
+
+You can control the LED string using the E1.31 protocol.
+(https://www.doityourselfchristmas.com/wiki/index.php?title=E1.31_(Streaming-ACN)_Protocol)
+First configure the input channels by going to Channel Inputs as shown in
+:ref:`case_channel_inputs`.
+
+.. _case_channel_inputs:
+
+Going to Channel Inputs
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_channel_inputs.png
+ :align: center
+ :alt: Going to Channel Inputs
+
+Tell it you have 72 LEDs and enable the input as shown in :ref:`case_set_inputs`.
+
+.. _case_set_inputs:
+
+Setting Channel Inputs
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_inputs_setup2.png
+ :align: center
+ :alt: Setting Channel Inputs
+
+Finally go to the Status Page as shown in :ref:`case_status`.
+
+.. _case_status:
+
+Watching the status
+~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_status.png
+ :align: center
+ :alt: Watching Status
+
+Now run a program on another computer that generated E1.31 packets.
+:ref:`case_1.31_example` is an example python program.
+
+.. _cse_e1.31_example:
+
+.e1.31-test.py
+~~~~~~~~~~~~~~
+
+:downlod:`e1.31-test.py <code/e1.31-test.py>`- Example of generating packets to control the NeoPixels
+
+.. TODO document the code
+
+.. _case_rgb_matrix:
+
+RGB LED Matrix -- No Integrated Drivers (Falcon Christmas)
+-----------------------------------------------------------
+
+Problem
+*************************
+
+You want to use a RGB LED Matrix display that doesn't have integrated
+drivers such as the
+`64x32 RGB LED Matrix <https://www.adafruit.com/product/2277>`_ by Adafuit
+shown in :ref:`case_adfruit_matrix`.
+
+.. _case_adfruit_matrix:
+
+Adafruit LED Matrix
+~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/ledmatrix.jpg
+ :align: center
+ :alt: Adafruit LED Matrix
+
+Solution
+*************************
+
+`Falcon Christmas <http://falconchristmas.com>`_ makes a software package
+called
+`Falcon Player <http://falconchristmas.com/forum/index.php/board,8.0.html>`_ (FPP) which can drive
+such displays.
+
+.. admonition:: information:
+
+ The Falcon Player (FPP) is a lightweight, optimized, feature-rich sequence player
+ designed to run on low-cost SBC's (Single Board Computers).
+ FPP is a software solution that you download and install on hardware which can be
+ purchased from numerous sources around the internet.
+ FPP aims to be controller agnostic, it can talk E1.31, DMX, Pixelnet, and
+ Renard to hardware from multiple hardware vendors, including controller
+ hardware from Falcon Christmas available via COOPs or in the store on FalconChristmas.com.
+
+ http://www.falconchristmas.com/wiki/FPP:FAQ#What_is_FPP.3F
+
+Hardware
+~~~~~~~~~
+
+The Beagle hardware can be either a BeagleBone Black with the
+`Octoscroller Cape <https://oshpark.com/shared_projects/7mSHNZcD>`_, or a
+PocketBeagle with the
+`PocketScroller LED Panel Cape <https://www.hackster.io/daniel-kulp/pocketscroller-led-panel-cape-for-pocketbeagle-fe12a6>`_.
+(See `to purchase <https://kulplights.com/product/pocketscroller/>`_.)
+`Building and Octoscroller Matrix Display <https://www.diychristmas.org/wiki/index.php?title=Building_an_Octoscroller_Matrix_Display>`_
+gives details for using the BeagleBone Black.
+
+:ref:`case_pocket` shows how to attach the PocketBeagle to the P5 LED matrix
+and where to attach the 5V power. If you are going to turn on all the LEDs
+to full white at the same time you will need at least a 4A supply.
+
+.. _case_pocket:
+
+Pocket Beagle Driving a P5 RGB LED Matrix via the PocketScroller Cape
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pocketscroller.jpg
+ :align: center
+ :alt: Pocket Beagle Driving a P5 RGB LED Matrix via the PocketScroller Cape
+
+
+Software
+~~~~~~~~~~
+
+The FPP software is most easily installed by downloading the
+`current FPP release <https://github.com/FalconChristmas/fpp/releases/>`_, flashing an SD card and
+booting from it.
+
+.. tip::
+
+ The really brave can install it on a already running image. See details at
+ https://github.com/FalconChristmas/fpp/blob/master/SD/FPP_Install.sh
+
+
+Assuming the PocketBeagle is attached via the USB cable,
+on your host computer browse to http://192.168.7.2/ and you will see
+:ref:`case_fpp_program_control`.
+
+.. _case_fpp_program_control:
+
+Falcon Play Program Control
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_program_control.png
+ :align: center
+ :alt: Falcon Play Program Control
+
+You can test the display by first setting up the Channel Outputs and then
+going to *Display Testing*. :ref:`case_channel_outputs_menu` shows where to
+select Channel Outputs and :ref:`case_channel_outputs` shows which settings to use.
+
+.. _case_channel_outputs_menu:
+
+Selecting Channel Outputs
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_channel_outputs_menu.png
+ :align: center
+ :alt: Selecting Channel Outputs
+
+.. _case_channel_outputs:
+
+Channel Outputs Settings
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_channel_outputs.png
+ :align: center
+ :alt: Channel Outputs Settings
+
+Click on the **LED Panels** tab and then the only changes I made was
+to select the **Single Panel Size** to be
+*64x32* and to check the **Enable LED Panel Output**.
+
+Next we need to test the display. Select *Display Testing* shown in
+:ref:`case_display_testing_menu`.
+
+.. _case_display_testing_menu:
+
+Selecting Display Testing
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_display_testing_menu.png
+ :align: center
+ :alt: Selecting Display Testing
+
+Set the **End Channel** to **6144**. (6144 is 3*64*32)
+Click **Enable Test Mode** and your matrix should light up. Try the different
+testing patterns shown in :ref:`case_display_testing`.
+
+.. _case_display_testing:
+
+Display Testing Options
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_display_testing.png
+ :align: center
+ :alt: Display Testing Options
+
+xLights - Creating Content for the Display
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Once you are sure your LED Matrix is working correctly you can program it
+with a sequence.
+
+
+.. admonition:: information:
+
+ xLights is a free and open source program that enables you to design, create and play
+ amazing lighting displays through the use of DMX controllers, E1.31 Ethernet controllers and more.
+
+ With it you can layout your display visually then assign effects to the various items
+ throughout your sequence. This can be in time to music (with beat-tracking built into xLights)
+ or just however you like. xLights runs on Windows, OSX and Linux
+
+ https://xlights.org/
+
+
+xLights can be installed on your host computer (not the Beagle) by
+following instructions at https://xlights.org/releases/.
+
+Run xLights and you'll see :ref:`case_xlights_setup`.
+
+.. code-block:: bash
+
+ host$ *chmod +x xLights-2021.18-x86_64.AppImage*
+ host$ *./xLights-2021.18-x86_64.AppImage*
+
+.. TODO update the figures.
+
+.. _case_xlights_setup:
+
+xLights Setup
+~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_setup.png
+ :align: center
+ :alt: xLights Setup
+
+We'll walk you through a simple setup to get an animation to display on the
+RGB Matrix. xLights can use a protocol called E1.31 to send information to
+the display. Setup xLights by clicking on *Add Ethernet* and entering the values
+shown in :ref:`case_xlights_setup_e1_31`.
+
+.. _case_xlights_setup_e1_31:
+
+Setting Up E1.31
+~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_setup_e1_31.png
+ :align: center
+ :alt: Setting Up E1.31
+
+The **IP Address** is the Bone's address as seen from the host computer.
+Each LED is one channel, so one RGB LED is three channels. The P5 board
+has 3*64*32 or 6144 channels. These are grouped into universes of 512
+channels each. This gives 6144/512 = 12 universes. See the
+`E.13 documentation <https://www.doityourselfchristmas.com/wiki/index.php?title=E1.31_(Streaming-ACN)_Protocol#Configuring_Sequencing_Software_to_use_E1.31_Output>`_
+for more details.
+
+Your setup should look like :ref:`case_xlights_setup_done`. Click the
+*Save Setup* button to save.
+
+.. _case_xlights_setup_done:
+
+xLights setup for P5 display
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_setup_done.png
+ :align: center
+ :alt: xLights setup for P5 display
+
+Next click on the **Layout** tab. Click on the *Matrix* button as shown in
+:ref:`case_xlights_matrix`, then click on the black area where you want your
+matrix to appear.
+
+.. _case_xlights_matrix:
+
+Setting up the Matrix Layout
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_layout.png
+ :align: center
+ :alt: Setting up the Matrix Layout
+
+:ref:`case_xlights_layout_details` shows the setting to use for the P5 matrix.
+
+.. _case_xlights_layout_details:
+
+Layout details for P5 matrix
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_layout_details.png
+ :align: center
+ :alt: Layout details for P5 matrix
+
+All I changed was **# Strings**, **Nodes/String**, **Starting Location** and most
+importantly, expand **String Properties** and select at **String Type** of
+**RGB Nodes**. Above the setting you should see that **Start Chan** is 1 and
+the **End Chan** is 6144, which is the total number of individual LEDs (3*63*32).
+xLights now knows we are working with a P5 matrix, now on to the sequencer.
+
+Now click on the *Sequencer* tab and then click on the **New Sequence** button
+(:ref:`case_seq_new`).
+
+.. _case_seq_new:
+
+Starting a new sequence
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_seq_new.png
+ :align: center
+ :alt: Starting a new sequence
+
+Then click on **Animation**, **20fps (50ms)**, and **Quick Start**. Learning how to
+do sequences is beyond the scope of this cookbook, however I'll shown you how
+do simple sequence just to be sure xLights is talking to the Bone.
+
+Setting Up E1.31 on the Bone
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+First we need to setup FPP to take input from xLights. Do this by going to
+the *Input/Output Setup* menu and selecting *Channel Inputs*. Then
+enter *12* for *Universe Count* and click *set* and you will see
+:ref:`case_inputs_setup`.
+
+.. _case_inputs_setup:
+
+E1.31 Inputs
+~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_inputs_setup.png
+ :align: center
+ :alt: .E1.31 Inputs
+
+Click on the **Save** button above the table.
+
+Then go to the **Status/Control** menu and select **Status Page**.
+
+.. TODO update this
+
+.. _case_mode_bridge:
+
+Bridge Mode
+~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_mode_bridge.png
+ :align: center
+ :alt: Bridge Mode
+
+Testing the xLights Connection
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The Bone is now listening for commands from xLights via the E1.31 protocol.
+A quick way to verify everything is t o return to xLights and go to the
+*Tools* menu and select **Test** (:ref:`case_xlights_test`).
+
+.. _case_xlights_test:
+
+xLights test page
+~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_test.png
+ :align: center
+ :alt: xLights test page
+
+Click the box under **Select channels...**, click **Output to lights** and
+select **Twinkle 50%**. You matrix should have a colorful twinkle pattern
+(:ref:`case_xlights_twinkle`).
+
+.. _case_xlights_twinkle:
+
+xLights Twinkle test pattern
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_twinkle.jpg
+ :align: center
+ :alt: xLights Twinkle test pattern
+
+A Simple xLights Sequence
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Now that the xLights to FPP link is tested you can generate a sequence to
+play. Close the Test window and click on the **Sequencer** tab. Then drag
+an effect from the **Effects** box to the timeline that below it. Drop it to
+the right of the **Matrix** label (:ref:`case_seq_drag`). The click
+*Output To Lights* which is the yellow lightbulb to the right on the top
+toolbar. Your matrix should now be displaying your effect.
+
+.. _case_seq_drag:
+
+Drag an effect to the timeline
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/xlights_seq_drag.png
+ :align: center
+ :alt: Drag an effect to the timeline
+
+The setup requires the host computer to send the animation data to the Bone.
+The next section shows how to save the sequence and play it on the Bone
+standalone.
+
+Saving a Sequence and Playing it Standalone
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+In xLights save your sequence by hitting Ctrl-S and giving it a name. I called
+mine *fire* since I used a fire effect. Now, switch back to FPP and select
+the *Content Setup* menu and select *File Manager*. Click the black
+*Select Files* button and select your sequence file that ends in *.fseq*
+(:ref:`case_file_manager`).
+
+.. _case_file_manager:
+
+FPP file manager
+~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_file_manager.png
+ :align: center
+ :alt: FPP file manager
+
+Once your sequence is uploaded, got to **Content Steup** and select **Playlists**.
+Enter you playlist name (I used **fire**) and click **Add**. Then click
+**Add a Sequence/Entry** and select **Sequence Only**
+(:ref:`case_playlist`), then click **Add**.
+
+.. _case_playlist:
+
+Adding a new playlist to FPP
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_playlist.png
+ :align: center
+ :alt: Adding a new playlist to FPP
+
+Be sure to click **Save Playlist** on the right. Now return to
+**Status/Control** and **Status Page** and make sure **FPPD Mode:** is set
+to **Standalone**. You should see your playlist. Click the **Play**
+button and your sequence will play.
+
+.. _case_playlist_status:
+
+Adding a new playlist to FPP
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/fpp_playlist_status.png
+ :align: center
+ :alt: Playing a playlist
+
+The beauty of the PRU is that the Beagle can play a detailed sequence at
+20 frames per second and the ARM procossor is only 15% used. The PRUs
+are doing all the work.
+
+simpPRU -- A python-like language for programming the PRUs
+-----------------------------------------------------------
+
+`simpPRU <https://github.com/VedantParanjape/simpPRU>`_ is a simple, python-like
+programming languge designed to make programming the PRUs easy.
+It has detailed `documentation <https://simppru.readthedocs.io/en/latest/>`_ and
+many `examples <https://simppru.readthedocs.io/en/latest/examples/digital_read/>`_.
+
+.. admonition:: information
+
+ simpPRU is a procedural programming language that is statically typed.
+ Variables and functions must be assigned data types during compilation.
+ It is typesafe, and data types of variables are decided during compilation.
+ simPRU codes have a +.sim+ extension.
+ simpPRU provides a console app to use Remoteproc functionality.
+
+ https://simppru.readthedocs.io/en/latest/
+
+You can `build simpPRU <https://simppru.readthedocs.io/en/latest/install/build/>`_ from
+source, more easily just `install it <https://simppru.readthedocs.io/en/latest/install/install/>`_.
+On the Beagle run:
+
+.. code-block:: bash
+
+ bone$ wget https://github.com/VedantParanjape/simpPRU/releases/download/1.4/simppru-1.4-armhf.deb
+ bone$ sudo dpkg -i simppru-1.4-armhf.deb
+ bone$ sudo apt update
+ bone$ sudo apt install gcc-pru
+
+Now, suppose you wanted to run the
+`LED blink <https://simppru.readthedocs.io/en/latest/examples/led_blink/>`_
+example which is reproduced here.
+
+LED Blink (blink.sim)
+~~~~~~~~~~~~~~~~~~~~~
+
+:download:`blink.sim <code/blink.sim>`
+
+Just run simppru
+
+.. code-block:: bash
+
+ bone$ simppru blink.sim --load
+ Detected TI AM335x PocketBeagle
+ inside while
+ [4] : setting P1_31 as output
+
+ Current mode for P1_31 is: pruout
+
+Detected TI AM335x PocketBeagle
+--------------------------------
+
+The +--load+ flag caused the compiled code to be copied to +/lib/firmware+.
+To start just do:
+
+.. code-block:: bash
+
+ bone$ cd /dev/remoteproc/pruss-core0/
+ bone$ ls
+ device firmware name power state subsystem uevent
+ bone$ echo start > state
+ bone$ cat state
+ running
+
+Your LED should now be blinking.
+
+Check out the many examples (https://simppru.readthedocs.io/en/latest/examples/led_blink/).
+
+simpPRU Examples
+~~~~~~~~~~~~~~~~
+
+.. figure:: figures/LEDblink.png
+ :align: center
+ :alt: simpPRU Examples
+
+
+MachineKit
+-----------
+
+`MachineKit <http://www.machinekit.io/>`_ is a platform for machine control
+applications. It can control machine tools, robots, or other automated devices. It can control servo
+motors, stepper motors, relays, and other devices related to machine tools.
+
+.. admonition:: information
+
+ Machinekit is portable across a wide range of hardware platforms and real-time environments,
+ and delivers excellent performance at low cost. It is based on the HAL component architecture,
+ an intuitive and easy to use circuit model that includes over 150 building blocks for digital logic,
+ motion, control loops, signal processing, and hardware drivers. Machinekit supports local and
+ networked UI options, including ubiquitous platforms like phones or tablets.
+
+ http://www.machinekit.io/about/
+
+ArduPilot
+----------
+`ArduPilot <http://ardupilot.org/>`_ is a open source autopilot system supporting
+multi-copters, traditional helicopters, fixed wing aircraft and rovers. ArduPilot runs on a many
+`hardware platforms <http://ardupilot.org/copter/docs/common-autopilots.html>`_ including the
+`BeagleBone Black <http://ardupilot.org/dev/docs/building-for-beaglebone-black-on-linux.html#building-for-beaglebone-black-on-linux>`_ and the
+`BeagleBone Blue <http://ardupilot.org/copter/docs/common-beagle-bone-blue.html>`_.
+
+
+
+.. admonition:: information
+
+ Ardupilot is the most advanced, full-featured and reliable open source autopilot software available.
+ It has been developed over 5+ years by a team of diverse professional engineers and computer scientists.
+ It is the only autopilot software capable of controlling any vehicle system imaginable, from conventional
+ airplanes, multirotors, and helicopters, to boats and even submarines. And now being expanded to feature
+ support for new emerging vehicle types such as quad-planes and compound helicopters.
+
+ Installed in over 1,000,000 vehicles world-wide, and with its advanced data-logging, analysis
+ and simulation tools, Ardupilot is the most tested and proven autopilot software. The open-source
+ code base means that it is rapidly evolving, always at the cutting edge of technology development.
+ With many peripheral suppliers creating interfaces, users benefit from a broad ecosystem of sensors,
+ companion computers and communication systems. Finally, since the source code is open, it can be
+ audited to ensure compliance with security and secrecy requirements.
+
+ The software suite is installed in aircraft from many OEM UAV companies, such as 3DR, jDrones,
+ PrecisionHawk, AgEagle and Kespry. It is also used for testing and development by several large
+ institutions and corporations such as NASA, Intel and Insitu/Boeing, as well as countless
+ colleges and universities around the world.
+
+ http://www.machinekit.io/about/
diff --git a/pru-cookbook/01case/code/blink.sim b/pru-cookbook/01case/code/blink.sim
new file mode 100644
index 0000000000000000000000000000000000000000..212a21689e76170ad44112b926a0c4300e0c03a4
--- /dev/null
+++ b/pru-cookbook/01case/code/blink.sim
@@ -0,0 +1,7 @@
+/* From: https://simppru.readthedocs.io/en/latest/examples/led_blink/ */
+while : 1 == 1 {
+ digital_write(P1_31, true);
+ delay(250); /* Delay 250 ms */
+ digital_write(P1_31, false);
+ delay(250);
+}
diff --git a/pru-cookbook/01case/code/circle.py b/pru-cookbook/01case/code/circle.py
new file mode 100755
index 0000000000000000000000000000000000000000..1feb41cc089af343f1f2c490deef92853965bee4
--- /dev/null
+++ b/pru-cookbook/01case/code/circle.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+"""A demo client for Open Pixel Control
+http://github.com/zestyping/openpixelcontrol
+
+Runs an LED around in a circle
+
+"""
+
+import time
+import opc
+
+ADDRESS = 'localhost:7890'
+
+# Create a client object
+client = opc.Client(ADDRESS)
+
+# Test if it can connect
+if client.can_connect():
+ print('connected to %s' % ADDRESS)
+else:
+ # We could exit here, but instead let's just print a warning
+ # and then keep trying to send pixels in case the server
+ # appears later
+ print('WARNING: could not connect to %s' % ADDRESS)
+
+# Send pixels forever
+STR_LEN=16
+for i in range(STR_LEN):
+ leds = [(0, 0, 0)] * STR_LEN
+leds[0] = (0, 127, 0)
+
+while True:
+ tmp = leds[0]
+ for i in range(STR_LEN-1):
+ leds[i] = leds[i+1]
+ leds[-1] = tmp
+ if client.put_pixels(leds, channel=0):
+ print('sent')
+ else:
+ print('not connected')
+ time.sleep(0.1)
+
diff --git a/pru-cookbook/01case/code/e1.31-test.py b/pru-cookbook/01case/code/e1.31-test.py
new file mode 100755
index 0000000000000000000000000000000000000000..6016c9eb9e879a6d21f8ccf8fd20ed32bd4c45b3
--- /dev/null
+++ b/pru-cookbook/01case/code/e1.31-test.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+# Controls a NeoPixel (WS2812) string via E1.31 and FPP
+# https://pypi.org/project/sacn/
+# https://github.com/FalconChristmas/fpp/releases
+import sacn
+import time
+
+# provide an IP-Address to bind to if you are using Windows and want to use multicast
+sender = sacn.sACNsender("192.168.7.1")
+sender.start() # start the sending thread
+sender.activate_output(1) # start sending out data in the 1st universe
+sender[1].multicast = False # set multicast to True
+sender[1].destination = "192.168.7.2" # or provide unicast information.
+sender.manual_flush = True # turning off the automatic sending of packets
+# Keep in mind that if multicast is on, unicast is not used
+LEDcount = 24
+# Have green fade is as it goes
+data = []
+for i in range(LEDcount):
+ data.append(0) # Red
+ data.append(i) # Green
+ data.append(0) # Blue
+sender[1].dmx_data = data
+sender.flush()
+time.sleep(0.5)
+
+# Turn off all LEDs
+data=[]
+for i in range(3*LEDcount):
+ data.append(0)
+sender.flush()
+sender[1].dmx_data = data
+time.sleep(0.5)
+
+# Have red fade in
+data = []
+for i in range(LEDcount):
+ data.append(i)
+ data.append(0)
+ data.append(0)
+sender[1].dmx_data = data
+sender.flush()
+time.sleep(0.25)
+
+# Make LED circle 5 times
+for j in range(15):
+ for i in range(LEDcount-1):
+ data[3*i+0] = 0
+ data[3*i+1] = 0
+ data[3*i+2] = 0
+ data[3*i+3] = 0
+ data[3*i+4] = 64
+ data[3*i+5] = 0
+ sender[1].dmx_data = data
+ sender.flush()
+ time.sleep(0.02)
+# Wrap around
+ i = LEDcount-1
+ data[0] = 0
+ data[1] = 64
+ data[2] = 0
+ data[3*i+0] = 0
+ data[3*i+1] = 0
+ data[3*i+2] = 0
+ sender[1].dmx_data = data
+ sender.flush()
+ time.sleep(0.02)
+
+time.sleep(2) # send the data for 10 seconds
+sender.stop() # do not forget to stop the sender
diff --git a/pru-cookbook/01case/code/encoder_setup.sh b/pru-cookbook/01case/code/encoder_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..ffc4ad68842fb6314173b523425295893cd05fc1
--- /dev/null
+++ b/pru-cookbook/01case/code/encoder_setup.sh
@@ -0,0 +1,49 @@
+#!/bin/bash
+# Configure the pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+
+# Configure eQEP pins
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_92 P9_27 P8_35 P8_33 P8_12 P8_11 P8_41 P8_42"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_31 P2_34 P2_10 P2_24 P2_33"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin qep
+ config-pin -q $pin
+done
+
+##########################################
+# Configure PRU pins
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P8_16 P8_15"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_09 P2_18"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruin
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/01case/code/fire.fseq b/pru-cookbook/01case/code/fire.fseq
new file mode 100644
index 0000000000000000000000000000000000000000..4bad5ae76476a87bb7bb71e853e3412b1fc63f29
Binary files /dev/null and b/pru-cookbook/01case/code/fire.fseq differ
diff --git a/pru-cookbook/01case/code/logic_install.sh b/pru-cookbook/01case/code/logic_install.sh
new file mode 100644
index 0000000000000000000000000000000000000000..7fb76122b55b55da9e50ea2a084b1242b8e30b78
--- /dev/null
+++ b/pru-cookbook/01case/code/logic_install.sh
@@ -0,0 +1,34 @@
+# Instructions for installing BeagleLogic
+# https://beaglelogic.readthedocs.io/en/latest/index.html
+# From: https://github.com/abhishek-kakkar/BeagleLogic/wiki
+
+# beaglelogic is installed on the 4.9 kernel, but not the 4.14, so
+# if you are running 4.14, switch to 4.9
+sudo /opt/scripts/tools/update_kernel.sh --lts-4_9
+sudo reboot
+
+git clone https://github.com/abhishek-kakkar/BeagleLogic
+cd BeagleLogic
+sudo ./install.sh
+sudo reboot
+
+# Now the kernel driver headers
+sudo apt install linux-headers-`uname -r`
+
+modinfo beaglelogic
+modprobe beaglelogic
+
+# From: https://beaglelogic.readthedocs.io/en/latest
+
+# Here's what works from abhishek
+git clone https://github.com/abhishek-kakkar/BeagleLogic
+cd BeagleLogic
+# 1. Get the dts file from this gist (https://gist.github.com/abhishek-kakkar/0761ef7b10822cff4b3efd194837f49c)
+
+# 2. cd to 'BeagleLogic/kernel' directory. Put the dts file there. (edited)
+# 3. Run 'make overlay'
+# 4. Run 'sudo cp -v beaglelogic-00A0.dtbo /lib/firmware/' (edited)
+# 5. Run 'sudo update-initramfs -u -k ``uname -r``' (edited)
+# (single backticks only, apparently Slack treats single backtick as code) (edited)
+# 6. Reboot
+# 7. Browse to bone:4000
diff --git a/pru-cookbook/01case/code/main_pru1.c b/pru-cookbook/01case/code/main_pru1.c
new file mode 100644
index 0000000000000000000000000000000000000000..8d751b3e65e06a8dd4e47c9ef6f28f370d60ca24
--- /dev/null
+++ b/pru-cookbook/01case/code/main_pru1.c
@@ -0,0 +1,53 @@
+/*
+ * Source Modified by Zubeen Tolani < ZeekHuge - zeekhuge@gmail.com >
+ * Based on the examples distributed by TI
+ *
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_pru1.h"
+
+// The function is defined in pru1_asm_blinky.asm in same dir
+// We just need to add a declaration here, the defination can be
+// seperately linked
+extern void start(void);
+
+void main(void)
+{
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ start();
+}
+
diff --git a/pru-cookbook/01case/code/my-config.json b/pru-cookbook/01case/code/my-config.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1534cfff15f46bbabb10068c01542bb721583c4
--- /dev/null
+++ b/pru-cookbook/01case/code/my-config.json
@@ -0,0 +1,19 @@
+{
+ "outputMode": "ws281x",
+ "outputMapping": "original-ledscape",
+ "demoMode": "fade",
+ "ledsPerStrip": 16,
+ "usedStripCount": 1,
+ "colorChannelOrder": "BRG",
+ "opcTcpPort": 7890,
+ "opcUdpPort": 7890,
+ "enableInterpolation": false,
+ "enableDithering": false,
+ "enableLookupTable": true,
+ "lumCurvePower": 2.0000,
+ "whitePoint": {
+ "red": 0.9000,
+ "green": 1.0000,
+ "blue": 1.0000
+ }
+}
diff --git a/pru-cookbook/01case/code/opc.py b/pru-cookbook/01case/code/opc.py
new file mode 100755
index 0000000000000000000000000000000000000000..36a3bbd6b76e7ff8e6660ea7b163da2271bbe696
--- /dev/null
+++ b/pru-cookbook/01case/code/opc.py
@@ -0,0 +1,177 @@
+#!/usr/bin/env python
+
+"""Python Client library for Open Pixel Control
+http://github.com/zestyping/openpixelcontrol
+
+Sends pixel values to an Open Pixel Control server to be displayed.
+http://openpixelcontrol.org/
+
+Recommended use:
+
+ import opc
+
+ # Create a client object
+ client = opc.Client('localhost:7890')
+
+ # Test if it can connect (optional)
+ if client.can_connect():
+ print('connected to %s' % ADDRESS)
+ else:
+ # We could exit here, but instead let's just print a warning
+ # and then keep trying to send pixels in case the server
+ # appears later
+ print('WARNING: could not connect to %s' % ADDRESS)
+
+ # Send pixels forever at 30 frames per second
+ while True:
+ my_pixels = [(255, 0, 0), (0, 255, 0), (0, 0, 255)]
+ if client.put_pixels(my_pixels, channel=0):
+ print('...')
+ else:
+ print('not connected')
+ time.sleep(1/30.0)
+
+"""
+
+import socket
+import struct
+import sys
+
+SET_PIXEL_COLOURS = 0 # "Set pixel colours" command (see openpixelcontrol.org)
+
+
+class Client(object):
+ def __init__(self, server_ip_port, long_connection=True, verbose=False):
+ """Create an OPC client object which sends pixels to an OPC server.
+
+ server_ip_port should be an ip:port or hostname:port as a single string.
+ For example: '127.0.0.1:7890' or 'localhost:7890'
+
+ There are two connection modes:
+ * In long connection mode, we try to maintain a single long-lived
+ connection to the server. If that connection is lost we will try to
+ create a new one whenever put_pixels is called. This mode is best
+ when there's high latency or very high framerates.
+ * In short connection mode, we open a connection when it's needed and
+ close it immediately after. This means creating a connection for each
+ call to put_pixels. Keeping the connection usually closed makes it
+ possible for others to also connect to the server.
+
+ A connection is not established during __init__. To check if a
+ connection will succeed, use can_connect().
+
+ If verbose is True, the client will print debugging info to the console.
+
+ """
+ self.verbose = verbose
+
+ self._long_connection = long_connection
+
+ self._ip, self._port = server_ip_port.split(':')
+ self._port = int(self._port)
+
+ self._socket = None # will be None when we're not connected
+
+ def _debug(self, m):
+ if self.verbose:
+ print(' %s' % str(m))
+
+ def _ensure_connected(self):
+ """Set up a connection if one doesn't already exist.
+
+ Return True on success or False on failure.
+
+ """
+ if self._socket:
+ self._debug('_ensure_connected: already connected, doing nothing')
+ return True
+
+ try:
+ self._debug('_ensure_connected: trying to connect...')
+ self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self._socket.settimeout(1)
+ self._socket.connect((self._ip, self._port))
+ self._debug('_ensure_connected: ...success')
+ return True
+ except socket.error:
+ self._debug('_ensure_connected: ...failure')
+ self._socket = None
+ return False
+
+ def disconnect(self):
+ """Drop the connection to the server, if there is one."""
+ self._debug('disconnecting')
+ if self._socket:
+ self._socket.close()
+ self._socket = None
+
+ def can_connect(self):
+ """Try to connect to the server.
+
+ Return True on success or False on failure.
+
+ If in long connection mode, this connection will be kept and re-used for
+ subsequent put_pixels calls.
+
+ """
+ success = self._ensure_connected()
+ if not self._long_connection:
+ self.disconnect()
+ return success
+
+ def put_pixels(self, pixels, channel=0):
+ """Send the list of pixel colors to the OPC server on the given channel.
+
+ channel: Which strand of lights to send the pixel colors to.
+ Must be an int in the range 0-255 inclusive.
+ 0 is a special value which means "all channels".
+
+ pixels: A list of 3-tuples representing rgb colors.
+ Each value in the tuple should be in the range 0-255 inclusive.
+ For example: [(255, 255, 255), (0, 0, 0), (127, 0, 0)]
+ Floats will be rounded down to integers.
+ Values outside the legal range will be clamped.
+
+ Will establish a connection to the server as needed.
+
+ On successful transmission of pixels, return True.
+ On failure (bad connection), return False.
+
+ The list of pixel colors will be applied to the LED string starting
+ with the first LED. It's not possible to send a color just to one
+ LED at a time (unless it's the first one).
+
+ """
+ self._debug('put_pixels: connecting')
+ is_connected = self._ensure_connected()
+ if not is_connected:
+ self._debug('put_pixels: not connected. ignoring these pixels.')
+ return False
+
+ # build OPC message
+ command = SET_PIXEL_COLOURS
+ header = struct.pack('>BBH', channel, SET_PIXEL_COLOURS, len(pixels)*3)
+ pieces = [struct.pack(
+ 'BBB',
+ min(255, max(0, int(r))),
+ min(255, max(0, int(g))),
+ min(255, max(0, int(b)))
+ ) for r, g, b in pixels]
+ if bytes is str:
+ message = header + ''.join(pieces)
+ else:
+ message = header + b''.join(pieces)
+
+ self._debug('put_pixels: sending pixels to server')
+ try:
+ self._socket.send(message)
+ except socket.error:
+ self._debug('put_pixels: connection lost. could not send pixels.')
+ self._socket = None
+ return False
+
+ if not self._long_connection:
+ self._debug('put_pixels: disconnecting')
+ self.disconnect()
+
+ return True
diff --git a/pru-cookbook/01case/code/pru1-servo.asm b/pru-cookbook/01case/code/pru1-servo.asm
new file mode 100644
index 0000000000000000000000000000000000000000..c8e66e5234214137be6c7f7a781083c21061190e
--- /dev/null
+++ b/pru-cookbook/01case/code/pru1-servo.asm
@@ -0,0 +1,162 @@
+;*
+;* Copyright (C) 2016 Zubeen Tolani <ZeekHuge - zeekhuge@gmail.com>
+;*
+;* This file is as an example to show how to develope
+;* and compile inline assembly code for PRUs
+;*
+;* This program is free software; you can redistribute it and/or modify
+;* it under the terms of the GNU General Public License version 2 as
+;* published by the Free Software Foundation.
+
+
+ .cdecls "main_pru1.c"
+
+DELAY .macro time, reg
+ LDI32 reg, time
+ QBEQ $E?, reg, 0
+$M?: SUB reg, reg, 1
+ QBNE $M?, reg, 0
+$E?:
+ .endm
+
+
+ .clink
+ .global start
+start:
+ LDI R30, 0xFFFF
+ DELAY 10000000, r11
+ LDI R30, 0x0000
+ DELAY 10000000, r11
+; JMP start
+
+; HALT
+
+
+; these pin definitions are specific to SD-101C Robotics Cape
+ .asg r30.t8, CH1BIT ; P8_27
+ .asg r30.t10, CH2BIT ; P8_28
+ .asg r30.t9, CH3BIT ; P8_29
+ .asg r30.t11, CH4BIT ; P8_30
+ .asg r30.t6, CH5BIT ; P8_39
+ .asg r30.t7, CH6BIT ; P8_40
+ .asg r30.t4, CH7BIT ; P8_41
+ .asg r30.t5, CH8BIT ; P8_42
+
+ .asg C4, CONST_SYSCFG
+ .asg C28, CONST_PRUSHAREDRAM
+
+ .asg 0x22000, PRU0_CTRL
+ .asg 0x24000, PRU1_CTRL ; page 19
+ .asg 0x28, CTPPR0 ; page 75
+
+ .asg 0x000, OWN_RAM
+ .asg 0x020, OTHER_RAM
+ .asg 0x100, SHARED_RAM ; This is so prudebug can find it.
+
+ LBCO &r0, CONST_SYSCFG, 4, 4 ; Enable OCP master port
+ CLR r0, r0, 4 ; Clear SYSCFG[STANDBY_INIT] to enable OCP master port
+ SBCO &r0, CONST_SYSCFG, 4, 4
+
+; Configure the programmable pointer register for PRU0 by setting c28_pointer[15:0]
+ LDI r0, SHARED_RAM ; Set C28 to point to shared RAM
+ LDI32 r1, PRU1_CTRL + CTPPR0 ; Note we use beginning of shared ram unlike example which
+ SBBO &r0, r1, 0, 4 ; page 25
+
+ LDI r9, 0x0 ; erase r9 to use to use later
+
+ LDI r0, 0x0 ; clear internal counters
+ LDI r1, 0x0
+ LDI r2, 0x0
+ LDI r3, 0x0
+ LDI r4, 0x0
+ LDI r5, 0x0
+ LDI r6, 0x0
+ LDI32 r7, 0x0
+ LDI r30, 0x0 ; turn off GPIO outputs
+
+
+; Beginning of loop, should always take 48 instructions to complete
+CH1:
+ QBEQ CLR1, r0, 0 ; If timer is 0, jump to clear channel
+ SET r30, CH1BIT ; If non-zero turn on the corresponding channel
+ SUB r0, r0, 1 ; Subtract one from timer
+ CLR r9, r9.t1 ; waste a cycle for timing
+ SBCO &r9, CONST_PRUSHAREDRAM, 0, 4 ; write 0 to shared memory
+CH2:
+ QBEQ CLR2, r1, 0
+ SET r30, CH2BIT
+ SUB r1, r1, 1
+ CLR r9, r9.t1
+ SBCO &r9, CONST_PRUSHAREDRAM, 4, 4
+CH3:
+ QBEQ CLR3, r2, 0
+ SET r30, CH3BIT
+ SUB r2, r2, 1
+ CLR r9, r9.t1
+ SBCO &r9, CONST_PRUSHAREDRAM, 8, 4
+CH4:
+ QBEQ CLR4, r3, 0
+ SET r30, CH4BIT
+ SUB r3, r3, 1
+ CLR r9, r9.t1
+ SBCO &r9, CONST_PRUSHAREDRAM, 12, 4
+CH5:
+ QBEQ CLR5, r4, 0
+ SET r30, CH5BIT
+ SUB r4, r4, 1
+ CLR r9, r9.t1
+ SBCO &r9, CONST_PRUSHAREDRAM, 16, 4
+CH6:
+ QBEQ CLR6, r5, 0
+ SET r30, CH6BIT
+ SUB r5, r5, 1
+ CLR r9, r9.t1
+ SBCO &r9, CONST_PRUSHAREDRAM, 20, 4
+CH7:
+ QBEQ CLR7, r6, 0
+ SET r30, CH7BIT
+ SUB r6, r6, 1
+ CLR r9, r9.t1
+ SBCO &r9, CONST_PRUSHAREDRAM, 24, 4
+CH8:
+ QBEQ CLR8, r7, 0
+ SET r30, CH8BIT
+ SUB r7, r7, 1
+ SBCO &r9, CONST_PRUSHAREDRAM, 28, 4
+
+ QBA CH1 ; return to beginning of loop
+ ; no need to waste a cycle for timing here because of the QBA above
+
+
+CLR1:
+ CLR r30, CH1BIT ; turn off the corresponding channel
+ LBCO &r0, CONST_PRUSHAREDRAM, 0, 4 ; Load new timer register
+ QBA CH2
+CLR2:
+ CLR r30, CH2BIT
+ LBCO &r1, CONST_PRUSHAREDRAM, 4, 4
+ QBA CH3
+CLR3:
+ CLR r30, CH3BIT
+ LBCO &r2, CONST_PRUSHAREDRAM, 8, 4
+ QBA CH4
+CLR4:
+ CLR r30, CH4BIT
+ LBCO &r3, CONST_PRUSHAREDRAM, 12, 4
+ QBA CH5
+CLR5:
+ CLR r30, CH5BIT
+ LBCO &r4, CONST_PRUSHAREDRAM, 16, 4
+ QBA CH6
+CLR6:
+ CLR r30, CH6BIT
+ LBCO &r5, CONST_PRUSHAREDRAM, 20, 4
+ QBA CH7
+CLR7:
+ CLR r30, CH7BIT
+ LBCO &r6, CONST_PRUSHAREDRAM, 24, 4
+ QBA CH8
+CLR8:
+ CLR r30, CH8BIT
+ LBCO &r7, CONST_PRUSHAREDRAM, 28, 4
+ QBA CH1 ; return to beginning of loop
diff --git a/pru-cookbook/01case/code/servo-test.c b/pru-cookbook/01case/code/servo-test.c
new file mode 100644
index 0000000000000000000000000000000000000000..1f94e274e573223dcf84b4bd111f9a3df16ac867
--- /dev/null
+++ b/pru-cookbook/01case/code/servo-test.c
@@ -0,0 +1,84 @@
+/*
+ *
+ * servo tester
+ * (c) Copyright 2016
+ * Mark A. Yoder, 20-July-2016
+ *
+ */
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include "robotics_cape_defs.h"
+
+#define PRU_ADDR 0x4A300000 // Start of PRU memory Page 184 am335x TRM
+#define PRU_LEN 0x80000 // Length of PRU memory
+#define PRU_SHAREDMEM 0x10000 // Offset to shared memory
+
+unsigned int *prusharedMem_32int_ptr; // Points to the start of the shared memory
+
+/*******************************************************************************
+* int send_servo_pulse_us(int ch, int us)
+*
+* Sends a single pulse of duration us (microseconds) to a single channel (ch)
+*******************************************************************************/
+int send_servo_pulse_us(int ch, int us) {
+ // Sanity Checks
+ if(ch<1 || ch>SERVO_CHANNELS){
+ printf("ERROR: Servo Channel must be between 1&%d\n", SERVO_CHANNELS);
+ return -1;
+ } if(prusharedMem_32int_ptr == NULL){
+ printf("ERROR: PRU servo Controller not initialized\n");
+ return -1;
+ }
+ // PRU runs at 200Mhz. find #loops needed
+ unsigned int num_loops = ((us*200.0)/PRU_SERVO_LOOP_INSTRUCTIONS);
+ // printf("num_loops: %d\n", num_loops);
+ // write to PRU shared memory
+ prusharedMem_32int_ptr[ch-1] = num_loops;
+ return 0;
+}
+
+int main(int argc, char *argv[])
+{
+ unsigned int *pru; // Points to start of PRU memory.
+ int fd;
+ printf("Servo tester\n");
+
+ fd = open ("/dev/mem", O_RDWR | O_SYNC);
+ if (fd == -1) {
+ printf ("ERROR: could not open /dev/mem.\n\n");
+ return 1;
+ }
+ pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
+ if (pru == MAP_FAILED) {
+ printf ("ERROR: could not map memory.\n\n");
+ return 1;
+ }
+ close(fd);
+ printf ("Using /dev/mem.\n");
+
+ prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4; // Points to start of shared memory
+
+ // while(1) {
+ // printf("value to store: ");
+ // scanf("%d", &value);
+ // printf("Storing: %d in %lx\n", value, addr);
+ // pru[addr/4] = value;
+ // }
+
+ int i;
+ while(1) {
+ for(i=1; i<=SERVO_CHANNELS; i++) {
+ send_servo_pulse_us(i, 10*i);
+ }
+ usleep(200);
+ }
+
+ if(munmap(pru, PRU_LEN)) {
+ printf("munmap failed\n");
+ } else {
+ printf("munmap succeeded\n");
+ }
+}
+
diff --git a/pru-cookbook/01case/code/servos_setup.sh b/pru-cookbook/01case/code/servos_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..330e8f34e30d7fd97d9368861ded65817222e903
--- /dev/null
+++ b/pru-cookbook/01case/code/servos_setup.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P8_27 P8_28 P8_29 P8_30 P8_39 P8_40 P8_41 P8_42"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_35 P1_35 P1_02 P1_04"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
\ No newline at end of file
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new file mode 100644
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new file mode 100644
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diff --git a/pru-cookbook/01case/figures/fpp_channel_outputs_menu.png b/pru-cookbook/01case/figures/fpp_channel_outputs_menu.png
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diff --git a/pru-cookbook/01case/figures/xlights_twinkle.jpg b/pru-cookbook/01case/figures/xlights_twinkle.jpg
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diff --git a/pru-cookbook/02start/code/Makefile b/pru-cookbook/02start/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/02start/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/02start/code/ai.notes b/pru-cookbook/02start/code/ai.notes
new file mode 100644
index 0000000000000000000000000000000000000000..d11ac1d4288af4ac3f1cd5a5aa1ac6cec14cb97f
--- /dev/null
+++ b/pru-cookbook/02start/code/ai.notes
@@ -0,0 +1,59 @@
+Here are some differences between the AI and the Black for the PRU.
+
+Black
+/sys/devices/platform/ocp/
+ 4a326004.pruss-soc-bus/
+ 4a300000.pruss/
+ 4a334000.pru/remoteproc/remoteproc1
+ 4a338000.pru/remoteproc/remoteproc2
+
+
+AI
+/sys/devices/platform/44000000.ocp/
+ 4b226004.pruss-soc-bus/
+ 4b200000.pruss/
+ 4b234000.pru/remoteproc/remoteproc0
+ 4b238000.pru/remoteproc/remoteproc1
+
+
+ 4b2a6004.pruss-soc-bus/
+ 4b280000.pruss/
+ 4b2b4000.pru/remoteproc/remoteproc2
+ 4b2b8000.pru/remoteproc/remoteproc3
+
+LED addresses
+https://github.com/beagleboard/BeagleBoard-DeviceTrees/blob/v4.19.x-ti/src/arm/am5729-beagleboneai.dts#L134-L171
+ led0 {
+ label = "beaglebone:green:usr0";
+ gpios = <&gpio3 17 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "heartbeat";
+ default-state = "off";
+ };
+
+ led1 {
+ label = "beaglebone:green:usr1";
+ gpios = <&gpio5 5 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "mmc0";
+ default-state = "off";
+ };
+
+ led2 {
+ label = "beaglebone:green:usr2";
+ gpios = <&gpio3 15 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "cpu";
+ default-state = "off";
+ };
+
+ led3 {
+ label = "beaglebone:green:usr3";
+ gpios = <&gpio3 14 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "mmc1";
+ default-state = "off";
+ };
+
+ led4 {
+ label = "beaglebone:green:usr4";
+ gpios = <&gpio3 7 GPIO_ACTIVE_HIGH>;
+ linux,default-trigger = "phy0assoc";
+
+GPIO Addresses: Page 404 for TRM
\ No newline at end of file
diff --git a/pru-cookbook/02start/code/hello.pru0.c b/pru-cookbook/02start/code/hello.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..ab61e79eaafed3a7198532358d9ae3415559048f
--- /dev/null
+++ b/pru-cookbook/02start/code/hello.pru0.c
@@ -0,0 +1,35 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ uint32_t *gpio1 = (uint32_t *)GPIO1;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<10; i++) {
+ gpio1[GPIO_SETDATAOUT] = USR3; // The the USR3 LED on
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio1[GPIO_CLEARDATAOUT] = USR3;
+
+ __delay_cycles(500000000/5);
+
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr3/trigger\0none\0" \
+ "\0\0";
diff --git a/pru-cookbook/02start/code/hello.pru1_1.c b/pru-cookbook/02start/code/hello.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..8cb8146f74c88ee890a5a251108c19642cdb0c75
--- /dev/null
+++ b/pru-cookbook/02start/code/hello.pru1_1.c
@@ -0,0 +1,35 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ uint32_t *gpio3 = (uint32_t *)GPIO3;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<10; i++) {
+ gpio3[GPIO_SETDATAOUT] = USR3; // The the USR3 LED on
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio3[GPIO_CLEARDATAOUT] = USR3;
+
+ __delay_cycles(500000000/5);
+
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr3/trigger\0none\0" \
+ "\0\0";
diff --git a/pru-cookbook/02start/code/hello2.pru0.c b/pru-cookbook/02start/code/hello2.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..d268d33b637cb9d51a9928589a69ce158101a4e2
--- /dev/null
+++ b/pru-cookbook/02start/code/hello2.pru0.c
@@ -0,0 +1,42 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ uint32_t *gpio1 = (uint32_t *)GPIO1;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<10; i++) {
+ gpio1[GPIO_SETDATAOUT] = USR1; // The the USR3 LED on
+ gpio1[GPIO_CLEARDATAOUT] = USR2;
+
+ // __R30 |= gpio; // Set the GPIO pin to 1
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio1[GPIO_CLEARDATAOUT] = USR1;
+ gpio1[GPIO_SETDATAOUT] = USR2;
+
+ // __R30 &= ~gpio; // Clearn the GPIO pin
+
+ __delay_cycles(500000000/5);
+
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr1/trigger\0none\0" \
+ "/sys/class/leds/beaglebone:green:usr2/trigger\0none\0" \
+ "\0\0";
diff --git a/pru-cookbook/02start/code/hello2.pru1.c b/pru-cookbook/02start/code/hello2.pru1.c
new file mode 100644
index 0000000000000000000000000000000000000000..15df54495ecf681b3707a42dfaa6dfae65990559
--- /dev/null
+++ b/pru-cookbook/02start/code/hello2.pru1.c
@@ -0,0 +1,43 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ uint32_t *gpio1 = (uint32_t *)GPIO1;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<10; i++) {
+ gpio1[GPIO_SETDATAOUT] = USR1; // The the USR3 LED on
+ gpio1[GPIO_CLEARDATAOUT] = USR2;
+
+ // __R30 |= gpio; // Set the GPIO pin to 1
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio1[GPIO_CLEARDATAOUT] = USR1;
+ gpio1[GPIO_SETDATAOUT] = USR2;
+
+ // __R30 &= ~gpio; // Clearn the GPIO pin
+
+ __delay_cycles(500000000/5);
+
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr1/trigger\0none\0" \
+ "/sys/class/leds/beaglebone:green:usr2/trigger\0none\0" \
+ "\0\0";
+
diff --git a/pru-cookbook/02start/code/hello2.pru1_0.c b/pru-cookbook/02start/code/hello2.pru1_0.c
new file mode 100644
index 0000000000000000000000000000000000000000..564e1bc9b8c0fe7df8c21df6594f519d92470690
--- /dev/null
+++ b/pru-cookbook/02start/code/hello2.pru1_0.c
@@ -0,0 +1,63 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ // uint32_t *gpio1 = (uint32_t *)GPIO1;
+ // uint32_t *gpio2 = (uint32_t *)GPIO2;
+ uint32_t *gpio3 = (uint32_t *)GPIO3;
+ // uint32_t *gpio4 = (uint32_t *)GPIO4;
+ uint32_t *gpio5 = (uint32_t *)GPIO5;
+ uint32_t *gpio6 = (uint32_t *)GPIO6;
+ // uint32_t *gpio7 = (uint32_t *)GPIO7;
+ uint32_t *gpio8 = (uint32_t *)GPIO8;
+
+ // Select which pins to toggle. These are all on pru1_1
+ uint32_t gpio = P9_16 | P8_15 | P8_16 | P8_26;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<100; i++) {
+ gpio5[GPIO_SETDATAOUT] = USR1; // Turn the USR1 LED on
+ gpio3[GPIO_CLEARDATAOUT] = USR2;
+ gpio8[GPIO_SETDATAOUT] = P8_17;
+ gpio6[GPIO_SETDATAOUT] = P9_25;
+
+ __R30 |= gpio; // Set the GPIO pin to 1
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio5[GPIO_CLEARDATAOUT] = USR1;
+ gpio3[GPIO_SETDATAOUT] = USR2;
+ gpio8[GPIO_CLEARDATAOUT] = P8_17;
+ gpio6[GPIO_CLEARDATAOUT] = P9_25;
+
+ __R30 &= ~gpio; // Clear the GPIO pin
+
+ __delay_cycles(500000000/5);
+
+ if((__R31&P8_19) == P8_19) {
+ gpio3[GPIO_CLEARDATAOUT] = USR3; // Turn on LED
+ } else
+ gpio3[GPIO_SETDATAOUT] = USR3; // Turn off LED
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr1/trigger\0none\0" \
+ "/sys/class/leds/beaglebone:green:usr2/trigger\0none\0" \
+ "/sys/class/gpio/export\0 177\0" \
+ "/sys/class/gpio/gpio177/direction\0out\0" \
+ "\0\0";
+
diff --git a/pru-cookbook/02start/code/hello2.pru1_1.c b/pru-cookbook/02start/code/hello2.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..564e1bc9b8c0fe7df8c21df6594f519d92470690
--- /dev/null
+++ b/pru-cookbook/02start/code/hello2.pru1_1.c
@@ -0,0 +1,63 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ // uint32_t *gpio1 = (uint32_t *)GPIO1;
+ // uint32_t *gpio2 = (uint32_t *)GPIO2;
+ uint32_t *gpio3 = (uint32_t *)GPIO3;
+ // uint32_t *gpio4 = (uint32_t *)GPIO4;
+ uint32_t *gpio5 = (uint32_t *)GPIO5;
+ uint32_t *gpio6 = (uint32_t *)GPIO6;
+ // uint32_t *gpio7 = (uint32_t *)GPIO7;
+ uint32_t *gpio8 = (uint32_t *)GPIO8;
+
+ // Select which pins to toggle. These are all on pru1_1
+ uint32_t gpio = P9_16 | P8_15 | P8_16 | P8_26;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<100; i++) {
+ gpio5[GPIO_SETDATAOUT] = USR1; // Turn the USR1 LED on
+ gpio3[GPIO_CLEARDATAOUT] = USR2;
+ gpio8[GPIO_SETDATAOUT] = P8_17;
+ gpio6[GPIO_SETDATAOUT] = P9_25;
+
+ __R30 |= gpio; // Set the GPIO pin to 1
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio5[GPIO_CLEARDATAOUT] = USR1;
+ gpio3[GPIO_SETDATAOUT] = USR2;
+ gpio8[GPIO_CLEARDATAOUT] = P8_17;
+ gpio6[GPIO_CLEARDATAOUT] = P9_25;
+
+ __R30 &= ~gpio; // Clear the GPIO pin
+
+ __delay_cycles(500000000/5);
+
+ if((__R31&P8_19) == P8_19) {
+ gpio3[GPIO_CLEARDATAOUT] = USR3; // Turn on LED
+ } else
+ gpio3[GPIO_SETDATAOUT] = USR3; // Turn off LED
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr1/trigger\0none\0" \
+ "/sys/class/leds/beaglebone:green:usr2/trigger\0none\0" \
+ "/sys/class/gpio/export\0 177\0" \
+ "/sys/class/gpio/gpio177/direction\0out\0" \
+ "\0\0";
+
diff --git a/pru-cookbook/02start/code/hello2.pru2_0.c b/pru-cookbook/02start/code/hello2.pru2_0.c
new file mode 100644
index 0000000000000000000000000000000000000000..564e1bc9b8c0fe7df8c21df6594f519d92470690
--- /dev/null
+++ b/pru-cookbook/02start/code/hello2.pru2_0.c
@@ -0,0 +1,63 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ // uint32_t *gpio1 = (uint32_t *)GPIO1;
+ // uint32_t *gpio2 = (uint32_t *)GPIO2;
+ uint32_t *gpio3 = (uint32_t *)GPIO3;
+ // uint32_t *gpio4 = (uint32_t *)GPIO4;
+ uint32_t *gpio5 = (uint32_t *)GPIO5;
+ uint32_t *gpio6 = (uint32_t *)GPIO6;
+ // uint32_t *gpio7 = (uint32_t *)GPIO7;
+ uint32_t *gpio8 = (uint32_t *)GPIO8;
+
+ // Select which pins to toggle. These are all on pru1_1
+ uint32_t gpio = P9_16 | P8_15 | P8_16 | P8_26;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<100; i++) {
+ gpio5[GPIO_SETDATAOUT] = USR1; // Turn the USR1 LED on
+ gpio3[GPIO_CLEARDATAOUT] = USR2;
+ gpio8[GPIO_SETDATAOUT] = P8_17;
+ gpio6[GPIO_SETDATAOUT] = P9_25;
+
+ __R30 |= gpio; // Set the GPIO pin to 1
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio5[GPIO_CLEARDATAOUT] = USR1;
+ gpio3[GPIO_SETDATAOUT] = USR2;
+ gpio8[GPIO_CLEARDATAOUT] = P8_17;
+ gpio6[GPIO_CLEARDATAOUT] = P9_25;
+
+ __R30 &= ~gpio; // Clear the GPIO pin
+
+ __delay_cycles(500000000/5);
+
+ if((__R31&P8_19) == P8_19) {
+ gpio3[GPIO_CLEARDATAOUT] = USR3; // Turn on LED
+ } else
+ gpio3[GPIO_SETDATAOUT] = USR3; // Turn off LED
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr1/trigger\0none\0" \
+ "/sys/class/leds/beaglebone:green:usr2/trigger\0none\0" \
+ "/sys/class/gpio/export\0 177\0" \
+ "/sys/class/gpio/gpio177/direction\0out\0" \
+ "\0\0";
+
diff --git a/pru-cookbook/02start/code/hello2.pru2_1.c b/pru-cookbook/02start/code/hello2.pru2_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..564e1bc9b8c0fe7df8c21df6594f519d92470690
--- /dev/null
+++ b/pru-cookbook/02start/code/hello2.pru2_1.c
@@ -0,0 +1,63 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register unsigned int __R30;
+volatile register unsigned int __R31;
+
+void main(void) {
+ int i;
+
+ // uint32_t *gpio1 = (uint32_t *)GPIO1;
+ // uint32_t *gpio2 = (uint32_t *)GPIO2;
+ uint32_t *gpio3 = (uint32_t *)GPIO3;
+ // uint32_t *gpio4 = (uint32_t *)GPIO4;
+ uint32_t *gpio5 = (uint32_t *)GPIO5;
+ uint32_t *gpio6 = (uint32_t *)GPIO6;
+ // uint32_t *gpio7 = (uint32_t *)GPIO7;
+ uint32_t *gpio8 = (uint32_t *)GPIO8;
+
+ // Select which pins to toggle. These are all on pru1_1
+ uint32_t gpio = P9_16 | P8_15 | P8_16 | P8_26;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ for(i=0; i<100; i++) {
+ gpio5[GPIO_SETDATAOUT] = USR1; // Turn the USR1 LED on
+ gpio3[GPIO_CLEARDATAOUT] = USR2;
+ gpio8[GPIO_SETDATAOUT] = P8_17;
+ gpio6[GPIO_SETDATAOUT] = P9_25;
+
+ __R30 |= gpio; // Set the GPIO pin to 1
+
+ __delay_cycles(500000000/5); // Wait 1/2 second
+
+ gpio5[GPIO_CLEARDATAOUT] = USR1;
+ gpio3[GPIO_SETDATAOUT] = USR2;
+ gpio8[GPIO_CLEARDATAOUT] = P8_17;
+ gpio6[GPIO_CLEARDATAOUT] = P9_25;
+
+ __R30 &= ~gpio; // Clear the GPIO pin
+
+ __delay_cycles(500000000/5);
+
+ if((__R31&P8_19) == P8_19) {
+ gpio3[GPIO_CLEARDATAOUT] = USR3; // Turn on LED
+ } else
+ gpio3[GPIO_SETDATAOUT] = USR3; // Turn off LED
+ }
+ __halt();
+}
+
+// Turns off triggers
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr1/trigger\0none\0" \
+ "/sys/class/leds/beaglebone:green:usr2/trigger\0none\0" \
+ "/sys/class/gpio/export\0 177\0" \
+ "/sys/class/gpio/gpio177/direction\0out\0" \
+ "\0\0";
+
diff --git a/pru-cookbook/02start/code/setup.sh b/pru-cookbook/02start/code/setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..eaf9943a2c375bc9f16b158994492b1198997dda
--- /dev/null
+++ b/pru-cookbook/02start/code/setup.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+export TARGET=hello.pru0
+
+echo TARGET=$TARGET
diff --git a/pru-cookbook/02start/code/setup2.sh b/pru-cookbook/02start/code/setup2.sh
new file mode 100755
index 0000000000000000000000000000000000000000..76dd6713f4f55d364403bf6a187b68e2e66172b0
--- /dev/null
+++ b/pru-cookbook/02start/code/setup2.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+export TARGET=hello2.pru1
+
+echo TARGET=$TARGET
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diff --git a/pru-cookbook/02start/start.rst b/pru-cookbook/02start/start.rst
new file mode 100644
index 0000000000000000000000000000000000000000..dee7273df5bb6ed688a21156b65cf02433d76667
--- /dev/null
+++ b/pru-cookbook/02start/start.rst
@@ -0,0 +1,396 @@
+.. _pru-cookbook-start:
+
+Getting Started
+################
+
+We assume you have some experience with the Beagle and are here to learn about
+the PRU. This chapter discusses what Beagles are out there, how to load the
+latest software image on your beagle, how to run the Cloud9 IDE and how to
+blink an LED.
+
+If you already have your Beagle and know your way around it, you can find the
+code (and the whole book) on the PRU Cookbook github site:
+https://github.com/MarkAYoder/PRUCookbook.
+
+Selecting a Beagle
+====================
+
+Problem
+----------
+
+Which Beagle should you use?
+
+Solution
+----------
+
+http://beagleboard.org/boards lists the many Beagles from which to choose.
+Here we'll give examples for the venerable `BeagleBone Black <http://beagleboard.org/black>`_,
+the robotics `BeagleBone Blue <http://beagleboard.org/blue>`_,
+tiny `PockeBeagle <http://beagleboard.org/pocket>`_ and the powerful `AI <http://beagleboard.org/ai>`_.
+All the examples should also run on the other Beagles too.
+
+Discussion
+------------
+
+BeagleBone Black
+~~~~~~~~~~~~~~~~~
+
+If you aren't sure which Beagle to use, it's hard to go wrong with the
+`BeagleBone Black <http://beagleboard.org/black>`_. It's the most popular
+member of the open hardware Beagle family.
+
+.. _start_black:
+
+BeagleBone Black
+~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/product_detail_black_sm.jpg
+ :align: center
+ :alt: BeableBone Black
+
+The Black has:
+
+* AM335x 1GHz ARM® Cortex-A8 processor
+* 512MB DDR3 RAM
+* 4GB 8-bit eMMC on-board flash storage
+* 3D graphics accelerator
+* NEON floating-point accelerator
+* 2x PRU 32-bit microcontrollers
+* USB client for power & communications
+* USB host
+* Ethernet
+* HDMI
+* 2x 46 pin headers
+
+See http://beagleboard.org/black for more details.
+
+BeagleBone Blue
+~~~~~~~~~~~~~~~~~
+
+The `Blue <http://beagleboard.org/blue>`_ is a good choice if you are doing robotics.
+
+.. _start_blue:
+
+BeagleBone Blue
+~~~~~~~~~~~~~~~~
+
+.. figure:: figures/beagle-blue.png
+ :align: center
+ :alt: BeagleBone Blue
+
+The Blue has everything the Black has except it has no Ethernet or HDMI.
+But it also has:
+
+* Wireless: 802.11bgn, Bluetooth 4.1 and BLE
+* Battery support: 2-cell LiPo with balancing, LED state-of-charge monitor
+* Charger input: 9-18V
+* Motor control: 8 6V servo out, 4 bidirectional DC motor out, 4 quadrature encoder in
+* Sensors: 9 axis IMU (accels, gyros, magnetometer), barometer, thermometer
+* User interface: 11 user programmable LEDs, 2 user programmable buttons
+
+In addition you can mount the Blue on the
+https://www.renaissancerobotics.com/eduMIP.html[EduMIP kit] as shown in
+:ref:`start_edumip` to get a balancing robot.
+
+.. _start_edumip:
+
+BeagleBone Blue EduMIP Kit
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/edumip.png
+ :align: center
+ :alt: BeagleBone Blue EduMIP Kit
+
+https://www.hackster.io/53815/controlling-edumip-with-ni-labview-2005f8
+shows how to assemble the robot and control it from
+`LabVIEW <http://www.ni.com/en-us/shop/labview.html>`_.
+
+PocketBeagle
+~~~~~~~~~~~~~~
+
+The `PocketBeagle <http://beagleboard.org/pocket>`_ is the smallest member of the
+Beagle family. It is an ultra-tiny-yet-complete Beagle that is software
+compatible with the other Beagles.
+
+.. _start_pocket:
+
+PocketBeagle
+~~~~~~~~~~~~~
+
+.. figure:: figures/PocketBeagle-size-compare-small.jpg
+ :align: center
+ :alt: PocketBeagle
+
+The Pocket is based on the same processor as the Black and Blue and has:
+
+* 8 analog inputs
+* 44 digital I/Os and
+* numerous digital interface peripherals
+
+See http://beagleboard.org/pocket for more details.
+
+BeagleBone AI
+~~~~~~~~~~~~~~~~~
+
+If you want to do deep learning, try the `BeagleBone AI <http://beagleboard.org/ai>`_.
+
+.. _start_ai:
+
+BeagleBone AI
+~~~~~~~~~~~~~~
+
+.. figure:: figures/BB_AI_BeautyAngle_800px.jpg
+ :align: center
+ :alt: BeableBone AI
+
+The AI has:
+
+* Dual Arm® Cortex®-A15 microprocessor subsystem
+* 2 C66x floating-point VLIW DSPs
+* 2.5MB of on-chip L3 RAM
+* 2x dual Arm® Cortex®-M4 co-processors
+* 4x Embedded Vision Engines (EVEs)
+* 2x dual-core Programmable Real-Time Unit and Industrial Communication SubSystem (PRU-ICSS)
+* 2D-graphics accelerator (BB2D) subsystem
+* Dual-core PowerVR® SGX544™ 3D GPU
+* IVA-HD subsystem (4K @ 15fps encode and decode support for H.264, 1080p60 for others)
+* BeagleBone Black mechanical and header compatibility
+* 1GB RAM and 16GB on-board eMMC flash with high-speed interface
+* USB type-C for power and superspeed dual-role controller; and USB type-A host
+* Gigabit Ethernet, 2.4/5GHz WiFi, and Bluetooth
+* microHDMI
+* Zero-download out-of-box software experience with Debian GNU/Linux
+
+
+Installing the Latest OS on Your Bone
+======================================
+
+Problem
+---------
+
+You want to find the lastest version of Debian that is available for your Bone.
+
+Solution
+---------
+
+On your host computer open a browser and go to
+http://beagleboard.org/latest-images.
+
+.. TODO Update links
+
+This shows you two current choices of recent Debian images,
+one for the BeagleBone AI
+(`AM5729 Debian 10.3 2020-04-06 8GB SD IoT TIDL <https://debian.beagleboard.org/images/am57xx-debian-10.3-iot-tidl-armhf-2020-04-06-6gb.img.xz>`_) and
+one for all the other Beagles (
+`AM3358 Debian 10.3 2020-04-06 4GB SD IoT <https://debian.beagleboard.org/images/bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz>`_).
+Download the one for your Beagle.
+
+Latest Debian images
+~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/latest-images.png
+ :align: center
+ :alt: Latest Debian images
+
+It contains all the packages we'll need.
+
+Flashing a Micro SD Card
+=========================
+
+Problem
+---------
+
+I've downloaded the image and need to flash my micro SD card.
+
+Solution
+---------
+
+Get a micro SD card that has at least 4GB and preferibly 8GB.
+
+There are many ways to flash the card, but the best seems to be Etcher by
+https://www.balena.io/. Go to https://www.balena.io/etcher/ and download the version for your host
+computer. Fire up Etcher, select the image you just downloaded (no need to
+uncompress it, Etcher does it for you), select the SD card and hit the *Flash*
+button and wait for it to finish.
+
+.. _start_etcher:
+
+Etcher
+~~~~~~~~
+
+.. figure:: figures/etcher.png
+ :align: center
+ :alt: Ether
+
+Once the SD is flashed, insert it in the Beagle and power it up.
+
+Cloud9 IDE
+===========
+
+Problem
+------------
+
+How do I manage and edit my files?
+
+Solution
+------------
+
+The image you downloaded includes `Cloud9 <https://aws.amazon.com/cloud9/>`_,
+a web-based intergrated development environment (IDE) as shown in
+:ref:`start_c9`.
+
+.. _start_c9:
+
+Cloud9 IDE
+~~~~~~~~~~~~
+
+.. figure:: figures/c9.png
+ :align: center
+ :alt: The Cloud9 IDE
+
+Just point the browswer on your host computer to http://192.168.7.2
+and start exploring. If you want the files in your home directory to appear
+in the tree structure click the settings gear and select *Show Home in Favorites*
+as shown in :ref:`start_c9_show_home`.
+
+.. _start_c9_show_home:
+
+Cloud9 Showing Home files
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/c9ShowHome.png
+ :align: center
+ :alt: Cloud9 showing home files
+
+
+If you want to edit files beyond your home directory you can link to the root file system by:
+
+.. code-block:: bash
+
+ bone$ *cd*
+ bone$ *ln -s / root*
+ bone$ *cd root*
+ bone$ *ls*
+ bbb-uEnv.txt boot etc ID.txt lost+found mnt opt root sbin sys usr
+ bin dev home lib media nfs-uEnv.txt proc run srv tmp var
+
+Now you can reach all the files from Cloud9.
+
+Getting Example Code
+====================
+
+Problem
+---------
+
+You are ready to start playing with the examples and need to find the code.
+
+Solution
+---------
+
+You can find the code (and the whole book) on the PRU Cookbook github site:
+<https://github.com/MarkAYoder/PRUCookbook/tree/master/docs>. Just clone
+it on your Beagle and then look in the *docs* directory.
+
+.. code-block::bash
+
+ bone$ *git clone https://github.com/MarkAYoder/PRUCookbook.git*
+ bone$ *cd PRUCookbook/docs/*
+ bone$ *ls -F*
+ 01case/ 05blocks/ book.adoc copyright.adoc index.html projects.adoc
+ 02start/ 06io/ book.html hack.sh* Makefile projects.html
+ 03details/ 07more/ book.pdf header.adoc notes.adoc style.adoc
+ 04debug/ 08ai/ common/ index.adoc notes.html style.html
+
+
+Each chapter has its own directory and within that directory is a **code** directory that has all of the code.
+
+.. code-block::bash
+
+ bone$ *cd 02start/code/*
+ bone$ *ls*
+ hello.pru0.c hello.pru1_1.c Makefile setup.sh
+
+Go and explore.
+
+Blinking an LED
+=================
+
+Problem
+---------
+
+You want to make sure everything is set up by blinking an LED.
+
+Solution
+----------
+
+The 'hello, world' of the embedded world is to flash an LED. :ref:`start_hello`
+is some code that blinks the ``USR3`` LED ten times using the PRU.
+
+.. TODO The *'s and _'s in the code are messing with the formatting.
+
+.. _start_hello:
+
+hello.pru0.c
+~~~~~~~~~~~~~
+
+:download:`hello.pru0.c <code/hello.pru0.c>`
+
+Later chapters will go into details of how this code works, but if you want
+to run it right now do the following.
+
+.. code-block:: bash
+
+ bone$ *git clone https://github.com/MarkAYoder/PRUCookbook.git*
+ bone$ *cd PRUCookbook/docs/02start/code*
+
+.. tip::
+
+ If the following doesn't work see
+ `Compiling with clpru and lnkpru <../03details/details.html#_compiling_with_clpru_and_lnkpru>`_
+ for instillation instructions.
+
+.. _start_running_code:
+
+Running Code on the Black or Pocket
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+ bone$ *make TARGET=hello.pru0*
+ /var/lib/cloud9/common/Makefile:28: MODEL=TI_AM335x_BeagleBone_Black,TARGET=hello.pru0,COMMON=/var/lib/cloud9/common
+ /var/lib/cloud9/common/Makefile:147: GEN_DIR=/tmp/cloud9-examples,CHIP=am335x,PROC=pru,PRUN=0,PRU_DIR=/sys/class/remoteproc/remoteproc1,EXE=.out
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/hello.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ writing "none" to "/sys/class/leds/beaglebone:green:usr3/trigger"
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+
+
+Running Code on the AI
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+ bone$ *make TARGET=hello.pru1_1*
+ /var/lib/cloud9/common/Makefile:28: MODEL=BeagleBoard.org_BeagleBone_AI,TARGET=hello.pru1_1
+ - Stopping PRU 1_1
+ CC hello.pru1_1.c
+ "/var/lib/cloud9/common/prugpio.h", line 4: warning #1181-D: #warning directive: "Found AI"
+ LD /tmp/cloud9-examples/hello.pru1_1.o
+ - copying firmware file /tmp/cloud9-examples/hello.pru1_1.out to /lib/firmware/am57xx-pru1_1-fw
+ write_init_pins.sh
+ writing "none" to "/sys/class/leds/beaglebone:green:usr3/trigger"
+ - Starting PRU 1_1
+ MODEL = BeagleBoard.org_BeagleBone_AI
+ PROC = pru
+ PRUN = 1_1
+ PRU_DIR = /dev/remoteproc/pruss1-core1
+ rm /tmp/cloud9-examples/hello.pru1_1.o
+
+Look quickly and you will see the ``USR3`` LED blinking.
+
+Later sections give more details on how all this works.
diff --git a/pru-cookbook/03details/code/Makefile b/pru-cookbook/03details/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/03details/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/03details/code/encoder_setup.sh b/pru-cookbook/03details/code/encoder_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..ffc4ad68842fb6314173b523425295893cd05fc1
--- /dev/null
+++ b/pru-cookbook/03details/code/encoder_setup.sh
@@ -0,0 +1,49 @@
+#!/bin/bash
+# Configure the pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+
+# Configure eQEP pins
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_92 P9_27 P8_35 P8_33 P8_12 P8_11 P8_41 P8_42"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_31 P2_34 P2_10 P2_24 P2_33"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin qep
+ config-pin -q $pin
+done
+
+##########################################
+# Configure PRU pins
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P8_16 P8_15"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_09 P2_18"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruin
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/03details/code/gpio_setup.sh b/pru-cookbook/03details/code/gpio_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..e676ed7abe2a6beaf62d3ce6c56f5aa151d86700
--- /dev/null
+++ b/pru-cookbook/03details/code/gpio_setup.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+export TARGET=gpio.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_11"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_05"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin gpio
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/03details/code/servos_setup.sh b/pru-cookbook/03details/code/servos_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..330e8f34e30d7fd97d9368861ded65817222e903
--- /dev/null
+++ b/pru-cookbook/03details/code/servos_setup.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P8_27 P8_28 P8_29 P8_30 P8_39 P8_40 P8_41 P8_42"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_35 P1_35 P1_02 P1_04"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
\ No newline at end of file
diff --git a/pru-cookbook/03details/details.rst b/pru-cookbook/03details/details.rst
new file mode 100644
index 0000000000000000000000000000000000000000..379eea3edfb4f18c5fba1c3fc036e325153905b0
--- /dev/null
+++ b/pru-cookbook/03details/details.rst
@@ -0,0 +1,490 @@
+.. _pru-cookbook-details:
+
+Running a Program; Configuring Pins
+####################################
+
+There are a lot of details in compiling and running PRU code.
+Fortunately those details are captured in a common `Makefile` that is
+used througout this book. This chapter shows how to use the `Makefile` to
+compile code and also start and stop the PRUs.
+
+The following are resources used in this chapter.
+
+Resources
+~~~~~~~~~~
+
+* `PRU Code Generation Tools - Compiler <http://software-dl.ti.com/codegen/esd/cgt_public_sw/PRU/2.1.5/ti_cgt_pru_2.1.5_armlinuxa8hf_busybox_installer.sh>`_
+* `PRU Software Support Package <http://git.ti.com/pru-software-support-package>`_
+* `PRU Optimizing C/C++ Compiler <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_
+* `PRU Assembly Language Tools <http://www.ti.com/lit/ug/spruhv6b/spruhv6b.pdf>`_
+* `AM572x Technical Reference Manual <http://www.ti.com/lit/pdf/spruhz6l>`_ (AI)
+* `AM335x Technical Reference Manual <http://www.ti.com/lit/pdf/spruh73>`_ (All others)
+
+Getting Example Code
+=====================
+
+Problem
+---------
+
+I want to get the files used in this book.
+
+Solution
+---------
+
+It's all on a GitHub repository.
+
+.. code-block:: bash
+
+ bone$ git clone https://github.com/MarkAYoder/PRUCookbook.git
+
+Compiling with clpru and lnkpru
+================================
+
+
+Problem
+---------
+
+You need details on the c compiler, linker and other tools for the PRU.
+
+Solution
+---------
+
+The PRU compiler and linker are already installed on many images.
+They are called ``clpru`` and ``lnkpru``. Do the following to see if ``clpru`` is installed.
+
+.. code-block:: bash
+
+ bone$ which clpru
+ /usr/bin/clpru
+
+.. tip::
+ If ``clpru`` isn't installed, follow the instructions at
+ https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#TI_PRU_Code_Generation_Tools
+ to install it.
+
+.. code-block:: bash
+
+ bone$ sudo apt update
+ bone$ sudo apt install ti-pru-cgt-installer
+
+
+Details on each can be found here:
+
+* `PRU Optimizing C/C++ Compiler <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_
+* `PRU Assembly Language Tools <http://www.ti.com/lit/ug/spruhv6b/spruhv6b.pdf>`_
+
+In fact there are PRU versions of many of the standard code generation tools.
+
+code tools
+~~~~~~~~~~~
+.. code-block:: bash
+
+ bone$ ls /usr/bin/*pru
+ /usr/bin/abspru /usr/bin/clistpru /usr/bin/hexpru /usr/bin/ofdpru
+ /usr/bin/acpiapru /usr/bin/clpru /usr/bin/ilkpru /usr/bin/optpru
+ /usr/bin/arpru /usr/bin/dempru /usr/bin/libinfopru /usr/bin/rc_test_encoders_pru
+ /usr/bin/asmpru /usr/bin/dispru /usr/bin/lnkpru /usr/bin/strippru
+ /usr/bin/cgpru /usr/bin/embedpru /usr/bin/nmpru /usr/bin/xrefpru
+
+See the `PRU Assembly Language Tools <http://www.ti.com/lit/ug/spruhv6b/spruhv6b.pdf>`_ for more details.
+
+Making sure the PRUs are configured
+====================================
+
+Problem
+---------
+
+When running the Makefile for the PRU you get and error about ``/dev/remoteproc`` is missing.
+
+Solution
+---------
+
+Edit ``/boot/uEnv.txt`` and enble pru_rproc by doing the following.
+
+.. code-block:: bash
+
+ bone$ *sudo vi /boot/uEnv.txt*
+
+Around line 40 you will see:
+
+.. code-block:: bash
+
+ ###pru_rproc (4.19.x-ti kernel)
+ uboot_overlay_pru=AM335X-PRU-RPROC-4-19-TI-00A0.dtbo
+
+Uncomment the ``uboot_overlay`` line as shown and then reboot.
+``/dev/remoteproc`` should now be there.
+
+.. code-block:: bash
+
+ bone$ sudo reboot
+ bone$ ls -ls /dev/remoteproc/
+ total 0
+ 0 lrwxrwxrwx 1 root root 33 Jul 29 16:12 pruss-core0 -> /sys/class/remoteproc/remoteproc1
+ 0 lrwxrwxrwx 1 root root 33 Jul 29 16:12 pruss-core1 -> /sys/class/remoteproc/remoteproc2
+
+Compiling and Running
+======================
+
+Problem
+---------
+
+I want to compile and run an example.
+
+Solution
+---------
+
+Change to the directory of the code you want to run.
+
+.. code-block:: bash
+
+ bone$ cd PRUCookbook/docs/06io/code
+ bone$ ls
+ gpio.pru0.c Makefile setup.sh
+
+Source the setup file.
+
+.. code-block:: bash
+
+ bone$ source setup.sh
+ TARGET=gpio.pru0
+ PocketBeagle Found
+ P2_05
+ Current mode for P2_05 is: gpio
+ Current mode for P2_05 is: gpio
+
+Now you are ready to compile and run. This is automated for you in the Makefile
+
+.. code-block:: bash
+
+ bone$ make
+ /var/lib/cloud9/common/Makefile:28: MODEL=TI_AM335x_BeagleBone_Black,TARGET=gpio.pru0,COMMON=/var/lib/cloud9/common
+ /var/lib/cloud9/common/Makefile:147: GEN_DIR=/tmp/cloud9-examples,CHIP=am335x,PROC=pru,PRUN=0,PRU_DIR=/sys/class/remoteproc/remoteproc1,EXE=.out
+ - Stopping PRU 0
+ /bin/sh: 1: echo: echo: I/O error
+ Cannot stop 0
+ CC gpio.pru0.c
+ "/var/lib/cloud9/common/prugpio.h", line 53: warning #1181-D: #warning directive: "Found am335x"
+ LD /tmp/cloud9-examples/gpio.pru0.o
+ - copying firmware file /tmp/cloud9-examples/gpio.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ writing "out" to "/sys/class/gpio/gpio30/direction"
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+ rm /tmp/cloud9-examples/gpio.pru0.o
+
+Congratulations, your are now running a PRU. If you have an LED attached to
+``P9_11`` on the Black, or ``P2_05`` on the Pocket, it should be blinking.
+
+Discussion
+------------
+
+The ``setup.sh`` file sets the ``TARGET`` to the file you want to compile.
+Set it to the filename, without the ``.c`` extension (``gpio.pru0``).
+The file extension ``.pru0`` specifies the number of the PRU you are using
+(either ``1_0``, ``1_1``, ``2_0``, ``2_1`` on the AI or ``0`` or ``1`` on the others)
+
+You can override the ``TARGET`` on the command line.
+
+.. code-block:: bash
+
+ bone$ cp gpio.pru0.c gpio.pru1.c
+ bone$ export TARGET=gpio.pru1
+
+Notice the ``TARGET`` doesn't have the ``.c`` on the end.
+
+You can also specify them when running ``make``.
+.. code-block:: bash
+
+ bone$ cp gpio.pru0.c gpio.pru1.c
+ bone$ make TARGET=gpio.pru1
+
+The setup file also contains instructions to figure out which Beagle you are running
+and then configure the pins acordingly.
+
+setup.sh
+~~~~~~~~~
+
+:download:`gpio_setup.sh <code/gpio_setup.sh>`
+
+.. table::
+
+ +-----+---------------------------------------------------+
+ |Line | Explanation |
+ +=====+===================================================+
+ |2-5 | Set which PRU to use and which file to compile. |
+ +-----+---------------------------------------------------+
+ |7 | Figure out which type of Beagle we have. |
+ +-----+---------------------------------------------------+
+ |9-21 | Based on the type, set the `pins`. |
+ +-----+---------------------------------------------------+
+ |23-28| Configure (set the pin mux) for each of the pins. |
+ +-----+---------------------------------------------------+
+
+.. tip::
+
+ The BeagleBone AI has it's pins preconfigured at boot time, so there's no
+ need to use ``config-pin``.
+
+
+The ``Makefile`` stops the PRU, compiles the file and moves it where it will
+be loaded, and then restarts the PRU.
+
+Stopping and Starting the PRU
+==============================
+
+Problem
+---------
+
+I want to stop and start the PRU.
+
+Solution
+---------
+
+It's easy, if you already have ``TARGET`` set up:
+
+.. code-block:: bash
+
+ bone$ make stop
+ - Stopping PRU 0
+ stop
+ bone$ make start
+ - Starting PRU 0
+ start
+
+See :ref:`../04debug/debug.html#_dmesg_hw,dmesg -Hw` to see how to tell if the PRU
+is stopped.
+
+This assumes ``TARGET`` is set to the PRU you are using.
+If you want to control the other PRU use:
+
+.. code-block:: bash
+
+ bone$ cp gpio.pru0.c gpio.pru1.c
+ bone$ make TARGET=gpio.pru1
+ bone$ make TARGET=gpio.pru1 stop
+ bone$ make TARGET=gpio.pru1 start
+
+
+.. _details_makefile:
+
+The Standard Makefile
+=====================
+
+Problem
+---------
+
+There are all sorts of options that need to be set when compiling
+a program. How can I be sure to get them all right?
+
+Solution
+---------
+
+The surest way to make sure everything is right is to use our
+standard ``Makefile``.
+
+Discussion
+-----------
+
+It's assumed you already know how Makefiles work. If not, there are
+many resources online that can bring you up to speed.
+Here is the local ``Makefile`` used throughout this book.
+
+Local Makefile
+~~~~~~~~~~~~~~~
+
+:download:`Makefile <code/Makefile>`
+
+Each of the local Makefiles refer to the same standard Makefile. The details
+of how the Makefile works is beyond the scope of this cookbook.
+
+Fortunately you shouldn't have to modify the `Makefile`.
+
+.. _detail_linker:
+
+The Linker Command File - am335x_pru.cmd
+=========================================
+
+
+Problem
+---------
+
+The linker needs to be told where in memory to place the code and variables.
+
+Solution
+---------
+
+``am335x_pru.cmd`` is the standard linker command file that tells the linker
+where to put what for the BeagleBone Black and Blue, and the Pocket.
+The ``am57xx_pru.cmd`` does the same for the AI.
+Both files can be found in ``/var/lib/cloud9/common``.
+
+am335x_pru.cmd
+~~~~~~~~~~~~~~~~
+
+:download:`am335x_pru.cmd <code/am335x_pru.cmd>`
+
+.. TODO does this need updating?
+
+The cmd file for the AI is about the same, with appropriate addresses for the AI.
+
+Discussion
+-----------
+
+
+The important things to notice in the file are given in the following table.
+
+AM335x_PRU.cmd important things
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. table::
+
+ +-----+-----------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=====+=========================================================================================+
+ |16 | This is where the instructions are stored. See page 206 of the |
+ | | `AM335x Technical Reference Manual <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_ |
+ | | Or see page 417 of |
+ | | `AM572x Technical Reference Manual <http://www.ti.com/lit/pdf/spruhz6l>`_ for the AI. |
+ +-----+-----------------------------------------------------------------------------------------+
+ |22 | This is where PRU 0's DMEM 0 is mapped. It's also where PRU 1's |
+ | | DMEM 1 is mapped. |
+ +-----+-----------------------------------------------------------------------------------------+
+ |23 | The reverse to above. PRU 0's DMEM 1 appears here and PRU 1's DMEM 0 |
+ | | is here. |
+ +-----+-----------------------------------------------------------------------------------------+
+ |26 | The shared memory for both PRU's appears here. |
+ +-----+-----------------------------------------------------------------------------------------+
+ |72 | The `.text` section is where the code goes. It's mapped to `IMEM` |
+ +-----+-----------------------------------------------------------------------------------------+
+ |73 | The ((stack)) is then mapped to DMEM 0. Notice that DMEM 0 is one bank |
+ +-----+-----------------------------------------------------------------------------------------+
+ | | of memory for PRU 0 and another for PRU1, so they both get their own stacks. |
+ +-----+-----------------------------------------------------------------------------------------+
+ |74 | The `.bss` section is where the **heap** goes. |
+ +-----+-----------------------------------------------------------------------------------------+
+
+Why is it important to understand this file? If you are going to store things
+in DMEM, you need to be sure to start at address 0x0200 since the **stack** and
+the **heap** are in the locations below 0x0200.
+
+Loading Firmware
+==================
+
+Problem
+---------
+
+I have my PRU code all compiled and need to load it on the PRU.
+
+Solution
+---------
+
+It's a simple three step process.
+
+* Stop the PRU
+* Write the ``.out`` file to the right place in ``/lib/firmware``
+* Start the PRU.
+
+This is all handled in the :ref:`details_makefile`.
+
+Discussion
+-----------
+
+
+The PRUs appear in the Linux file space at ``/dev/remoteproc/``.
+
+Finding the PRUs
+~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+ bone$ cd /dev/remoteproc/
+ bone$ ls
+ pruss-core0 pruss-core1
+
+Or if you are on the AI:
+
+.. code-block:: bash
+
+ bone$ cd /dev/remoteproc/
+ bone$ ls
+ dsp1 dsp2 ipu1 ipu2 pruss1-core0 pruss1-core1 pruss2-core0 pruss2-core1
+
+You see there that the AI has two pairs of PRUs, plus a couple of DSPs and other goodies.
+
+Here we see PRU 0 and PRU 1 in the path. Let's follow PRU 0.
+
+.. code-block:: bash
+
+ bone$ cd pruss-core0
+ bone$ ls
+ device firmware name power state subsystem uevent
+
+Here we see the files that control PRU 0. ``firmware`` tells where in ``/lib/firmware``
+to look for the code to run on the PRU.
+
+.. code-block:: bash
+
+ bone$ cat firmware
+ am335x-pru0-fw
+
+Therefore you copy your ``.out`` file to ``/lib/firmware/am335x-pru0-fw``.
+
+.. _details_configure_servos:
+
+Configuring Pins for Controlling Servos
+========================================
+
+Problem
+---------
+
+You want to **configure** the pins so the PRU outputs are accessable.
+
+Solution
+---------
+
+It depends on which Beagle you are running on. If you are on the AI or Blue,
+everything is already configured for you.
+If you are on the Black or Pocket you'll need to run the following script.
+
+servos_setup.sh
+~~~~~~~~~~~~~~~~
+
+:download:`servos_setup.sh <code/servos_setup.sh>`
+
+Discussion
+-----------
+
+The first part of the code looks in ``/proc/device-tree/model`` to see which Beagle is running. Based on that it
+assigns ``pins`` a list of pins to configure. Then the last part of the script loops through each of the pins and configures it.
+
+
+.. _details_configure_encoders:
+
+Configuring Pins for Controlling Encoders
+==========================================
+
+Problem
+---------
+
+You want to **configure** the pins so the PRU inputs are accessable.
+
+Solution
+---------
+
+It depends on which Beagle you are running on. If you are on the AI or Blue,
+everything is already configured for you.
+If you are on the Black or Pocket you'll need to run the following script.
+
+.encoder_setup.sh
+
+:download:`encoder_setup.sh <code/encoder_setup.sh>`
+
+Discussion
+-----------
+
+This works like the servo setup except some of the pins are configured as
+to the hardware eQEPs and other to the PRU inputs.
+
diff --git a/pru-cookbook/04debug/code/Makefile b/pru-cookbook/04debug/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/04debug/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/04debug/code/copyright.c b/pru-cookbook/04debug/code/copyright.c
new file mode 100644
index 0000000000000000000000000000000000000000..a34918faa44a789c3624c0e5551704e630017dae
--- /dev/null
+++ b/pru-cookbook/04debug/code/copyright.c
@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
diff --git a/pru-cookbook/04debug/code/resource_table_empty.h b/pru-cookbook/04debug/code/resource_table_empty.h
new file mode 100644
index 0000000000000000000000000000000000000000..c14bd2b222644e05a84a4a328792a4c8513ff1e8
--- /dev/null
+++ b/pru-cookbook/04debug/code/resource_table_empty.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * ======== resource_table_empty.h ========
+ *
+ * Define the resource table entries for all PRU cores. This will be
+ * incorporated into corresponding base images, and used by the remoteproc
+ * on the host-side to allocated/reserve resources. Note the remoteproc
+ * driver requires that all PRU firmware be built with a resource table.
+ *
+ * This file contains an empty resource table. It can be used either as:
+ *
+ * 1) A template, or
+ * 2) As-is if a PRU application does not need to configure PRU_INTC
+ * or interact with the rpmsg driver
+ *
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+
+struct my_resource_table {
+ struct resource_table base;
+
+ uint32_t offset[1]; /* Should match 'num' in actual definition */
+};
+
+#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
+#pragma RETAIN(pru_remoteproc_ResourceTable)
+struct my_resource_table pru_remoteproc_ResourceTable = {
+ 1, /* we're the first version that implements this */
+ 0, /* number of entries in the table */
+ 0, 0, /* reserved, must be zero */
+ 0, /* offset[0] */
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
+
diff --git a/pru-cookbook/04debug/code/uart1.pru0.c b/pru-cookbook/04debug/code/uart1.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..e9b40d5c8c6fe6f1bda4492bb84160a1d4c08b3e
--- /dev/null
+++ b/pru-cookbook/04debug/code/uart1.pru0.c
@@ -0,0 +1,88 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/trees/master/examples/am335x/PRU_Hardware_UART
+
+#include <stdint.h>
+#include <pru_uart.h>
+#include "resource_table_empty.h"
+
+/* The FIFO size on the PRU UART is 16 bytes; however, we are (arbitrarily)
+ * only going to send 8 at a time */
+#define FIFO_SIZE 16
+#define MAX_CHARS 8
+
+void main(void)
+{
+ uint8_t tx;
+ uint8_t rx;
+ uint8_t cnt;
+
+ /* hostBuffer points to the string to be printed */
+ char* hostBuffer;
+
+ /*** INITIALIZATION ***/
+
+ /* Set up UART to function at 115200 baud - DLL divisor is 104 at 16x oversample
+ * 192MHz / 104 / 16 = ~115200 */
+ CT_UART.DLL = 104;
+ CT_UART.DLH = 0;
+ CT_UART.MDR = 0x0;
+
+ /* Enable Interrupts in UART module. This allows the main thread to poll for
+ * Receive Data Available and Transmit Holding Register Empty */
+ CT_UART.IER = 0x7;
+
+ /* If FIFOs are to be used, select desired trigger level and enable
+ * FIFOs by writing to FCR. FIFOEN bit in FCR must be set first before
+ * other bits are configured */
+ /* Enable FIFOs for now at 1-byte, and flush them */
+ CT_UART.FCR = (0x8) | (0x4) | (0x2) | (0x1);
+ //CT_UART.FCR = (0x80) | (0x4) | (0x2) | (0x01); // 8-byte RX FIFO trigger
+
+ /* Choose desired protocol settings by writing to LCR */
+ /* 8-bit word, 1 stop bit, no parity, no break control and no divisor latch */
+ CT_UART.LCR = 3;
+
+ /* Enable loopback for test */
+ CT_UART.MCR = 0x00;
+
+ /* Choose desired response to emulation suspend events by configuring
+ * FREE bit and enable UART by setting UTRST and URRST in PWREMU_MGMT */
+ /* Allow UART to run free, enable UART TX/RX */
+ CT_UART.PWREMU_MGMT = 0x6001;
+
+ /*** END INITIALIZATION ***/
+
+ /* Priming the 'hostbuffer' with a message */
+ hostBuffer = "Hello! This is a long string\r\n";
+
+ /*** SEND SOME DATA ***/
+
+ /* Let's send/receive some dummy data */
+ while(1) {
+ cnt = 0;
+ while(1) {
+ /* Load character, ensure it is not string termination */
+ if ((tx = hostBuffer[cnt]) == '\0')
+ break;
+ cnt++;
+ CT_UART.THR = tx;
+
+ /* Because we are doing loopback, wait until LSR.DR == 1
+ * indicating there is data in the RX FIFO */
+ while ((CT_UART.LSR & 0x1) == 0x0);
+
+ /* Read the value from RBR */
+ rx = CT_UART.RBR;
+
+ /* Wait for TX FIFO to be empty */
+ while (!((CT_UART.FCR & 0x2) == 0x2));
+ }
+ }
+
+ /*** DONE SENDING DATA ***/
+
+ /* Disable UART before halting */
+ CT_UART.PWREMU_MGMT = 0x0;
+
+ /* Halt PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/04debug/code/uart1.pru1_0.c b/pru-cookbook/04debug/code/uart1.pru1_0.c
new file mode 100644
index 0000000000000000000000000000000000000000..4c558bb96e6e21b9c0b05f9acee21f7d7ad3c225
--- /dev/null
+++ b/pru-cookbook/04debug/code/uart1.pru1_0.c
@@ -0,0 +1,90 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/trees/master/examples/am335x/PRU_Hardware_UART
+// This example was converted to the am5729 by changing the names in pru_uart.h
+// for the am335x to the more descriptive names for the am5729.
+// For example DLL convertes to DIVISOR_REGISTER_LSB_
+#include <stdint.h>
+#include <pru_uart.h>
+#include "resource_table_empty.h"
+
+/* The FIFO size on the PRU UART is 16 bytes; however, we are (arbitrarily)
+ * only going to send 8 at a time */
+#define FIFO_SIZE 16
+#define MAX_CHARS 8
+
+void main(void)
+{
+ uint8_t tx;
+ uint8_t rx;
+ uint8_t cnt;
+
+ /* hostBuffer points to the string to be printed */
+ char* hostBuffer;
+
+ /*** INITIALIZATION ***/
+
+ /* Set up UART to function at 115200 baud - DLL divisor is 104 at 16x oversample
+ * 192MHz / 104 / 16 = ~115200 */
+ CT_UART.DIVISOR_REGISTER_LSB_ = 104;
+ CT_UART.DIVISOR_REGISTER_MSB_ = 0;
+ CT_UART.MODE_DEFINITION_REGISTER = 0x0;
+
+ /* Enable Interrupts in UART module. This allows the main thread to poll for
+ * Receive Data Available and Transmit Holding Register Empty */
+ CT_UART.INTERRUPT_ENABLE_REGISTER = 0x7;
+
+ /* If FIFOs are to be used, select desired trigger level and enable
+ * FIFOs by writing to FCR. FIFOEN bit in FCR must be set first before
+ * other bits are configured */
+ /* Enable FIFOs for now at 1-byte, and flush them */
+ CT_UART.INTERRUPT_IDENTIFICATION_REGISTER_FIFO_CONTROL_REGISTER = (0x8) | (0x4) | (0x2) | (0x1);
+ //CT_UART.FCR = (0x80) | (0x4) | (0x2) | (0x01); // 8-byte RX FIFO trigger
+
+ /* Choose desired protocol settings by writing to LCR */
+ /* 8-bit word, 1 stop bit, no parity, no break control and no divisor latch */
+ CT_UART.LINE_CONTROL_REGISTER = 3;
+
+ /* Enable loopback for test */
+ CT_UART.MODEM_CONTROL_REGISTER = 0x00;
+
+ /* Choose desired response to emulation suspend events by configuring
+ * FREE bit and enable UART by setting UTRST and URRST in PWREMU_MGMT */
+ /* Allow UART to run free, enable UART TX/RX */
+ CT_UART.POWERMANAGEMENT_AND_EMULATION_REGISTER = 0x6001;
+
+ /*** END INITIALIZATION ***/
+
+ /* Priming the 'hostbuffer' with a message */
+ hostBuffer = "Hello! This is a long string\r\n";
+
+ /*** SEND SOME DATA ***/
+
+ /* Let's send/receive some dummy data */
+ while(1) {
+ cnt = 0;
+ while(1) {
+ /* Load character, ensure it is not string termination */
+ if ((tx = hostBuffer[cnt]) == '\0')
+ break;
+ cnt++;
+ CT_UART.RBR_THR_REGISTERS = tx;
+
+ /* Because we are doing loopback, wait until LSR.DR == 1
+ * indicating there is data in the RX FIFO */
+ while ((CT_UART.LINE_STATUS_REGISTER & 0x1) == 0x0);
+
+ /* Read the value from RBR */
+ rx = CT_UART.RBR_THR_REGISTERS;
+
+ /* Wait for TX FIFO to be empty */
+ while (!((CT_UART.INTERRUPT_IDENTIFICATION_REGISTER_FIFO_CONTROL_REGISTER & 0x2) == 0x2));
+ }
+ }
+
+ /*** DONE SENDING DATA ***/
+
+ /* Disable UART before halting */
+ CT_UART.POWERMANAGEMENT_AND_EMULATION_REGISTER = 0x0;
+
+ /* Halt PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/04debug/code/uart2.pru0.c b/pru-cookbook/04debug/code/uart2.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..56ca985d5a45d1daeb2efd22b9576047791519bf
--- /dev/null
+++ b/pru-cookbook/04debug/code/uart2.pru0.c
@@ -0,0 +1,126 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/trees/master/pru_cape/pru_fw/PRU_Hardware_UART
+
+#include <stdint.h>
+#include <pru_uart.h>
+#include "resource_table_empty.h"
+
+/* The FIFO size on the PRU UART is 16 bytes; however, we are (arbitrarily)
+ * only going to send 8 at a time */
+#define FIFO_SIZE 16
+#define MAX_CHARS 8
+#define BUFFER 40
+
+//******************************************************************************
+// Print Message Out
+// This function take in a string literal of any size and then fill the
+// TX FIFO when it's empty and waits until there is info in the RX FIFO
+// before returning.
+//******************************************************************************
+void PrintMessageOut(volatile char* Message)
+{
+ uint8_t cnt, index = 0;
+
+ while (1) {
+ cnt = 0;
+
+ /* Wait until the TX FIFO and the TX SR are completely empty */
+ while (!CT_UART.LSR_bit.TEMT);
+
+ while (Message[index] != NULL && cnt < MAX_CHARS) {
+ CT_UART.THR = Message[index];
+ index++;
+ cnt++;
+ }
+ if (Message[index] == NULL)
+ break;
+ }
+
+ /* Wait until the TX FIFO and the TX SR are completely empty */
+ while (!CT_UART.LSR_bit.TEMT);
+
+}
+
+//******************************************************************************
+// IEP Timer Config
+// This function waits until there is info in the RX FIFO and then returns
+// the first character entered.
+//******************************************************************************
+char ReadMessageIn(void)
+{
+ while (!CT_UART.LSR_bit.DR);
+
+ return CT_UART.RBR_bit.DATA;
+}
+
+void main(void)
+{
+ uint32_t i;
+ volatile uint32_t not_done = 1;
+
+ char rxBuffer[BUFFER];
+ rxBuffer[BUFFER-1] = NULL; // null terminate the string
+
+ /*** INITIALIZATION ***/
+
+ /* Set up UART to function at 115200 baud - DLL divisor is 104 at 16x oversample
+ * 192MHz / 104 / 16 = ~115200 */
+ CT_UART.DLL = 104;
+ CT_UART.DLH = 0;
+ CT_UART.MDR_bit.OSM_SEL = 0x0;
+
+ /* Enable Interrupts in UART module. This allows the main thread to poll for
+ * Receive Data Available and Transmit Holding Register Empty */
+ CT_UART.IER = 0x7;
+
+ /* If FIFOs are to be used, select desired trigger level and enable
+ * FIFOs by writing to FCR. FIFOEN bit in FCR must be set first before
+ * other bits are configured */
+ /* Enable FIFOs for now at 1-byte, and flush them */
+ CT_UART.FCR = (0x80) | (0x8) | (0x4) | (0x2) | (0x01); // 8-byte RX FIFO trigger
+
+ /* Choose desired protocol settings by writing to LCR */
+ /* 8-bit word, 1 stop bit, no parity, no break control and no divisor latch */
+ CT_UART.LCR = 3;
+
+ /* If flow control is desired write appropriate values to MCR. */
+ /* No flow control for now, but enable loopback for test */
+ CT_UART.MCR = 0x00;
+
+ /* Choose desired response to emulation suspend events by configuring
+ * FREE bit and enable UART by setting UTRST and URRST in PWREMU_MGMT */
+ /* Allow UART to run free, enable UART TX/RX */
+ CT_UART.PWREMU_MGMT_bit.FREE = 0x1;
+ CT_UART.PWREMU_MGMT_bit.URRST = 0x1;
+ CT_UART.PWREMU_MGMT_bit.UTRST = 0x1;
+
+ /* Turn off RTS and CTS functionality */
+ CT_UART.MCR_bit.AFE = 0x0;
+ CT_UART.MCR_bit.RTS = 0x0;
+
+ /*** END INITIALIZATION ***/
+
+ while(1) {
+ /* Print out greeting message */
+ PrintMessageOut("Hello you are in the PRU UART demo test please enter some characters\r\n");
+
+ /* Read in characters from user, then echo them back out */
+ for (i = 0; i < BUFFER-1 ; i++) {
+ rxBuffer[i] = ReadMessageIn();
+ if(rxBuffer[i] == '\r') { // Quit early if ENTER is hit.
+ rxBuffer[i+1] = NULL;
+ break;
+ }
+ }
+
+ PrintMessageOut("you typed:\r\n");
+ PrintMessageOut(rxBuffer);
+ PrintMessageOut("\r\n");
+ }
+
+ /*** DONE SENDING DATA ***/
+ /* Disable UART before halting */
+ CT_UART.PWREMU_MGMT = 0x0;
+
+ /* Halt PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/04debug/code/uart2.pru1_0.c b/pru-cookbook/04debug/code/uart2.pru1_0.c
new file mode 100644
index 0000000000000000000000000000000000000000..c934ef7d0bd645734aa2c181b5ab68646713755e
--- /dev/null
+++ b/pru-cookbook/04debug/code/uart2.pru1_0.c
@@ -0,0 +1,126 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/trees/master/pru_cape/pru_fw/PRU_Hardware_UART
+
+#include <stdint.h>
+#include <pru_uart.h>
+#include "resource_table_empty.h"
+
+/* The FIFO size on the PRU UART is 16 bytes; however, we are (arbitrarily)
+ * only going to send 8 at a time */
+#define FIFO_SIZE 16
+#define MAX_CHARS 8
+#define BUFFER 40
+
+//******************************************************************************
+// Print Message Out
+// This function take in a string literal of any size and then fill the
+// TX FIFO when it's empty and waits until there is info in the RX FIFO
+// before returning.
+//******************************************************************************
+void PrintMessageOut(volatile char* Message)
+{
+ uint8_t cnt, index = 0;
+
+ while (1) {
+ cnt = 0;
+
+ /* Wait until the TX FIFO and the TX SR are completely empty */
+ while (!CT_UART.LINE_STATUS_REGISTER_bit.TEMT);
+
+ while (Message[index] != NULL && cnt < MAX_CHARS) {
+ CT_UART.RBR_THR_REGISTERS = Message[index];
+ index++;
+ cnt++;
+ }
+ if (Message[index] == NULL)
+ break;
+ }
+
+ /* Wait until the TX FIFO and the TX SR are completely empty */
+ while (!CT_UART.LINE_STATUS_REGISTER_bit.TEMT);
+
+}
+
+//******************************************************************************
+// IEP Timer Config
+// This function waits until there is info in the RX FIFO and then returns
+// the first character entered.
+//******************************************************************************
+char ReadMessageIn(void)
+{
+ while (!CT_UART.LINE_STATUS_REGISTER_bit.DR);
+
+ return CT_UART.RBR_THR_REGISTERS_bit.DATA;
+}
+
+void main(void)
+{
+ uint32_t i;
+ volatile uint32_t not_done = 1;
+
+ char rxBuffer[BUFFER];
+ rxBuffer[BUFFER-1] = NULL; // null terminate the string
+
+ /*** INITIALIZATION ***/
+
+ /* Set up UART to function at 115200 baud - DLL divisor is 104 at 16x oversample
+ * 192MHz / 104 / 16 = ~115200 */
+ CT_UART.DIVISOR_REGISTER_LSB_ = 104;
+ CT_UART.DIVISOR_REGISTER_MSB_ = 0;
+ CT_UART.MODE_DEFINITION_REGISTER_bit.OSM_SEL = 0x0;
+
+ /* Enable Interrupts in UART module. This allows the main thread to poll for
+ * Receive Data Available and Transmit Holding Register Empty */
+ CT_UART.INTERRUPT_ENABLE_REGISTER = 0x7;
+
+ /* If FIFOs are to be used, select desired trigger level and enable
+ * FIFOs by writing to FCR. FIFOEN bit in FCR must be set first before
+ * other bits are configured */
+ /* Enable FIFOs for now at 1-byte, and flush them */
+ CT_UART.INTERRUPT_IDENTIFICATION_REGISTER_FIFO_CONTROL_REGISTER = (0x80) | (0x8) | (0x4) | (0x2) | (0x01); // 8-byte RX FIFO trigger
+
+ /* Choose desired protocol settings by writing to LCR */
+ /* 8-bit word, 1 stop bit, no parity, no break control and no divisor latch */
+ CT_UART.LINE_CONTROL_REGISTER = 3;
+
+ /* If flow control is desired write appropriate values to MCR. */
+ /* No flow control for now, but enable loopback for test */
+ CT_UART.MODEM_CONTROL_REGISTER = 0x00;
+
+ /* Choose desired response to emulation suspend events by configuring
+ * FREE bit and enable UART by setting UTRST and URRST in PWREMU_MGMT */
+ /* Allow UART to run free, enable UART TX/RX */
+ CT_UART.POWERMANAGEMENT_AND_EMULATION_REGISTER_bit.FREE = 0x1;
+ CT_UART.POWERMANAGEMENT_AND_EMULATION_REGISTER_bit.URRST = 0x1;
+ CT_UART.POWERMANAGEMENT_AND_EMULATION_REGISTER_bit.UTRST = 0x1;
+
+ /* Turn off RTS and CTS functionality */
+ CT_UART.MODEM_CONTROL_REGISTER_bit.AFE = 0x0;
+ CT_UART.MODEM_CONTROL_REGISTER_bit.RTS = 0x0;
+
+ /*** END INITIALIZATION ***/
+
+ while(1) {
+ /* Print out greeting message */
+ PrintMessageOut("Hello you are in the PRU UART demo test please enter some characters\r\n");
+
+ /* Read in characters from user, then echo them back out */
+ for (i = 0; i < BUFFER-1 ; i++) {
+ rxBuffer[i] = ReadMessageIn();
+ if(rxBuffer[i] == '\r') { // Quit early if ENTER is hit.
+ rxBuffer[i+1] = NULL;
+ break;
+ }
+ }
+
+ PrintMessageOut("you typed:\r\n");
+ PrintMessageOut(rxBuffer);
+ PrintMessageOut("\r\n");
+ }
+
+ /*** DONE SENDING DATA ***/
+ /* Disable UART before halting */
+ CT_UART.POWERMANAGEMENT_AND_EMULATION_REGISTER = 0x0;
+
+ /* Halt PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/04debug/code/uart_setup.sh b/pru-cookbook/04debug/code/uart_setup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..db11d1f4fb5226a1f66482d5262809085dfc0ea9
--- /dev/null
+++ b/pru-cookbook/04debug/code/uart_setup.sh
@@ -0,0 +1,28 @@
+export TARGET=uart1.pru0
+echo TARGET=$TARGET
+
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ # Configure tx
+ config-pin P9_24 pru_uart
+ # Configure rx
+ config-pin P9_26 pru_uart
+elif [ $machine = "AI" ]; then
+ echo " Found"
+ echo "See AI chapter for configuring via device tree"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ # Configure tx
+ config-pin P1_06 pru_uart
+ config-pin P2_09 pru_uart
+ # Configure rx
+ config-pin P1_12 pru_uart
+ config-pin P2_11 pru_uart
+else
+ echo " Not Found"
+ pins=""
+fi
diff --git a/pru-cookbook/04debug/debug.rst b/pru-cookbook/04debug/debug.rst
new file mode 100644
index 0000000000000000000000000000000000000000..a9f0edfbd8f0a884beca0d263300cb12b1e89d6e
--- /dev/null
+++ b/pru-cookbook/04debug/debug.rst
@@ -0,0 +1,532 @@
+.. _pru-cookbook-debug:
+
+Debugging and Benchmarking
+###########################
+
+One of the challenges is getting debug
+information out of the PRUs since they don't have a traditional ``printf()``.
+In this chapter four different methods are presented that I've found useful in
+debugging. The first is simply attaching an LED. The second is using
+``dmesg`` to watch the kernel messages. ``prudebug``, a simple debugger that
+allows you to inspect registers and memory of the PRUs, is then presented.
+Finally, using one of the UARTS to send debugging information out a serial port
+is shown.
+
+Debugging via an LED
+=====================
+
+Problem
+---------
+
+I need a simple way to see if my program is running without slowing the real-time execution.
+
+Solution
+---------
+
+One of the simplest ways to do this is to attach an LED to the output pin and watch it
+flash. :ref:`debug_LED` shows an LED attached to pin P9_29 of the BeagleBone Black.
+
+.. _debug_LED:
+
+LED used for debugging P9_29
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/LED_bb.png
+ :align: center
+ :alt: LED used for debugging P9_29
+
+Make sure you have the LED in the correct way, or it won't work.
+
+Discussion
+---------
+
+If your output is changing more than a few times a second, the LED will be
+blinking too fast and you'll need an oscilloscope or a logic analyzer to
+see what's happening.
+
+Another useful tool that let's you see the contents of the registers and
+RAM is discussed in :ref:`debug_prudebug`.
+
+dmesg Hw
+=========
+
+Problem
+---------
+I'm getting an error message
+(``/sys/devices/platform/ocp/4a326000.pruss-soc-bus/4a300000.pruss/4a334000.pru0/remoteproc/remoteproc1/state: Invalid argument``)
+when I load my code, but don't know what's causing it.
+
+Solution
+---------
+The command ``dmesg`` outputs useful information when dealing with the kernel.
+Simplying running ``dmesg -Hw`` can tell you a lot. The ``-H`` flag puts the
+dates in the human readable form, the ``-w`` tells it to wait for more information.
+Often I'll have a window open running ``dmesg -Hw``.
+.
+
+Here's what ``dmesg`` said for the example above.
+
+dmesg -Hw
+~~~~~~~~~~
+
+.. code-block:: bash
+
+ [ +0.000018] remoteproc remoteproc1: header-less resource table
+ [ +0.011879] remoteproc remoteproc1: Failed to find resource table
+ [ +0.008770] remoteproc remoteproc1: Boot failed: -22
+
+It quickly told me I needed to add the line ``#include "resource_table_empty.h"``
+to my code.
+
+.. _debug_prudebug:
+
+prudebug - A Simple Debugger for the PRU
+=========================================
+
+Problem
+---------
+
+You need to examine registers and memory on the PRUs.
+
+Solution
+---------
+
+``prudebug`` is a simple debugger for the PRUs that lets you start and stop the PRUs and
+examine the registers and memory. It can be found on GitHub
+https://github.com/RRvW/prudebug-rl. I have a version I updated to use byte
+addressing rather than word addressing. This makes it easier to work with the
+assembler output. You can find it in my GitHub BeagleBoard repo
+https://github.com/MarkAYoder/BeagleBoard-exercises/tree/master/pru/prudebug.
+
+Just download the files and type ``make``.
+
+Discussion
+------------
+
+Once ``prudebug`` is installed is rather easy to use.
+
+.. note::
+
+ ``prudebug`` has now been ported to the AI.
+
+.. TODO Isn't working on Pocket at this time.
+
+.. code-block:: bash
+
+ bone$ *sudo prudebug*
+ PRU Debugger v0.25
+ (C) Copyright 2011, 2013 by Arctica Technologies. All rights reserved.
+ Written by Steven Anderson
+
+ Using /dev/mem device.
+ Processor type AM335x
+ PRUSS memory address 0x4a300000
+ PRUSS memory length 0x00080000
+
+ offsets below are in 32-bit byte addresses (not ARM byte addresses)
+ PRU Instruction Data Ctrl
+ 0 0x00034000 0x00000000 0x00022000
+ 1 0x00038000 0x00002000 0x00024000
+
+You get help by entering ``help``. You cal also enter ``hb`` to get a brief help.
+
+.. code-block:: bash
+
+ PRU0> *hb*
+ Command help
+
+ BR [breakpoint_number [address]] - View or set an instruction breakpoint
+ D memory_location_ba [length] - Raw dump of PRU data memory (32-bit byte offset from beginning of full PRU memory block - all PRUs)
+ DD memory_location_ba [length] - Dump data memory (32-bit byte offset from beginning of PRU data memory)
+ DI memory_location_ba [length] - Dump instruction memory (32-bit byte offset from beginning of PRU instruction memory)
+ DIS memory_location_ba [length] - Disassemble instruction memory (32-bit byte offset from beginning of PRU instruction memory)
+ G - Start processor execution of instructions (at current IP)
+ GSS - Start processor execution using automatic single stepping - this allows running a program with breakpoints
+ HALT - Halt the processor
+ L memory_location_iwa file_name - Load program file into instruction memory
+ PRU pru_number - Set the active PRU where pru_number ranges from 0 to 1
+ Q - Quit the debugger and return to shell prompt.
+ R - Display the current PRU registers.
+ RESET - Reset the current PRU
+ SS - Single step the current instruction.
+ WA [watch_num [address [value]]] - Clear or set a watch point
+ WR memory_location_ba value1 [value2 [value3 ...]] - Write a 32-bit value to a raw (offset from beginning of full PRU memory block)
+ WRD memory_location_ba value1 [value2 [value3 ...]] - Write a 32-bit value to PRU data memory for current PRU
+ WRI memory_location_ba value1 [value2 [value3 ...]] - Write a 32-bit value to PRU instruction memory for current PRU
+
+
+Initially you are talking to PRU 0. You can enter ``pru 1`` to talk to PRU 1.
+The commands I find most useful are, ``r``, to see the registers.
+
+.. code-block:: bash
+
+ PRU0> *r*
+ Register info for PRU0
+ Control register: 0x00008003
+ Reset PC:0x0000 RUNNING, FREE_RUN, COUNTER_DISABLED, NOT_SLEEPING, PROC_ENABLED
+
+ Program counter: 0x0030
+ Current instruction: ADD R0.b0, R0.b0, R0.b0
+
+ Rxx registers not available since PRU is RUNNING.
+
+Notice the PRU has to be stopped to see the register contents.
+
+.. code-block:: bash
+
+ PRU0> *h*
+ PRU0 Halted.
+ PRU0> *r*
+ Register info for PRU0
+ Control register: 0x00000001
+ Reset PC:0x0000 STOPPED, FREE_RUN, COUNTER_DISABLED, NOT_SLEEPING, PROC_DISABLED
+
+ Program counter: 0x0028
+ Current instruction: LBBO R15, R15, 4, 4
+
+ R00: 0x00000000 R08: 0x00000000 R16: 0x00000001 R24: 0x00000002
+ R01: 0x00000000 R09: 0xaf40dcf2 R17: 0x00000000 R25: 0x00000003
+ R02: 0x000000dc R10: 0xd8255b1b R18: 0x00000003 R26: 0x00000003
+ R03: 0x000f0000 R11: 0xc50cbefd R19: 0x00000100 R27: 0x00000002
+ R04: 0x00000000 R12: 0xb037c0d7 R20: 0x00000100 R28: 0x8ca9d976
+ R05: 0x00000009 R13: 0xf48bbe23 R21: 0x441fb678 R29: 0x00000002
+ R06: 0x00000000 R14: 0x00000134 R22: 0xc8cc0752 R30: 0x00000000
+ R07: 0x00000009 R15: 0x00000200 R23: 0xe346fee9 R31: 0x00000000
+
+You can resume using ``g`` which starts right where you left off, or use ``reset`` to
+restart back at the beginning.
+
+The ``dd`` command dumps the memory. Keep in mind the following.
+
+Important memory locations
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-------+---------------------------------------------------------------------------+
+ |Address|Contents |
+ +=======+===========================================================================+
+ |0x00000| Start of the **stack** for PRU 0. The file **AM335x_PRU.cmd** specifies |
+ | | where the stack is. |
+ +-------+---------------------------------------------------------------------------+
+ |0x00100| Start of the **heap** for PRU 0. |
+ +-------+---------------------------------------------------------------------------+
+ |0x00200| Start of DRAM that your programs can use. The **Makefile** specifies |
+ +-------+---------------------------------------------------------------------------+
+ | | the size of the **stack** and the **heap**. |
+ +-------+---------------------------------------------------------------------------+
+ |0x10000| Start of the memory shared between the PRUs. |
+ +-------+---------------------------------------------------------------------------+
+
+Using ``dd`` with no address prints the next section of memory.
+
+.. code-block:: bash
+
+ PRU0> *dd*
+ dd
+ Absolute addr = 0x0000, offset = 0x0000, Len = 16
+ [0x0000] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x0010] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x0020] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x0030] 0x00000000 0x00000000 0x00000000 0x00000000
+
+The stack grows from higher memory to lower memory, so you often won't see
+much around address ``0x0000``.
+
+.. code-block:: bash
+
+ PRU0> *dd 0x100*
+ dd 0x100
+ Absolute addr = 0x0100, offset = 0x0000, Len = 16
+ [0x0100] 0x00000001 0x00000002 0x00000003 0x00000004
+ [0x0110] 0x00000004 0x00000003 0x00000002 0x00000001
+ [0x0120] 0x00000001 0x00000000 0x00000000 0x00000000
+ [0x0130] 0x00000000 0x00000200 0x862e5c18 0xfeb21aca
+
+Here we see some values on the heap.
+
+.. code-block:: bash
+
+ PRU0> *dd 0x200*
+ dd 0x200
+ Absolute addr = 0x0200, offset = 0x0000, Len = 16
+ [0x0200] 0x00000001 0x00000004 0x00000002 0x00000003
+ [0x0210] 0x00000003 0x00000011 0x00000004 0x00000010
+ [0x0220] 0x0a4fe833 0xb222ebda 0xe5575236 0xc50cbefd
+ [0x0230] 0xb037c0d7 0xf48bbe23 0x88c460f0 0x011550d4
+
+Data written explicity to ``0x0200`` of the DRAM.
+
+.. code-block:: bash
+
+ PRU0> *dd 0x10000*
+ dd 0x10000
+ Absolute addr = 0x10000, offset = 0x0000, Len = 16
+ [0x10000] 0x8ca9d976 0xebcb119e 0x3aebce31 0x68c44d8b
+ [0x10010] 0xc370ba7e 0x2fea993b 0x15c67fa5 0xfbf68557
+ [0x10020] 0x5ad81b4f 0x4a55071a 0x48576eb7 0x1004786b
+ [0x10030] 0x2265ebc6 0xa27b32a0 0x340d34dc 0xbfa02d4b
+
+Here's the shared memory.
+
+You can also use ``prudebug`` to set breakpoints and single step,
+but I haven't used that feature much.
+
+:ref:`../05blocks/blocks.html#_memory_allocation, Memory Allocation` gives examples
+of how you can control where your vaiables are stored in memory.
+
+
+UART
+======
+
+Problem
+---------
+
+I'd like to use something like ``printf()`` to debug my code.
+
+.. TODO Check these on the Black and Pocket without grove
+
+Solution
+---------
+
+One simple, yet effective approach to 'printing' from the PRU is
+an idea taken from the Adruino playbook;
+use the UART (serial port) to output debug information. The PRU has it's
+own UART that can send characters to a serial port.
+
+You'll need a 3.3V FTDI cable to go between your Beagle and the USB port
+on your host computer as shown in :ref:`debug_ftdi`. [#debug1]_
+you can get such a cable from places such as
+`Sparkfun <https://www.sparkfun.com/products/9717>`_ or
+`Adafruit <https://www.adafruit.com/product/70>`_.
+
+.. _debug_ftdi:
+
+FTDI cable
+~~~~~~~~~~~
+
+.. figure:: figures/FTDIcable.jpg
+ :align: center
+ :alt: FTDI cable
+
+Discussion
+---------
+
+The Beagle side of the FTDI cable has a small triangle on it as shown in
+:ref:`debug_ftdi_connector` which marks the ground pin, pin 1.
+
+.. _debug_ftdi_connector:
+
+FTDI connector
+~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/FTDIconnector.jpg
+ :align: center
+ :alt: FTDI connector
+
+The :ref:`debug_FTDI` table shows which pins connect where and :ref:`debug_ftdi_pins`
+is a wiring diagram for the BeagleBone Black.
+
+.. _debug_FTDI:
+
+Wriing for FTDI cable to Beagle
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +--------+------+---------+-------------+--------+------+---------+
+ |FTDI pin|Color |Black pin|AI 1 pin |AI 2 pin|Pocket|Function |
+ +========+======+=========+=============+========+======+=========+
+ |0 |black |P9_1 |P8_1 |P8_1 |P1_16 |ground |
+ +--------+------+---------+-------------+--------+------+---------+
+ |4 |orange|P9_24 |P8_43 |P8_33a |P1_12 |rx |
+ +--------+------+---------+-------------+--------+------+---------+
+ |5 |yellow|P9_26 |P8_44 |P8_31a |P1_06 |tx |
+ +--------+------+---------+-------------+--------+------+---------+
+
+.. _debug_ftdi_pins:
+
+FTDI to BB Black
+~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/FTDIhookup_bb.png
+ :align: center
+ :alt: FTDI to BB Black
+
+Details
+~~~~~~~~
+
+Two examples of using the UART are presented here. The first
+(:ref:`debug_uart1`) sends a character out the serial port then
+waits for a character to come in. Once the new
+character arrives another character is output.
+
+The second example (:ref:`debug_uart2`) prints out a string and then
+waits for characters to arrive.
+Once an ENTER appears the string is sent back.
+
+.. tip::
+
+ On the Black, either PRU0 and PRU1 can
+ run this code. Both have access to the same UART.
+
+You need to set the pin muxes.
+
+config-pin
+~~~~~~~~~~~
+
+.. code-block:: bash
+
+ # Configure tx Black
+ bone$ *config-pin P9_24 pru_uart*
+ # Configure rx Black
+ bone$ *config-pin P9_26 pru_uart*
+
+ # Configure tx Pocket
+ bone$ *config-pin P1_06 pru_uart*
+ # Configure rx Pocket
+ bone$ *config-pin P1_12 pru_uart*
+
+.. note::
+
+ See :ref:`../08ai/ai.html#ai_device_tree, Configuring pins on the AI via device trees` for configuring
+ pins on the AI. Make sure your `rx` pins are configured as input pins in the device tree.
+
+For example
+
+.. code-block:: bash
+
+ DRA7XX_CORE_IOPAD(0x3610, *PIN_INPUT* | MUX_MODE10) // C6: P8.33a:
+
+.. * TODO - Add code for Blue.
+
+uart1.pru1_0.c
+~~~~~~~~~~~~~~~
+
+Set the following variables so ``make`` will know what to compile.
+
+make
+~~~~~
+
+.. code-block:: bash
+
+ bone$ *make TARGET=uart1.pru0*
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=uart1.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/uart1.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /dev/remoteproc/pruss-core0
+
+Now ``make`` will compile, load PRU0 and start it.
+In a terminal window on your host computer run
+
+.. code-block:: bash
+
+ host$ *screen /dev/ttyUSB0 115200*
+
+It will initially display the first charters (``H``) and then as you enter
+characters on the keyboard, the rest of the message will appear.
+
+uart1.pru0.c output
+~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/uart1.pru0.png
+ :align: center
+ :alt: uart1.pru0.c output
+
+Here's the code (``uart1.pru1_0.c``) that does it.
+
+.. _debug_uart1:
+
+uart1.pru1_0.c
+~~~~~~~~~~~~~~~
+
+:download:`uart1.pru1_0.c <code/uart1.pru1_0.c>`
+
+.. note::
+
+ I'm using the AI version of the code since
+ it uses variables with more desciptive names.
+
+The first part of the code initializes the UART. Then the line
+``CT_UART.RBR_THR_REGISTERS = tx;`` takes a character in ``tx``
+and sends it to the transmit buffer on the UART. Think of
+this as the UART version of the ``printf()``.
+
+Later the line ``while (!((CT_UART.INTERRUPT_IDENTIFICATION_REGISTER_FIFO_CONTROL_REGISTER & 0x2) == 0x2));``
+waits for the transmitter FIFO to be empty. This makes sure later characters
+won't overwrite the buffer before they can be sent. The downside is, this will
+cause your code to wait on the buffer and it might miss an important
+real-time event.
+
+The line ``while ((CT_UART.LINE_STATUS_REGISTER & 0x1) == 0x0);`` waits for an input from the
+UART (possibly missing something) and ``rx = CT_UART.RBR_THR_REGISTERS;`` reads from the
+receive register on the UART.
+
+These simple lines should be enough to place in your code to print out
+debugging information.
+
+uart2.pru0.c
+~~~~~~~~~~~~
+
+If you want to try ``uart2.pru0.c``, run the following:
+
+make
+~~~~~
+
+.. code-block:: bash
+
+ bone$ *make TARGET=uart2.pru0*
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=uart2.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/uart2.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /dev/remoteproc/pruss-core0
+
+You will see:
+
+uart2.pru0.c output
+~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/uart2.pru0.png
+ :align: center
+ :alt: uart2.pru0.c output
+
+Type a few characters and hit ENTER. The PRU will playback what you typed,
+but it won't echo it as you type.
+
+``uart2.pru0.c`` defines ``PrintMessageOut()`` which is passed a string that is
+sent to the UART. It takes advantage of the eight character FIFO on the UART.
+Be careful using it because it also uses ``while (!CT_UART.LSR_bit.TEMT);`` to
+wait for the FIFO to empty, which may cause your code to miss something.
+
+:ref:`debug_uart2` is the code that does it.
+
+.. _debug_uart2:
+
+uart2.pru1_0.c
+~~~~~~~~~~~~~~~
+
+:download:`uart2.pru1_0.c <code/uart2.pru1_0.c>`
+
+More complex examples can be built using the principles shown in these examples.
+
+Copyright
+==========
+
+copyright.c
+~~~~~~~~~~~~~
+
+:download:`copyright.c <code/copyright.c>`
+
+.. rubric:: Footnotes
+
+.. [#debug1] FTDI images are from the BeagleBone Cookbook http://shop.oreilly.com/product/0636920033899.do
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+.. _pru-cookbook-blocks:
+
+Building Blocks - Applications
+###############################
+
+Here are some examples that use the basic PRU building blocks.
+
+The following are resources used in this chapter.
+
+Resources
+~~~~~~~~~~
+
+* `PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_
+* `AM572x Technical Reference Manual <http://www.ti.com/lit/pdf/spruhz6l>`_ (AI)
+* `AM335x Technical Reference Manual <http://www.ti.com/lit/pdf/spruh73>`_ (All others)
+* `Exploring BeagleBone by Derek Molloy <http://exploringbeaglebone.com/>`_
+* `WS2812 Data Sheet <https://cdn-shop.adafruit.com/datasheets/WS2812.pdf>`_
+
+Memory Allocation
+==================
+
+
+Problem
+---------
+
+I want to control where my variables are stored in memory.
+
+.. TODO Include a section on accessing DDR.
+
+Solution
+---------
+
+Each PRU has is own 8KB of data memory (Data Mem0 and Mem1) and 12KB of
+shared memory (Shared RAM) as shown in :ref:`blocks_PRU_block_diagram`.
+
+.. _blocks_PRU_block_diagram:
+
+PRU Block Diagram
+~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/blockDiagram.png
+ :align: center
+ :alt: PRU Block diagram
+
+Each PRU accesses it's own DRAM starting at location 0x0000_0000. Each PRU
+can also access the other PRU's DRAM starting at 0x0000_2000. Both PRUs
+access the shared RAM at 0x0001_0000. The compiler can control where each
+of these memories variables are stored.
+
+:ref:`blocks_shared` shows how to allocate seven variable in six different locations.
+
+.. _blocks_shared:
+
+shared.pro0.c - Examples of Using Different Memory Locations
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`shared.pru0.c <code/shared.pru0.c>`
+
+
+Discussion
+-----------
+
+Here's the line-by-line
+
+Line-byline for shared.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=======+=========================================================================================================+
+ |7 | `PRU_SRAM` is defined here. It will be used later to declare variables |
+ | | in the `Shared RAM` location of memory. Section 5.5.2 on page 75 of the |
+ | | `PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_ |
+ | | gives details of the command. The `PRU_SHAREDMEM` |
+ | | refers to the memory section defined in `am335x_pru.cmd` on line 26. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |8, 9 | These are like the previous line except for the DMEM sections. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |16 | Variables declared outside of `main()` are put on the heap. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |17 | Adding `PRU_SRAM` has the variable stored in the shared memory. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |18, 19 | These are stored in the PRU's local RAM. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |20, 21 | These lines are for storing in the `.bss` section as declared on |
+ | | line 74 of `am335x_pru.cmd`. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |28-31 | All the previous examples direct the compiler to an area in memory |
+ | | and the compilers figures out what to put where. With these lines we |
+ | | specify the exact location. Here are start with the PRU_DRAM starting |
+ | | address and add 0x200 to it to avoid |
+ | | the **stack** and the **heap**. The advantage of this technique is you can |
+ | | easily share these variables between the ARM and the two PRUs. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |36, 37 | Variable declared inside `main()` go on the stack. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+
+.. caution::
+
+ Using the technique of line 28-31 you can put variables anywhere, even where the
+ compiler has put them. Be careful, it's easy to overwrite what the compiler has done
+
+Compile and run the program.
+
+.. code-block:: bash
+
+ bone$ *source shared_setup.sh*
+ TARGET=shared.pru0
+ Black Found
+ P9_31
+ Current mode for P9_31 is: pruout
+ Current mode for P9_31 is: pruout
+ P9_29
+ Current mode for P9_29 is: pruout
+ Current mode for P9_29 is: pruout
+ P9_30
+ Current mode for P9_30 is: pruout
+ Current mode for P9_30 is: pruout
+ P9_28
+ Current mode for P9_28 is: pruout
+ Current mode for P9_28 is: pruout
+ bone$ *make*
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=shared.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/shared.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+
+Now check the **symbol table** to see where things are allocated.
+
+.. code-block:: bash
+
+ bone $ *grep shared /tmp/cloud9-examples/shared.pru0.map*
+ ....
+ 1 0000011c shared_0
+ 2 00010000 shared_1
+ 1 00000000 shared_2
+ 1 00002000 shared_3
+ 1 00000118 shared_4
+ 1 00000120 shared_5
+
+We see, ``shared_0`` had no directives and was places in the heap that is 0x100
+to 0x1ff. ``shared_1`` was directed to go to the SHAREDMEM, ``shared_2`` to
+the start of the local DRAM (which is also the top of the stack). ``shared_3``
+was placed in the DRAM of PRU 1, ``shared_4`` was placed in the ``.bss`` section,
+which is in the **heap**. Finally ``shared_5`` is a pointer to where the value
+is stored.
+
+Where are ``shared_6`` and ``shared_7``? They are declared inside ``main()`` and are
+therefore placed on the stack at run time. The ``shared.map`` file shows the
+compile time allocations. We have to look in the memory itself to see what
+happen at run time.
+
+Let's fire up ``prudebug``
+(:ref:`../04debug/debug.html#debug_prudebug, prudebug - A Simple Debugger for the PRU`)
+to see where things are.
+
+.. code-block:: bash
+
+ bone$ *sudo ./prudebug*
+ PRU Debugger v0.25
+ (C) Copyright 2011, 2013 by Arctica Technologies. All rights reserved.
+ Written by Steven Anderson
+
+ Using /dev/mem device.
+ Processor type AM335x
+ PRUSS memory address 0x4a300000
+ PRUSS memory length 0x00080000
+
+ offsets below are in 32-bit byte addresses (not ARM byte addresses)
+ PRU Instruction Data Ctrl
+ 0 0x00034000 0x00000000 0x00022000
+ 1 0x00038000 0x00002000 0x00024000
+
+ PRU0> *d 0*
+ Absolute addr = 0x0000, offset = 0x0000, Len = 16
+ [0x0000] 0x0000feed 0x00000000 0x00000000 0x00000000
+ [0x0010] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x0020] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x0030] 0x00000000 0x00000000 0x00000000 0x00000000
+
+The value of ``shared_2`` is in memory location 0.
+
+.. code-block:: bash
+
+ PRU0> *dd 0x100*
+ Absolute addr = 0x0100, offset = 0x0000, Len = 16
+ [0x0100] 0x00000000 0x00000001 0x00000000 0x00000000
+ [0x0110] 0x00000000 0x00000000 0x0000beed 0x0000feef
+ [0x0120] 0x00000200 0x3ec71de3 0x1a013e1a 0xbf2a01a0
+ [0x0130] 0x111110b0 0x3f811111 0x55555555 0xbfc55555
+
+There are ``shared_0`` and ``shared_4`` in the heap, but where is ``shared_6`` and
+``shared_7``? They are supposed to be on the **stack** that starts at 0.
+
+.. code-block:: bash
+
+ PRU0> dd *0xc0*
+ Absolute addr = 0x00c0, offset = 0x0000, Len = 16
+ [0x00c0] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x00d0] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x00e0] 0x00000000 0x00000000 0x00000000 0x00000000
+ [0x00f0] 0x00000000 0x00000000 0x00004321 0x00009876
+
+There they are; the stack grows from the top. (The heap grows from the bottom.)
+
+.. code-block:: bash
+
+ PRU0> dd *0x2000*
+ Absolute addr = 0x2000, offset = 0x0000, Len = 16
+ [0x2000] 0x0000deed 0x00000001 0x00000000 0x557fcfb5
+ [0x2010] 0xce97bd0f 0x6afb2c8f 0xc7f35df4 0x5afb6dcb
+ [0x2020] 0x8dec3da3 0xe39a6756 0x642cb8b8 0xcb6952c0
+ [0x2030] 0x2f22ebda 0x548d97c5 0x9241786f 0x72dfeb86
+
+And there is PRU 1's memory with ``shared_3``. And finally the shared memory.
+
+.. code-block:: bash
+
+ PRU0> *dd 0x10000*
+ Absolute addr = 0x10000, offset = 0x0000, Len = 16
+ [0x10000] 0xdeadbeef 0x0000feed 0x00000000 0x68c44f8b
+ [0x10010] 0xc372ba7e 0x2ffa993b 0x11c66da5 0xfbf6c5d7
+ [0x10020] 0x5ada3fcf 0x4a5d0712 0x48576fb7 0x1004796b
+ [0x10030] 0x2267ebc6 0xa2793aa1 0x100d34dc 0x9ca06d4a
+
+The compiler offers great control over where variables are stored. Just
+be sure if you are hand picking where things are put, not to put them in places
+used by the compiler.
+
+Auto Initialization of built-in LED Triggers
+=============================================
+
+Problem
+-----------
+
+I see the built-in LEDs blink to their own patterns.
+How do I turn this off? Can this be automated?
+
+Solution
+---------
+
+Each built-in LED has a default action (trigger) when the Bone boots up.
+This is controlled by ``/sys/class/leds``.
+
+.. code-block:: bash
+
+ bone$ *cd /sys/class/leds*
+ bone$ *ls*
+ beaglebone:green:usr0 beaglebone:green:usr2
+ beaglebone:green:usr1 beaglebone:green:usr3
+
+Here you see a directory for each of the LEDs. Let's pick USR1.
+
+.. code-block:: bash
+
+ bone$ *cd beaglebone\:green\:usr1*
+ bone$ *ls*
+ brightness device max_brightness power subsystem trigger uevent
+ bone$ *cat trigger*
+ none usb-gadget usb-host rfkill-any rfkill-none kbd-scrolllock kbd-numlock
+ kbd-capslock kbd-kanalock kbd-shiftlock kbd-altgrlock kbd-ctrllock kbd-altlock
+ kbd-shiftllock kbd-shiftrlock kbd-ctrlllock kbd-ctrlrlock *[mmc0]* timer
+ oneshot disk-activity disk-read disk-write ide-disk mtd nand-disk heartbeat
+ backlight gpio cpu cpu0 activity default-on panic netdev phy0rx phy0tx
+ phy0assoc phy0radio rfkill0
+
+Notice ``[mmc0]`` is in brackets. This means it's the current trigger; it flashes
+when the built-in flash memory is in use. You can turn this off using:
+
+.. code-block:: bash
+
+ bone$ *echo none > trigger*
+ bone$ *cat trigger*
+ *[none]* usb-gadget usb-host rfkill-any rfkill-none kbd-scrolllock kbd-numlock
+ kbd-capslock kbd-kanalock kbd-shiftlock kbd-altgrlock kbd-ctrllock kbd-altlock
+ kbd-shiftllock kbd-shiftrlock kbd-ctrlllock kbd-ctrlrlock mmc0 timer
+ oneshot disk-activity disk-read disk-write ide-disk mtd nand-disk heartbeat
+ backlight gpio cpu cpu0 activity default-on panic netdev phy0rx phy0tx
+ phy0assoc phy0radio rfkill0
+
+Now it is no longer flashing.
+
+How can this be automated so when code is run that needs the trigger off, it's
+turned off automatically? Here's a trick. Include the following in your code.
+
+.. code-block:: bash
+ :linenos:
+
+ #pragma DATA_SECTION(init_pins, ".init_pins")
+ #pragma RETAIN(init_pins)
+ const char init_pins[] =
+ "/sys/class/leds/beaglebone:green:usr3/trigger\0none\0" \
+ "\0\0";
+
+Lines 3 and 4 declare the array ``init_pins`` to have an entry which is the path
+to ``trigger`` and the value that should be 'echoed' into it. Both are NULL
+terminated. Line 1 says to put this in a section called ``.init_pins`` and
+line 2 says to ``RETAIN`` it. That is don't throw it away if it appears to be
+unused.
+
+Discussion
+-----------
+
+The above code stores this array in the ``.out`` file thats created, but that's not
+enough. You need to run :ref:`blocks_write_init_pins` on the ``.out`` file to make
+the code work. Fortunately the Makefile always runs it.
+
+.. _blocks_write_init_pins:
+
+write_init_pins.sh
+~~~~~~~~~~~~~~~~~~~
+
+:download:`write_init_pins.sh <code/write_init_pins.sh>`
+
+The ``readelf`` command extracts the path and value from the ``.out`` file.
+
+.. code-block:: bash
+
+ bone$ *readelf -x .init_pins /tmp/pru0-gen/shared.out*
+
+ Hex dump of section '.init_pins':
+ 0x000000c0 2f737973 2f636c61 73732f6c 6564732f /sys/class/leds/
+ 0x000000d0 62656167 6c65626f 6e653a67 7265656e beaglebone:green
+ 0x000000e0 3a757372 332f7472 69676765 72006e6f :usr3/trigger.no
+ 0x000000f0 6e650000 0000 ne....
+
+The rest of the command formats it. Finally line 6 echos the ``none`` into the path.
+
+This can be generalized to initialize other things. The point is, the ``.out``
+file contains everything needed to run the executable.
+
+
+.. _blocks_pwm:
+
+PWM Generator
+==============
+
+One of the simplest things a PRU can to is generate a simple
+signal starting with a single channel PWM that has a fixed frequency and
+duty cycle and ending with a multi channel PWM that the ARM can change
+the frequency and duty cycle on the fly.
+
+Problem
+---------
+
+I want to generate a PWM signal that has a fixed frequency and duty cycle.
+
+Solution
+---------
+
+The solution is fairly easy, but be sure to check the *Discussion* section
+for details on making it work.
+
+:ref:`blocks_pwm1` shows the code.
+
+.. warning::
+ This code is for the BeagleBone Black.
+ See ``pwm1.pru1_1.c`` for an example
+ that works on the AI.
+
+.. _blocks_pwm1:
+
+pwm1.pru0.c
+~~~~~~~~~~~~
+
+:download:`pwm1.pru0.c <code/pwm1.pru0.c>`
+
+To run this code you need to configure the pin muxes to output the PRU. If you are on the Black run
+
+.. code-block:: bash
+
+ bone$ config-pin P9_31 pruout
+
+On the Pocket run
+
+.. code-block:: bash
+
+ bone$ config-pin P1_36 pruout
+
+
+.. note::
+
+ See :ref:`../08ai/ai.html#ai_device_tree, Configuring pins on the AI via device trees`
+ for configuring pins on the AI.
+
+Then, tell ``Makefile`` which PRU you are compiling for and what your target file is
+
+.. code-block:: bash
+
+ bone$ export TARGET=pwm1.pru0
+
+Now you are ready to compile
+
+.. code-block:: bash
+
+ bone$ make
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=pwm1.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/pwm1.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+
+Now attach an LED (or oscilloscope) to ``P9_31`` on the Black
+or ``P1.36`` on the Pocket. You should see a squarewave.
+
+Discussion
+-----------
+
+Since this is our first example we'll discuss the many parts in detail.
+
+pwm1.pru0.c
+~~~~~~~~~~~~
+
+:ref:`blocks_pwm1_line_by_line` is a line-by-line expanation of the c code.
+
+.. _blocks_pwm1_line_by_line:
+
+Line-by-line of pwm1.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-----+-------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=====+=====================================================================================+
+ |1 | Standard c-header include |
+ +-----+-------------------------------------------------------------------------------------+
+ |2 | Include for the PRU. The compiler knows where to find this since the |
+ | | `Makefile` says to look for includes in `/usr/lib/ti/pru-software-support-package` |
+ +-----+-------------------------------------------------------------------------------------+
+ |3 | The file `resource_table_empty.h` is used by the PRU loader. Generally we'll |
+ | | use the same file, and don't need to modify it. |
+ +-----+-------------------------------------------------------------------------------------+
+ |4 | This include has addresses for the GPIO ports and some bit positions for |
+ | | some of the headers. |
+ +-----+-------------------------------------------------------------------------------------+
+
+Here's what's in ``resource_table_empty.h``
+
+resource_table_empty.c
+~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`resource_table_empty.h <code/resource_table_empty.h>`
+
+Line-by-line (continuted)
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-----+-----------------------------------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=====+=================================================================================================================+
+ |6-7 | `pass:[__]R30` and `pass:[__]R31` are two variables that refer to the |
+ | | PRU output (`pass:[__]R30`) and input (`pass:[__]R31`) registers. |
+ | | When you write something to `pass:[__]R30` it will show up on the |
+ | | corresponding output pins. When you read from `pass:[__]R31` |
+ | | you read the data on the input pins. |
+ | | NOTE: Both names begin with two underscore's. Section 5.7.2 of the |
+ | | http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf[PRU Optimizing C/C++ Compiler, v2.2, User's Guide] |
+ | | gives more details. |
+ +-----+-----------------------------------------------------------------------------------------------------------------+
+ |11 | This line selects which GPIO pin to toggle. The table below shows which bits in `pass:[__]R30` |
+ | | map to which pins |
+ +-----+-----------------------------------------------------------------------------------------------------------------+
+ |14 | `CT_CFG.SYSCFG_bit.STANDBY_INIT` is set to `0` to enable the OCP master port. More details on this |
+ | | and thousands of other regesters see the |
+ | | https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf[AM335x Technical Reference Manual]. Section 4 is on the PRU |
+ | | and section 4.5 gives details for all the registers. |
+ +-----+-----------------------------------------------------------------------------------------------------------------+
+
+Bit 0 is the LSB.
+
+.. TODO fill in Blue
+
+.. _blocks_mapping_bits:
+
+Mapping bit positions to pin names
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +---+---+---------------------+-----------+
+ |PRU|Bit|Black pin |Pocket pin |
+ +===+===+=====================+===========+
+ |0 |0 |P9_31 |P1.36 |
+ +---+---+---------------------+-----------+
+ |0 |1 |P9_29 |P1.33 |
+ +---+---+---------------------+-----------+
+ |0 |2 |P9_30 |P2.32 |
+ +---+---+---------------------+-----------+
+ |0 |3 |P9_28 |P2.30 |
+ +---+---+---------------------+-----------+
+ |0 |4 |P9_42b |P1.31 |
+ +---+---+---------------------+-----------+
+ |0 |5 |P9_27 |P2.34 |
+ +---+---+---------------------+-----------+
+ |0 |6 |P9_41b |P2.28 |
+ +---+---+---------------------+-----------+
+ |0 |7 |P9_25 |P1.29 |
+ +---+---+---------------------+-----------+
+ |0 |14 |P8_12(out) P8_16(in) |P2.24 |
+ +---+---+---------------------+-----------+
+ |0 |15 |P8_11(out) P8_15(in) |P2.33 |
+ +---+---+---------------------+-----------+
+ | | | | |
+ +---+---+---------------------+-----------+
+ |1 |0 |P8_45 | |
+ +---+---+---------------------+-----------+
+ |1 |1 |P8_46 | |
+ +---+---+---------------------+-----------+
+ |1 |2 |P8_43 | |
+ +---+---+---------------------+-----------+
+ |1 |3 |P8_44 | |
+ +---+---+---------------------+-----------+
+ |1 |4 |P8_41 | |
+ +---+---+---------------------+-----------+
+ |1 |5 |P8_42 | |
+ +---+---+---------------------+-----------+
+ |1 |6 |P8_39 | |
+ +---+---+---------------------+-----------+
+ |1 |7 |P8_40 | |
+ +---+---+---------------------+-----------+
+ |1 |8 |P8_27 |P2.35 |
+ +---+---+---------------------+-----------+
+ |1 |9 |P8_29 |P2.01 |
+ +---+---+---------------------+-----------+
+ |1 |10 |P8_28 |P1.35 |
+ +---+---+---------------------+-----------+
+ |1 |11 |P8_30 |P1.04 |
+ +---+---+---------------------+-----------+
+ |1 |12 |P8_21 | |
+ +---+---+---------------------+-----------+
+ |1 |13 |P8_20 | |
+ +---+---+---------------------+-----------+
+ |1 |14 | |P1.32 |
+ +---+---+---------------------+-----------+
+ |1 |15 | |P1.30 |
+ +---+---+---------------------+-----------+
+ |1 |16 |P9_26(in)| | |
+ +---+---+---------------------+-----------+
+
+.. note::
+
+ See :ref:`../08ai/ai.html#ai_device_tree, Configuring pins on the AI via device trees`
+ for all the PRU pins on the AI.
+
+Since we are running on PRU 0, and we're using ``0x0001``,
+that is bit 0, we'll be toggling ``P9_31``.
+
+Line-by-line (continued again)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-----+-----------------------------------------------------------------------+
+ |Line | Explanation |
+ +=====+=======================================================================+
+ |17 | Here is where the action is. This line reads ``pass:[__]R30`` and |
+ | | then ORs it with ``gpio``, setting the bits where there is |
+ | | a 1 in ``gpio`` and leaving the bits where there is a 0. |
+ | | Thus we are setting the bit we selected. Finally the new |
+ | | value is written back to ``pass:[__]R30``. |
+ +-----+-----------------------------------------------------------------------+
+ |18 | ``pass:[__]delay_cycles`` is an ((instrinsic function)) that delays |
+ | | with number of cycles passed to it. Each cycle is 5ns, |
+ | | and we are delaying 100,000,000 cycles which is |
+ | | 500,000,000ns, or 0.5 seconds. |
+ +-----+-----------------------------------------------------------------------+
+ |19 | This is like line 17, but ``~gpio`` inverts all the bits in ``gpio`` |
+ | | so that where we had a 1, there is now a 0. This 0 |
+ | | is then ANDed with ``pass:[__]R30`` setting the corresponding |
+ | | bit to 0. Thus we are clearing the bit we selected. |
+ +-----+-----------------------------------------------------------------------+
+
+
+.. tip::
+
+ You can read more about instrinsics in section 5.11 of the
+ (`PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_.)
+
+
+When you run this code and look at the output you will see something like the following figure.
+
+Output of pwm1.pru0.c with 100,000,000 delays cycles giving a 1s period
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm1.png
+ :align: center
+ :alt: pwm1.pru0.c output
+
+Notice the on time (``+Width(1)``) is 500ms, just as we predicted.
+The off time is 498ms, which is only 2ms off from our prediction.
+The standard deviation is 0, or only 380as, which is 380 * 10^-18^!.
+
+You can see how fast the PRU can run by setting both of the
+``pass:[__]delay_cycles`` to 0. This results in the next figure.
+
+Output of pwm1.pru0c with 0 delay cycles
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm2.png
+ :align: center
+ :alt: pwm1.pru0.c output with 0 delay
+
+Notice the period is 15ns which gives us a frequency of about 67MHz. At this high
+frequency the breadboard that I'm using distorts the waveform so it's no longer a squarewave.
+The **on** time is 5.3ns and the **off** time is 9.8ns. That means **pass:[__]R30 |= gpio**
+took only one 5ns cycle and ``pass:[__]R30 &= ~gpio`` also only took one cycle, but there
+is also an extra cycle needed for the loop. This means the compiler was able to implement
+the ``while`` loop in just three 5ns instructions! Not bad.
+
+We want a square wave, so we need to add a delay to correct for the delay of looping back.
+
+Here's the code that does just that.
+
+pwm2.pru0.c
+~~~~~~~~~~~~~
+
+:download:`pwm2.pru0.c <code/pwm2.pru0.c>`
+
+The output now looks like:
+
+Output of pwm2.pru0.c corrected delay
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm3.png
+ :align: center
+ :alt: pwm2.c corrected delay
+
+It's not hard to adjust the two ``pass:[__]delay_cycles``
+to get the desired frequency and duty cycle.
+
+### Controlling the PWM Frequency
+#### Problem
+You would like to control the frequency and
+duty cycle of the PWM without recompiling.
+
+#### Solution
+Have the PRU read the **on** and **off** times from a shared memory location.
+Each PRU has is own 8KB of data memory (DRAM) and 12KB of shared memory
+(SHAREDMEM) that the ARM processor can also access. See :ref:`blocks_PRU_block_diagram`.
+
+The DRAM 0 address is 0x0000 for PRU 0. The same DRAM appears at address
+0x4A300000 as seen from the ARM processor.
+
+.. tip::
+
+ See page
+ 184 of the https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf[AM335x Technical Reference Manual].
+
+We take the previous PRU code and add the lines
+
+.. code-block:: C
+
+ #define PRU0_DRAM 0x00000 // Offset to DRAM
+ volatile unsigned int *pru0_dram = PRU0_DRAM;
+
+to define a pointer to the DRAM.
+
+.. note::
+
+ The `volatile` keyword is used here to tell the compiler the value this
+ points to may change, so don't make any assumptions while optimizing.
+
+
+Later in the code we use
+
+.. code-block:: C
+
+ pru0_dram[ch] = on[ch]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[ch+MAXCH] = off[ch]; // Copy after the on array
+
+to write the `on` and `off` times to the DRAM. Then inside the `while` loop we use
+
+.. code-block:: c
+
+ onCount[ch] = pru0_dram[2*ch]; // Read from DRAM0
+ offCount[ch]= pru0_dram[2*ch+1];
+
+to read from the DRAM when reseting the counters. Now, while the PRU is running,
+the ARM can write values into the DRAM and change the PWM on and off times.
+:ref:`blocks_pwm4` is the whole code.
+
+.. _blocks_pwm4:
+
+pwm4.pru0.c
+~~~~~~~~~~~~
+
+:download:`pwm4.pru0.c <code/pwm4.pru0.c>`
+
+Here is code that runs on the ARM side to set the on and off time values.
+
+pwm-test.c
+~~~~~~~~~~~~
+
+:download:`pwm-test.c <code/pwm-test.c>`
+
+A quick check on the 'scope shows :ref:`blocks_pwm_arm_control`.
+
+.. _blocks_pwm_arm_control:
+
+Four Channel PWM with ARM control
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm4.png
+ :align: center
+ :alt: pwm4.png
+
+From the 'scope you see a 1 cycle **on** time results in a 450ns wide pulse and a
+3.06us period is 326KHz, much slower than the 10ns pulse we saw before. But it
+may be more than fast enough for many applications. For example, most servos run at 50Hz.
+
+But we can do better.
+
+Loop Unrolling for Better Performance
+======================================
+
+Problem
+-----------
+
+The ARM controlled PRU code runs too slowly.
+
+Solution
+-----------
+
+Simple loop unrolling can greatly improve the speed. ``pwm5.pru0.c`` is our unrolled
+version.
+
+pwm5.pru0.c Unrolled
+~~~~~~~~~~~~~~~~~~~~~
+
+:download:`pwm5.pru0.c <code/pwm5.pru0.c>`
+
+The output of ``pwm5.pru0.c`` is in the figure below.
+
+pwm5.pru0.c Unrolled version of pwm4.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm5_no_loop.png
+ :align: center
+ :alt: pwm5.pru0.c Unrolled version of pwm4.pru0.c
+
+It's running about 6 times faster than ``pwm4.pru0.c``.
+
+pwm4.pru0.c vs. pwm5.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +---------+-----------------+-----------------+---------+-----------------------+---------+
+ |Measure |pwm4.pru0.c time |pwm5.pru0.c time |Speedup |pwm5.pru0.c w/o UNROLL |Speedup |
+ +---------+-----------------+-----------------+---------+-----------------------+---------+
+ |Period |3.06μs |510ns |6x |1.81μs |~1.7x |
+ +---------+-----------------+-----------------+---------+-----------------------+---------+
+ |Width+ |450ns |70ns |~6x |1.56μs |~.3x |
+ +---------+-----------------+-----------------+---------+-----------------------+---------+
+
+Not a bad speed up for just a couple of simple changes.
+
+Discussion
+-----------
+
+Here's how it works.
+First look at line 39. You see ``#pragma UNROLL(MAXCH)`` which is a ``pragma``
+that tells the compiler to unroll the loop that follows. We are unrolling it
+``MAXCH`` times (four times in this example). Just removing the ``pragma`` causes
+the speedup compared to the ``pwm4.pru0.c`` case to drop from 6x to only 1.7x.
+
+We also have our ``for`` loop inside the ``while`` loop that can be unrolled.
+Unfortunately ``UNROLL()`` doesn't work on it, therefore we have to do it by
+hand. We could take the loop and just copy it three times, but that would
+make it harder to maintain the code. Instead I convered the loop into a
+``#define`` (lines 14-24) and invoked ``update()`` as needed (lines 48-51).
+This is not a function call. Whenever the preprocessor sees the ``update()``
+it copies the code an then it's compiled.
+
+This unrolling gets us an impressive 6x speedup.
+
+Making All the Pulses Start at the Same Time
+=============================================
+
+Problem
+-----------
+
+I have a mutlichannel PWM working, but the pulses aren't synchronized, that is
+they don't all start at the same time.
+
+Solution
+-----------
+
+:ref:`blocks_zoomed` is a zoomed in version of the previous figure. Notice the pulse
+in each channel starts about 15ns later than the channel above it.
+
+.. _blocks_zoomed:
+
+pwm5.pru0 Zoomed In
+~~~~~~~~~~~~~~~~~~~~~
+.. figure:: figures/pwm5_zoomed.png
+ :align: center
+ :alt: pwm5.pru0 zoomed.png
+
+The solution is to declare ``Rtmp`` (line 35) which holds the value for ``pass:[__]R30``.
+
+pwm6.pru0.c Sync'ed Version of pwm5.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`pwm6.pru0.c Sync'ed Version of pwm5.pru0.c <code/pwm6.pru0.c>`
+
+Each channel writes it's value to ``Rtmp`` (lines 17 and 20) and then after
+each channel has updated, ``Rtmp`` is copied to ``pass:[__]R30`` (line 54).
+
+Discussion
+-----------
+
+The following figure shows the channel are sync'ed. Though the period is slightly
+longer than before.
+
+pwm6.pru0 Synchronized Channels
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm6_synced.png
+ :align: center
+ :alt: pwm6.pru0 Synchronized Channels
+
+
+Adding More Channels via PRU 1
+================================
+
+Problem
+-----------
+
+You need more output channels, or you need to shorten the period.
+
+Solution
+-----------
+
+PRU 0 can output up to eight output pins (see
+:ref:`blocks_mapping_bits`). The code presented so far
+can be easily extended to use the eight output pins.
+
+But what if you need more channels?
+You can always use PRU1, it has 14 output pins.
+
+Or, what if four channels is enough, but you need a shorter period. Everytime
+you add a channel, the overall period gets longer. Twice as many channels
+means twice as long a period. If you move half the channels to PRU 1, you
+will make the period half as long.
+
+Here's the code (``pwm7.pru0.c``)
+
+pwm7.pru0.c Using Both PRUs
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`pwm7.pru0.c Using Both PRUs <code/pwm7.pru0.c>`
+
+Be sure to run ``pwm7_setup.sh`` to get the correct pins configured.
+
+pwm7_setup.sh
+~~~~~~~~~~~~~~~
+
+:download:`pw7_setup.sh <code/pwm7_setup.sh>`
+
+This makes sure the PRU 1 pins are properly configured.
+
+Here we have a second ``pwm7`` file. ``pwm7.pru1.c`` is identical to ``pwm7.pru0.c``
+except ``PRUNUM`` is set to 1, instead of 0.
+
+Compile and run the two files with:
+
+.. code-block:: bash
+
+ bone$ *make TARGET=pwm7.pru0; make TARGET=pwm7.pru1*
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=pwm7.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/pwm7.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=pwm7.pru1
+ - Stopping PRU 1
+ - copying firmware file /tmp/cloud9-examples/pwm7.pru1.out to /lib/firmware/am335x-pru1-fw
+ write_init_pins.sh
+ - Starting PRU 1
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 1
+ PRU_DIR = /sys/class/remoteproc/remoteproc2
+
+This will first stop, compile and start PRU 0, then do the same for PRU 1.
+
+Moving half of the channels to PRU1 dropped the period from 510ns to 370ns, so
+we gained a bit.
+
+Discussion
+-----------
+
+There weren't many changes to be made. Line 15 we set MAXCH to 2. Lines 44-48
+is where the big change is.
+.. code-block:: c
+
+ pru0_dram[2*ch ] = on [ch+PRUNUN*MAXCH]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch+PRUNUN*MAXCH]; // Interleave the on and off values
+ onCount[ch] = on [ch+PRUNUN*MAXCH];
+ offCount[ch]= off[ch+PRUNUN*MAXCH];
+
+If we are compiling for PRU 0, ``on[ch+PRUNUN*MAXCH]`` becomes ``on[ch+0*2]`` which is
+``on[ch]`` which is what we had before. But now if we are on PRU 1 it becomes
+``on[ch+1*2]`` which is ``on[ch+2]``. That means we are picking up the second
+half of the ``on`` and ``off`` arrays. The first half goes to PRU 0, the second to
+PRU 1. So the same code can be used for both PRUs, but we get slightly different
+behavior.
+
+Running the code you will see the next figure.
+
+pwm7.pru0 Two PRUs running
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm7_two_prus_running.png
+ :align: center
+ :alt: pwm7.pru0 Two PRUs running
+
+What's going on there, the first channels look fine, but the PRU 1 channels
+are blurred. To see what's happening, let's stop the oscilloscope.
+
+pwm7.pru0 Two PRUs stopped
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm7_two_prus_stopped.png
+ :align: center
+ :alt: pwm7 Two PRUs stopped
+
+The stopped display shows that the four channels are doing what we wanted, except
+The PRU 0 channels have a period of 370ns while the PRU 1 channels at 330ns.
+It appears the compiler has optimied the two PRUs slightly differenty.
+
+
+Synchronizing Two PRUs
+=======================
+
+Problem
+-----------
+
+I need to synchronize the two PRUs so they run together.
+
+Solution
+-----------
+
+Use the Interrupt Controller (INTC). It allows one PRU to signal the other.
+Page 225 of the `AM335x Technical Reference Manual <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_
+has details of how it works. Here's the code for PRU 0, which at the end of the
+``while`` loop signals PRU 1 to start(``pwm8.pru0.c``).
+
+pwm8.pru0.c PRU 0 using INTC to send a signal to PRU 1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`pwm8.pru0.c PRU 0 using INTC to send a signal to PRU 1 <code/pwm8.pru0.c>`
+
+PRU 2's code waits for PRU 0 before going.
+
+pwm8.pru1.c PRU 1 waiting for INTC from PRU 0
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`pwm8.pru1.c PRU 1 waiting for INTC from PRU 0 <code/pwm8.pru1.c>`
+
+In ``pwm8.pru0.c`` PRU 1 waits for a signal from PRU 0, so be sure to start PRU 1 first.
+
+.. code-block:: bash
+
+ bone$ *make TARGET=pwm8.pru0; make TARGET=pwm8.pru1*
+
+Discussion
+-----------
+
+The figure below shows the two PRUs are synchronized, though there is some extra
+overhead in the process so the period is longer.
+
+pwm8.pru0 PRUs sycned
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pwm8_prus_sycned.png
+ :align: center
+ :alt: pwm8.pru0 PRUs sycned
+
+This isn't much different from the previous examples.
+
+pwm8.pru0.c changes from pwm7.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-----+-------+---------------------------------------------------------------------------------------+
+ |PRU |Line |Change |
+ +=====+=======+=======================================================================================+
+ |0 |37-45 |For PRU 0 these define ``configInitc()`` which initializes the interupts. |
+ | | |See page 226 of the |
+ | | |`AM335x Technical Reference Manual <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_ |
+ | | |for a diagram explaining events, channels, hosts, etc. |
+ +-----+-------+---------------------------------------------------------------------------------------+
+ |0 |55-56 |Set a configuration register and call `configInitc`. |
+ +-----+-------+---------------------------------------------------------------------------------------+
+ |1 |59-61 |PRU 1 then waits for PRU 0 to signal it. Bit 31 of ``pass:[__]R31`` corresponds |
+ | | |to the Host-1 channel which ``configInitc()`` set up. We also clear event 16 so |
+ | | |PRU 0 can set it again. |
+ +-----+-------+---------------------------------------------------------------------------------------+
+ |0 |74-75 |On PRU 0 this generates the interupt to send to PRU 1. I found PRU 1 was |
+ | | |slow to respond to the interupt, so I put this code at the end of the loop to |
+ | | |give time for the signal to get to PRU 1. |
+ +-----+-------+---------------------------------------------------------------------------------------+
+
+This ends the multipart pwm example.
+
+Reading an Input at Regular Intervals
+======================================
+
+Problem
+-----------
+
+You have an input pin that needs to be read at regular intervals.
+
+Solution
+-----------
+
+You can use the ``pass:[__]R31`` register to read an input pin. Let's use the following
+pins.
+
+.. _blocks_io_pins:
+
+Input/Output pins
+~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +---------+----------+-----+----------+---------+
+ |Direction|Bit number|Black|AI (ICSS2)|Pocket |
+ +=========+==========+=====+==========+=========+
+ |out |0 |P9_31|P8_44 |P1.36 |
+ +---------+----------+-----+----------+---------+
+ |in |7 |P9_25|P8_36 |P1.29 |
+ +---------+----------+-----+----------+---------+
+
+These values came from :ref:`blocks_mapping_bits`.
+
+Configure the pins with ``input_setup.sh``.
+
+input_setup.sh
+~~~~~~~~~~~~~~~
+
+:download:`input_setup.sh <code/input_setup.sh>`
+
+The following code reads the input pin and writes its value to the output pin.
+
+input.c
+~~~~~~~~~~
+
+:download:`input.pru0.c <code/input.pru0.c>`
+
+Discussion
+-----------
+
+Just remember that ``pass:[__]R30`` is for outputs and ``pass:[__]R31`` is for inputs.
+
+Analog Wave Generator
+=======================
+
+Problem
+-----------
+
+I want to generate an analog output, but only have GPIO pins.
+
+Solution
+-----------
+
+The Beagle doesn't have a built-in analog to digital converter. You could get a
+`USB Audio Dongle <https://www.amazon.com/external-Adapter-Windows-Microphone-SD-CM-UAUD/dp/B001MSS6CS/0&keywords=audio+dongle>`_
+which are under $10. But here we'll take another approach.
+
+Earlier we generated a PWM signal. Here we'll generate a PWM whose duty cycle
+changes with time. A small duty cycle for when the output signal is small and
+a large duty cycle for when it is large.
+
+This example was inspired by
+`A PRU Sin Wave Generator <https://github.com/derekmolloy/exploringBB/tree/master/chp13/sineWave>`_
+in chapter 13 of
+`Exploring BeagleBone by Derek Molloy<http://exploringbeaglebone.com/>`_.
+
+Here's the code.
+
+sine.pru0.c
+~~~~~~~~~~~~~
+
+:download:`sine.pru0.c <code/sine.pru0.c>`
+
+
+Set the ``#define`` at line 7 to the number of samples in one cycle of the waveform
+and set the ``#define`` at line 8 to which waveform and then run ``make``.
+
+Discussion
+-----------
+
+The code has two parts. The first part (lines 21 to 39) generate the waveform
+to be output. The ``#define``s let you select which waveform you want to
+generate. Since the output is a percent duty cycle, the values in ``waveform[]``
+must be between 0 and 100 inclusive. The waveform is only generated once, so
+this part of the code isn't time critical.
+
+The second part (lines 44 to 54) uses the generated data to set the
+duty cycle of the PWM on a cycle-by-cycle basis. This part is time critical;
+the faster we can output the values, the higher the frequency of the output
+signal.
+
+Suppose you want to generate a sawtooth waveform like the one shown in :ref:`blocks_sawtooth`.
+
+.. _blocks_sawtooth:
+
+Continuous Sawtooth Waveform
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sawtoothsmooth.png
+ :align: center
+ :alt: Continuous Sawtooth Waveform
+
+You need to sample the waveform and store one cycle. :ref:`blocks_sawtoothsampled`
+shows a sampled version of the sawtooth. You need to generate ``MAXT`` samples;
+here we show 20 samples, which may be enough. In the code ``MAXT`` is set to 100.
+
+.. _blocks_sawtoothsampled:
+
+Sampled Sawtooth Waveform
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sawtoothsampled.png
+ :align: center
+ :alt: Sampled Sawtooth Waveform
+
+There's a lot going on here; let's take it line by line.
+
+Line-by-line of sine.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-------+---------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=======+=================================================================================+
+ |2-5 | Standard c-header includes |
+ +-------+---------------------------------------------------------------------------------+
+ |7 | Number for samples in one cycle of the analog waveform |
+ +-------+---------------------------------------------------------------------------------+
+ |8 | Which waveform to use. We've defined SAWTOOTH, TRIANGLE and SINE, but |
+ | | you can define your own too. |
+ +-------+---------------------------------------------------------------------------------+
+ |10-11 | Declaring registers ``pass:[__R30]`` and ``pass:[__R31]``. |
+ +-------+---------------------------------------------------------------------------------+
+ |15-16 | ``onCount`` counts how many cycles the PWM should be 1 and ``offCount`` counts |
+ | | how many it should be off. |
+ +-------+---------------------------------------------------------------------------------+
+ |18 | ``waveform[]`` stores the analog waveform being ouput. |
+ +-------+---------------------------------------------------------------------------------+
+ |21-24 | ``SAWTOOTH`` is the simplest of the waveforms. Each sample is the duty cycle |
+ | | at that time and must therefore be between 0 and 100. |
+ +-------+---------------------------------------------------------------------------------+
+ |26-31 | ``TRIANGLE`` is also a simple waveform. |
+ +-------+---------------------------------------------------------------------------------+
+ |32-39 | ``SINE`` generates a sine wave and also introduces floating point. Yes, |
+ | | you can use floating point, but the PRUs don't have floating point hardware, |
+ | | rather, it's all done in software. This mean using floating point will make |
+ | | your code much bigger and slower. Slower doesn't matter in this part, and |
+ | | bigger isn't bigger than our instruction memory, so we're OK. |
+ +-------+---------------------------------------------------------------------------------+
+ |47 | Here the ``for`` loop looks up each value of the generated waveform. |
+ +-------+---------------------------------------------------------------------------------+
+ |48,49 | ``onCount`` is the number of cycles to be at 1 and ``offCount`` is the number |
+ | | of cycles to be 0. The two add to 100, one full cycle. |
+ +-------+---------------------------------------------------------------------------------+
+ |50-52 | Stay on for ``onCount`` cycles. |
+ +-------+---------------------------------------------------------------------------------+
+ |53-55 | Now turn off for ``offCount`` cycles, then loop back and look up the next |
+ | | cycle count. |
+ +-------+---------------------------------------------------------------------------------+
+
+:ref:`blocks_sawunfiltered` shows the output of the code.
+
+.. _blocks_sawunfiltered:
+
+Unfiltered Sawtooth Waveform
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sawunfiltered.png
+ :align: center
+ :alt: Unfiltered Sawtooth Waveform
+
+It doesn't look like a sawtooth; but if you look at the left side you will
+see each cycle has a longer and longer on time. The duty cycle is increasing.
+Once it's almost 100% duty cycle, it switches to a very small duty cycle.
+Therefore it's output what we programmed, but what we want is the average of
+the signal. The left hand side has a large (and increasing) average which
+would be for top of the sawtooth. The right hand side has a small average,
+which is what you want for the start of the sawtooth.
+
+A simple low-pass filter, built with one resistor and one capacitor will do it.
+:ref:`blocks_filterwiring` shows how to wire it up.
+
+.. _blocks_filterwiring:
+
+Low-Pass Filter Wiring Diagram
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/filter_bb.png
+ :align: center
+ :alt: Low-Pass Filter Wiring Diagram
+
+.. note::
+
+ I used a 10K variable resistor and a 0.022uF capacitor.
+ Probe the circuit between the resistor and the capacitor
+ and adjust the resistor until you get a good looking waveform.
+
+:ref:`blocks_sawscope` shows the results for filtered the SAWTOOTH.
+
+.. _blocks_sawscope:
+
+Reconstructed Sawtooth Waveform
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sawscope.png
+ :align: center
+ :alt: Reconstructed Sawtooth Waveform
+
+Now that looks more like a sawtooth wave. The top plot is the time-domain
+plot of the output of the low-pass filter. The bottom plot is the FFT of the top
+plot, therefore it's the frequency domain. We are getting a sawtooth with a
+frequency of about 6.1KHz. You can see the fundamental frequency on the
+bottom plot along with several harmonics.
+
+
+The top looks like a sawtooth wave,
+but there is a high freqnecy superimposed on it. We are only using a simple
+first-order filter. You could lower the cutoff freqnecy by adjusting the
+resistor. You'll see something like :ref:`blocks_lowercutoff`.
+
+.. _blocks_lowercutoff:
+
+Reconstructed Sawtooth Waveform with Lower Cutoff Frequency
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sawlowercutoff.png
+ :align: center
+ :alt: Reconstructed Sawtooth Waveform with Lower Cutoff Frequency
+
+The high freqencies have been reduced, but the corner of the waveform has
+been rounded. You can also adjust the cutoff to a higher frequency and you'll
+get a sharper corner, but you'll also get more high frequencies. See
+:ref:`blocks_highercutoff`
+
+.. _blocks_highercutoff:
+
+Reconstructed Sawtooth Waveform with Higher Cutoff Frequency
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sawhighercutoff.png
+ :align: center
+ :alt: Reconstructed Sawtooth Waveform with Higher Cutoff Frequency
+
+Adjust to taste, though the real solution is to build a higher order filter.
+Search for _second order **filter** and you'll find some nice circuits.
+
+You can adjust the frequency of the signal by adjusting ``MAXT``. A smaller
+``MAXT`` will give a higher frequency. I've gotten good results with ``MAXT``
+as small as 20.
+
+You can also get a triangle waveform by setting the ``#define``.
+:ref:`blocks_triangle` shows the output signal.
+
+.. _blocks_triangle:
+
+Reconstructed Triangle Waveform
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/triangle.png
+ :align: center
+ :alt: Reconstructed Triangle Waveform
+
+And also the sine wave as shown in :ref:`blocks_sine`.
+
+.. _blocks_sine:
+
+Reconstructed Sinusoid Waveform
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/sine.png
+ :align: center
+ :alt: Reconstructed Sinusoid Waveform
+
+Notice on the bottom plot the harmonics are much more suppressed.
+
+Generating the sine waveform uses **floats**. This requires much more code.
+You can look in `/tmp/cloud9-examples/sine.pru0.map` to see how much memory is being used.
+:ref:`blocks_sine_map` shows the first few lines for the sine wave.
+
+.. _blocks_sine_map:
+
+/tmp/cloud9-examples/sine.pru0.map for Sine Wave
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`lines=1..22 <code/sine.map>`
+
+Notice line 15 shows 0x18c0 bytes are being used for instructions. That's 6336
+in decimal.
+
+Now compile for the sawtooth and you see only 444 byes are used. Floating-point
+requires over 5K more bytes. Use with care. If you are short on instruction
+space, you can move the table generation to the ARM and just copy the table
+to the PRU.
+
+
+.. ToDo Ultrasonic Sensor Application
+
+.. _blocks_ws2812:
+
+WS2812 (NeoPixel) driver
+==========================
+
+Problem
+-----------
+
+You have an `Adafruit NeoPixel LED string <http://www.adafruit.com/products/1138>`_
+or `Adafruit NeoPixel LED matrix <http://www.adafruit.com/products/1487>`_
+and want to light it up.
+
+Solution
+-----------
+
+NeoPixel is Adafruit's name for the WS2812 Intelligent control LED. Each
+NeoPixel contains a Red, Green and Blue LED with a PWM controller that can
+dim each one individually making a rainbow of colors possible. The
+NeoPixel is driven by a single serial line. The timing on the line is very
+sensesitive, which make the PRU a perfect candidate for driving it.
+
+Wire the input to ``P9_29`` and power to 3.3V and ground to ground as shown in
+:ref:`blocks_neo_wiring`.
+
+.. _blocks_neo_wiring:
+
+.NeoPixel Wiring
+.. figure:: figures/neo_bb.png
+ :align: center
+ :alt: NeoPixel Wiring
+
+Test your wiring with the simple code in :ref:`blocks_neo1`
+which to turns all pixels white.
+
+.. _blocks_neo1:
+
+neo1.pru0.c - Code to turn all NeoPixels's white
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+:download:`neo1.pru0.c <code/neo1.pru0.c>`
+
+Discussion
+-----------
+
+:ref:`blocks_sequence` (taken from `WS2812 Data Sheet <https://cdn-shop.adafruit.com/datasheets/WS2812.pdf>`_) shows the following waveforms are used to send a bit of data.
+
+.. _blocks_sequence:
+
+NeoPixel bit sequence
+~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/neo_sequence.png
+ :align: center
+ :alt: NeoPixel bit sequence
+
+Where the times are:
+
+.. table::
+
+ +-------+-------------+
+ |Label | Time in ns |
+ +=======+=============+
+ |T0H | 350 |
+ +-------+-------------+
+ |T0L | 800 |
+ +-------+-------------+
+ |T1H | 700 |
+ +-------+-------------+
+ |T1L | 600 |
+ +-------+-------------+
+ |Treset | >50,000 |
+ +-------+-------------+
+
+The code in :ref:`blocks_neo1` define these times in lines 7-10.
+The `/5` is because
+each instruction take 5ns. Lines 27-30 then set the output to 1 for
+the desired time and then to 0 and keeps repeating it for the entire
+string length. :ref:`blocks_zero_scope`
+shows the waveform for sending a 0 value. Note the times are spot on.
+
+.. _blocks_zero_scope:
+
+NeoPixel zero timing
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/neo_scope.png
+ :align: center
+ :alt:
+
+Each NeoPixel listens for a RGB value. Once a value has arrived all other values
+that follow are passed on to the next NeoPixel which does the same thing.
+That way you can individually control all of the NeoPixels.
+
+Lines 38-40 send out a reset pulse. If a NeoPixel sees a reset pulse it will
+grab the next value for itself and start over again.
+
+
+
+Setting NeoPixels to Different Colors
+======================================
+
+Problem
+-----------
+
+I want to set the LEDs to different colors.
+
+Solution
+-----------
+
+Wire your NeoPixels as shown in :ref:`blocks_neo_wiring` then run the code in
+:ref:`blocks_neo2`.
+
+.. _blocks_neo2:
+
+neo2.pru0.c - Code to turn on green, red, blue
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`neo2.pru0.c <code/neo2.pru0.c>`
+
+This will make the first LED green, the second red and the third blue.
+
+Discussion
+-----------
+
+:ref:`blocks_new_data_seq` shows the sequence of bits
+used to control the green, red and blue values.
+
+.. _blocks_new_data_seq:
+
+NeoPixel data sequence
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/neo_data_seq.png
+ :align: center
+ :alt:
+
+.. note::
+
+The usual order for colors is RGB (red, green, blue), but the NeoPixels use GRB (green, red, blue).
+
+:ref:`blocks_neo2_line` is the line-by-line for ``neo2.pru0.c``.
+
+.. _blocks_neo2_line:
+
+Line-by-line for neo2.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-------+---------------------------------------------------------------------------------+
+ |Line | Explanation |
+ |23 | Define the string of colors to be output. Here the ordering of the |
+ | | bits is the same as :ref:`blocks_new_data_seq`, GRB. |
+ +-------+---------------------------------------------------------------------------------+
+ |26 | Loop for each color to output. |
+ +-------+---------------------------------------------------------------------------------+
+ |27 | Loop for each bit in an GRB color. |
+ +-------+---------------------------------------------------------------------------------+
+ |28 | Get the j^th^ color and mask off all but the i^th^ bit. `(0x1:ref:`i)` takes |
+ | | the value `0x1` and shifts it left `i` bits. When anded (&) with `color[j]` |
+ | | it will zero out all but the i^th^ bit. If the result of the operation is |
+ | | 1, the `if` is done, otherwise the `else` is done. |
+ +-------+---------------------------------------------------------------------------------+
+ |29-32 | Send a 1. |
+ +-------+---------------------------------------------------------------------------------+
+ |34-37 | Send a 0. |
+ +-------+---------------------------------------------------------------------------------+
+ |42-43 | Send a reset pulse once all the colors have been sent. |
+ +-------+---------------------------------------------------------------------------------+
+
+.. note::
+
+This will only change the first ``STR_LEN`` LEDs. The LEDs that follow will not
+be changed.
+====
+
+Controlling Arbitrary LEDs
+============================
+
+Problem
+-----------
+
+I want to change the 10^th^ LED and not have to change the others.
+
+Solution
+-----------
+
+You need to keep an array of colors for the whole string in the PRU. Change
+the color of any pixels you want in the array and then send out the whole
+string to the LEDs. :ref:`blocks_neo3` shows an example animates a red pixel
+running around a ring of blue background. :ref:`blocks_neo3_video` shows
+the code in action.
+
+.. _blocks_neo3_video:
+
+neo3.pru0.c - Simple animation
+
+:download:`ring_around.mp4 <figures/ring_around.mp4>`
+
+.. _blocks_neo3:
+
+neo3.pru0.c - Code to animate a red pixel running around a ring of blue
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`neo3.pru0.c <code/neo3.pru0.c>`
+
+
+Discussion
+-----------
+
+Here's the highlights.
+
+.. table::
+
+ +-----+---------------------------------+
+ |Line |Explanation |
+ +=====|=================================+
+ |32,33|Initiallize the array of colors. |
+ +-----+---------------------------------+
+ |38-41|Update the array. |
+ +-----+---------------------------------+
+ |44-58|Send the array to the LEDs. |
+ +-----+---------------------------------+
+ |60-61|Send a reset. |
+ +-----+---------------------------------+
+ |64 |Wait a bit. |
+ +-----+---------------------------------+
+
+Controlling NeoPixels Through a Kernel Driver
+======================================
+
+Problem
+-----------
+
+You want to control your NeoPixels through a kernel driver so you can control it
+through a ``/dev`` interface.
+
+Solution
+-----------
+
+The `rpmsg_pru <https://github.com/beagleboard/linux/raw/4.9/drivers/rpmsg/rpmsg_pru.c>`_
+driver provides a way to pass data between the ARM processor and
+the PRUs. It's already included on current images. :ref:`blocks_neo4` shows
+an example.
+
+.. _blocks_neo4:
+
+neo4.pru0.c - Code to talk to the PRU via rpmsg_pru
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`neo4.pru0.c <code/neo4.pru0.c>`
+
+Run the code as usual.
+
+.. code-block:: bash
+
+ bone$ make TARGET=neo4.pru0
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=neo4.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/neo4.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+
+ bone$ echo 0 0xff 0 127 > /dev/rpmsg_pru30
+ bone$ echo -1 > /dev/rpmsg_pru30
+
+
+.. TODO get this working on the 5.10 kernel
+
+``/dev/rpmsg_pru30`` is a device driver that lets the ARM talk to the PRU.
+The first ``echo`` says to set the 0^th^ LED to RGB value 0xff 0 127. (Note: you can
+mix hex and decimal.) The second ``echo`` tells the driver to send the data to the
+LEDs. Your 0^th^ LED should now be lit.
+
+Discussion
+-----------
+
+There's a lot here. I'll just hit some of the highlights in :ref:`blocks_neo4_lines`.
+
+.. _blocks_neo4_lines:
+
+Line-by-line for neo4.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+|Line |Explanation
+
+|30 |The `CHAN_NAME` of `rpmsg-pru` matches that `prmsg_pru` driver that is
+is already installed. This connects this PRU to the driver.
+|32 |The `CHAN_PORT` tells it to use port 30. That's why we use
+`/dev/rpmsg_pru30`
+|40 |`payload[]` is the buffer that receives the data from the ARM.
+|42-48|Same as the previous NeoPixel examples.
+|52 |`color[]` is the state to be sent to the LEDs.
+|66-68|`color[]` is initialized.
+|70-85|Here are a number of details needed to set up the channel between
+the PRU and the ARM.
+|88 |Here we wait until the ARM sends us some numbers.
+|99 |Receive all the data from the ARM, store it in `payload[]`.
+|101-111|The data sent is: index red green blue. Pull off the index. If it's
+in the right range, pull off the red, green and blue values.
+|113 |The NeoPixels want the data in GRB order. Shift and OR everything
+together.
+|116-133|If the `index` = -1, send the contents of `color` to the LEDs. This
+code is same as before.
+|====
+
+You can now use programs running on the ARM to send colors to the PRU.
+
+:ref:`blocks_neo-rainbow` shows an example.
+
+.. _blocks_neo-rainbow:
+
+neo-rainbow.py - A python program using /dev/rpmsg_pru30
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`neo-rainbow.py <code/neo-rainbow.py>`
+
+
+Line 19 writes the data to the PRU. Be sure to have a newline, or space after
+the last number, or you numbers will get blurred together.
+
+Switching from pru0 to pru1 with rpmsg_pru
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+There are three things you need to change when switching from pru0 to pru1
+when using rpmsg_pru.
+
+1. The include on line 10 is switched to ``#include "resource_table_1.h"`` (0 is switched to a 1)
+2. Line 17 is switched to ``#define HOST_INT ((uint32_t) 1 << 31)`` (30 is switched to 31.)
+3. Lines 23 and 24 are switched to:
+
+.. code-block:: c
+
+ #define TO_ARM_HOST 18
+ #define FROM_ARM_HOST 19
+
+These changes switch to the proper channel numbers to use pru1 instead of pru0.
+
+RGB LED Matrix - No Integrated Drivers
+======================================
+
+
+Problem
+-----------
+
+You have a RGB LED matrix
+(:ref:`../01case/case.html#case_rgb_matrix, 1.4. RGB LED Matrix - No Integrated Drivers`) and want to know
+at a low level how the PRU works.
+
+Solution
+-----------
+
+Here is the
+`datasheet <https://cdn-shop.adafruit.com/product-files/2277/MI-T35P5RGBE-AE.pdf>`_,
+but the best description I've found for the RGB Matrix is from
+`Adafruit <https://www.adafruit.com/>`_. I've reproduced it here, with
+adjustments for the 64x32 matrix we are using.
+
+
+.. admonition:: information
+
+ There's zero documention out there on how these matrices work, and no public
+ datasheets or spec sheets so we are going to try to document how they work.
+
+ First thing to notice is that there are 2048 RGB LEDs in a 64x32 matrix.
+ Like pretty much every matrix out there, you can't drive all 2048 at once.
+ One reason is that would require a lot of current, another reason is that
+ it would be really expensive to have so many pins. Instead, the matrix is
+ divided into 16 interleaved sections/strips. The first section is the
+ 1^st^ 'line' and the 17^th^ 'line' (64 x 2 RGB LEDs = 128 RGB LEDs),
+ the second is the 2^nd^ and 18^th^ line, etc until the last section
+ which is the 16^th^ and 32^nd^ line. You might be asking, why are the
+ lines paired this way? wouldn't it be nicer to have the first section
+ be the 1^st^ and 2^nd^ line, then 3^rd^ and 4^th^, until the 15^th^ and
+ 16^th^? The reason they do it this way is so that the lines are interleaved
+ and look better when refreshed, otherwise we'd see the stripes more clearly.
+
+ So, on the PCB is 24 LED driver chips. These are like 74HC595s but they
+ have 16 outputs and they are constant current. 16 outputs * 24 chips =
+ 384 LEDs that can be controlled at once, and 128 * 3 (R G and B) = 384.
+ So now the design comes together: You have 384 outputs that can control
+ one line at a time, with each of 384 R, G and B LEDs either on or off.
+ The controller (say an FPGA or microcontroller) selects which section
+ to currently draw (using LA, LB, LC and LD address pins - 4 bits can
+ have 16 values). Once the address is set, the controller clocks out
+ 384 bits of data (48 bytes) and latches it. Then it increments the
+ address and clocks out another 384 bits, etc until it gets to address
+ #15, then it sets the address back to #0
+
+ https://cdn-learn.adafruit.com/downloads/pdf/32x16-32x32-rgb-led-matrix.pdf
+
+That gives a good overview, but there are a few details missing.
+:ref:`blocks_rgb_python` is a functioning python program that gives a nice
+high-level view of how to drive the display.
+
+.. TODO Test this
+
+.. _blocks_rgb_python:
+
+rgb_python.py - Python code for driving RGB LED matrix
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`rgb_python.py <code/rgb_python.py>`
+
+Be sure to run the :ref:`blocks_rgb_setup` script before running the python code.
+
+.. _blocks_rgb_setup:
+
+rgb_python_setup.sh
+~~~~~~~~~~~~~~~~~~~~
+
+:download:`rgb_python_setup.sh <code/rgb_python_setup.sh>`
+
+Make sure line 29 is commented out and line 30 is uncommented.
+Later we'll configure for _pruout_, but for now the python code doesn't use
+the PRU outs.
+
+.. code-block:: bash
+
+ # config-pin $pin pruout
+ config-pin $pin out
+
+Your display should look like :ref:`blocks_rgb_python_jpg`.
+
+.. _blocks_rgb_python_jpg:
+
+Display running rgb_python.py
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/rgb_python.jpg
+ :align: center
+ :alt: Display running rgb_python.py
+
+So why do only two lines appear at a time? That's how the display works.
+Currently lines 6 and 22 are showing, then a moment later 7 and 23 show, etc.
+The display can only display two lines at a time, so it cycles through all the
+lines. Unfortunately, python is too slow to make the display appear
+all at once. Here's where the PRU comes in.
+
+:ref:``blocks_rgb1`` is the PRU code to drive the RGB LED matrix. Be sure to run
+``bone$ source rgb_setup.sh`` first.
+
+.. _blocks_rgb1:
+
+PRU code for driving the RGB LED matrix
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`rgb1.pru0.c <code/rgb1.pru0.c>`
+
+
+The results are shown in :ref:`blocks_rgb_pru`.
+
+.. _blocks_rgb_pru:
+
+Display running rgb1.c on PRU 0
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/rgb_pru.jpg
+ :align: center
+ :alt: Display running rgb1.pru0.c on PRU 0
+
+The PRU is fast enough to quickly write to the display so that it appears
+as if all the LEDs are on at once.
+
+Discussion
+-----------
+
+There are a lot of details needed to make this simple display work. Let's
+go over some of them.
+
+First, the connector looks like :ref:`blocks_matrix_j1`.
+
+.. _blocks_matrix_j1:
+
+RGB Matrix J1 connector
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/matrix_j1.jpg
+ :align: center
+ :alt: RGB Matrix J1 connector, 200
+
+Notice the labels on the connect match the labels in the code.
+:ref:`blocks_pocket_scroller_pins` shows how the pins on the display are
+mapped to the pins on the Pocket Beagle.
+
+.. ToDo Make a mapping table for the Black
+.. https://github.com/FalconChristmas/fpp/blob/master/src/pru/OctoscrollerV2.hp
+
+.. _blocks_pocket_scroller_pins:
+
+PocketScroller pin table
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |J1 Connector Pin |Pocket Headers |gpio port and bit number|Linux gpio number |PRU R30 bit number |
+ +=================+===============+========================+==================+===================+
+ |R1 |P2_10 |1-20 |52 | |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |B1 |P2_06 |1-25 |57 | |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |R2 |P2_04 |1-26 |58 | |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |B2 |P2_01 |1-18 |50 | |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |LA |P2_32 |3-16 |112 |PRU0.2 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |LC |P1_31 |3-18 |114 |PRU0.4 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |CLK |P1_33 |3-15 |111 |PRU0.1 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |OE |P1_29 |3-21 |117 |PRU0.7 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |G1 |P2_08 |1-28 |60 | |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |G2 |P2_02 |1-27 |59 | |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |LB |P2_30 |3-17 |113 |PRU0.3 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |LD |P2_34 |3-19 |115 |PRU0.5 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+ |LAT |P1_36 |3-14 |110 |PRU0.0 |
+ +-----------------+---------------+------------------------+------------------+-------------------+
+
+The J1 mapping to gpio port and bit number comes from
+https://github.com/FalconChristmas/fpp/blob/master/capes/pb/panels/PocketScroller.json.
+The gpio port and bit number mapping to Pocket Headers comes from
+https://docs.google.com/spreadsheets/d/1FRGvYOyW1RiNSEVprvstfJAVeapnASgDXHtxeDOjgqw/edit#gid=0.
+
+:ref:`blocks_rgb_waveforms` shows four of the signal waveforms driving the RGB LED matrix.
+
+.. _blocks_rgb_waveforms:
+
+Oscilloscope display of CLK, OE, LAT and R1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/rgb_waveforms.png
+ :align: center
+ :alt: .Oscilloscope display of CLK, OE, LAT and R1
+
+The top waveform is the CLK, the next is OE, followed by LAT and finally R1.
+The OE (output enable) is active low, so most of the time the display is visible.
+The sequence is:
+
+* Put data on the R1, G1, B1, R2, G2 and B2 lines
+* Toggle the clock.
+* Repeat the first two steps as one row of data is transfered. There are
+384 LEDs (2 rows of 32 RGB LEDs times 3 LED per RGB), but we are clocking in
+six bits (R1, G1, etc.) at a time, so 384/6=64 values need to be clocked in.
+* Once all the values are in, disable the display (OE goes high)
+* Then toggle the latch (LAT) to latch the new data.
+* Turn the display back on.
+* Increment the address lines (LA, LB, LC and LD) to point to the next rows.
+* Keep repeating the above to keep the display lit.
+
+Using the PRU we are able to run the clock a about 2.9 MKHz.
+:ref:`blocks_rgb_fpp` shows the optimized assembler code used by FPP clocks in
+at some 6.3 MHz. So the compiler is doing a pretty good job, but you can run
+some two times faster if you want to use assembly code. In fairness to FPP,
+it's having to pull it's data out of RAM to display it, so isn't not a good
+comparision.
+
+.. _blocks_rgb_fpp:
+
+FPP waveforms
+~~~~~~~~~~~~~~
+
+.. figure:: figures/rgb_fpp.png
+ :align: center
+ :alt: FPP waveforms
+
+Getting More Colors
+~~~~~~~~~~~~~~~~~~~~~
+
+The Adafruit description goes on to say:
+
+.. admonition:: information
+
+ The only downside of this technique is that despite being very simple and fast,
+ it has no PWM control built-in! The controller can only set the LEDs on or off.
+ So what do you do when you want full color? You actually need to draw the entire
+ matrix over and over again at very high speeds to PWM the matrix manually. For
+ that reason, you need to have a very fast controller (50 MHz is a minimum) if
+ you want to do a lot of colors and motion video and have it look good.
+
+ https://cdn-learn.adafruit.com/downloads/pdf/32x16-32x32-rgb-led-matrix.pdf
+
+This is what FPP does, but it's beyond the scope of this project.
+
+Compiling and Inserting rpmsg_pru
+======================================
+
+Problem
+-----------
+
+Your Beagle doesn't have rpmsg_pru.
+
+Solution
+-----------
+
+Do the following.
+
+.. code-block:: bash
+
+ bone$ *cd 05blocks/code/module*
+ bone$ *sudo apt install linux-headers-\`uname -r`*
+ bone$ *wget https://github.com/beagleboard/linux/raw/4.9/drivers/rpmsg/rpmsg_pru.c*
+ bone$ *make*
+ make -C /lib/modules/4.9.88-ti-r111/build M=$PWD
+ make[1]: Entering directory '/usr/src/linux-headers-4.9.88-ti-r111'
+ LD /home/debian/PRUCookbook/docs/05blocks/code/module/built-in.o
+ CC [M] /home/debian/PRUCookbook/docs/05blocks/code/module/rpmsg_client_sample.o
+ CC [M] /home/debian/PRUCookbook/docs/05blocks/code/module/rpmsg_pru.o
+ Building modules, stage 2.
+ MODPOST 2 modules
+ CC /home/debian/PRUCookbook/docs/05blocks/code/module/rpmsg_client_sample.mod.o
+ LD [M] /home/debian/PRUCookbook/docs/05blocks/code/module/rpmsg_client_sample.ko
+ CC /home/debian/PRUCookbook/docs/05blocks/code/module/rpmsg_pru.mod.o
+ LD [M] /home/debian/PRUCookbook/docs/05blocks/code/module/rpmsg_pru.ko
+ make[1]: Leaving directory '/usr/src/linux-headers-4.9.88-ti-r111'
+ bone$ *sudo insmod rpmsg_pru.ko*
+ bone$ *lsmod | grep rpm*
+ rpmsg_pru 5799 2
+ virtio_rpmsg_bus 13620 0
+ rpmsg_core 8537 2 rpmsg_pru,virtio_rpmsg_bus
+
+
+It's now installed and ready to go.
+
+
+Copyright
+==========
+
+copyright.c
+~~~~~~~~~~~~~
+
+:download:`copyright.c <code/copyright.c>`
+
diff --git a/pru-cookbook/05blocks/code/Makefile b/pru-cookbook/05blocks/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/05blocks/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/05blocks/code/copyright.c b/pru-cookbook/05blocks/code/copyright.c
new file mode 100644
index 0000000000000000000000000000000000000000..a34918faa44a789c3624c0e5551704e630017dae
--- /dev/null
+++ b/pru-cookbook/05blocks/code/copyright.c
@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
diff --git a/pru-cookbook/05blocks/code/input.pru0.c b/pru-cookbook/05blocks/code/input.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..9ed5d3b759eb866fdbaa57fed9258c71ed32263e
--- /dev/null
+++ b/pru-cookbook/05blocks/code/input.pru0.c
@@ -0,0 +1,26 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t led;
+ uint32_t sw;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ led = 0x1<<0; // P9_31 or P1_36
+ sw = 0x1<<7; // P9_25 or P1_29
+
+ while (1) {
+ if((__R31&sw) == sw) {
+ __R30 |= led; // Turn on LED
+ } else
+ __R30 &= ~led; // Turn off LED
+ }
+}
+
diff --git a/pru-cookbook/05blocks/code/input_setup.sh b/pru-cookbook/05blocks/code/input_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..35a0d9c3598288c14894a90907a69d62009eed1f
--- /dev/null
+++ b/pru-cookbook/05blocks/code/input_setup.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+#
+export TARGET=input.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ config-pin P9_31 pruout
+ config-pin -q P9_31
+ config-pin P9_25 pruin
+ config-pin -q P9_25
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ config-pin P1_36 pruout
+ config-pin -q P1_36
+ config-pin P1_29 pruin
+ config-pin -q P1_29
+else
+ echo " Not Found"
+ pins=""
+fi
diff --git a/pru-cookbook/05blocks/code/module/.gitignore b/pru-cookbook/05blocks/code/module/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..9b6dfc433724ec94f8905520931dcf33d409ea87
--- /dev/null
+++ b/pru-cookbook/05blocks/code/module/.gitignore
@@ -0,0 +1 @@
+*.ko
diff --git a/pru-cookbook/05blocks/code/module/Makefile b/pru-cookbook/05blocks/code/module/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9ca05d057c153a2d9b653fc64f5504a2d5aeea2e
--- /dev/null
+++ b/pru-cookbook/05blocks/code/module/Makefile
@@ -0,0 +1,25 @@
+# Makefile for compiling out-of-tree
+# From Free Electrons
+# If on the Bone run apt install linux-headers-`uname -r`
+
+KDIR := /lib/modules/$(shell uname -r)/build
+
+obj-m += rpmsg_client_sample.o
+obj-m += rpmsg_pru.o
+
+all:
+ $(MAKE) -C $(KDIR) M=$$PWD
+
+install:
+ scp hello*.ko bone:.
+
+print:
+ @echo KERNELRELEASE= $(KERNELRELEASE)
+ @echo CONFIG_EXAMPLES= $(CONFIG_EXAMPLES)
+ @echo obj-m= $(obj-m)
+
+clean:
+ rm -rf .tmp_versions *.o
+ rm -rf .rpmsg_client_sample* rpmsg_client_sample*.mod.c
+ rm -rf .rpmsg_pru* rpmsg_pru*.mod.c
+ rm modules.order Module.symvers .built-in.o.cmd
\ No newline at end of file
diff --git a/pru-cookbook/05blocks/code/module/install.sh b/pru-cookbook/05blocks/code/module/install.sh
new file mode 100755
index 0000000000000000000000000000000000000000..89f497f038396b8bfaddcec73330b74255e0c5ab
--- /dev/null
+++ b/pru-cookbook/05blocks/code/module/install.sh
@@ -0,0 +1,6 @@
+# This is a example of ARM to PRU communication from Lab 5 of
+# http://processors.wiki.ti.com/index.php/PRU_Training:_Hands-on_Labs#LAB_5:_RPMsg_Communication_between_ARM_and_PRU
+
+sudo apt install linux-headers-`uname -r`
+
+wget https://github.com/beagleboard/linux/raw/4.9/drivers/rpmsg/rpmsg_pru.c
diff --git a/pru-cookbook/05blocks/code/module/rpmsg_client_sample.c b/pru-cookbook/05blocks/code/module/rpmsg_client_sample.c
new file mode 100644
index 0000000000000000000000000000000000000000..72b24524c626cca0291d93b5d765ecf515dac0f3
--- /dev/null
+++ b/pru-cookbook/05blocks/code/module/rpmsg_client_sample.c
@@ -0,0 +1,102 @@
+/*
+ * Remote processor messaging - sample client driver
+ *
+ * Copyright (C) 2011 Texas Instruments, Inc.
+ * Copyright (C) 2011 Google, Inc.
+ *
+ * Ohad Ben-Cohen <ohad@wizery.com>
+ * Brian Swetland <swetland@google.com>
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/rpmsg.h>
+
+#define MSG "hello world!"
+#define MSG_LIMIT 10
+
+struct instance_data {
+ int rx_count;
+};
+
+static int rpmsg_sample_cb(struct rpmsg_device *rpdev, void *data, int len,
+ void *priv, u32 src)
+{
+ int ret;
+ struct instance_data *idata = dev_get_drvdata(&rpdev->dev);
+
+ dev_info(&rpdev->dev, "incoming msg %d (src: 0x%x)\n",
+ ++idata->rx_count, src);
+
+ print_hex_dump(KERN_DEBUG, __func__, DUMP_PREFIX_NONE, 16, 1,
+ data, len, true);
+
+ /* samples should not live forever */
+ if (idata->rx_count >= MSG_LIMIT) {
+ dev_info(&rpdev->dev, "goodbye!\n");
+ return 0;
+ }
+
+ /* send a new message now */
+ ret = rpmsg_send(rpdev->ept, MSG, strlen(MSG));
+ if (ret)
+ dev_err(&rpdev->dev, "rpmsg_send failed: %d\n", ret);
+
+ return 0;
+}
+
+static int rpmsg_sample_probe(struct rpmsg_device *rpdev)
+{
+ int ret;
+ struct instance_data *idata;
+
+ dev_info(&rpdev->dev, "new channel: 0x%x -> 0x%x!\n",
+ rpdev->src, rpdev->dst);
+
+ idata = devm_kzalloc(&rpdev->dev, sizeof(*idata), GFP_KERNEL);
+ if (!idata)
+ return -ENOMEM;
+
+ dev_set_drvdata(&rpdev->dev, idata);
+
+ /* send a message to our remote processor */
+ ret = rpmsg_send(rpdev->ept, MSG, strlen(MSG));
+ if (ret) {
+ dev_err(&rpdev->dev, "rpmsg_send failed: %d\n", ret);
+ return ret;
+ }
+
+ return 0;
+}
+
+static void rpmsg_sample_remove(struct rpmsg_device *rpdev)
+{
+ dev_info(&rpdev->dev, "rpmsg sample client driver is removed\n");
+}
+
+static struct rpmsg_device_id rpmsg_driver_sample_id_table[] = {
+ { .name = "rpmsg-client-sample" },
+ { },
+};
+MODULE_DEVICE_TABLE(rpmsg, rpmsg_driver_sample_id_table);
+
+static struct rpmsg_driver rpmsg_sample_client = {
+ .drv.name = KBUILD_MODNAME,
+ .id_table = rpmsg_driver_sample_id_table,
+ .probe = rpmsg_sample_probe,
+ .callback = rpmsg_sample_cb,
+ .remove = rpmsg_sample_remove,
+};
+module_rpmsg_driver(rpmsg_sample_client);
+
+MODULE_DESCRIPTION("Remote processor messaging sample client driver");
+MODULE_LICENSE("GPL v2");
diff --git a/pru-cookbook/05blocks/code/module/rpmsg_pru.c b/pru-cookbook/05blocks/code/module/rpmsg_pru.c
new file mode 100644
index 0000000000000000000000000000000000000000..5a96b20965035e5b12139f391a41529c94ff0dbc
--- /dev/null
+++ b/pru-cookbook/05blocks/code/module/rpmsg_pru.c
@@ -0,0 +1,359 @@
+/*
+ * PRU Remote Processor Messaging Driver
+ *
+ * Copyright (C) 2015-2017 Texas Instruments Incorporated - http://www.ti.com/
+ * Jason Reeder <jreeder@ti.com>
+ * Suman Anna <s-anna@ti.com>
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+
+#include <linux/kernel.h>
+#include <linux/rpmsg.h>
+#include <linux/slab.h>
+#include <linux/fs.h>
+#include <linux/init.h>
+#include <linux/cdev.h>
+#include <linux/module.h>
+#include <linux/kfifo.h>
+#include <linux/uaccess.h>
+#include <linux/mutex.h>
+#include <linux/poll.h>
+#include <linux/rpmsg/virtio_rpmsg.h>
+
+#define PRU_MAX_DEVICES (8)
+/* Matches the definition in virtio_rpmsg_bus.c */
+#define RPMSG_BUF_SIZE (512)
+#define MAX_FIFO_MSG (32)
+#define FIFO_MSG_SIZE RPMSG_BUF_SIZE
+
+/**
+ * struct rpmsg_pru_dev - Structure that contains the per-device data
+ * @rpdev: rpmsg channel device that is associated with this rpmsg_pru device
+ * @dev: device
+ * @cdev: character device
+ * @locked: boolean used to determine whether or not the device file is in use
+ * @devt: dev_t structure for the rpmsg_pru device
+ * @msg_fifo: kernel fifo used to buffer the messages between userspace and PRU
+ * @msg_len: array storing the lengths of each message in the kernel fifo
+ * @msg_idx_rd: kernel fifo read index
+ * @msg_idx_wr: kernel fifo write index
+ * @wait_list: wait queue used to implement the poll operation of the character
+ * device
+ *
+ * Each rpmsg_pru device provides an interface, using an rpmsg channel (rpdev),
+ * between a user space character device (cdev) and a PRU core. A kernel fifo
+ * (msg_fifo) is used to buffer the messages in the kernel that are
+ * being passed between the character device and the PRU.
+ */
+struct rpmsg_pru_dev {
+ struct rpmsg_device *rpdev;
+ struct device *dev;
+ struct cdev cdev;
+ bool locked;
+ dev_t devt;
+ struct kfifo msg_fifo;
+ u32 msg_len[MAX_FIFO_MSG];
+ int msg_idx_rd;
+ int msg_idx_wr;
+ wait_queue_head_t wait_list;
+};
+
+static struct class *rpmsg_pru_class;
+static dev_t rpmsg_pru_devt;
+static DEFINE_MUTEX(rpmsg_pru_lock);
+static DEFINE_IDR(rpmsg_pru_minors);
+
+static int rpmsg_pru_open(struct inode *inode, struct file *filp)
+{
+ struct rpmsg_pru_dev *prudev;
+ int ret = -EACCES;
+
+ prudev = container_of(inode->i_cdev, struct rpmsg_pru_dev, cdev);
+
+ mutex_lock(&rpmsg_pru_lock);
+ if (!prudev->locked) {
+ prudev->locked = true;
+ filp->private_data = prudev;
+ ret = 0;
+ }
+ mutex_unlock(&rpmsg_pru_lock);
+
+ if (ret)
+ dev_err(prudev->dev, "Device already open\n");
+
+ return ret;
+}
+
+static int rpmsg_pru_release(struct inode *inode, struct file *filp)
+{
+ struct rpmsg_pru_dev *prudev;
+
+ prudev = container_of(inode->i_cdev, struct rpmsg_pru_dev, cdev);
+ mutex_lock(&rpmsg_pru_lock);
+ prudev->locked = false;
+ mutex_unlock(&rpmsg_pru_lock);
+ return 0;
+}
+
+static ssize_t rpmsg_pru_read(struct file *filp, char __user *buf,
+ size_t count, loff_t *f_pos)
+{
+ int ret;
+ u32 length;
+ struct rpmsg_pru_dev *prudev;
+
+ prudev = filp->private_data;
+
+ if (kfifo_is_empty(&prudev->msg_fifo) &&
+ (filp->f_flags & O_NONBLOCK))
+ return -EAGAIN;
+
+ ret = wait_event_interruptible(prudev->wait_list,
+ !kfifo_is_empty(&prudev->msg_fifo));
+ if (ret)
+ return -EINTR;
+
+ ret = kfifo_to_user(&prudev->msg_fifo, buf,
+ prudev->msg_len[prudev->msg_idx_rd], &length);
+ prudev->msg_idx_rd = (prudev->msg_idx_rd + 1) % MAX_FIFO_MSG;
+
+ return ret ? ret : length;
+}
+
+static ssize_t rpmsg_pru_write(struct file *filp, const char __user *buf,
+ size_t count, loff_t *f_pos)
+{
+ int ret;
+ struct rpmsg_pru_dev *prudev;
+ static char rpmsg_pru_buf[RPMSG_BUF_SIZE];
+
+ prudev = filp->private_data;
+
+ if (count > RPMSG_BUF_SIZE - sizeof(struct rpmsg_hdr)) {
+ dev_err(prudev->dev, "Data too large for RPMsg Buffer\n");
+ return -EINVAL;
+ }
+
+ if (copy_from_user(rpmsg_pru_buf, buf, count)) {
+ dev_err(prudev->dev, "Error copying buffer from user space");
+ return -EFAULT;
+ }
+
+ ret = rpmsg_send(prudev->rpdev->ept, (void *)rpmsg_pru_buf, count);
+ if (ret)
+ dev_err(prudev->dev, "rpmsg_send failed: %d\n", ret);
+
+ return ret ? ret : count;
+}
+
+static unsigned int rpmsg_pru_poll(struct file *filp,
+ struct poll_table_struct *wait)
+{
+ int mask;
+ struct rpmsg_pru_dev *prudev;
+
+ prudev = filp->private_data;
+
+ poll_wait(filp, &prudev->wait_list, wait);
+
+ mask = POLLOUT | POLLWRNORM;
+
+ if (!kfifo_is_empty(&prudev->msg_fifo))
+ mask |= POLLIN | POLLRDNORM;
+
+ return mask;
+}
+
+static const struct file_operations rpmsg_pru_fops = {
+ .owner = THIS_MODULE,
+ .open = rpmsg_pru_open,
+ .release = rpmsg_pru_release,
+ .read = rpmsg_pru_read,
+ .write = rpmsg_pru_write,
+ .poll = rpmsg_pru_poll,
+};
+
+static int rpmsg_pru_cb(struct rpmsg_device *rpdev, void *data, int len,
+ void *priv, u32 src)
+{
+ u32 length;
+ struct rpmsg_pru_dev *prudev;
+
+ prudev = dev_get_drvdata(&rpdev->dev);
+
+ if (kfifo_avail(&prudev->msg_fifo) < len) {
+ dev_err(&rpdev->dev, "Not enough space on the FIFO\n");
+ return -ENOSPC;
+ }
+
+ if ((prudev->msg_idx_wr + 1) % MAX_FIFO_MSG ==
+ prudev->msg_idx_rd) {
+ dev_err(&rpdev->dev, "Message length table is full\n");
+ return -ENOSPC;
+ }
+
+ length = kfifo_in(&prudev->msg_fifo, data, len);
+ prudev->msg_len[prudev->msg_idx_wr] = length;
+ prudev->msg_idx_wr = (prudev->msg_idx_wr + 1) % MAX_FIFO_MSG;
+
+ wake_up_interruptible(&prudev->wait_list);
+
+ return 0;
+}
+
+static int rpmsg_pru_probe(struct rpmsg_device *rpdev)
+{
+ int ret;
+ struct rpmsg_pru_dev *prudev;
+ int minor_got;
+
+ prudev = devm_kzalloc(&rpdev->dev, sizeof(*prudev), GFP_KERNEL);
+ if (!prudev)
+ return -ENOMEM;
+
+ mutex_lock(&rpmsg_pru_lock);
+ minor_got = idr_alloc(&rpmsg_pru_minors, prudev, 0, PRU_MAX_DEVICES,
+ GFP_KERNEL);
+ mutex_unlock(&rpmsg_pru_lock);
+ if (minor_got < 0) {
+ ret = minor_got;
+ dev_err(&rpdev->dev, "Failed to get a minor number for the rpmsg_pru device: %d\n",
+ ret);
+ goto fail_alloc_minor;
+ }
+
+ prudev->devt = MKDEV(MAJOR(rpmsg_pru_devt), minor_got);
+
+ cdev_init(&prudev->cdev, &rpmsg_pru_fops);
+ prudev->cdev.owner = THIS_MODULE;
+ ret = cdev_add(&prudev->cdev, prudev->devt, 1);
+ if (ret) {
+ dev_err(&rpdev->dev, "Unable to add cdev for the rpmsg_pru device\n");
+ goto fail_add_cdev;
+ }
+
+ prudev->dev = device_create(rpmsg_pru_class, &rpdev->dev, prudev->devt,
+ NULL, "rpmsg_pru%d", rpdev->dst);
+ if (IS_ERR(prudev->dev)) {
+ dev_err(&rpdev->dev, "Unable to create the rpmsg_pru device\n");
+ ret = PTR_ERR(prudev->dev);
+ goto fail_create_device;
+ }
+
+ prudev->rpdev = rpdev;
+
+ ret = kfifo_alloc(&prudev->msg_fifo, MAX_FIFO_MSG * FIFO_MSG_SIZE,
+ GFP_KERNEL);
+ if (ret) {
+ dev_err(&rpdev->dev, "Unable to allocate fifo for the rpmsg_pru device\n");
+ goto fail_alloc_fifo;
+ }
+
+ init_waitqueue_head(&prudev->wait_list);
+
+ dev_set_drvdata(&rpdev->dev, prudev);
+
+ dev_info(&rpdev->dev, "new rpmsg_pru device: /dev/rpmsg_pru%d",
+ rpdev->dst);
+
+ return 0;
+
+fail_alloc_fifo:
+ device_destroy(rpmsg_pru_class, prudev->devt);
+fail_create_device:
+ cdev_del(&prudev->cdev);
+fail_add_cdev:
+ mutex_lock(&rpmsg_pru_lock);
+ idr_remove(&rpmsg_pru_minors, minor_got);
+ mutex_unlock(&rpmsg_pru_lock);
+fail_alloc_minor:
+ return ret;
+}
+
+static void rpmsg_pru_remove(struct rpmsg_device *rpdev)
+{
+ struct rpmsg_pru_dev *prudev;
+
+ prudev = dev_get_drvdata(&rpdev->dev);
+
+ kfifo_free(&prudev->msg_fifo);
+ device_destroy(rpmsg_pru_class, prudev->devt);
+ cdev_del(&prudev->cdev);
+ mutex_lock(&rpmsg_pru_lock);
+ idr_remove(&rpmsg_pru_minors, MINOR(prudev->devt));
+ mutex_unlock(&rpmsg_pru_lock);
+}
+
+/* .name matches on RPMsg Channels and causes a probe */
+static const struct rpmsg_device_id rpmsg_driver_pru_id_table[] = {
+ { .name = "rpmsg-pru" },
+ { },
+};
+MODULE_DEVICE_TABLE(rpmsg, rpmsg_driver_pru_id_table);
+
+static struct rpmsg_driver rpmsg_pru_driver = {
+ .drv.name = KBUILD_MODNAME,
+ .id_table = rpmsg_driver_pru_id_table,
+ .probe = rpmsg_pru_probe,
+ .callback = rpmsg_pru_cb,
+ .remove = rpmsg_pru_remove,
+};
+
+static int __init rpmsg_pru_init(void)
+{
+ int ret;
+
+ rpmsg_pru_class = class_create(THIS_MODULE, "rpmsg_pru");
+ if (IS_ERR(rpmsg_pru_class)) {
+ pr_err("Unable to create class\n");
+ ret = PTR_ERR(rpmsg_pru_class);
+ goto fail_create_class;
+ }
+
+ ret = alloc_chrdev_region(&rpmsg_pru_devt, 0, PRU_MAX_DEVICES,
+ "rpmsg_pru");
+ if (ret) {
+ pr_err("Unable to allocate chrdev region\n");
+ goto fail_alloc_region;
+ }
+
+ ret = register_rpmsg_driver(&rpmsg_pru_driver);
+ if (ret) {
+ pr_err("Unable to register rpmsg driver");
+ goto fail_register_rpmsg_driver;
+ }
+
+ return 0;
+
+fail_register_rpmsg_driver:
+ unregister_chrdev_region(rpmsg_pru_devt, PRU_MAX_DEVICES);
+fail_alloc_region:
+ class_destroy(rpmsg_pru_class);
+fail_create_class:
+ return ret;
+}
+
+static void __exit rpmsg_pru_exit(void)
+{
+ unregister_rpmsg_driver(&rpmsg_pru_driver);
+ idr_destroy(&rpmsg_pru_minors);
+ mutex_destroy(&rpmsg_pru_lock);
+ class_destroy(rpmsg_pru_class);
+ unregister_chrdev_region(rpmsg_pru_devt, PRU_MAX_DEVICES);
+}
+
+module_init(rpmsg_pru_init);
+module_exit(rpmsg_pru_exit);
+
+MODULE_AUTHOR("Jason Reeder <jreeder@ti.com>");
+MODULE_ALIAS("rpmsg:rpmsg-pru");
+MODULE_DESCRIPTION("PRU Remote Processor Messaging Driver");
+MODULE_LICENSE("GPL v2");
diff --git a/pru-cookbook/05blocks/code/module/setup.sh b/pru-cookbook/05blocks/code/module/setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..3b313b366052438b0db8e7a7c0f00a04313b8687
--- /dev/null
+++ b/pru-cookbook/05blocks/code/module/setup.sh
@@ -0,0 +1 @@
+insmod rpmsg_pru.ko
diff --git a/pru-cookbook/05blocks/code/neo-colors.py b/pru-cookbook/05blocks/code/neo-colors.py
new file mode 100755
index 0000000000000000000000000000000000000000..736a47b3c7e6ae2507da296fdae5ac01be7f7a14
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo-colors.py
@@ -0,0 +1,41 @@
+#!/usr/bin/python3
+from time import sleep
+import math
+
+length = 24
+max = 25
+
+# Open a file
+fo = open("/dev/rpmsg_pru30", "wb", 0)
+
+colors = [[1,0,0],[1,1,0],[0,1,0],[0,1,1],[0,0,1],[1,0,1]]# colors = [[1,0,0],[1,0,0]]
+
+oldr=0
+oldb=0
+oldg=0
+
+while True:
+ for color in colors:
+ newr = color[0]
+ newg = color[1]
+ newb = color[2]
+ maxtime=20
+ for time in range(0, maxtime):
+ r = (max*oldr+(newr-oldr)*max*time/maxtime)
+ g = (max*oldg+(newg-oldg)*max*time/maxtime)
+ b = (max*oldb+(newb-oldb)*max*time/maxtime)
+ for i in range(0, length):
+ fo.write(b"%d %d %d %d\n" % (i, r, g, b))
+ # print("0 0 127 %d" % (i))
+ fo.write(b"-1 0 0 0\n"); # Send colors to LEDs
+
+ # print (r,g,b)
+
+ sleep(0.05)
+
+ oldr=newr
+ oldg=newg
+ oldb=newb
+
+# Close opened file
+fo.close()
\ No newline at end of file
diff --git a/pru-cookbook/05blocks/code/neo-rainbow.py b/pru-cookbook/05blocks/code/neo-rainbow.py
new file mode 100755
index 0000000000000000000000000000000000000000..ffd706a643a9c71609e8b8893b6ff91b53cde08b
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo-rainbow.py
@@ -0,0 +1,27 @@
+#!/usr/bin/python3
+from time import sleep
+import math
+
+len = 24
+amp = 12
+f = 25
+shift = 3
+phase = 0
+
+# Open a file
+fo = open("/dev/rpmsg_pru30", "wb", 0)
+
+while True:
+ for i in range(0, len):
+ r = (amp * (math.sin(2*math.pi*f*(i-phase-0*shift)/len) + 1)) + 1;
+ g = (amp * (math.sin(2*math.pi*f*(i-phase-1*shift)/len) + 1)) + 1;
+ b = (amp * (math.sin(2*math.pi*f*(i-phase-2*shift)/len) + 1)) + 1;
+ fo.write(b"%d %d %d %d\n" % (i, r, g, b))
+ # print("0 0 127 %d" % (i))
+
+ fo.write(b"-1 0 0 0\n");
+ phase = phase + 1
+ sleep(0.05)
+
+# Close opened file
+fo.close()
\ No newline at end of file
diff --git a/pru-cookbook/05blocks/code/neo1.pru0.c b/pru-cookbook/05blocks/code/neo1.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..5f2ce8248d73706b8f78c7b76e5df9009ffd4b02
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo1.pru0.c
@@ -0,0 +1,44 @@
+// Control a ws2812 (NeoPixel) display, All on or all off
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define STR_LEN 24
+#define oneCyclesOn 700/5 // Stay on 700ns
+#define oneCyclesOff 800/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 600/5
+#define resetCycles 60000/5 // Must be at least 50u, use 60u
+#define gpio P9_29 // output pin
+
+#define ONE
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ uint32_t i;
+ for(i=0; i<STR_LEN*3*8; i++) {
+#ifdef ONE
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-2);
+#else
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-2);
+#endif
+ }
+ // Send Reset
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ __halt();
+}
diff --git a/pru-cookbook/05blocks/code/neo1.pru1_1.c b/pru-cookbook/05blocks/code/neo1.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..2ad8d56d1cff431ab3c006788440454083b26e96
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo1.pru1_1.c
@@ -0,0 +1,44 @@
+// Control a ws2812 (NeoPixel) display, All on or all off
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define STR_LEN 24
+#define oneCyclesOn 700/5 // Stay on 700ns
+#define oneCyclesOff 800/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 600/5
+#define resetCycles 60000/5 // Must be at least 50u, use 60u
+#define gpio P9_16 // output pin
+
+#define ONE
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ uint32_t i;
+ for(i=0; i<STR_LEN*3*8; i++) {
+#ifdef ONE
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-2);
+#else
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-2);
+#endif
+ }
+ // Send Reset
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ __halt();
+}
diff --git a/pru-cookbook/05blocks/code/neo2.pru0.c b/pru-cookbook/05blocks/code/neo2.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..a30077ceb090f7e3722cb0fe1a61162bdde9bb9d
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo2.pru0.c
@@ -0,0 +1,46 @@
+// Control a ws2812 (neo pixel) display, green, red, blue, green, ...
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define STR_LEN 3
+#define oneCyclesOn 700/5 // Stay on 700ns
+#define oneCyclesOff 800/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 600/5
+#define resetCycles 60000/5 // Must be at least 50u, use 60u
+#define gpio P9_29 // output pin
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ uint32_t color[STR_LEN] = {0x0f0000, 0x000f00, 0x0000f}; // green, red, blue
+ int i, j;
+
+ for(j=0; j<STR_LEN; j++) {
+ for(i=23; i>=0; i--) {
+ if(color[j] & (0x1<<i)) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-2);
+ } else {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-2);
+ }
+ }
+ }
+ // Send Reset
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ __halt();
+}
diff --git a/pru-cookbook/05blocks/code/neo2.pru1_1.c b/pru-cookbook/05blocks/code/neo2.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..6b243dcfb53c2139f44d4a2aabd113a274c331e8
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo2.pru1_1.c
@@ -0,0 +1,46 @@
+// Control a ws2812 (neo pixel) display, green, red, blue, green, ...
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define STR_LEN 3
+#define oneCyclesOn 700/5 // Stay on 700ns
+#define oneCyclesOff 800/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 600/5
+#define resetCycles 60000/5 // Must be at least 50u, use 60u
+#define gpio P9_16 // output pin
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ uint32_t color[STR_LEN] = {0x0f0000, 0x000f00, 0x0000f}; // green, red, blue
+ int i, j;
+
+ for(j=0; j<STR_LEN; j++) {
+ for(i=23; i>=0; i--) {
+ if(color[j] & (0x1<<i)) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-2);
+ } else {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-2);
+ }
+ }
+ }
+ // Send Reset
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ __halt();
+}
diff --git a/pru-cookbook/05blocks/code/neo3.pru0.c b/pru-cookbook/05blocks/code/neo3.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..8c1a9f1323d564d7894b299f1bd4f8a4020bc5e8
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo3.pru0.c
@@ -0,0 +1,67 @@
+// Control a ws2812 (neo pixel) display, green, red, blue, green, ...
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define STR_LEN 24
+#define oneCyclesOn 700/5 // Stay on 700ns
+#define oneCyclesOff 800/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 600/5
+#define resetCycles 60000/5 // Must be at least 50u, use 60u
+#define gpio P9_29 // output pin
+
+#define SPEED 20000000/5 // Time to wait between updates
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t background = 0x00000f;
+ uint32_t foreground = 0x000f00;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ uint32_t color[STR_LEN]; // green, red, blue
+ int i, j;
+ int k, oldk = 0;;
+ // Set everything to background
+ for(i=0; i<STR_LEN; i++) {
+ color[i] = background;
+ }
+
+ while(1) {
+ // Move forward one position
+ for(k=0; k<STR_LEN; k++) {
+ color[oldk] = background;
+ color[k] = foreground;
+ oldk=k;
+
+ // Output the string
+ for(j=0; j<STR_LEN; j++) {
+ for(i=23; i>=0; i--) {
+ if(color[j] & (0x1<<i)) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-2);
+ } else {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-2);
+ }
+ }
+ }
+ // Send Reset
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ // Wait
+ __delay_cycles(SPEED);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/neo3.pru1_1.c b/pru-cookbook/05blocks/code/neo3.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..ee8dd63859680a930b3dca6c8c61895a87051ac9
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo3.pru1_1.c
@@ -0,0 +1,67 @@
+// Control a ws2812 (neo pixel) display, green, red, blue, green, ...
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define STR_LEN 24
+#define oneCyclesOn 700/5 // Stay on 700ns
+#define oneCyclesOff 800/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 600/5
+#define resetCycles 60000/5 // Must be at least 50u, use 60u
+#define gpio P9_16 // output pin
+
+#define SPEED 20000000/5 // Time to wait between updates
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t background = 0x00000f;
+ uint32_t foreground = 0x000f00;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ uint32_t color[STR_LEN]; // green, red, blue
+ int i, j;
+ int k, oldk = 0;;
+ // Set everything to background
+ for(i=0; i<STR_LEN; i++) {
+ color[i] = background;
+ }
+
+ while(1) {
+ // Move forward one position
+ for(k=0; k<STR_LEN; k++) {
+ color[oldk] = background;
+ color[k] = foreground;
+ oldk=k;
+
+ // Output the string
+ for(j=0; j<STR_LEN; j++) {
+ for(i=23; i>=0; i--) {
+ if(color[j] & (0x1<<i)) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-2);
+ } else {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-2);
+ }
+ }
+ }
+ // Send Reset
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ // Wait
+ __delay_cycles(SPEED);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/neo4.pru0.c b/pru-cookbook/05blocks/code/neo4.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..7fb5455781d8dc47cd414a433b1578ea84645ad9
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo4.pru0.c
@@ -0,0 +1,145 @@
+// Use rpmsg to control the NeoPixels via /dev/rpmsg_pru30
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h> // atoi
+#include <string.h>
+#include <pru_cfg.h>
+#include <pru_intc.h>
+#include <rsc_types.h>
+#include <pru_rpmsg.h>
+#include "resource_table_0.h"
+#include "prugpio.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+/* Host-0 Interrupt sets bit 30 in register R31 */
+#define HOST_INT ((uint32_t) 1 << 30)
+
+/* The PRU-ICSS system events used for RPMsg are defined in the Linux device tree
+ * PRU0 uses system event 16 (To ARM) and 17 (From ARM)
+ * PRU1 uses system event 18 (To ARM) and 19 (From ARM)
+ */
+#define TO_ARM_HOST 16
+#define FROM_ARM_HOST 17
+
+/*
+* Using the name 'rpmsg-pru' will probe the rpmsg_pru driver found
+* at linux-x.y.z/drivers/rpmsg/rpmsg_pru.c
+*/
+#define CHAN_NAME "rpmsg-pru"
+#define CHAN_DESC "Channel 30"
+#define CHAN_PORT 30
+
+/*
+ * Used to make sure the Linux drivers are ready for RPMsg communication
+ * Found at linux-x.y.z/include/uapi/linux/virtio_config.h
+ */
+#define VIRTIO_CONFIG_S_DRIVER_OK 4
+
+char payload[RPMSG_BUF_SIZE];
+
+#define STR_LEN 24
+#define oneCyclesOn 700/5 // Stay on for 700ns
+#define oneCyclesOff 600/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 800/5
+#define resetCycles 51000/5 // Must be at least 50u, use 51u
+#define out P9_29 // Bit number to output on
+
+#define SPEED 20000000/5 // Time to wait between updates
+
+uint32_t color[STR_LEN]; // green, red, blue
+
+/*
+ * main.c
+ */
+void main(void)
+{
+ struct pru_rpmsg_transport transport;
+ uint16_t src, dst, len;
+ volatile uint8_t *status;
+
+ uint8_t r, g, b;
+ int i, j;
+ // Set everything to background
+ for(i=0; i<STR_LEN; i++) {
+ color[i] = 0x010000;
+ }
+
+ /* Allow OCP master port access by the PRU so the PRU can read external memories */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ /* Clear the status of the PRU-ICSS system event that the ARM will use to 'kick' us */
+#ifdef CHIP_IS_am57xx
+ CT_INTC.SICR_bit.STATUS_CLR_INDEX = FROM_ARM_HOST;
+#else
+ CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
+#endif
+
+ /* Make sure the Linux drivers are ready for RPMsg communication */
+ status = &resourceTable.rpmsg_vdev.status;
+ while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK));
+
+ /* Initialize the RPMsg transport structure */
+ pru_rpmsg_init(&transport, &resourceTable.rpmsg_vring0, &resourceTable.rpmsg_vring1, TO_ARM_HOST, FROM_ARM_HOST);
+
+ /* Create the RPMsg channel between the PRU and ARM user space using the transport structure. */
+ while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS);
+ while (1) {
+ /* Check bit 30 of register R31 to see if the ARM has kicked us */
+ if (__R31 & HOST_INT) {
+ /* Clear the event status */
+#ifdef CHIP_IS_am57xx
+ CT_INTC.SICR_bit.STATUS_CLR_INDEX = FROM_ARM_HOST;
+#else
+ CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
+#endif
+ /* Receive all available messages, multiple messages can be sent per kick */
+ while (pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS) {
+ char *ret; // rest of payload after front character is removed
+ int index; // index of LED to control
+ // Input format is: index red green blue
+ index = atoi(payload);
+ // Update the array, but don't write it out.
+ if((index >=0) & (index < STR_LEN)) {
+ ret = strchr(payload, ' '); // Skip over index
+ r = strtol(&ret[1], NULL, 0);
+ ret = strchr(&ret[1], ' '); // Skip over r, etc.
+ g = strtol(&ret[1], NULL, 0);
+ ret = strchr(&ret[1], ' ');
+ b = strtol(&ret[1], NULL, 0);
+
+ color[index] = (g<<16)|(r<<8)|b; // String wants GRB
+ }
+ // When index is -1, send the array to the LED string
+ if(index == -1) {
+ // Output the string
+ for(j=0; j<STR_LEN; j++) {
+ // Cycle through each bit
+ for(i=23; i>=0; i--) {
+ if(color[j] & (0x1<<i)) {
+ __R30 |= out; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~out; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-14);
+ } else {
+ __R30 |= out; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~(out); // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-14);
+ }
+ }
+ }
+ // Send Reset
+ __R30 &= ~out; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ // Wait
+ __delay_cycles(SPEED);
+ }
+
+ }
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/neo4.pru1_1.c b/pru-cookbook/05blocks/code/neo4.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..7c120937aa92b19fbc65971aa8a6ec3748c69ca4
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo4.pru1_1.c
@@ -0,0 +1,145 @@
+// Use rpmsg to control the NeoPixels via /dev/rpmsg_pru30
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h> // atoi
+#include <string.h>
+#include <pru_cfg.h>
+#include <pru_intc.h>
+#include <rsc_types.h>
+#include <pru_rpmsg.h>
+#include "resource_table_1.h"
+#include "prugpio.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+/* Host-1 Interrupt sets bit 31 in register R31 */
+#define HOST_INT ((uint32_t) 1 << 31)
+
+/* The PRU-ICSS system events used for RPMsg are defined in the Linux device tree
+ * PRU0 uses system event 16 (To ARM) and 17 (From ARM)
+ * PRU1 uses system event 18 (To ARM) and 19 (From ARM)
+ */
+#define TO_ARM_HOST 18
+#define FROM_ARM_HOST 19
+
+/*
+* Using the name 'rpmsg-pru' will probe the rpmsg_pru driver found
+* at linux-x.y.z/drivers/rpmsg/rpmsg_pru.c
+*/
+#define CHAN_NAME "rpmsg-pru"
+#define CHAN_DESC "Channel 31"
+#define CHAN_PORT 31
+
+/*
+ * Used to make sure the Linux drivers are ready for RPMsg communication
+ * Found at linux-x.y.z/include/uapi/linux/virtio_config.h
+ */
+#define VIRTIO_CONFIG_S_DRIVER_OK 4
+
+char payload[RPMSG_BUF_SIZE];
+
+#define STR_LEN 24
+#define oneCyclesOn 700/5 // Stay on for 700ns
+#define oneCyclesOff 600/5
+#define zeroCyclesOn 350/5
+#define zeroCyclesOff 800/5
+#define resetCycles 51000/5 // Must be at least 50u, use 51u
+#define out P9_16 // Bit number to output on
+
+#define SPEED 20000000/5 // Time to wait between updates
+
+uint32_t color[STR_LEN]; // green, red, blue
+
+/*
+ * main.c
+ */
+void main(void)
+{
+ struct pru_rpmsg_transport transport;
+ uint16_t src, dst, len;
+ volatile uint8_t *status;
+
+ uint8_t r, g, b;
+ int i, j;
+ // Set everything to background
+ for(i=0; i<STR_LEN; i++) {
+ color[i] = 0x010000;
+ }
+
+ /* Allow OCP master port access by the PRU so the PRU can read external memories */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ /* Clear the status of the PRU-ICSS system event that the ARM will use to 'kick' us */
+#ifdef CHIP_IS_am57xx
+ CT_INTC.SICR_bit.STATUS_CLR_INDEX = FROM_ARM_HOST;
+#else
+ CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
+#endif
+
+ /* Make sure the Linux drivers are ready for RPMsg communication */
+ status = &resourceTable.rpmsg_vdev.status;
+ while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK));
+
+ /* Initialize the RPMsg transport structure */
+ pru_rpmsg_init(&transport, &resourceTable.rpmsg_vring0, &resourceTable.rpmsg_vring1, TO_ARM_HOST, FROM_ARM_HOST);
+
+ /* Create the RPMsg channel between the PRU and ARM user space using the transport structure. */
+ while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS);
+ while (1) {
+ /* Check bit 30 of register R31 to see if the ARM has kicked us */
+ if (__R31 & HOST_INT) {
+ /* Clear the event status */
+#ifdef CHIP_IS_am57xx
+ CT_INTC.SICR_bit.STATUS_CLR_INDEX = FROM_ARM_HOST;
+#else
+ CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
+#endif
+ /* Receive all available messages, multiple messages can be sent per kick */
+ while (pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS) {
+ char *ret; // rest of payload after front character is removed
+ int index; // index of LED to control
+ // Input format is: index red green blue
+ index = atoi(payload);
+ // Update the array, but don't write it out.
+ if((index >=0) & (index < STR_LEN)) {
+ ret = strchr(payload, ' '); // Skip over index
+ r = strtol(&ret[1], NULL, 0);
+ ret = strchr(&ret[1], ' '); // Skip over r, etc.
+ g = strtol(&ret[1], NULL, 0);
+ ret = strchr(&ret[1], ' ');
+ b = strtol(&ret[1], NULL, 0);
+
+ color[index] = (g<<16)|(r<<8)|b; // String wants GRB
+ }
+ // When index is -1, send the array to the LED string
+ if(index == -1) {
+ // Output the string
+ for(j=0; j<STR_LEN; j++) {
+ // Cycle through each bit
+ for(i=23; i>=0; i--) {
+ if(color[j] & (0x1<<i)) {
+ __R30 |= out; // Set the GPIO pin to 1
+ __delay_cycles(oneCyclesOn-1);
+ __R30 &= ~out; // Clear the GPIO pin
+ __delay_cycles(oneCyclesOff-14);
+ } else {
+ __R30 |= out; // Set the GPIO pin to 1
+ __delay_cycles(zeroCyclesOn-1);
+ __R30 &= ~(out); // Clear the GPIO pin
+ __delay_cycles(zeroCyclesOff-14);
+ }
+ }
+ }
+ // Send Reset
+ __R30 &= ~out; // Clear the GPIO pin
+ __delay_cycles(resetCycles);
+
+ // Wait
+ __delay_cycles(SPEED);
+ }
+
+ }
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/neo_setup.sh b/pru-cookbook/05blocks/code/neo_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..8f98cbb2a9ae5f915cafc47af006b958fffe44f7
--- /dev/null
+++ b/pru-cookbook/05blocks/code/neo_setup.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+export TARGET=neo1.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_29 "
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_33"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/05blocks/code/pwm-test.c b/pru-cookbook/05blocks/code/pwm-test.c
new file mode 100644
index 0000000000000000000000000000000000000000..3bff5f71b6598b3f6ee1fd0fc04bdac16793cda8
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm-test.c
@@ -0,0 +1,74 @@
+/*
+ *
+ * pwm tester
+ * The on cycle and off cycles are stored in each PRU's Data memory
+ *
+ */
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+
+#define MAXCH 4
+
+#define PRU_ADDR 0x4A300000 // Start of PRU memory Page 184 am335x TRM
+#define PRU_LEN 0x80000 // Length of PRU memory
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+#define PRU1_DRAM 0x02000
+#define PRU_SHAREDMEM 0x10000 // Offset to shared memory
+
+unsigned int *pru0DRAM_32int_ptr; // Points to the start of local DRAM
+unsigned int *pru1DRAM_32int_ptr; // Points to the start of local DRAM
+unsigned int *prusharedMem_32int_ptr; // Points to the start of the shared memory
+
+/*******************************************************************************
+* int start_pwm_count(int ch, int countOn, int countOff)
+*
+* Starts a pwm pulse on for countOn and off for countOff to a single channel (ch)
+*******************************************************************************/
+int start_pwm_count(int ch, int countOn, int countOff) {
+ unsigned int *pruDRAM_32int_ptr = pru0DRAM_32int_ptr;
+
+ printf("countOn: %d, countOff: %d, count: %d\n",
+ countOn, countOff, countOn+countOff);
+ // write to PRU shared memory
+ pruDRAM_32int_ptr[2*(ch)+0] = countOn; // On time
+ pruDRAM_32int_ptr[2*(ch)+1] = countOff; // Off time
+ return 0;
+}
+
+int main(int argc, char *argv[])
+{
+ unsigned int *pru; // Points to start of PRU memory.
+ int fd;
+ printf("Servo tester\n");
+
+ fd = open ("/dev/mem", O_RDWR | O_SYNC);
+ if (fd == -1) {
+ printf ("ERROR: could not open /dev/mem.\n\n");
+ return 1;
+ }
+ pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
+ if (pru == MAP_FAILED) {
+ printf ("ERROR: could not map memory.\n\n");
+ return 1;
+ }
+ close(fd);
+ printf ("Using /dev/mem.\n");
+
+ pru0DRAM_32int_ptr = pru + PRU0_DRAM/4 + 0x200/4; // Points to 0x200 of PRU0 memory
+ pru1DRAM_32int_ptr = pru + PRU1_DRAM/4 + 0x200/4; // Points to 0x200 of PRU1 memory
+ prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4; // Points to start of shared memory
+
+ int i;
+ for(i=0; i<MAXCH; i++) {
+ start_pwm_count(i, i+1, 20-(i+1));
+ }
+
+ if(munmap(pru, PRU_LEN)) {
+ printf("munmap failed\n");
+ } else {
+ printf("munmap succeeded\n");
+ }
+}
+
diff --git a/pru-cookbook/05blocks/code/pwm1.pru0.c b/pru-cookbook/05blocks/code/pwm1.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..2ea5caa17efd570bad1cbc658d5e2c96557b1b0f
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm1.pru0.c
@@ -0,0 +1,22 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_31; // Select which pin to toggle.;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while(1) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(100000000);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(100000000);
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm1.pru1_1.c b/pru-cookbook/05blocks/code/pwm1.pru1_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..1f8b737e678691af3c4ab83cfa2d1d5bc442fe64
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm1.pru1_1.c
@@ -0,0 +1,22 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_16; // Select which pin to toggle.;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while(1) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(100000000);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(100000000);
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm2.pru0.c b/pru-cookbook/05blocks/code/pwm2.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..bfa0d0761411212a8a0f4469ca02dfd08f5a20bd
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm2.pru0.c
@@ -0,0 +1,22 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_31; // Select which pin to toggle.;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while (1) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(1); // Delay one cycle to correct for loop time
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(0);
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm3.pru0.c b/pru-cookbook/05blocks/code/pwm3.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..4b2955a0573171e7e3525a9381e4a4a2acb15e36
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm3.pru0.c
@@ -0,0 +1,43 @@
+// This code does MAXCH parallel PWM channels.
+// It's period is 3 us
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+#define MAXCH 4 // Maximum number of channels
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4}; // Number of cycles to stay on
+ uint32_t off[] = {4, 3, 2, 1}; // Number to stay off
+ uint32_t onCount[MAXCH]; // Current count
+ uint32_t offCount[MAXCH];
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ // Initialize the channel counters.
+ for(ch=0; ch<MAXCH; ch++) {
+ onCount[ch] = on[ch];
+ offCount[ch]= off[ch];
+ }
+
+ while (1) {
+ for(ch=0; ch<MAXCH; ch++) {
+ if(onCount[ch]) {
+ onCount[ch]--;
+ __R30 |= 0x1<<ch; // Set the GPIO pin to 1
+ } else if(offCount[ch]) {
+ offCount[ch]--;
+ __R30 &= ~(0x1<<ch); // Clear the GPIO pin
+ } else {
+ onCount[ch] = on[ch];
+ offCount[ch]= off[ch];
+ }
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm4.pru0.c b/pru-cookbook/05blocks/code/pwm4.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..ee0f7ec6adf542562b8740ce410226840b01ac50
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm4.pru0.c
@@ -0,0 +1,50 @@
+// This code does MAXCH parallel PWM channels.
+// It's period is 3 us
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 4 // Maximum number of channels per PRU
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4}; // Number of cycles to stay on
+ uint32_t off[] = {4, 3, 2, 1}; // Number to stay off
+ uint32_t onCount[MAXCH]; // Current count
+ uint32_t offCount[MAXCH];
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ // Initialize the channel counters.
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on[ch]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch]; // Interleave the on and off values
+ onCount[ch] = on[ch];
+ offCount[ch]= off[ch];
+ }
+
+ while (1) {
+ for(ch=0; ch<MAXCH; ch++) {
+ if(onCount[ch]) {
+ onCount[ch]--;
+ __R30 |= 0x1<<ch; // Set the GPIO pin to 1
+ } else if(offCount[ch]) {
+ offCount[ch]--;
+ __R30 &= ~(0x1<<ch); // Clear the GPIO pin
+ } else {
+ onCount[ch] = pru0_dram[2*ch]; // Read from DRAM0
+ offCount[ch]= pru0_dram[2*ch+1];
+ }
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm5.pru0.c b/pru-cookbook/05blocks/code/pwm5.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..60a97b817c32ca25fcbd9445ec6d612151ed21c6
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm5.pru0.c
@@ -0,0 +1,53 @@
+// This code does MAXCH parallel PWM channels.
+// It's period is 510ns.
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 4 // Maximum number of channels per PRU
+
+#define update(ch) \
+ if(onCount[ch]) { \
+ onCount[ch]--; \
+ __R30 |= 0x1<<ch; \
+ } else if(offCount[ch]) { \
+ offCount[ch]--; \
+ __R30 &= ~(0x1<<ch); \
+ } else { \
+ onCount[ch] = pru0_dram[2*ch]; \
+ offCount[ch]= pru0_dram[2*ch+1]; \
+ }
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4};
+ uint32_t off[] = {4, 3, 2, 1};
+ uint32_t onCount[MAXCH], offCount[MAXCH];
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+#pragma UNROLL(MAXCH)
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on[ch]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch]; // Interleave the on and off values
+ onCount[ch] = on[ch];
+ offCount[ch]= off[ch];
+ }
+
+ while (1) {
+ update(0)
+ update(1)
+ update(2)
+ update(3)
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm6.pru0.c b/pru-cookbook/05blocks/code/pwm6.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..6df321f5f0d7094b6ec93e57cbf65a62994094a1
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm6.pru0.c
@@ -0,0 +1,56 @@
+// This code does MAXCH parallel PWM channels.
+// All channels start at the same time. It's period is 510ns
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 4 // Maximum number of channels per PRU
+
+#define update(ch) \
+ if(onCount[ch]) { \
+ onCount[ch]--; \
+ Rtmp |= 0x1<<ch; \
+ } else if(offCount[ch]) { \
+ offCount[ch]--; \
+ Rtmp &= ~(0x1<<ch); \
+ } else { \
+ onCount[ch] = pru0_dram[2*ch]; \
+ offCount[ch]= pru0_dram[2*ch+1]; \
+ }
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4};
+ uint32_t off[] = {4, 3, 2, 1};
+ uint32_t onCount[MAXCH], offCount[MAXCH];
+ register uint32_t Rtmp;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+#pragma UNROLL(MAXCH)
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on[ch]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch]; // Interleave the on and off values
+ onCount[ch] = on[ch];
+ offCount[ch]= off[ch];
+ }
+ Rtmp = __R30;
+
+ while (1) {
+ update(0)
+ update(1)
+ update(2)
+ update(3)
+ __R30 = Rtmp;
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm7-test.c b/pru-cookbook/05blocks/code/pwm7-test.c
new file mode 100644
index 0000000000000000000000000000000000000000..cbb6769819050b95dec2fd402db0f69a4beaa752
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm7-test.c
@@ -0,0 +1,83 @@
+/*
+ *
+ * pwm tester
+ * (c) Copyright 2016
+ * Mark A. Yoder, 20-July-2016
+ * The channels 0-11 are on PRU1 and channels 12-17 are on PRU0
+ * The period and duty cycle values are stored in each PRU's Data memory
+ * The enable bits are stored in the shared memory
+ *
+ */
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+
+#define MAXCH 2
+
+#define PRU_ADDR 0x4A300000 // Start of PRU memory Page 184 am335x TRM
+#define PRU_LEN 0x80000 // Length of PRU memory
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+#define PRU1_DRAM 0x02000
+#define PRU_SHAREDMEM 0x10000 // Offset to shared memory
+
+unsigned int *pru0DRAM_32int_ptr; // Points to the start of local DRAM
+unsigned int *pru1DRAM_32int_ptr; // Points to the start of local DRAM
+unsigned int *prusharedMem_32int_ptr; // Points to the start of the shared memory
+
+/*******************************************************************************
+* int start_pwm_count(int ch, int countOn, int countOff)
+*
+* Starts a pwm pulse on for countOn and off for countOff to a single channel (ch)
+*******************************************************************************/
+int start_pwm_count(int ch, int countOn, int countOff, unsigned int *ptr) {
+ unsigned int *pruDRAM_32int_ptr = ptr;
+
+ printf("countOn: %d, countOff: %d, count: %d\n",
+ countOn, countOff, countOn+countOff);
+ // write to PRU shared memory
+ pruDRAM_32int_ptr[2*(ch)+0] = countOn; // On time
+ pruDRAM_32int_ptr[2*(ch)+1] = countOff; // Off time
+ return 0;
+}
+
+int main(int argc, char *argv[])
+{
+ unsigned int *pru; // Points to start of PRU memory.
+ int fd;
+ printf("Servo tester\n");
+
+ fd = open ("/dev/mem", O_RDWR | O_SYNC);
+ if (fd == -1) {
+ printf ("ERROR: could not open /dev/mem.\n\n");
+ return 1;
+ }
+ pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
+ if (pru == MAP_FAILED) {
+ printf ("ERROR: could not map memory.\n\n");
+ return 1;
+ }
+ close(fd);
+ printf ("Using /dev/mem.\n");
+
+ pru0DRAM_32int_ptr = pru + PRU0_DRAM/4 + 0x200/4; // Points to 0x200 of PRU0 memory
+ pru1DRAM_32int_ptr = pru + PRU1_DRAM/4 + 0x200/4; // Points to 0x200 of PRU1 memory
+ prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4; // Points to start of shared memory
+
+
+ int on[] = {1, 2, 3, 4};
+ int off[] = {4, 3, 2, 1};
+
+ int ch;
+ for(ch=0; ch<MAXCH; ch++) {
+ start_pwm_count(ch, on[ch], off[ch], pru0DRAM_32int_ptr);
+ start_pwm_count(ch, on[ch+MAXCH], off[ch+MAXCH], pru1DRAM_32int_ptr);
+ }
+
+ if(munmap(pru, PRU_LEN)) {
+ printf("munmap failed\n");
+ } else {
+ printf("munmap succeeded\n");
+ }
+}
+
diff --git a/pru-cookbook/05blocks/code/pwm7.pru0.c b/pru-cookbook/05blocks/code/pwm7.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..b95c5caab89d3614e9dfa964d38c162921f67a4b
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm7.pru0.c
@@ -0,0 +1,57 @@
+// This code does MAXCH parallel PWM channels on both PRU 0 and PRU 1
+// All channels start at the same time. But the PRU 1 ch have a difference period
+// It's period is 370ns
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+#define PRUNUM 0
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 2 // Maximum number of channels per PRU
+
+#define update(ch) \
+ if(onCount[ch]) { \
+ onCount[ch]--; \
+ Rtmp |= 0x1<<ch; \
+ } else if(offCount[ch]) { \
+ offCount[ch]--; \
+ Rtmp &= ~(0x1<<ch); \
+ } else { \
+ onCount[ch] = pru0_dram[2*ch]; \
+ offCount[ch]= pru0_dram[2*ch+1]; \
+ }
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4};
+ uint32_t off[] = {4, 3, 2, 1};
+ uint32_t onCount[MAXCH], offCount[MAXCH];
+ register uint32_t Rtmp;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+#pragma UNROLL(MAXCH)
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on [ch+PRUNUM*MAXCH]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch+PRUNUM*MAXCH]; // Interleave the on and off values
+ onCount[ch] = on [ch+PRUNUM*MAXCH];
+ offCount[ch]= off[ch+PRUNUM*MAXCH];
+ }
+ Rtmp = __R30;
+
+ while (1) {
+ update(0)
+ update(1)
+ __R30 = Rtmp;
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm7.pru1.c b/pru-cookbook/05blocks/code/pwm7.pru1.c
new file mode 100644
index 0000000000000000000000000000000000000000..50d4788b8c4d07848a0f0ff651fc78a7545ff67f
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm7.pru1.c
@@ -0,0 +1,57 @@
+// This code does MAXCH parallel PWM channels on both PRU 0 and PRU 1
+// All channels start at the same time. But the PRU 1 ch have a difference period
+// It's period is 370ns
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+#define PRUNUM 1
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 2 // Maximum number of channels per PRU
+
+#define update(ch) \
+ if(onCount[ch]) { \
+ onCount[ch]--; \
+ Rtmp |= 0x1<<ch; \
+ } else if(offCount[ch]) { \
+ offCount[ch]--; \
+ Rtmp &= ~(0x1<<ch); \
+ } else { \
+ onCount[ch] = pru0_dram[2*ch]; \
+ offCount[ch]= pru0_dram[2*ch+1]; \
+ }
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4};
+ uint32_t off[] = {4, 3, 2, 1};
+ uint32_t onCount[MAXCH], offCount[MAXCH];
+ register uint32_t Rtmp;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+#pragma UNROLL(MAXCH)
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on [ch+PRUNUM*MAXCH]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch+PRUNUM*MAXCH]; // Interleave the on and off values
+ onCount[ch] = on [ch+PRUNUM*MAXCH];
+ offCount[ch]= off[ch+PRUNUM*MAXCH];
+ }
+ Rtmp = __R30;
+
+ while (1) {
+ update(0)
+ update(1)
+ __R30 = Rtmp;
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm7_setup.sh b/pru-cookbook/05blocks/code/pwm7_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..aae4c778542c5209a799411b393b2d5b2130e76e
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm7_setup.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+export TARGET=pwm7.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_31 P9_29 P8_45 P8_46"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_36 P1_33"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/05blocks/code/pwm8.pru0.c b/pru-cookbook/05blocks/code/pwm8.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..c566573f6f681f7642e61d5c159c8558d3895d33
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm8.pru0.c
@@ -0,0 +1,78 @@
+// This code does MAXCH parallel PWM channels on both PRU 0 and PRU 1
+// All channels start at the same time.
+// It's period is 430ns
+#include <stdint.h>
+#include <pru_cfg.h>
+#include <pru_intc.h>
+#include <pru_ctrl.h>
+#include "resource_table_empty.h"
+
+#define PRUNUM 0
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 2 // Maximum number of channels per PRU
+
+#define update(ch) \
+ if(onCount[ch]) { \
+ onCount[ch]--; \
+ Rtmp |= 0x1<<ch; \
+ } else if(offCount[ch]) { \
+ offCount[ch]--; \
+ Rtmp &= ~(0x1<<ch); \
+ } else { \
+ onCount[ch] = pru0_dram[2*ch]; \
+ offCount[ch]= pru0_dram[2*ch+1]; \
+ }
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+// Initialize interupts so the PRUs can be syncronized.
+// PRU1 is started first and then waits for PRU0
+// PRU0 is then started and tells PRU1 when to start going
+void configIntc(void) {
+ __R31 = 0x00000000; // Clear any pending PRU-generated events
+ CT_INTC.CMR4_bit.CH_MAP_16 = 1; // Map event 16 to channel 1
+ CT_INTC.HMR0_bit.HINT_MAP_1 = 1; // Map channel 1 to host 1
+ CT_INTC.SICR = 16; // Ensure event 16 is cleared
+ CT_INTC.EISR = 16; // Enable event 16
+ CT_INTC.HIEISR |= (1 << 0); // Enable Host interrupt 1
+ CT_INTC.GER = 1; // Globally enable host interrupts
+}
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4};
+ uint32_t off[] = {4, 3, 2, 1};
+ uint32_t onCount[MAXCH], offCount[MAXCH];
+ register uint32_t Rtmp;
+
+ CT_CFG.GPCFG0 = 0x0000; // Configure GPI and GPO as Mode 0 (Direct Connect)
+ configIntc(); // Configure INTC
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+#pragma UNROLL(MAXCH)
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on [ch+PRUNUM*MAXCH]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch+PRUNUM*MAXCH]; // Interleave the on and off values
+ onCount[ch] = on [ch+PRUNUM*MAXCH];
+ offCount[ch]= off[ch+PRUNUM*MAXCH];
+ }
+ Rtmp = __R30;
+
+ while (1) {
+ __R30 = Rtmp;
+ update(0)
+ update(1)
+#define PRU0_PRU1_EVT 16
+ __R31 = (PRU0_PRU1_EVT-16) | (0x1<<5); //Tell PRU 1 to start
+ __delay_cycles(1);
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm8.pru1.c b/pru-cookbook/05blocks/code/pwm8.pru1.c
new file mode 100644
index 0000000000000000000000000000000000000000..cf5c241c99addc0d8b958724554e078f9a53412c
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm8.pru1.c
@@ -0,0 +1,66 @@
+// This code does MAXCH parallel PWM channels on both PRU 0 and PRU 1
+// All channels start at the same time.
+// It's period is 430ns
+#include <stdint.h>
+#include <pru_cfg.h>
+#include <pru_intc.h>
+#include <pru_ctrl.h>
+#include "resource_table_empty.h"
+
+#define PRUNUM 1
+
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 byte of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *pru0_dram = (unsigned int *) (PRU0_DRAM + 0x200);
+
+#define MAXCH 2 // Maximum number of channels per PRU
+
+#define update(ch) \
+ if(onCount[ch]) { \
+ onCount[ch]--; \
+ Rtmp |= 0x1<<ch; \
+ } else if(offCount[ch]) { \
+ offCount[ch]--; \
+ Rtmp &= ~(0x1<<ch); \
+ } else { \
+ onCount[ch] = pru0_dram[2*ch]; \
+ offCount[ch]= pru0_dram[2*ch+1]; \
+ }
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+// Initialize interupts so the PRUs can be syncronized.
+// PRU1 is started first and then waits for PRU0
+// PRU0 is then started and tells PRU1 when to start going
+
+void main(void)
+{
+ uint32_t ch;
+ uint32_t on[] = {1, 2, 3, 4};
+ uint32_t off[] = {4, 3, 2, 1};
+ uint32_t onCount[MAXCH], offCount[MAXCH];
+ register uint32_t Rtmp;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+#pragma UNROLL(MAXCH)
+ for(ch=0; ch<MAXCH; ch++) {
+ pru0_dram[2*ch ] = on [ch+PRUNUM*MAXCH]; // Copy to DRAM0 so the ARM can change it
+ pru0_dram[2*ch+1] = off[ch+PRUNUM*MAXCH]; // Interleave the on and off values
+ onCount[ch] = on [ch+PRUNUM*MAXCH];
+ offCount[ch]= off[ch+PRUNUM*MAXCH];
+ }
+ Rtmp = __R30;
+
+ while (1) {
+ while((__R31 & (0x1<<31))==0) { // Wait for PRU 0
+ }
+ CT_INTC.SICR = 16; // Clear event 16
+ __R30 = Rtmp;
+ update(0)
+ update(1)
+ }
+}
diff --git a/pru-cookbook/05blocks/code/pwm_setup.sh b/pru-cookbook/05blocks/code/pwm_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..b69ed1297ab4a73d309a7f46253c3b9b5f97add1
--- /dev/null
+++ b/pru-cookbook/05blocks/code/pwm_setup.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+export TARGET=pwm1.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_31 P9_29 P9_30 P9_28"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_36 P1_33 P2_32 P2_30"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/05blocks/code/resource_table_empty.h b/pru-cookbook/05blocks/code/resource_table_empty.h
new file mode 100644
index 0000000000000000000000000000000000000000..07e97d9b383c9d937d4b55e705024d6c28dc748a
--- /dev/null
+++ b/pru-cookbook/05blocks/code/resource_table_empty.h
@@ -0,0 +1,39 @@
+/*
+ * ======== resource_table_empty.h ========
+ *
+ * Define the resource table entries for all PRU cores. This will be
+ * incorporated into corresponding base images, and used by the remoteproc
+ * on the host-side to allocated/reserve resources. Note the remoteproc
+ * driver requires that all PRU firmware be built with a resource table.
+ *
+ * This file contains an empty resource table. It can be used either as:
+ *
+ * 1) A template, or
+ * 2) As-is if a PRU application does not need to configure PRU_INTC
+ * or interact with the rpmsg driver
+ *
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+
+struct my_resource_table {
+ struct resource_table base;
+
+ uint32_t offset[1]; /* Should match 'num' in actual definition */
+};
+
+#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
+#pragma RETAIN(pru_remoteproc_ResourceTable)
+struct my_resource_table pru_remoteproc_ResourceTable = {
+ 1, /* we're the first version that implements this */
+ 0, /* number of entries in the table */
+ 0, 0, /* reserved, must be zero */
+ 0, /* offset[0] */
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
+
diff --git a/pru-cookbook/05blocks/code/rgb1.pru0.c b/pru-cookbook/05blocks/code/rgb1.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..9936d627336863daf9c4c1d5e92f70afd602b3a9
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb1.pru0.c
@@ -0,0 +1,80 @@
+// This code drives the RGB LED Matrix on the 1st Connector
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+#include "rgb_pocket.h"
+
+#define DELAY 10 // Number of cycles (5ns each) to wait after a write
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ // Set up the pointers to each of the GPIO ports
+ uint32_t *gpio[] = {
+ (uint32_t *) GPIO0,
+ (uint32_t *) GPIO1,
+ (uint32_t *) GPIO2,
+ (uint32_t *) GPIO3
+ };
+
+ uint32_t i, row;
+
+ while(1) {
+ for(row=0; row<16; row++) {
+ // Set the row address
+ // Here we take advantage of the select bits (LA,LB,LC,LD)
+ // being sequential in the R30 register (bits 2,3,4,5)
+ // We shift row over so it lines up with the select bits
+ // Oring (|=) with R30 sets bits to 1 and
+ // Anding (&=) clears bits to 0, the 0xffc mask makes sure the
+ // other bits aren't changed.
+ __R30 |= row<<pru_sel0;
+ __R30 &= (row<<pru_sel0)|0xffc3;
+
+ for(i=0; i<64; i++) {
+ // Top row white
+ // Combining these to one write works because they are all in
+ // the same gpio port
+ gpio[r11_gpio][GPIO_SETDATAOUT] = r11_pin | g11_pin | b11_pin;
+ __delay_cycles(DELAY);;
+
+ // Bottom row red
+ gpio[r12_gpio][GPIO_SETDATAOUT] = r12_pin;
+ __delay_cycles(DELAY);
+ gpio[r12_gpio][GPIO_CLEARDATAOUT] = g12_pin | b12_pin;
+ __delay_cycles(DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+
+ // Top row black
+ gpio[r11_gpio][GPIO_CLEARDATAOUT] = r11_pin | g11_pin | b11_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row green
+ gpio[r12_gpio][GPIO_CLEARDATAOUT] = r12_pin | b12_pin;
+ __delay_cycles(DELAY);
+ gpio[r12_gpio][GPIO_SETDATAOUT] = g12_pin;
+ __delay_cycles(DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+ }
+ __R30 |= pru_oe; // Disable display
+ __delay_cycles(DELAY);
+ __R30 |= pru_latch; // Toggle latch
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_latch;
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_oe; // Enable display
+ __delay_cycles(DELAY);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/rgb2.pru0.c b/pru-cookbook/05blocks/code/rgb2.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..eb43b357bb3cdb92f6853a0d46600b1e53a7b6ac
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb2.pru0.c
@@ -0,0 +1,81 @@
+// This code drives the RGB LED Matrix on J1 connector
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+#include "rgb_pocket.h"
+
+#define DELAY 100
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ // Set up the pointers to each of the GPIO ports
+ uint32_t *gpio[] = {
+ (uint32_t *) GPIO0,
+ (uint32_t *) GPIO1,
+ (uint32_t *) GPIO2,
+ (uint32_t *) GPIO3
+ };
+
+ uint32_t i, row;
+
+ while(1) {
+ for(row=0; row<16; row++) {
+ if(row&(0x1<<0)) __R30|=(0x1<<pru_sel0); else __R30&=~(0x1<<pru_sel0);
+ __delay_cycles(DELAY);
+ if(row&(0x1<<1)) __R30|=(0x1<<pru_sel1); else __R30&=~(0x1<<pru_sel1);
+ __delay_cycles(DELAY);
+ if(row&(0x1<<2)) __R30|=(0x1<<pru_sel2); else __R30&=~(0x1<<pru_sel2);
+ __delay_cycles(DELAY);
+ if(row&(0x1<<3)) __R30|=(0x1<<pru_sel3); else __R30&=~(0x1<<pru_sel3);
+ __delay_cycles(DELAY);
+
+ for(i=0; i<64; i++) {
+ // red
+ gpio[r11_gpio][GPIO_SETDATAOUT] = r11_pin;
+ __delay_cycles(DELAY);
+ gpio[r11_gpio][GPIO_CLEARDATAOUT] = g11_pin | b11_pin;
+ __delay_cycles(DELAY);
+
+ // green
+ gpio[r11_gpio][GPIO_CLEARDATAOUT] = r12_pin | b12_pin;
+ __delay_cycles(DELAY);
+ gpio[r11_gpio][GPIO_SETDATAOUT] = g12_pin;
+ __delay_cycles(DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+
+ // blue
+ gpio[r11_gpio][GPIO_CLEARDATAOUT] = r11_pin | g11_pin;
+ __delay_cycles(DELAY);
+ gpio[r11_gpio][GPIO_SETDATAOUT] = b11_pin;
+ __delay_cycles(DELAY);
+
+ //blue
+ gpio[r11_gpio][GPIO_CLEARDATAOUT] = r12_pin | g12_pin;
+ __delay_cycles(DELAY);
+ gpio[r11_gpio][GPIO_SETDATAOUT] = b12_pin;
+ __delay_cycles(DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+ }
+ __R30 |= pru_oe; // Disable display
+ __delay_cycles(DELAY);
+ __R30 |= pru_latch; // Toggle latch
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_latch;
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_oe; // Enable display
+ __delay_cycles(DELAY);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/rgb3.pru0.c b/pru-cookbook/05blocks/code/rgb3.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..b14ad864c4de0c621561f1cb031aae0af5367dd4
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb3.pru0.c
@@ -0,0 +1,114 @@
+// This code drives the RGB LED Matrix on the 1st and 2nd Connectors
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+#include "rgb_pocket.h"
+
+#define DELAY 10 // Number of cycles (5ns each) to wait after a write
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ // Set up the pointers to each of the GPIO ports
+ uint32_t *gpio[] = {
+ (uint32_t *) GPIO0,
+ (uint32_t *) GPIO1,
+ (uint32_t *) GPIO2,
+ (uint32_t *) GPIO3
+ };
+
+ uint32_t i, row;
+
+ while(1) {
+ for(row=0; row<16; row++) {
+ // Set the row address
+ // Here we take advantage of the select bits (LA,LB,LC,LD)
+ // being sequential in the R30 register (bits 2,3,4,5)
+ // We shift row over so it lines up with the select bits
+ // Oring (|=) with R30 sets bits to 1 and
+ // Anding (&=) clears bits to 0, the 0xffc mask makes sure the
+ // other bits aren't changed.
+ __R30 |= row<<pru_sel0;
+ __R30 &= (row<<pru_sel0)|0xffc3;
+
+ for(i=0; i<64; i++) {
+ // Panel 1 Upper
+ // Top row white
+ // Combining these to one write works because they are all in
+ // the same gpio port
+ gpio[r11_gpio][GPIO_SETDATAOUT] = r11_pin | g11_pin | b11_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row red
+ gpio[r12_gpio][GPIO_SETDATAOUT] = r12_pin;
+ // __delay_cycles(DELAY);
+ gpio[g12_gpio][GPIO_CLEARDATAOUT] = g12_pin | b12_pin;
+ __delay_cycles(DELAY);
+
+ // Panel 2 Upper
+ // Top row blue
+ // Combining these to one write works because they are all in
+ // the same gpio port except b12
+ gpio[r21_gpio][GPIO_CLEARDATAOUT] = r21_pin | g21_pin;
+ // __delay_cycles(DELAY);
+ gpio[b21_gpio][GPIO_SETDATAOUT] = b21_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row red
+ gpio[r22_gpio][GPIO_SETDATAOUT] = r22_pin;
+ __delay_cycles(DELAY);
+ gpio[g22_gpio][GPIO_CLEARDATAOUT] = g22_pin;
+ __delay_cycles(DELAY);
+ gpio[b22_gpio][GPIO_CLEARDATAOUT] = b22_pin;
+ __delay_cycles(DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+
+ // Panel 1 Lower
+ // Top row black
+ gpio[r11_gpio][GPIO_CLEARDATAOUT] = r11_pin | g11_pin | b11_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row green
+ gpio[r12_gpio][GPIO_CLEARDATAOUT] = r12_pin | b12_pin;
+ __delay_cycles(DELAY);
+ gpio[g12_gpio][GPIO_SETDATAOUT] = g12_pin;
+ __delay_cycles(DELAY);
+
+ // Panel 2 Lower
+ // Top row reg+green = yellow
+ gpio[r21_gpio][GPIO_SETDATAOUT] = r21_pin | g21_pin;
+ __delay_cycles(DELAY);
+ gpio[b21_gpio][GPIO_CLEARDATAOUT] = b21_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row green
+ gpio[r22_gpio][GPIO_CLEARDATAOUT] = r22_pin;
+ __delay_cycles(DELAY);
+ gpio[b22_gpio][GPIO_CLEARDATAOUT] = b22_pin;
+ __delay_cycles(DELAY);
+ gpio[g22_gpio][GPIO_SETDATAOUT] = g22_pin;
+ __delay_cycles(2*DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+ }
+ __R30 |= pru_oe; // Disable display
+ __delay_cycles(DELAY);
+ __R30 |= pru_latch; // Toggle latch
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_latch;
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_oe; // Enable display
+ __delay_cycles(DELAY);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/rgb4.pru0.c b/pru-cookbook/05blocks/code/rgb4.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..6d06f1210e18bb3bbf74bf20b9c0b0c876c365e0
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb4.pru0.c
@@ -0,0 +1,84 @@
+// This code drives the RGB LED Matrix on the 2nd Connector
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+#include "rgb_pocket.h"
+
+#define DELAY 10 // Number of cycles (5ns each) to wait after a write
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ // Set up the pointers to each of the GPIO ports
+ uint32_t *gpio[] = {
+ (uint32_t *) GPIO0,
+ (uint32_t *) GPIO1,
+ (uint32_t *) GPIO2,
+ (uint32_t *) GPIO3
+ };
+
+ uint32_t i, row;
+
+ while(1) {
+ for(row=0; row<16; row++) {
+ // Set the row address
+ // Here we take advantage of the select bits (LA,LB,LC,LD)
+ // being sequential in the R30 register (bits 2,3,4,5)
+ // We shift row over so it lines up with the select bits
+ // Oring (|=) with R30 sets bits to 1 and
+ // Anding (&=) clears bits to 0, the 0xffc mask makes sure the
+ // other bits aren't changed.
+ __R30 |= row<<pru_sel0;
+ __R30 &= (row<<pru_sel0)|0xffc3;
+
+ for(i=0; i<64; i++) {
+ // Top row white
+ // Combining these to one write works because they are all in
+ // the same gpio port except b12
+ gpio[r21_gpio][GPIO_SETDATAOUT] = r21_pin | g21_pin;
+ __delay_cycles(DELAY);
+ gpio[b21_gpio][GPIO_SETDATAOUT] = b21_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row red
+ gpio[r22_gpio][GPIO_SETDATAOUT] = r22_pin;
+ __delay_cycles(DELAY);
+ gpio[g22_gpio][GPIO_CLEARDATAOUT] = g22_pin | b22_pin;
+ __delay_cycles(2*DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+
+ // Top row black
+ gpio[r21_gpio][GPIO_CLEARDATAOUT] = r21_pin | g21_pin;
+ __delay_cycles(DELAY);
+ gpio[b21_gpio][GPIO_CLEARDATAOUT] = b21_pin;
+ __delay_cycles(DELAY);
+
+ // Bottom row green
+ gpio[r22_gpio][GPIO_CLEARDATAOUT] = r22_pin | b22_pin;
+ __delay_cycles(DELAY);
+ gpio[g22_gpio][GPIO_SETDATAOUT] = g22_pin;
+ __delay_cycles(2*DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+ }
+ __R30 |= pru_oe; // Disable display
+ __delay_cycles(DELAY);
+ __R30 |= pru_latch; // Toggle latch
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_latch;
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_oe; // Enable display
+ __delay_cycles(DELAY);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/rgb_black.h b/pru-cookbook/05blocks/code/rgb_black.h
new file mode 100644
index 0000000000000000000000000000000000000000..be7cf4ba8ab0da67ee7ce7301fe49a90bfad539e
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb_black.h
@@ -0,0 +1,31 @@
+//Black - Not tested
+// These are from https://github.com/FalconChristmas/fpp/blob/master/src/pru/PocketScrollerV1.hp
+// _gpio tells which gpio port and _pin tells which bit in the port
+// The first 1 in r11 is for the J1 connector
+// See the githuub file for the other connectors
+
+#define r11_gpio 2
+#define r11_pin 9
+#define g11_gpio 2
+#define g11_pin 11
+#define b11_gpio 2
+#define b11_pin 10
+
+#define r12_gpio 2
+#define r12_pin 12
+#define g12_gpio 2
+#define g12_pin 22
+#define b12_gpio 2
+#define b12_pin 23
+
+#define pru_latch 1 // These are the bit positions in R30
+#define pru_oe 0
+#define pru_clock 2
+
+// Control pins are all in GPIO2
+// The pocket has these on R0, the code needs to be changed for this work work
+#define gpio_sel0 13 /* must be sequential with sel1 and sel2 */
+#define gpio_sel1 14
+#define gpio_sel2 15
+#define gpio_sel3 16
+#define gpio_sel4 17
diff --git a/pru-cookbook/05blocks/code/rgb_pocket.h b/pru-cookbook/05blocks/code/rgb_pocket.h
new file mode 100644
index 0000000000000000000000000000000000000000..45a91118038898605939bc4493a3337cb4fd86a0
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb_pocket.h
@@ -0,0 +1,45 @@
+// Pocket
+// These are from https://github.com/FalconChristmas/fpp/blob/master/src/pru/PocketScrollerV1.hp
+// _gpio tells which gpio port and _pin tells which bit in the port
+// The first 1 in r11 is for the J1 connector
+// See the githuub file for the other connectors
+
+// J1
+#define r11_gpio 1
+#define r11_pin (0x1<<20)
+#define g11_gpio 1
+#define g11_pin (0x1<<28)
+#define b11_gpio 1
+#define b11_pin (0x1<<25)
+
+#define r12_gpio 1
+#define r12_pin (0x1<<26)
+#define g12_gpio 1
+#define g12_pin (0x1<<27)
+#define b12_gpio 1
+#define b12_pin (0x1<<18)
+
+// J2
+#define r21_gpio 1
+#define r21_pin (0x1<<8)
+#define g21_gpio 1
+#define g21_pin (0x1<<9)
+#define b21_gpio 0
+#define b21_pin (0x1<<30)
+
+#define r22_gpio 1
+#define r22_pin (0x1<<12)
+#define g22_gpio 1
+#define g22_pin (0x1<<14)
+#define b22_gpio 1
+#define b22_pin (0x1<<15)
+
+// All connectors
+#define pru_latch (0x1<<0) // These are the bit positions in R30
+#define pru_oe (0x1<<7)
+#define pru_clock (0x1<<1)
+
+#define pru_sel0 2 // These are called LA, LB, LC and LD in the python code
+#define pru_sel1 3 // Also bit positions
+#define pru_sel2 4
+#define pru_sel3 5
diff --git a/pru-cookbook/05blocks/code/rgb_python.py b/pru-cookbook/05blocks/code/rgb_python.py
new file mode 100755
index 0000000000000000000000000000000000000000..25e353343f3c8f829a60376f4c3121e8ada1bbd1
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb_python.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import Adafruit_BBIO.GPIO as GPIO
+
+# Define which functions are connect to which pins
+OE="P1_29" # Output Enable, active low
+LAT="P1_36" # Latch, toggle after clocking in a row of pixels
+CLK="P1_33" # Clock, toggle after each pixel
+
+# Input data pins
+R1="P2_10" # R1, G1, B1 are for the top rows (1-16) of pixels
+G1="P2_8"
+B1="P2_6"
+
+R2="P2_4" # R2, G2, B2 are for the bottom rows (17-32) of pixels
+G2="P2_2"
+B2="P2_1"
+
+LA="P2_32" # Address lines for which row (1-16 or 17-32) to update
+LB="P2_30"
+LC="P1_31"
+LD="P2_34"
+
+# Set everything as output ports
+GPIO.setup(OE, GPIO.OUT)
+GPIO.setup(LAT, GPIO.OUT)
+GPIO.setup(CLK, GPIO.OUT)
+
+GPIO.setup(R1, GPIO.OUT)
+GPIO.setup(G1, GPIO.OUT)
+GPIO.setup(B1, GPIO.OUT)
+GPIO.setup(R2, GPIO.OUT)
+GPIO.setup(G2, GPIO.OUT)
+GPIO.setup(B2, GPIO.OUT)
+
+GPIO.setup(LA, GPIO.OUT)
+GPIO.setup(LB, GPIO.OUT)
+GPIO.setup(LC, GPIO.OUT)
+GPIO.setup(LD, GPIO.OUT)
+
+GPIO.output(OE, 0) # Enable the display
+GPIO.output(LAT, 0) # Set latch to low
+
+while True:
+ for bank in range(64):
+ GPIO.output(LA, bank>>0&0x1) # Select rows
+ GPIO.output(LB, bank>>1&0x1)
+ GPIO.output(LC, bank>>2&0x1)
+ GPIO.output(LD, bank>>3&0x1)
+
+ # Shift the colors out. Here we only have four different
+ # colors to keep things simple.
+ for i in range(16):
+ GPIO.output(R1, 1) # Top row, white
+ GPIO.output(G1, 1)
+ GPIO.output(B1, 1)
+
+ GPIO.output(R2, 1) # Bottom row, red
+ GPIO.output(G2, 0)
+ GPIO.output(B2, 0)
+
+ GPIO.output(CLK, 0) # Toggle clock
+ GPIO.output(CLK, 1)
+
+ GPIO.output(R1, 0) # Top row, black
+ GPIO.output(G1, 0)
+ GPIO.output(B1, 0)
+
+ GPIO.output(R2, 0) # Bottom row, green
+ GPIO.output(G2, 1)
+ GPIO.output(B2, 0)
+
+ GPIO.output(CLK, 0) # Toggle clock
+ GPIO.output(CLK, 1)
+
+ GPIO.output(OE, 1) # Disable display while updating
+ GPIO.output(LAT, 1) # Toggle latch
+ GPIO.output(LAT, 0)
+ GPIO.output(OE, 0) # Enable display
diff --git a/pru-cookbook/05blocks/code/rgb_python_setup.sh b/pru-cookbook/05blocks/code/rgb_python_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..721067461771c4d0426a0646f28f748e384ec22d
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb_python_setup.sh
@@ -0,0 +1,41 @@
+#!/bin/bash
+# Setup for 64x32 RGB Matrix
+export TARGET=rgb1.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ prupins="P2_32 P1_31 P1_33 P1_29 P2_30 P2_34 P1_36"
+ gpiopins="P2_10 P2_06 P2_04 P2_01 P2_08 P2_02"
+ # Uncomment for J2
+ # gpiopins="$gpiopins P2_27 P2_25 P2_05 P2_24 P2_22 P2_18"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $prupins
+do
+ echo $pin
+ # config-pin $pin pruout
+ config-pin $pin gpio
+ config-pin $pin out
+ config-pin -q $pin
+done
+
+for pin in $gpiopins
+do
+ echo $pin
+ config-pin $pin gpio
+ config-pin $pin out
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/05blocks/code/rgb_setup.sh b/pru-cookbook/05blocks/code/rgb_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..fc5451444ad10b848f7ec42bb56f4b8f0ffd9195
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb_setup.sh
@@ -0,0 +1,41 @@
+#!/bin/bash
+# Setup for 64x32 RGB Matrix
+export TARGET=rgb1.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ prupins="P2_32 P1_31 P1_33 P1_29 P2_30 P2_34 P1_36"
+ gpiopins="P2_10 P2_06 P2_04 P2_01 P2_08 P2_02"
+ # Uncomment for J2
+ # gpiopins="$gpiopins P2_27 P2_25 P2_05 P2_24 P2_22 P2_18"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $prupins
+do
+ echo $pin
+ config-pin $pin pruout
+ # config-pin $pin gpio
+ # config-pin $pin out
+ config-pin -q $pin
+done
+
+for pin in $gpiopins
+do
+ echo $pin
+ config-pin $pin gpio
+ config-pin $pin out
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/05blocks/code/rgb_white.pru0.c b/pru-cookbook/05blocks/code/rgb_white.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..e62d98e000c746e37a11c7a0402b13fb5f92b2df
--- /dev/null
+++ b/pru-cookbook/05blocks/code/rgb_white.pru0.c
@@ -0,0 +1,64 @@
+// This code drives the RGB LED Matrix
+// Turns all the LEDs on
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+#include "rgb_pocket.h"
+
+#define DELAY 10 // Number of cycles (5ns each) to wait after a write
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ // Set up the pointers to each of the GPIO ports
+ uint32_t *gpio[] = {
+ (uint32_t *) GPIO0,
+ (uint32_t *) GPIO1,
+ (uint32_t *) GPIO2,
+ (uint32_t *) GPIO3
+ };
+
+ uint32_t i, row;
+
+ while(1) {
+ for(row=0; row<16; row++) {
+ // Set the row address
+ // Here we take advantage of the select bits (LA,LB,LC,LD)
+ // being sequential in the R30 register (bits 2,3,4,5)
+ // We shift row over so it lines up with the select bits
+ // Oring (|=) with R30 sets bits to 1 and
+ // Anding (&=) clears bits to 0, the 0xffc mask makes sure the
+ // other bits aren't changed.
+ __R30 |= row<<pru_sel0;
+ __R30 &= (row<<pru_sel0)|0xffc3;
+
+ for(i=0; i<64; i++) {
+ // Top row white
+ // Combining these to one write works because they are all in
+ // the same gpio port
+ gpio[r11_gpio][GPIO_SETDATAOUT] = r11_pin | g11_pin | b11_pin;
+ __delay_cycles(DELAY);;
+
+ // Bottom row white
+ gpio[r12_gpio][GPIO_SETDATAOUT] = r12_pin | g12_pin | b12_pin;
+ __delay_cycles(DELAY);
+
+ __R30 |= pru_clock; // Toggle clock
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_clock;
+ __delay_cycles(DELAY);
+ }
+ __R30 |= pru_oe; // Disable display
+ __delay_cycles(DELAY);
+ __R30 |= pru_latch; // Toggle latch
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_latch;
+ __delay_cycles(DELAY);
+ __R30 &= ~pru_oe; // Enable display
+ __delay_cycles(DELAY);
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/shared.pru0.c b/pru-cookbook/05blocks/code/shared.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..95d87c5de147334e439c18bc6cadc68f6ebac98d
--- /dev/null
+++ b/pru-cookbook/05blocks/code/shared.pru0.c
@@ -0,0 +1,63 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/blobs/master/examples/am335x/PRU_access_const_table/PRU_access_const_table.c
+#include <stdint.h>
+#include <pru_cfg.h>
+#include <pru_ctrl.h>
+#include "resource_table_empty.h"
+
+#define PRU_SRAM __far __attribute__((cregister("PRU_SHAREDMEM", near)))
+#define PRU_DMEM0 __far __attribute__((cregister("PRU_DMEM_0_1", near)))
+#define PRU_DMEM1 __far __attribute__((cregister("PRU_DMEM_1_0", near)))
+
+/* NOTE: Allocating shared_x to PRU Shared Memory means that other PRU cores on
+ * the same subsystem must take care not to allocate data to that memory.
+ * Users also cannot rely on where in shared memory these variables are placed
+ * so accessing them from another PRU core or from the ARM is an undefined behavior.
+ */
+volatile uint32_t shared_0;
+PRU_SRAM volatile uint32_t shared_1;
+PRU_DMEM0 volatile uint32_t shared_2;
+PRU_DMEM1 volatile uint32_t shared_3;
+#pragma DATA_SECTION(shared_4, ".bss")
+volatile uint32_t shared_4;
+
+/* NOTE: Here we pick where in memory to store shared_5. The stack and
+ * heap take up the first 0x200 words, so we must start after that.
+ * Since we are hardcoding where things are stored we can share
+ * this between the PRUs and the ARM.
+*/
+#define PRU0_DRAM 0x00000 // Offset to DRAM
+// Skip the first 0x200 bytes of DRAM since the Makefile allocates
+// 0x100 for the STACK and 0x100 for the HEAP.
+volatile unsigned int *shared_5 = (unsigned int *) (PRU0_DRAM + 0x200);
+
+
+int main(void)
+{
+ volatile uint32_t shared_6;
+ volatile uint32_t shared_7;
+ /*****************************************************************/
+ /* Access PRU peripherals using Constant Table & PRU header file */
+ /*****************************************************************/
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ /*****************************************************************/
+ /* Access PRU Shared RAM using Constant Table */
+ /*****************************************************************/
+
+ /* C28 defaults to 0x00000000, we need to set bits 23:8 to 0x0100 in order to have it point to 0x00010000 */
+ PRU0_CTRL.CTPPR0_bit.C28_BLK_POINTER = 0x0100;
+
+ shared_0 = 0xfeef;
+ shared_1 = 0xdeadbeef;
+ shared_2 = shared_2 + 0xfeed;
+ shared_3 = 0xdeed;
+ shared_4 = 0xbeed;
+ shared_5[0] = 0x1234;
+ shared_6 = 0x4321;
+ shared_7 = 0x9876;
+
+ /* Halt PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/05blocks/code/shared_setup.sh b/pru-cookbook/05blocks/code/shared_setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..eefbcd553ac53d0fb0c289fefc536c5f5eb0a7f7
--- /dev/null
+++ b/pru-cookbook/05blocks/code/shared_setup.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+export TARGET=shared.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_31 P9_29 P9_30 P9_28"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_36 P1_33 P2_32 P2_30"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/05blocks/code/sine.map b/pru-cookbook/05blocks/code/sine.map
new file mode 100644
index 0000000000000000000000000000000000000000..45872d39e001a44e2a2b38b1ed1bf38c85b8837d
--- /dev/null
+++ b/pru-cookbook/05blocks/code/sine.map
@@ -0,0 +1,338 @@
+******************************************************************************
+PRU Linker Unix v2.1.5
+******************************************************************************
+>> Linked Fri Jun 29 13:58:08 2018
+
+OUTPUT FILE NAME: </tmp/pru0-gen/sine1.out>
+ENTRY POINT SYMBOL: "_c_int00_noinit_noargs_noexit" address: 00000000
+
+
+MEMORY CONFIGURATION
+
+ name origin length used unused attr fill
+---------------------- -------- --------- -------- -------- ---- --------
+PAGE 0:
+ PRU_IMEM 00000000 00002000 000018c0 00000740 RWIX
+
+PAGE 1:
+ PRU_DMEM_0_1 00000000 00002000 00000154 00001eac RWIX
+ PRU_DMEM_1_0 00002000 00002000 00000000 00002000 RWIX
+
+PAGE 2:
+ PRU_SHAREDMEM 00010000 00003000 00000000 00003000 RWIX
+ PRU_INTC 00020000 00001504 00000000 00001504 RWIX
+ PRU_CFG 00026000 00000044 00000044 00000000 RWIX
+ PRU_UART 00028000 00000038 00000000 00000038 RWIX
+ PRU_IEP 0002e000 0000031c 00000000 0000031c RWIX
+ PRU_ECAP 00030000 00000060 00000000 00000060 RWIX
+ RSVD27 00032000 00000100 00000000 00000100 RWIX
+ RSVD21 00032400 00000100 00000000 00000100 RWIX
+ L3OCMC 40000000 00010000 00000000 00010000 RWIX
+ MCASP0_DMA 46000000 00000100 00000000 00000100 RWIX
+ UART1 48022000 00000088 00000000 00000088 RWIX
+ UART2 48024000 00000088 00000000 00000088 RWIX
+ I2C1 4802a000 000000d8 00000000 000000d8 RWIX
+ MCSPI0 48030000 000001a4 00000000 000001a4 RWIX
+ DMTIMER2 48040000 0000005c 00000000 0000005c RWIX
+ MMCHS0 48060000 00000300 00000000 00000300 RWIX
+ MBX0 480c8000 00000140 00000000 00000140 RWIX
+ SPINLOCK 480ca000 00000880 00000000 00000880 RWIX
+ I2C2 4819c000 000000d8 00000000 000000d8 RWIX
+ MCSPI1 481a0000 000001a4 00000000 000001a4 RWIX
+ DCAN0 481cc000 000001e8 00000000 000001e8 RWIX
+ DCAN1 481d0000 000001e8 00000000 000001e8 RWIX
+ PWMSS0 48300000 000002c4 00000000 000002c4 RWIX
+ PWMSS1 48302000 000002c4 00000000 000002c4 RWIX
+ PWMSS2 48304000 000002c4 00000000 000002c4 RWIX
+ RSVD13 48310000 00000100 00000000 00000100 RWIX
+ RSVD10 48318000 00000100 00000000 00000100 RWIX
+ TPCC 49000000 00001098 00000000 00001098 RWIX
+ GEMAC 4a100000 0000128c 00000000 0000128c RWIX
+ DDR 80000000 00000100 00000000 00000100 RWIX
+
+
+SECTION ALLOCATION MAP
+
+ output attributes/
+section page origin length input sections
+-------- ---- ---------- ---------- ----------------
+.text:_c_int00*
+* 0 00000000 00000014
+ 00000000 00000014 rtspruv3_le.lib : boot_special.obj (.text:_c_int00_noinit_noargs_noexit)
+
+.text 0 00000014 000018ac
+ 00000014 00000374 rtspruv3_le.lib : sin.obj (.text:sin)
+ 00000388 00000314 : frcmpyd.obj (.text:__TI_frcmpyd)
+ 0000069c 00000258 : frcaddd.obj (.text:__TI_frcaddd)
+ 000008f4 00000254 : mpyd.obj (.text:__pruabi_mpyd)
+ 00000b48 00000248 : addd.obj (.text:__pruabi_addd)
+ 00000d90 000001c8 : mpyf.obj (.text:__pruabi_mpyf)
+ 00000f58 00000100 : modf.obj (.text:modf)
+ 00001058 000000b4 : gtd.obj (.text:__pruabi_gtd)
+ 0000110c 000000b0 : ged.obj (.text:__pruabi_ged)
+ 000011bc 000000b0 : ltd.obj (.text:__pruabi_ltd)
+ 0000126c 000000b0 sine1.obj (.text:main)
+ 0000131c 000000a8 rtspruv3_le.lib : frcmpyf.obj (.text:__TI_frcmpyf)
+ 000013c4 000000a0 : fixdu.obj (.text:__pruabi_fixdu)
+ 00001464 0000009c : round.obj (.text:__pruabi_nround)
+ 00001500 00000090 : eqld.obj (.text:__pruabi_eqd)
+ 00001590 0000008c : renormd.obj (.text:__TI_renormd)
+ 0000161c 0000008c : fixdi.obj (.text:__pruabi_fixdi)
+ 000016a8 00000084 : fltid.obj (.text:__pruabi_fltid)
+ 0000172c 00000078 : cvtfd.obj (.text:__pruabi_cvtfd)
+ 000017a4 00000050 : fltuf.obj (.text:__pruabi_fltuf)
+ 000017f4 0000002c : asri.obj (.text:__pruabi_asri)
+ 00001820 0000002c : subd.obj (.text:__pruabi_subd)
+ 0000184c 00000024 : mpyi.obj (.text:__pruabi_mpyi)
+ 00001870 00000020 : negd.obj (.text:__pruabi_negd)
+ 00001890 00000020 : trunc.obj (.text:__pruabi_trunc)
+ 000018b0 00000008 : exit.obj (.text:abort)
+ 000018b8 00000008 : exit.obj (.text:loader_exit)
+
+.stack 1 00000000 00000100 UNINITIALIZED
+ 00000000 00000004 rtspruv3_le.lib : boot.obj (.stack)
+ 00000004 000000fc --HOLE--
+
+.cinit 1 00000000 00000000 UNINITIALIZED
+
+.fardata 1 00000100 00000040
+ 00000100 00000040 rtspruv3_le.lib : sin.obj (.fardata:R$1)
+
+.resource_table
+* 1 00000140 00000014
+ 00000140 00000014 sine1.obj (.resource_table:retain)
+
+.creg.PRU_CFG.noload.near
+* 2 00026000 00000044 NOLOAD SECTION
+ 00026000 00000044 sine1.obj (.creg.PRU_CFG.noload.near)
+
+.creg.PRU_CFG.near
+* 2 00026044 00000000 UNINITIALIZED
+
+.creg.PRU_CFG.noload.far
+* 2 00026044 00000000 NOLOAD SECTION
+
+.creg.PRU_CFG.far
+* 2 00026044 00000000 UNINITIALIZED
+
+
+SEGMENT ATTRIBUTES
+
+ id tag seg value
+ -- --- --- -----
+ 0 PHA_PAGE 1 1
+ 1 PHA_PAGE 2 1
+
+
+GLOBAL SYMBOLS: SORTED ALPHABETICALLY BY Name
+
+page address name
+---- ------- ----
+0 000018b8 C$$EXIT
+2 00026000 CT_CFG
+abs 481cc000 __PRU_CREG_BASE_DCAN0
+abs 481d0000 __PRU_CREG_BASE_DCAN1
+abs 80000000 __PRU_CREG_BASE_DDR
+abs 48040000 __PRU_CREG_BASE_DMTIMER2
+abs 4a100000 __PRU_CREG_BASE_GEMAC
+abs 4802a000 __PRU_CREG_BASE_I2C1
+abs 4819c000 __PRU_CREG_BASE_I2C2
+abs 40000000 __PRU_CREG_BASE_L3OCMC
+abs 480c8000 __PRU_CREG_BASE_MBX0
+abs 46000000 __PRU_CREG_BASE_MCASP0_DMA
+abs 48030000 __PRU_CREG_BASE_MCSPI0
+abs 481a0000 __PRU_CREG_BASE_MCSPI1
+abs 48060000 __PRU_CREG_BASE_MMCHS0
+abs 00026000 __PRU_CREG_BASE_PRU_CFG
+abs 00000000 __PRU_CREG_BASE_PRU_DMEM_0_1
+abs 00002000 __PRU_CREG_BASE_PRU_DMEM_1_0
+abs 00030000 __PRU_CREG_BASE_PRU_ECAP
+abs 0002e000 __PRU_CREG_BASE_PRU_IEP
+abs 00020000 __PRU_CREG_BASE_PRU_INTC
+abs 00010000 __PRU_CREG_BASE_PRU_SHAREDMEM
+abs 00028000 __PRU_CREG_BASE_PRU_UART
+abs 48300000 __PRU_CREG_BASE_PWMSS0
+abs 48302000 __PRU_CREG_BASE_PWMSS1
+abs 48304000 __PRU_CREG_BASE_PWMSS2
+abs 48318000 __PRU_CREG_BASE_RSVD10
+abs 48310000 __PRU_CREG_BASE_RSVD13
+abs 00032400 __PRU_CREG_BASE_RSVD21
+abs 00032000 __PRU_CREG_BASE_RSVD27
+abs 480ca000 __PRU_CREG_BASE_SPINLOCK
+abs 49000000 __PRU_CREG_BASE_TPCC
+abs 48022000 __PRU_CREG_BASE_UART1
+abs 48024000 __PRU_CREG_BASE_UART2
+abs 0000000e __PRU_CREG_DCAN0
+abs 0000000f __PRU_CREG_DCAN1
+abs 0000001f __PRU_CREG_DDR
+abs 00000001 __PRU_CREG_DMTIMER2
+abs 00000009 __PRU_CREG_GEMAC
+abs 00000002 __PRU_CREG_I2C1
+abs 00000011 __PRU_CREG_I2C2
+abs 0000001e __PRU_CREG_L3OCMC
+abs 00000016 __PRU_CREG_MBX0
+abs 00000008 __PRU_CREG_MCASP0_DMA
+abs 00000006 __PRU_CREG_MCSPI0
+abs 00000010 __PRU_CREG_MCSPI1
+abs 00000005 __PRU_CREG_MMCHS0
+abs 00000004 __PRU_CREG_PRU_CFG
+abs 00000018 __PRU_CREG_PRU_DMEM_0_1
+abs 00000019 __PRU_CREG_PRU_DMEM_1_0
+abs 00000003 __PRU_CREG_PRU_ECAP
+abs 0000001a __PRU_CREG_PRU_IEP
+abs 00000000 __PRU_CREG_PRU_INTC
+abs 0000001c __PRU_CREG_PRU_SHAREDMEM
+abs 00000007 __PRU_CREG_PRU_UART
+abs 00000012 __PRU_CREG_PWMSS0
+abs 00000013 __PRU_CREG_PWMSS1
+abs 00000014 __PRU_CREG_PWMSS2
+abs 0000000a __PRU_CREG_RSVD10
+abs 0000000d __PRU_CREG_RSVD13
+abs 00000015 __PRU_CREG_RSVD21
+abs 0000001b __PRU_CREG_RSVD27
+abs 00000017 __PRU_CREG_SPINLOCK
+abs 0000001d __PRU_CREG_TPCC
+abs 0000000b __PRU_CREG_UART1
+abs 0000000c __PRU_CREG_UART2
+1 00000100 __TI_STACK_END
+abs 00000100 __TI_STACK_SIZE
+0 0000069c __TI_frcaddd
+0 00000388 __TI_frcmpyd
+0 0000131c __TI_frcmpyf
+0 00001590 __TI_renormd
+abs ffffffff __binit__
+abs ffffffff __c_args__
+0 00000b48 __pruabi_addd
+0 000017f4 __pruabi_asri
+0 0000172c __pruabi_cvtfd
+0 00001500 __pruabi_eqd
+0 0000161c __pruabi_fixdi
+0 000013c4 __pruabi_fixdu
+0 000016a8 __pruabi_fltid
+0 000017a4 __pruabi_fltuf
+0 0000110c __pruabi_ged
+0 00001058 __pruabi_gtd
+0 000011bc __pruabi_ltd
+0 000008f4 __pruabi_mpyd
+0 00000d90 __pruabi_mpyf
+0 0000184c __pruabi_mpyi
+0 00001870 __pruabi_negd
+0 00001464 __pruabi_nround
+0 00001820 __pruabi_subd
+0 00001890 __pruabi_trunc
+0 00000000 _c_int00_noinit_noargs_noexit
+1 00000000 _stack
+0 000018b0 abort
+abs ffffffff binit
+0 0000126c main
+0 00000f58 modf
+1 00000140 pru_remoteproc_ResourceTable
+0 00000014 sin
+
+
+GLOBAL SYMBOLS: SORTED BY Symbol Address
+
+page address name
+---- ------- ----
+0 00000000 _c_int00_noinit_noargs_noexit
+0 00000014 sin
+0 00000388 __TI_frcmpyd
+0 0000069c __TI_frcaddd
+0 000008f4 __pruabi_mpyd
+0 00000b48 __pruabi_addd
+0 00000d90 __pruabi_mpyf
+0 00000f58 modf
+0 00001058 __pruabi_gtd
+0 0000110c __pruabi_ged
+0 000011bc __pruabi_ltd
+0 0000126c main
+0 0000131c __TI_frcmpyf
+0 000013c4 __pruabi_fixdu
+0 00001464 __pruabi_nround
+0 00001500 __pruabi_eqd
+0 00001590 __TI_renormd
+0 0000161c __pruabi_fixdi
+0 000016a8 __pruabi_fltid
+0 0000172c __pruabi_cvtfd
+0 000017a4 __pruabi_fltuf
+0 000017f4 __pruabi_asri
+0 00001820 __pruabi_subd
+0 0000184c __pruabi_mpyi
+0 00001870 __pruabi_negd
+0 00001890 __pruabi_trunc
+0 000018b0 abort
+0 000018b8 C$$EXIT
+1 00000000 _stack
+1 00000100 __TI_STACK_END
+1 00000140 pru_remoteproc_ResourceTable
+2 00026000 CT_CFG
+abs 00000000 __PRU_CREG_BASE_PRU_DMEM_0_1
+abs 00000000 __PRU_CREG_PRU_INTC
+abs 00000001 __PRU_CREG_DMTIMER2
+abs 00000002 __PRU_CREG_I2C1
+abs 00000003 __PRU_CREG_PRU_ECAP
+abs 00000004 __PRU_CREG_PRU_CFG
+abs 00000005 __PRU_CREG_MMCHS0
+abs 00000006 __PRU_CREG_MCSPI0
+abs 00000007 __PRU_CREG_PRU_UART
+abs 00000008 __PRU_CREG_MCASP0_DMA
+abs 00000009 __PRU_CREG_GEMAC
+abs 0000000a __PRU_CREG_RSVD10
+abs 0000000b __PRU_CREG_UART1
+abs 0000000c __PRU_CREG_UART2
+abs 0000000d __PRU_CREG_RSVD13
+abs 0000000e __PRU_CREG_DCAN0
+abs 0000000f __PRU_CREG_DCAN1
+abs 00000010 __PRU_CREG_MCSPI1
+abs 00000011 __PRU_CREG_I2C2
+abs 00000012 __PRU_CREG_PWMSS0
+abs 00000013 __PRU_CREG_PWMSS1
+abs 00000014 __PRU_CREG_PWMSS2
+abs 00000015 __PRU_CREG_RSVD21
+abs 00000016 __PRU_CREG_MBX0
+abs 00000017 __PRU_CREG_SPINLOCK
+abs 00000018 __PRU_CREG_PRU_DMEM_0_1
+abs 00000019 __PRU_CREG_PRU_DMEM_1_0
+abs 0000001a __PRU_CREG_PRU_IEP
+abs 0000001b __PRU_CREG_RSVD27
+abs 0000001c __PRU_CREG_PRU_SHAREDMEM
+abs 0000001d __PRU_CREG_TPCC
+abs 0000001e __PRU_CREG_L3OCMC
+abs 0000001f __PRU_CREG_DDR
+abs 00000100 __TI_STACK_SIZE
+abs 00002000 __PRU_CREG_BASE_PRU_DMEM_1_0
+abs 00010000 __PRU_CREG_BASE_PRU_SHAREDMEM
+abs 00020000 __PRU_CREG_BASE_PRU_INTC
+abs 00026000 __PRU_CREG_BASE_PRU_CFG
+abs 00028000 __PRU_CREG_BASE_PRU_UART
+abs 0002e000 __PRU_CREG_BASE_PRU_IEP
+abs 00030000 __PRU_CREG_BASE_PRU_ECAP
+abs 00032000 __PRU_CREG_BASE_RSVD27
+abs 00032400 __PRU_CREG_BASE_RSVD21
+abs 40000000 __PRU_CREG_BASE_L3OCMC
+abs 46000000 __PRU_CREG_BASE_MCASP0_DMA
+abs 48022000 __PRU_CREG_BASE_UART1
+abs 48024000 __PRU_CREG_BASE_UART2
+abs 4802a000 __PRU_CREG_BASE_I2C1
+abs 48030000 __PRU_CREG_BASE_MCSPI0
+abs 48040000 __PRU_CREG_BASE_DMTIMER2
+abs 48060000 __PRU_CREG_BASE_MMCHS0
+abs 480c8000 __PRU_CREG_BASE_MBX0
+abs 480ca000 __PRU_CREG_BASE_SPINLOCK
+abs 4819c000 __PRU_CREG_BASE_I2C2
+abs 481a0000 __PRU_CREG_BASE_MCSPI1
+abs 481cc000 __PRU_CREG_BASE_DCAN0
+abs 481d0000 __PRU_CREG_BASE_DCAN1
+abs 48300000 __PRU_CREG_BASE_PWMSS0
+abs 48302000 __PRU_CREG_BASE_PWMSS1
+abs 48304000 __PRU_CREG_BASE_PWMSS2
+abs 48310000 __PRU_CREG_BASE_RSVD13
+abs 48318000 __PRU_CREG_BASE_RSVD10
+abs 49000000 __PRU_CREG_BASE_TPCC
+abs 4a100000 __PRU_CREG_BASE_GEMAC
+abs 80000000 __PRU_CREG_BASE_DDR
+abs ffffffff __binit__
+abs ffffffff __c_args__
+abs ffffffff binit
+
+[100 symbols]
diff --git a/pru-cookbook/05blocks/code/sine.pru0.c b/pru-cookbook/05blocks/code/sine.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..ed6b5778c644f860c8fa2c0f91b7f23cf50e6df7
--- /dev/null
+++ b/pru-cookbook/05blocks/code/sine.pru0.c
@@ -0,0 +1,58 @@
+// Generate an analog waveform and use a filter to reconstruct it.
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include <math.h>
+
+#define MAXT 100 // Maximum number of time samples
+#define SAWTOOTH // Pick which waveform
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t onCount; // Current count for 1 out
+ uint32_t offCount; // count for 0 out
+ uint32_t i;
+ uint32_t waveform[MAXT]; // Waveform to be produced
+
+ // Generate a periodic wave in an array of MAXT values
+#ifdef SAWTOOTH
+ for(i=0; i<MAXT; i++) {
+ waveform[i] = i*100/MAXT;
+ }
+#endif
+#ifdef TRIANGLE
+ for(i=0; i<MAXT/2; i++) {
+ waveform[i] = 2*i*100/MAXT;
+ waveform[MAXT-i-1] = 2*i*100/MAXT;
+ }
+#endif
+#ifdef SINE
+ float gain = 50.0f;
+ float bias = 50.0f;
+ float freq = 2.0f * 3.14159f / MAXT;
+ for (i=0; i<MAXT; i++){
+ waveform[i] = (uint32_t)(bias+gain*sin(i*freq));
+ }
+#endif
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while (1) {
+ // Generate a PWM signal whose duty cycle matches
+ // the amplitude of the signal.
+ for(i=0; i<MAXT; i++) {
+ onCount = waveform[i];
+ offCount = 100 - onCount;
+ while(onCount--) {
+ __R30 |= 0x1; // Set the GPIO pin to 1
+ }
+ while(offCount--) {
+ __R30 &= ~(0x1); // Clear the GPIO pin
+ }
+ }
+ }
+}
diff --git a/pru-cookbook/05blocks/code/write_init_pins.sh b/pru-cookbook/05blocks/code/write_init_pins.sh
new file mode 100755
index 0000000000000000000000000000000000000000..f52082365a8b2a72a6c30d39938077bd9addf741
--- /dev/null
+++ b/pru-cookbook/05blocks/code/write_init_pins.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+init_pins=$(readelf -x .init_pins $1 | grep 0x000 | cut -d' ' -f4-7 | xxd -r -p | tr '\0' '\n' | paste - -)
+while read -a line; do
+ if [ ${#line[@]} == 2 ]; then
+ echo writing \"${line[1]}\" to \"${line[0]}\"
+ echo ${line[1]} > ${line[0]}
+ sleep 0.1
+ fi
+done <<< "$init_pins"
diff --git a/pru-cookbook/05blocks/figures/blockDiagram.png b/pru-cookbook/05blocks/figures/blockDiagram.png
new file mode 100644
index 0000000000000000000000000000000000000000..901f5b4af178dd896a3a07b5701804a0eaf17fa4
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diff --git a/pru-cookbook/05blocks/figures/blocks_plots.asv b/pru-cookbook/05blocks/figures/blocks_plots.asv
new file mode 100644
index 0000000000000000000000000000000000000000..760326592b877da906a542683a91bb8778433134
--- /dev/null
+++ b/pru-cookbook/05blocks/figures/blocks_plots.asv
@@ -0,0 +1,27 @@
+% Plots for PRU example
+MAXT=100
+waveform = linspace(0, MAXT-1, 100);
+
+plot(waveform)
+
+%%
+T = 10*(1/50);
+Fs = 100;
+dt = 1/Fs;
+t = 0:dt:T-dt;
+x = 50*sawtooth(2*pi*10*t)+50;
+
+stem(t,x)
+title('Sawtooth Waveform')
+grid on
+
+%% Solid sawtooth
+T = 10*(1/50);
+Fs = 100;
+dt = 1/Fs;
+t = 0:dt:T-dt;
+x = 50*sawtooth(2*pi*20*t)+50;
+
+stem(t,x)
+title('Sampled Sawtooth Waveform')
+grid on
diff --git a/pru-cookbook/05blocks/figures/blocks_plots.m b/pru-cookbook/05blocks/figures/blocks_plots.m
new file mode 100644
index 0000000000000000000000000000000000000000..37ab48a26c799541d51ec0fa43835b9387131a7d
--- /dev/null
+++ b/pru-cookbook/05blocks/figures/blocks_plots.m
@@ -0,0 +1,27 @@
+% Plots for PRU example
+MAXT=100
+waveform = linspace(0, MAXT-1, 100);
+
+plot(waveform)
+
+%%
+T = 20*(1/50);
+Fs = 1000;
+dt = 1/Fs;
+t = 0:dt:T-dt;
+x = 50*sawtooth(2*pi*10*t)+50;
+
+plot(t,x)
+title('Sawtooth Waveform')
+grid on
+
+%% Solid sawtooth
+T = 5*(1/50);
+Fs = 200;
+dt = 1/Fs;
+t = 0:dt:T-dt;
+x = 50*sawtooth(2*pi*10*t)+50;
+
+stem(t,x)
+title('Sampled Sawtooth Waveform')
+grid on
diff --git a/pru-cookbook/05blocks/figures/filter.fzz b/pru-cookbook/05blocks/figures/filter.fzz
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diff --git a/pru-cookbook/05blocks/figures/sine.png b/pru-cookbook/05blocks/figures/sine.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c6913b16be3ab3694c99fc41c4b68e969c75db6
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diff --git a/pru-cookbook/05blocks/figures/triangle.png b/pru-cookbook/05blocks/figures/triangle.png
new file mode 100644
index 0000000000000000000000000000000000000000..988a28810411074efc6de6337040dce50d558513
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diff --git a/pru-cookbook/06io/code/Makefile b/pru-cookbook/06io/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/06io/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/06io/code/gpio.pru0.c b/pru-cookbook/06io/code/gpio.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..bcab90eff3f115577055dac3781c50bfb3e0efbf
--- /dev/null
+++ b/pru-cookbook/06io/code/gpio.pru0.c
@@ -0,0 +1,23 @@
+// This code accesses GPIO without using R30 and R31
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define P9_11 (0x1<<30) // Bit position tied to P9_11 on Black
+#define P2_05 (0x1<<30) // Bit position tied to P2_05 on Pocket
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t *gpio0 = (uint32_t *)GPIO0;
+
+ while(1) {
+ gpio0[GPIO_SETDATAOUT] = P9_11;
+ __delay_cycles(100000000);
+ gpio0[GPIO_CLEARDATAOUT] = P9_11;
+ __delay_cycles(100000000);
+ }
+}
diff --git a/pru-cookbook/06io/code/setup.sh b/pru-cookbook/06io/code/setup.sh
new file mode 100755
index 0000000000000000000000000000000000000000..e676ed7abe2a6beaf62d3ce6c56f5aa151d86700
--- /dev/null
+++ b/pru-cookbook/06io/code/setup.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+export TARGET=gpio.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_11"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_05"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin gpio
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/06io/figures/gpio0delay.png b/pru-cookbook/06io/figures/gpio0delay.png
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index 0000000000000000000000000000000000000000..ad8568542d5d6b2445cb7ba2e42792bc671e6d6b
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diff --git a/pru-cookbook/06io/figures/pruIntegration.png b/pru-cookbook/06io/figures/pruIntegration.png
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index 0000000000000000000000000000000000000000..de7ef9196b3e56e5bd1ff14a9957c2ff23d3fa41
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diff --git a/pru-cookbook/06io/io.html b/pru-cookbook/06io/io.html
new file mode 100644
index 0000000000000000000000000000000000000000..5bb5425db9ef3699741ac9d74701f36aac6519b4
--- /dev/null
+++ b/pru-cookbook/06io/io.html
@@ -0,0 +1,1003 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="UTF-8">
+<!--[if IE]><meta http-equiv="X-UA-Compatible" content="IE=edge"><![endif]-->
+<meta name="viewport" content="width=device-width, initial-scale=1.0">
+<meta name="generator" content="Asciidoctor 1.5.8">
+<title>Accessing More I/O</title>
+<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700">
+<style>
+/* Asciidoctor default stylesheet | MIT License | http://asciidoctor.org */
+/* Uncomment @import statement below to use as custom stylesheet */
+/*@import "https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700";*/
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+<body class="article">
+<div id="header">
+<div id="toc" class="toc">
+<div id="toctitle">Table of Contents</div>
+<ul class="sectlevel1">
+<li><a href="#_accessing_more_io">1. Accessing More I/O</a>
+<ul class="sectlevel2">
+<li><a href="#_editing_bootuenv_txt_to_access_the_p8_header_on_the_black">1.1. Editing /boot/uEnv.txt to Access the P8 Header on the Black</a></li>
+<li><a href="#_accessing_gpio">1.2. Accessing gpio</a></li>
+<li><a href="#io_uio">1.3. Configuring for UIO Instead of RemoteProc</a></li>
+<li><a href="#_converting_pasm_assembly_code_to_clpru">1.4. Converting pasm Assembly Code to clpru</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<div id="content">
+<div class="paragraph">
+<p><a href="../index.html">Outline</a></p>
+</div>
+<div class="sect1">
+<h2 id="_accessing_more_io"><a class="link" href="#_accessing_more_io">1. Accessing More I/O</a></h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>So far the examples have shown how to access the GPIO pins on the BeagleBone Black’s
+<code>P9</code> header and through the <code>__R30</code> register. Below shows how more GPIO pins
+can be accessed.</p>
+</div>
+<div class="paragraph">
+<p>The following are resources used in this chapter.</p>
+</div>
+<div class="ulist">
+<div class="title">Resources</div>
+<ul>
+<li>
+<p><a href="https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf">P8 Header Table</a></p>
+</li>
+<li>
+<p><a href="https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf">P9 Header Table</a></p>
+</li>
+<li>
+<p><a href="http://www.ti.com/lit/pdf/spruhz6l">AM572x Technical Reference Manual</a> (AI)</p>
+</li>
+<li>
+<p><a href="http://www.ti.com/lit/pdf/spruh73">AM335x Technical Reference Manual</a> (All others)</p>
+</li>
+<li>
+<p><a href="http://www.ti.com/lit/ug/spruhv6a/spruhv6a.pdf">PRU Assembly Language Tools</a></p>
+</li>
+</ul>
+</div>
+<div class="sect2">
+<h3 id="_editing_bootuenv_txt_to_access_the_p8_header_on_the_black"><a class="link" href="#_editing_bootuenv_txt_to_access_the_p8_header_on_the_black">1.1. Editing /boot/uEnv.txt to Access the P8 Header on the Black</a></h3>
+<div class="sect3">
+<h4 id="_problem"><a class="link" href="#_problem">Problem</a></h4>
+<div class="paragraph">
+<p>When I try to configure some pins on the <code>P8</code> header of the Black I get an error.</p>
+</div>
+<div class="listingblock">
+<div class="title">config-pin</div>
+<div class="content">
+<pre class="CodeRay highlight"><code data-lang="bash">bone$ <strong>config-pin P8_28 pruout</strong>
+ERROR: open() for /sys/devices/platform/ocp/ocp:P8_28_pinmux/state failed, No such file or directory</code></pre>
+</div>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_solution"><a class="link" href="#_solution">Solution</a></h4>
+<div class="paragraph">
+<p>On the images for the BeagleBone Black, the HDMI display driver is enabled by
+default and uses many of the <code>P8</code> pins. If you are not using
+HDMI video (or the HDI audio, or even the eMMC) you can disable it by editing
+<code>/boot/uEnv.txt</code></p>
+</div>
+<div class="paragraph">
+<p>Open <code>/boot/uEnv.txt</code> and scroll down aways until you see:</p>
+</div>
+<div class="listingblock">
+<div class="title">/boot/uEnv.txt</div>
+<div class="content">
+<pre class="CodeRay highlight"><code data-lang="bash">###Disable auto loading of virtual capes (emmc/video/wireless/adc)
+#disable_uboot_overlay_emmc=1
+disable_uboot_overlay_video=1
+#disable_uboot_overlay_audio=1</code></pre>
+</div>
+</div>
+<div class="paragraph">
+<p>Uncomment the lines that correspond to the devices you want to disable and
+free up their pins.</p>
+</div>
+<div class="admonitionblock tip">
+<table>
+<tr>
+<td class="icon">
+<div class="title">Tip</div>
+</td>
+<td class="content">
+<div class="paragraph">
+<p><a href="https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf">P8 Header Table</a>
+shows what pins are allocated for what.</p>
+</div>
+</td>
+</tr>
+</table>
+</div>
+<div class="paragraph">
+<p>Save the file and reboot. You now have access to the <code>P8</code> pins.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_accessing_gpio"><a class="link" href="#_accessing_gpio">1.2. Accessing gpio</a></h3>
+<div class="sect3">
+<h4 id="_problem_2"><a class="link" href="#_problem_2">Problem</a></h4>
+<div class="paragraph">
+<p>I’ve used up all the GPIO in <code>__R30</code>, where can I get more?</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_solution_2"><a class="link" href="#_solution_2">Solution</a></h4>
+<div class="paragraph">
+<p>So far we have focused on using PRU 0.
+<a href="../05blocks/blocks.html#blocks_mapping_bits">Mapping bit positions to pin names
+PRU</a> shows
+that PRU 0 can access ten GPIO pins on the BeagleBone Black. If you use
+PRU 1 you can get to an additional 14 pins (if they aren’t in use for other things.)</p>
+</div>
+<div class="paragraph">
+<p>What if you need even more GPIO pins? You can access <em>any</em> GPIO pin by going
+through the <strong>O</strong>pen-<strong>C</strong>ore <strong>P</strong>rotocol (OCP) port.</p>
+</div>
+<div class="paragraph">
+<div class="title">PRU Integration</div>
+<p><span class="image"><img src="figures/pruIntegration.png" alt="PRU Integration"></span></p>
+</div>
+<div class="paragraph">
+<p>The figure above shows we’ve been using the <em>Enhanced GPIO</em> interface when using
+<code>__R30</code>, but it also shows you can use the OCP. You get access to many more
+GPIO pins, but it’s a slower access.</p>
+</div>
+<div class="listingblock">
+<div class="title">gpio.pru0.c</div>
+<div class="content">
+<pre class="CodeRay highlight"><code data-lang="c"><table class="CodeRay"><tr>
+ <td class="line-numbers"><pre>1
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11
+12
+13
+14
+15
+16
+17
+18
+19
+20
+21
+22
+23
+</pre></td>
+ <td class="code"><pre><span class="comment">// This code accesses GPIO without using R30 and R31</span>
+<span class="preprocessor">#include</span> <span class="include"><stdint.h></span>
+<span class="preprocessor">#include</span> <span class="include"><pru_cfg.h></span>
+<span class="preprocessor">#include</span> <span class="include">"resource_table_empty.h"</span>
+<span class="preprocessor">#include</span> <span class="include">"prugpio.h"</span>
+
+<span class="preprocessor">#define</span> P9_11 (<span class="hex">0x1</span><<<span class="integer">30</span>) <span class="comment">// Bit position tied to P9_11 on Black</span>
+<span class="preprocessor">#define</span> P2_05 (<span class="hex">0x1</span><<<span class="integer">30</span>) <span class="comment">// Bit position tied to P2_05 on Pocket</span>
+
+<span class="directive">volatile</span> <span class="directive">register</span> uint32_t __R30;
+<span class="directive">volatile</span> <span class="directive">register</span> uint32_t __R31;
+
+<span class="directive">void</span> main(<span class="directive">void</span>)
+{
+ uint32_t *gpio0 = (uint32_t *)GPIO0;
+
+ <span class="keyword">while</span>(<span class="integer">1</span>) {
+ gpio0[GPIO_SETDATAOUT] = P9_11;
+ __delay_cycles(<span class="integer">100000000</span>);
+ gpio0[GPIO_CLEARDATAOUT] = P9_11;
+ __delay_cycles(<span class="integer">100000000</span>);
+ }
+}</pre></td>
+</tr></table></code></pre>
+</div>
+</div>
+<div class="paragraph">
+<p>This code will toggle <code>P9_11</code> on and off. Here’s the setup file.</p>
+</div>
+<div class="listingblock">
+<div class="title">setup.sh</div>
+<div class="content">
+<pre class="CodeRay highlight"><code data-lang="bash"><table class="CodeRay"><tr>
+ <td class="line-numbers"><pre>1
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11
+12
+13
+14
+15
+16
+17
+18
+19
+20
+21
+22
+23
+24
+25
+26
+27
+28
+</pre></td>
+ <td class="code"><pre>#!/bin/bash
+
+export TARGET=gpio.pru0
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_11"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P2_05"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin gpio
+ config-pin -q $pin
+done</pre></td>
+</tr></table></code></pre>
+</div>
+</div>
+<div class="paragraph">
+<p>Notice in the code <code>config-pin</code> set <code>P9_11</code> to <code>gpio</code>, not <code>pruout</code>. This is because
+are are using the OCP interface to the pin, not the usual PRU interface.</p>
+</div>
+<div class="paragraph">
+<p>Set your exports and make.</p>
+</div>
+<div class="listingblock">
+<div class="content">
+<pre class="CodeRay highlight"><code data-lang="bash">bone$ <strong>source setup.sh</strong>
+TARGET=gpio.pru0
+...
+bone$ <strong>make</strong>
+/var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=gpio.pru0
+- Stopping PRU 0
+- copying firmware file /tmp/cloud9-examples/gpio.pru0.out to /lib/firmware/am335x-pru0-fw
+write_init_pins.sh
+- Starting PRU 0
+MODEL = TI_AM335x_BeagleBone_Black
+PROC = pru
+PRUN = 0
+PRU_DIR = /sys/class/remoteproc/remoteproc1</code></pre>
+</div>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_discussion"><a class="link" href="#_discussion">Discussion</a></h4>
+<div class="paragraph">
+<p>When you run the code you see <code>P9_11</code> toggling on and off. Let’s go through
+the code line-by-line to see what’s happening.</p>
+</div>
+<table class="tableblock frame-all grid-all stretch">
+<caption class="title">Table 1. gpio.pru0.c line-by-line</caption>
+<colgroup>
+<col style="width: 10%;">
+<col style="width: 90%;">
+</colgroup>
+<thead>
+<tr>
+<th class="tableblock halign-left valign-top">Line</th>
+<th class="tableblock halign-left valign-top">Explanation</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">2-5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Standard includes</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">The AM335x has four 32-bit GPIO ports. Lines 55-58 of <code>prugpio.h</code> define the addresses
+for each of the ports. You can find these in Table 2-2 page 180 of the
+<a href="https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf">AM335x Technical Reference Manual</a>.
+Look up <code>P9_11</code> in the <a href="https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf">P9 Header Table</a>.
+Under the <em>Mode7</em> column you see <code>gpio0[30]</code>. This means <code>P9_11</code> is bit 30
+on GPIO port 0. Therefore we will use <code>GPIO0</code> in this code.</p>
+<p class="tableblock">You can also run
+<code>gpioinfo</code> and look for P9_11.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Line 103 of <code>prugpio.h</code> defines the address offset from <code>GIO0</code> that will
+allow us to <em>clear</em>
+any (or all) bits in GPIO port 0. Other architectures require you to read a port,
+then change some bit, then write it out again, three steps. Here we can do the same by writing to one location, just one step.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Line 104 of <code>prugpio.h</code> is like above, but for <em>setting</em> bits.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Using this offset of line 105 of <code>prugpio.h</code> lets us just read the bits
+without changing them.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">7,8</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">This shifts <code>0x1</code> to the 30<sup>th</sup> bit position, which is the one corresponding
+to <code>P9_11</code>.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">15</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Here we initialize <code>gpio0</code> to point to the start of GPIO port 0’s control
+registers.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">18</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock"><code>gpio0[GPIO_SETDATAOUT]</code> refers to the <code>SETDATAOUT</code> register of port 0.
+Writing to this register turns on the bits where 1’s are written,
+but leaves alone the bits where 0’s are.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">19</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Wait 100,000,000 cycles, which is 0.5 seconds.</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">20</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">This is line 18, but the output bit is set to 0 where 1’s are written.</p></td>
+</tr>
+</tbody>
+</table>
+<div class="sect4">
+<h5 id="_how_fast_can_it_go"><a class="link" href="#_how_fast_can_it_go">How fast can it go?</a></h5>
+<div class="paragraph">
+<p>This approach to GPIO goes through the slower OCP interface. If you set <code>__delay_cycles(0)</code> you can see how fast it is.</p>
+</div>
+<div class="paragraph">
+<div class="title">gpio.pru0.c with __delay_cycles(0)</div>
+<p><span class="image"><img src="figures/gpio0delay.png" alt="gpio.pru0.c with __delay_cycles(0)"></span></p>
+</div>
+<div class="paragraph">
+<p>The period is 80ns which is 12.MHz. That’s about one forth the speed of the
+<code>__R30</code> method, but still not bad.</p>
+</div>
+<div class="paragraph">
+<p>If you are using an oscilloscope, look closely and you’ll see the following.</p>
+</div>
+<div class="paragraph">
+<div class="title">PWM with jitter</div>
+<p><span class="image"><img src="figures/jitter.png" alt="PWM with jitter"></span></p>
+</div>
+<div class="paragraph">
+<p>The PRU is still as solid as before in it’s timing, but now it’s going through
+the OCP interface. This interface is shared with other parts of the system,
+therefore the sometimes the PRU must wait for the other parts to finish.
+When this happens the pulse width is a bit longer than usual thus adding
+jitter to the output.</p>
+</div>
+<div class="paragraph">
+<p>For many applications a few nanoseconds of jitter is unimportant and this
+GPIO interface can be used. If your application needs better timing,
+use the <code>__R30</code> interface.</p>
+</div>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="io_uio"><a class="link" href="#io_uio">1.3. Configuring for UIO Instead of RemoteProc</a></h3>
+<div class="sect3">
+<h4 id="_problem_3"><a class="link" href="#_problem_3">Problem</a></h4>
+<div class="paragraph">
+<p>You have some legacy PRU code that uses UIO instead of remoteproc and
+you want to switch to UIO.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_solution_3"><a class="link" href="#_solution_3">Solution</a></h4>
+<div class="paragraph">
+<p>Edit <code>/boot/uEnt.txt</code> and search for <code>uio</code>. I find</p>
+</div>
+<div class="listingblock">
+<div class="content">
+<pre>###pru_uio (4.4.x-ti, 4.9.x-ti, 4.14.x-ti & mainline/bone kernel)
+uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo</pre>
+</div>
+</div>
+<div class="paragraph">
+<p>Uncomment the <code>uboot</code> line. Look for other lines with
+<code>uboot_overlay_pru=</code> and be sure they are commented out.</p>
+</div>
+<div class="paragraph">
+<p>Reboot your Bone.</p>
+</div>
+<div class="listingblock">
+<div class="content">
+<pre>bone$ <strong>sudo reboot</strong></pre>
+</div>
+</div>
+<div class="paragraph">
+<p>Check that UIO is running.</p>
+</div>
+<div class="listingblock">
+<div class="content">
+<pre>bone$ <strong>lsmod | grep uio</strong>
+uio_pruss 16384 0
+uio_pdrv_genirq 16384 0
+uio 20480 2 uio_pruss,uio_pdrv_genirq</pre>
+</div>
+</div>
+<div class="paragraph">
+<p>You are now ready to run the legacy PRU code.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_converting_pasm_assembly_code_to_clpru"><a class="link" href="#_converting_pasm_assembly_code_to_clpru">1.4. Converting pasm Assembly Code to clpru</a></h3>
+<div class="sect3">
+<h4 id="_problem_4"><a class="link" href="#_problem_4">Problem</a></h4>
+<div class="paragraph">
+<p>You have some legacy assembly code written in pasm and it won’t assemble
+with clpru.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_solution_4"><a class="link" href="#_solution_4">Solution</a></h4>
+<div class="paragraph">
+<p>Generally there is a simple mapping from pasm to clpru.
+<a href="http://processors.wiki.ti.com/index.php/PRU_Assembly_Instructions#pasm_vs._clpru">pasm vs. clpru</a>
+notes what needs to be changed. I have a less complete version on my
+<a href="https://elinux.org/EBC_Exercise_30_PRU_porting_pasm_to_clpru">eLinux.org site</a>.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_discussion_2"><a class="link" href="#_discussion_2">Discussion</a></h4>
+<div class="paragraph">
+<p>The clpru assembly can be found in <a href="http://www.ti.com/lit/ug/spruhv6a/spruhv6a.pdf">PRU Assembly Language Tools</a>.</p>
+</div>
+</div>
+</div>
+</div>
+</div>
+</div>
+<div id="footer">
+<div id="footer-text">
+Last updated 2021-08-04 14:38:24 -0400
+</div>
+</div>
+</body>
+</html>
\ No newline at end of file
diff --git a/pru-cookbook/06io/io.rst b/pru-cookbook/06io/io.rst
new file mode 100644
index 0000000000000000000000000000000000000000..3548d5e0a4330f10a7a06d4f94856bac5ba1a89c
--- /dev/null
+++ b/pru-cookbook/06io/io.rst
@@ -0,0 +1,271 @@
+.. _pru-cookbook-io:
+
+Accessing More I/O
+####################
+
+So far the examples have shown how to access the GPIO pins on the BeagleBone Black's
+``P9`` header and through the ``pass:[__]R30`` register. Below shows how more GPIO pins
+can be accessed.
+
+The following are resources used in this chapter.
+
+Resources
+~~~~~~~~~~
+
+* `P8 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf>`_
+* `P9 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf>`_
+* `AM572x Technical Reference Manual<http://www.ti.com/lit/pdf/spruhz6l>`_ (AI)
+* `AM335x Technical Reference Manual <http://www.ti.com/lit/pdf/spruh73>`_ (All others)
+* `PRU Assembly Language Tools<http://www.ti.com/lit/ug/spruhv6a/spruhv6a.pdf>`_
+
+Editing /boot/uEnv.txt to Access the P8 Header on the Black
+============================================================
+
+Problem
+--------
+
+When I try to configure some pins on the `P8` header of the Black I get an error.
+
+config-pin
+~~~~~~~~~~~
+
+.. code-block:: bash
+ :linenos:
+
+ bone$ *config-pin P8_28 pruout*
+ ERROR: open() for /sys/devices/platform/ocp/ocp:P8_28_pinmux/state failed, No such file or directory
+
+Solution
+--------
+
+On the images for the BeagleBone Black, the HDMI display driver is enabled by default
+and uses many of the ``P8`` pins. If you are not using HDMI video (or the HDI audio,
+or even the eMMC) you can disable it by editing ``/boot/uEnv.txt``
+
+Open ``/boot/uEnv.txt`` and scroll down aways until you see:
+
+/boot/uEnv.txt
+~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+ :linenos:
+
+ ###Disable auto loading of virtual capes (emmc/video/wireless/adc)
+ #disable_uboot_overlay_emmc=1
+ disable_uboot_overlay_video=1
+ #disable_uboot_overlay_audio=1
+
+Uncomment the lines that correspond to the devices you want to disable and free up their pins.
+
+.. tip::
+
+ `P8 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf>`_
+ shows what pins are allocated for what.
+
+Save the file and reboot. You now have access to the ``P8`` pins.
+
+Accessing gpio
+================
+
+Problem
+--------
+
+I've used up all the GPIO in ``pass:[__]R30``, where can I get more?
+
+Solution
+--------
+
+So far we have focused on using PRU 0.
+:ref:`../05blocks/blocks.html#blocks_mapping_bits,Mapping bit positions to pin names PRU` shows
+that PRU 0 can access ten GPIO pins on the BeagleBone Black. If you use
+PRU 1 you can get to an additional 14 pins (if they aren't in use for other things.)
+
+What if you need even more GPIO pins? You can access **any** GPIO pin by going
+through the **O**pen-**C**ore **P**rotocol (OCP) port.
+
+PRU Integration
+~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/pruIntegration.png
+ :align: center
+ :alt: PRU Integration
+
+The figure above shows we've been using the _Enhanced **GPIO** interface when using
+``pass:[__]R30``, but it also shows you can use the OCP. You get access to many more
+GPIO pins, but it's a slower access.
+
+gpio.pru0.c
+~~~~~~~~~~~~
+
+:download:`gpio.pru0.c <code/gpio.pru0.c>`
+
+This code will toggle ``P9_11`` on and off. Here's the setup file.
+
+setup.sh
+~~~~~~~~~
+
+:download:`setup.sh <code/setup.sh>`
+
+Notice in the code ``config-pin`` set ``P9_11`` to ``gpio``, not ``pruout``. This is because
+are are using the OCP interface to the pin, not the usual PRU interface.
+
+Set your exports and make.
+
+.. code-block:: bash
+ :linenos:
+
+ bone$ *source setup.sh*
+ TARGET=gpio.pru0
+ ...
+ bone$ *make*
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=gpio.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/gpio.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+
+Discussion
+-----------
+
+When you run the code you see ``P9_11`` toggling on and off. Let's go through
+the code line-by-line to see what's happening.
+
+gpio.pru0.c line-by-line
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=======+===============================================================================================================================================+
+ |2-5 | Standard includes |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |5 | The AM335x has four 32-bit GPIO ports. Lines 55-58 of `prugpio.h` define the addresses |
+ | | for each of the ports. You can find these in Table 2-2 page 180 of the |
+ | | https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf[AM335x Technical Reference Manual]. |
+ | | Look up `P9_11` in the https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf[P9 Header Table]. |
+ | | Under the _Mode7_ column you see `gpio0[30]`. This means `P9_11` is bit 30 |
+ | | on GPIO port 0. Therefore we will use `GPIO0` in this code. You can also run ``gpioinfo`` and look for P9_11. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |5 | Line 103 of `prugpio.h` defines the address offset from `GIO0` that will allow us to _clear_ any (or all) bits in GPIO port 0. |
+ | | Other architectures require you to read a port, then change some bit, then write it out again, three steps. Here we can do |
+ | | the same by writing to one location, just one step. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |5 |Line 104 of `prugpio.h` is like above, but for _setting_ bits. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |5 |Using this offset of line 105 of `prugpio.h` lets us just read the bits without changing them. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |7,8 |This shifts `0x1` to the 30^th^ bit position, which is the one corresponding to `P9_11`. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |15 |Here we initialize `gpio0` to point to the start of GPIO port 0's control registers. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |18 |`gpio0[GPIO_SETDATAOUT]` refers to the `SETDATAOUT` register of port 0. Writing to this register turns on the bits |
+ | | where 1's are written, but leaves alone the bits where 0's are. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |19 |Wait 100,000,000 cycles, which is 0.5 seconds. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+ |20 |This is line 18, but the output bit is set to 0 where 1's are written. |
+ +-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
+
+How fast can it go?
+~~~~~~~~~~~~~~~~~~~~
+
+This approach to GPIO goes through the slower OCP interface. If you set
+``pass:[__]delay_cycles(0)`` you can see how fast it is.
+
+gpio.pru0.c with pass:[__]delay_cycles(0)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/gpio0delay.png
+ :align: center
+ :alt: gpio.pru0.c with pass:[__]delay_cycles(0)
+
+The period is 80ns which is 12.MHz. That's about one forth the speed of the
+``pass:[__]R30`` method, but still not bad.
+
+If you are using an oscilloscope, look closely and you'll see the following.
+
+PWM with jitter
+~~~~~~~~~~~~~~~~
+
+.. figure:: figures/jitter.png
+ :align: center
+ :alt: PWM with jitter
+
+The PRU is still as solid as before in it's timing, but now it's going through
+the OCP interface. This interface is shared with other parts of the system,
+therefore the sometimes the PRU must wait for the other parts to finish.
+When this happens the pulse width is a bit longer than usual thus adding
+jitter to the output.
+
+For many applications a few nanoseconds of jitter is unimportant and this
+GPIO interface can be used. If your application needs better timing,
+use the ``pass:[__]R30`` interface.
+
+
+.. _io_uio:
+
+Configuring for UIO Instead of RemoteProc
+========================================
+
+Problem
+--------
+
+You have some legacy PRU code that uses UIO instead of remoteproc and
+you want to switch to UIO.
+
+Solution
+--------
+
+Edit ``/boot/uEnt.txt`` and search for ``uio``. I find
+
+.. code-block:: bash
+
+ ###pru_uio (4.4.x-ti, 4.9.x-ti, 4.14.x-ti & mainline/bone kernel)
+ uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
+
+Uncomment the ``uboot`` line. Look for other lines with
+``uboot_overlay_pru=`` and be sure they are commented out.
+
+Reboot your Bone.
+
+.. code-block:: bash
+
+ bone$ sudo reboot
+
+Check that UIO is running.
+
+.. code-block:: bash
+
+ bone$ lsmod | grep uio
+ uio_pruss 16384 0
+ uio_pdrv_genirq 16384 0
+ uio 20480 2 uio_pruss,uio_pdrv_genirq
+
+You are now ready to run the legacy PRU code.
+
+Converting pasm Assembly Code to clpru
+========================================
+
+Problem
+--------
+
+You have some legacy assembly code written in pasm and it won't assemble with clpru.
+
+Solution
+--------
+
+Generally there is a simple mapping from pasm to clpru.
+`pasm vs. clpru <http://processors.wiki.ti.com/index.php/PRU_Assembly_Instructions#pasm_vs._clpru>`_
+notes what needs to be changed. I have a less complete version on my
+`eLinux.org site <https://elinux.org/EBC_Exercise_30_PRU_porting_pasm_to_clpru>`_.
+
+Discussion
+--------
+
+The clpru assembly can be found in
+`PRU Assembly Language Tools <http://www.ti.com/lit/ug/spruhv6a/spruhv6a.pdf>`_.
diff --git a/pru-cookbook/07more/code/Makefile b/pru-cookbook/07more/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/07more/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/07more/code/copyright.c b/pru-cookbook/07more/code/copyright.c
new file mode 100644
index 0000000000000000000000000000000000000000..63b6a419e4ee3a2767de3fcec0c29e74e3754700
--- /dev/null
+++ b/pru-cookbook/07more/code/copyright.c
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
\ No newline at end of file
diff --git a/pru-cookbook/07more/code/cycle.pru0.c b/pru-cookbook/07more/code/cycle.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..73055d9f0662483f6e9cc03ef266b670f571e1f0
--- /dev/null
+++ b/pru-cookbook/07more/code/cycle.pru0.c
@@ -0,0 +1,32 @@
+// Access the CYCLE and STALL registers
+#include <stdint.h>
+#include <pru_cfg.h>
+#include <pru_ctrl.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_31; // Select which pin to toggle.;
+
+ // These will be kept in registers and never witten to DRAM
+ uint32_t cycle, stall;
+
+ // Clear SYSCFG[STANDBY_INIT] to enable OCP master port
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ PRU0_CTRL.CTRL_bit.CTR_EN = 1; // Enable cycle counter
+
+ __R30 |= gpio; // Set the GPIO pin to 1
+ // Reset cycle counter, cycle is on the right side to force the compiler
+ // to put it in it's own register
+ PRU0_CTRL.CYCLE = cycle;
+ __R30 &= ~gpio; // Clear the GPIO pin
+ cycle = PRU0_CTRL.CYCLE; // Read cycle and store in a register
+ stall = PRU0_CTRL.STALL; // Ditto for stall
+
+ __halt();
+}
diff --git a/pru-cookbook/07more/code/cycle.pru0.lst b/pru-cookbook/07more/code/cycle.pru0.lst
new file mode 100644
index 0000000000000000000000000000000000000000..7f013a717a25159015a03849db88cf37db123d08
--- /dev/null
+++ b/pru-cookbook/07more/code/cycle.pru0.lst
@@ -0,0 +1,3082 @@
+PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 1
+
+ 1;******************************************************************************
+ 2;* PRU C/C++ Codegen Unix v2.1.5 *
+ 3;* Date/Time created: Fri Jun 5 14:14:07 2020 *
+ 4;******************************************************************************
+ 5 .compiler_opts --abi=eabi --endian=little --hll_source=on --object_format=elf --silicon_versio
+ 6
+ 7$C$DW$CU .dwtag DW_TAG_compile_unit
+ 8 .dwattr $C$DW$CU, DW_AT_name("cycle.pru0.c")
+ 9 .dwattr $C$DW$CU, DW_AT_producer("TI PRU C/C++ Codegen Unix v2.1.5 Copyright (c) 2012-2017 Tex
+ 10 .dwattr $C$DW$CU, DW_AT_TI_version(0x01)
+ 11 .dwattr $C$DW$CU, DW_AT_comp_dir("/home/debian/PRUCookbook/docs/07more/code")
+ 12 .global __PRU_CREG_PRU_CFG
+ 13
+ 14$C$DW$1 .dwtag DW_TAG_subprogram, DW_AT_name("__halt")
+ 15 .dwattr $C$DW$1, DW_AT_TI_symbol_name("__halt")
+ 16 .dwattr $C$DW$1, DW_AT_declaration
+ 17 .dwattr $C$DW$1, DW_AT_external
+ 18 .weak ||CT_CFG||
+ 19 00000000 ||CT_CFG||: .usect ".creg.PRU_CFG.noload.near",68,1
+ 20$C$DW$2 .dwtag DW_TAG_variable, DW_AT_name("CT_CFG")
+ 21 .dwattr $C$DW$2, DW_AT_TI_symbol_name("CT_CFG")
+ 22 .dwattr $C$DW$2, DW_AT_location[DW_OP_addr ||CT_CFG||]
+ 23 .dwattr $C$DW$2, DW_AT_type(*$C$DW$T$98)
+ 24 .dwattr $C$DW$2, DW_AT_external
+ 25 .dwattr $C$DW$2, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru_
+ 26 .dwattr $C$DW$2, DW_AT_decl_line(0xf2)
+ 27 .dwattr $C$DW$2, DW_AT_decl_column(0x17)
+ 28 .global ||pru_remoteproc_ResourceTable||
+ 29 00000000 .sect ".resource_table:retain", RW
+ 30 .retain
+ 31 .align 1
+ 32 .elfsym ||pru_remoteproc_ResourceTable||,SYM_SIZE(20)
+ 33 00000000 ||pru_remoteproc_ResourceTable||:
+ 34 00000000 00000000000001 .bits 1,32 ; pru_remoteproc_ResourceTable.base.ver @ 0
+ 35 00000004 00000000000000 .bits 0,32 ; pru_remoteproc_ResourceTable.base.num @ 32
+ 36 00000008 00000000000000 .bits 0,32 ; pru_remoteproc_ResourceTable.base.reserved[0] @ 64
+ 37 0000000c 00000000000000 .bits 0,32 ; pru_remoteproc_ResourceTable.base.reserved[1] @ 96
+ 38 00000010 00000000000000 .bits 0,32 ; pru_remoteproc_ResourceTable.offset[0] @ 128
+ 39
+ 40$C$DW$3 .dwtag DW_TAG_variable, DW_AT_name("pru_remoteproc_ResourceTable")
+ 41 .dwattr $C$DW$3, DW_AT_TI_symbol_name("pru_remoteproc_ResourceTable")
+ 42 .dwattr $C$DW$3, DW_AT_location[DW_OP_addr ||pru_remoteproc_ResourceTable||]
+ 43 .dwattr $C$DW$3, DW_AT_type(*$C$DW$T$92)
+ 44 .dwattr $C$DW$3, DW_AT_external
+ 45 .dwattr $C$DW$3, DW_AT_decl_file("/var/lib/cloud9/common/resource_table_empty.h")
+ 46 .dwattr $C$DW$3, DW_AT_decl_line(0x1f)
+ 47 .dwattr $C$DW$3, DW_AT_decl_column(0x1a)
+ 48; optpru /tmp/TI18yQKu8QO /tmp/TI18y6Ruqzt
+ 49; acpiapru -@/tmp/TI18yH9tQJL
+ 50 00000000 .sect ".text:main"
+ 51 .clink
+ 52 .global ||main||
+ 53
+ 54$C$DW$4 .dwtag DW_TAG_subprogram, DW_AT_name("main")
+ 55 .dwattr $C$DW$4, DW_AT_low_pc(||main||)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 2
+
+ 56 .dwattr $C$DW$4, DW_AT_high_pc(0x00)
+ 57 .dwattr $C$DW$4, DW_AT_TI_symbol_name("main")
+ 58 .dwattr $C$DW$4, DW_AT_external
+ 59 .dwattr $C$DW$4, DW_AT_TI_begin_file("cycle.pru0.c")
+ 60 .dwattr $C$DW$4, DW_AT_TI_begin_line(0x0d)
+ 61 .dwattr $C$DW$4, DW_AT_TI_begin_column(0x06)
+ 62 .dwattr $C$DW$4, DW_AT_decl_file("cycle.pru0.c")
+ 63 .dwattr $C$DW$4, DW_AT_decl_line(0x0d)
+ 64 .dwattr $C$DW$4, DW_AT_decl_column(0x06)
+ 65 .dwattr $C$DW$4, DW_AT_TI_max_frame_size(0x00)
+ 66 .dwpsn file "cycle.pru0.c",line 14,column 1,is_stmt,address ||main||,isa 0
+ 67
+ 68 .dwfde $C$DW$CIE, ||main||
+ 69;----------------------------------------------------------------------
+ 70; 13 | void main(void)
+ 71; 15 | uint32_t gpio = P9_31; // Select which pin to toggle.;
+ 72; 17 | // These will be kept in registers and never witten to DRAM
+ 73; 18 | uint32_t cycle, stall;
+ 74; 20 | // Clear SYSCFG[STANDBY_INIT] to enable OCP master port
+ 75;----------------------------------------------------------------------
+ 76
+ 77;***************************************************************
+ 78;* FNAME: main FR SIZE: 0 *
+ 79;* *
+ 80;* FUNCTION ENVIRONMENT *
+ 81;* *
+ 82;* FUNCTION PROPERTIES *
+ 83;* 0 Auto, 0 SOE *
+ 84;***************************************************************
+ 85
+ 86||main||:
+ 87;* --------------------------------------------------------------------------*
+ 88;* r0_0 assigned to $O$C1
+ 89;* r14_0 assigned to cycle
+ 90$C$DW$5 .dwtag DW_TAG_variable, DW_AT_name("cycle")
+ 91 .dwattr $C$DW$5, DW_AT_TI_symbol_name("cycle")
+ 92 .dwattr $C$DW$5, DW_AT_type(*$C$DW$T$32)
+ 93 .dwattr $C$DW$5, DW_AT_location[DW_OP_regx 0x38]
+ 94 .dwcfi cfa_offset, 0
+ 95 .dwpsn file "cycle.pru0.c",line 21,column 2,is_stmt,isa 0
+ 96;----------------------------------------------------------------------
+ 97; 21 | CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+ 98;----------------------------------------------------------------------
+ 99 00000000 00000091042080! LBCO &r0, __PRU_CREG_PRU_CFG, $CSBREL(||CT_CFG||+4), 4 ; [ALU_PRU] |21| CT_CFG
+ 100 00000004 0000001D04E0E0 CLR r0, r0, 0x00000004 ; [ALU_PRU] |21|
+ 101 00000008 00000081042080! SBCO &r0, __PRU_CREG_PRU_CFG, $CSBREL(||CT_CFG||+4), 4 ; [ALU_PRU] |21| CT_CFG
+ 102 .dwpsn file "cycle.pru0.c",line 23,column 2,is_stmt,isa 0
+ 103;----------------------------------------------------------------------
+ 104; 23 | PRU0_CTRL.CTRL_bit.CTR_EN = 1; // Enable cycle counter
+ 105;----------------------------------------------------------------------
+ 106 0000000c 200080240002C0 LDI32 r0, 0x00022000 ; [ALU_PRU] |23| $O$C1
+ 107 00000014 000000F1002081 LBBO &r1, r0, 0, 4 ; [ALU_PRU] |23|
+ 108 00000018 0000001F03E1E1 SET r1, r1, 0x00000003 ; [ALU_PRU] |23|
+ 109 0000001c 000000E1002081 SBBO &r1, r0, 0, 4 ; [ALU_PRU] |23|
+ 110 .dwpsn file "cycle.pru0.c",line 25,column 2,is_stmt,isa 0
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 3
+
+ 111;----------------------------------------------------------------------
+ 112; 25 | __R30 |= gpio; // Set the GPIO pin to 1
+ 113; 26 | // Reset cycle counter, cycle is on the right side to force the compile
+ 114; | r
+ 115; 27 | // to put it in it's own register
+ 116;----------------------------------------------------------------------
+ 117 00000020 0000001F00FEFE SET r30, r30, 0x00000000 ; [ALU_PRU] |25|
+ 118 .dwpsn file "cycle.pru0.c",line 28,column 2,is_stmt,isa 0
+ 119;----------------------------------------------------------------------
+ 120; 28 | PRU0_CTRL.CYCLE = cycle;
+ 121;----------------------------------------------------------------------
+ 122 00000024 000000E10C208E SBBO &r14, r0, 12, 4 ; [ALU_PRU] |28| $O$C1,cycle
+ 123 .dwpsn file "cycle.pru0.c",line 29,column 2,is_stmt,isa 0
+ 124;----------------------------------------------------------------------
+ 125; 29 | __R30 &= ~gpio; // Clear the GPIO pin
+ 126;----------------------------------------------------------------------
+ 127 00000028 0000001D00FEFE CLR r30, r30, 0x00000000 ; [ALU_PRU] |29|
+ 128 .dwpsn file "cycle.pru0.c",line 30,column 2,is_stmt,isa 0
+ 129;----------------------------------------------------------------------
+ 130; 30 | cycle = PRU0_CTRL.CYCLE; // Read cycle and store in a register
+ 131;----------------------------------------------------------------------
+ 132 0000002c 000000F10C2081 LBBO &r1, r0, 12, 4 ; [ALU_PRU] |30| $O$C1
+ 133 .dwpsn file "cycle.pru0.c",line 31,column 2,is_stmt,isa 0
+ 134;----------------------------------------------------------------------
+ 135; 31 | stall = PRU0_CTRL.STALL; // Ditto for stall
+ 136;----------------------------------------------------------------------
+ 137 00000030 000000F1102080 LBBO &r0, r0, 16, 4 ; [ALU_PRU] |31| $O$C1
+ 138 .dwpsn file "cycle.pru0.c",line 33,column 2,is_stmt,isa 0
+ 139;----------------------------------------------------------------------
+ 140; 33 | __halt();
+ 141;----------------------------------------------------------------------
+ 142 00000034 0000002A000000 HALT ; [ALU_PRU] |33|
+ 143$C$DW$6 .dwtag DW_TAG_TI_branch
+ 144 .dwattr $C$DW$6, DW_AT_low_pc(0x00)
+ 145 .dwattr $C$DW$6, DW_AT_TI_return
+ 146 00000038 00000020C30000 JMP r3.w2 ; [ALU_PRU]
+ 147 .dwattr $C$DW$4, DW_AT_TI_end_file("cycle.pru0.c")
+ 148 .dwattr $C$DW$4, DW_AT_TI_end_line(0x22)
+ 149 .dwattr $C$DW$4, DW_AT_TI_end_column(0x01)
+ 150 .dwendentry
+ 151 .dwendtag $C$DW$4
+ 152
+ 153
+ 154;******************************************************************************
+ 155;* TYPE INFORMATION *
+ 156;******************************************************************************
+ 157
+ 158$C$DW$T$19 .dwtag DW_TAG_structure_type
+ 159 .dwattr $C$DW$T$19, DW_AT_byte_size(0x04)
+ 160$C$DW$7 .dwtag DW_TAG_member
+ 161 .dwattr $C$DW$7, DW_AT_type(*$C$DW$T$11)
+ 162 .dwattr $C$DW$7, DW_AT_name("REVID")
+ 163 .dwattr $C$DW$7, DW_AT_TI_symbol_name("REVID")
+ 164 .dwattr $C$DW$7, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x20)
+ 165 .dwattr $C$DW$7, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 4
+
+ 166 .dwattr $C$DW$7, DW_AT_accessibility(DW_ACCESS_public)
+ 167 .dwattr $C$DW$7, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru_
+ 168 .dwattr $C$DW$7, DW_AT_decl_line(0x2d)
+ 169 .dwattr $C$DW$7, DW_AT_decl_column(0x0d)
+ 170 .dwendtag $C$DW$T$19
+ 171
+ 172 .dwattr $C$DW$T$19, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 173 .dwattr $C$DW$T$19, DW_AT_decl_line(0x2c)
+ 174 .dwattr $C$DW$T$19, DW_AT_decl_column(0x13)
+ 175$C$DW$T$48 .dwtag DW_TAG_volatile_type
+ 176 .dwattr $C$DW$T$48, DW_AT_type(*$C$DW$T$19)
+ 177
+ 178$C$DW$T$20 .dwtag DW_TAG_structure_type
+ 179 .dwattr $C$DW$T$20, DW_AT_byte_size(0x04)
+ 180$C$DW$8 .dwtag DW_TAG_member
+ 181 .dwattr $C$DW$8, DW_AT_type(*$C$DW$T$11)
+ 182 .dwattr $C$DW$8, DW_AT_name("IDLE_MODE")
+ 183 .dwattr $C$DW$8, DW_AT_TI_symbol_name("IDLE_MODE")
+ 184 .dwattr $C$DW$8, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x02)
+ 185 .dwattr $C$DW$8, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 186 .dwattr $C$DW$8, DW_AT_accessibility(DW_ACCESS_public)
+ 187 .dwattr $C$DW$8, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru_
+ 188 .dwattr $C$DW$8, DW_AT_decl_line(0x37)
+ 189 .dwattr $C$DW$8, DW_AT_decl_column(0x0d)
+ 190$C$DW$9 .dwtag DW_TAG_member
+ 191 .dwattr $C$DW$9, DW_AT_type(*$C$DW$T$11)
+ 192 .dwattr $C$DW$9, DW_AT_name("STANDBY_MODE")
+ 193 .dwattr $C$DW$9, DW_AT_TI_symbol_name("STANDBY_MODE")
+ 194 .dwattr $C$DW$9, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x02)
+ 195 .dwattr $C$DW$9, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 196 .dwattr $C$DW$9, DW_AT_accessibility(DW_ACCESS_public)
+ 197 .dwattr $C$DW$9, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru_
+ 198 .dwattr $C$DW$9, DW_AT_decl_line(0x38)
+ 199 .dwattr $C$DW$9, DW_AT_decl_column(0x0d)
+ 200$C$DW$10 .dwtag DW_TAG_member
+ 201 .dwattr $C$DW$10, DW_AT_type(*$C$DW$T$11)
+ 202 .dwattr $C$DW$10, DW_AT_name("STANDBY_INIT")
+ 203 .dwattr $C$DW$10, DW_AT_TI_symbol_name("STANDBY_INIT")
+ 204 .dwattr $C$DW$10, DW_AT_bit_offset(0x1b), DW_AT_bit_size(0x01)
+ 205 .dwattr $C$DW$10, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 206 .dwattr $C$DW$10, DW_AT_accessibility(DW_ACCESS_public)
+ 207 .dwattr $C$DW$10, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 208 .dwattr $C$DW$10, DW_AT_decl_line(0x39)
+ 209 .dwattr $C$DW$10, DW_AT_decl_column(0x0d)
+ 210$C$DW$11 .dwtag DW_TAG_member
+ 211 .dwattr $C$DW$11, DW_AT_type(*$C$DW$T$11)
+ 212 .dwattr $C$DW$11, DW_AT_name("SUB_MWAIT")
+ 213 .dwattr $C$DW$11, DW_AT_TI_symbol_name("SUB_MWAIT")
+ 214 .dwattr $C$DW$11, DW_AT_bit_offset(0x1a), DW_AT_bit_size(0x01)
+ 215 .dwattr $C$DW$11, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 216 .dwattr $C$DW$11, DW_AT_accessibility(DW_ACCESS_public)
+ 217 .dwattr $C$DW$11, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 218 .dwattr $C$DW$11, DW_AT_decl_line(0x3a)
+ 219 .dwattr $C$DW$11, DW_AT_decl_column(0x0d)
+ 220$C$DW$12 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 5
+
+ 221 .dwattr $C$DW$12, DW_AT_type(*$C$DW$T$11)
+ 222 .dwattr $C$DW$12, DW_AT_name("rsvd6")
+ 223 .dwattr $C$DW$12, DW_AT_TI_symbol_name("rsvd6")
+ 224 .dwattr $C$DW$12, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x1a)
+ 225 .dwattr $C$DW$12, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 226 .dwattr $C$DW$12, DW_AT_accessibility(DW_ACCESS_public)
+ 227 .dwattr $C$DW$12, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 228 .dwattr $C$DW$12, DW_AT_decl_line(0x3b)
+ 229 .dwattr $C$DW$12, DW_AT_decl_column(0x0d)
+ 230 .dwendtag $C$DW$T$20
+ 231
+ 232 .dwattr $C$DW$T$20, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 233 .dwattr $C$DW$T$20, DW_AT_decl_line(0x36)
+ 234 .dwattr $C$DW$T$20, DW_AT_decl_column(0x13)
+ 235$C$DW$T$50 .dwtag DW_TAG_volatile_type
+ 236 .dwattr $C$DW$T$50, DW_AT_type(*$C$DW$T$20)
+ 237
+ 238$C$DW$T$21 .dwtag DW_TAG_structure_type
+ 239 .dwattr $C$DW$T$21, DW_AT_byte_size(0x04)
+ 240$C$DW$13 .dwtag DW_TAG_member
+ 241 .dwattr $C$DW$13, DW_AT_type(*$C$DW$T$11)
+ 242 .dwattr $C$DW$13, DW_AT_name("PRU0_GPI_MODE")
+ 243 .dwattr $C$DW$13, DW_AT_TI_symbol_name("PRU0_GPI_MODE")
+ 244 .dwattr $C$DW$13, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x02)
+ 245 .dwattr $C$DW$13, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 246 .dwattr $C$DW$13, DW_AT_accessibility(DW_ACCESS_public)
+ 247 .dwattr $C$DW$13, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 248 .dwattr $C$DW$13, DW_AT_decl_line(0x45)
+ 249 .dwattr $C$DW$13, DW_AT_decl_column(0x0d)
+ 250$C$DW$14 .dwtag DW_TAG_member
+ 251 .dwattr $C$DW$14, DW_AT_type(*$C$DW$T$11)
+ 252 .dwattr $C$DW$14, DW_AT_name("PRU0_GPI_CLK_MODE")
+ 253 .dwattr $C$DW$14, DW_AT_TI_symbol_name("PRU0_GPI_CLK_MODE")
+ 254 .dwattr $C$DW$14, DW_AT_bit_offset(0x1d), DW_AT_bit_size(0x01)
+ 255 .dwattr $C$DW$14, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 256 .dwattr $C$DW$14, DW_AT_accessibility(DW_ACCESS_public)
+ 257 .dwattr $C$DW$14, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 258 .dwattr $C$DW$14, DW_AT_decl_line(0x46)
+ 259 .dwattr $C$DW$14, DW_AT_decl_column(0x0d)
+ 260$C$DW$15 .dwtag DW_TAG_member
+ 261 .dwattr $C$DW$15, DW_AT_type(*$C$DW$T$11)
+ 262 .dwattr $C$DW$15, DW_AT_name("PRU0_GPI_DIV0")
+ 263 .dwattr $C$DW$15, DW_AT_TI_symbol_name("PRU0_GPI_DIV0")
+ 264 .dwattr $C$DW$15, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x05)
+ 265 .dwattr $C$DW$15, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 266 .dwattr $C$DW$15, DW_AT_accessibility(DW_ACCESS_public)
+ 267 .dwattr $C$DW$15, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 268 .dwattr $C$DW$15, DW_AT_decl_line(0x47)
+ 269 .dwattr $C$DW$15, DW_AT_decl_column(0x0d)
+ 270$C$DW$16 .dwtag DW_TAG_member
+ 271 .dwattr $C$DW$16, DW_AT_type(*$C$DW$T$11)
+ 272 .dwattr $C$DW$16, DW_AT_name("PRU0_GPI_DIV1")
+ 273 .dwattr $C$DW$16, DW_AT_TI_symbol_name("PRU0_GPI_DIV1")
+ 274 .dwattr $C$DW$16, DW_AT_bit_offset(0x13), DW_AT_bit_size(0x05)
+ 275 .dwattr $C$DW$16, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 6
+
+ 276 .dwattr $C$DW$16, DW_AT_accessibility(DW_ACCESS_public)
+ 277 .dwattr $C$DW$16, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 278 .dwattr $C$DW$16, DW_AT_decl_line(0x48)
+ 279 .dwattr $C$DW$16, DW_AT_decl_column(0x0d)
+ 280$C$DW$17 .dwtag DW_TAG_member
+ 281 .dwattr $C$DW$17, DW_AT_type(*$C$DW$T$11)
+ 282 .dwattr $C$DW$17, DW_AT_name("PRU0_GPI_SB")
+ 283 .dwattr $C$DW$17, DW_AT_TI_symbol_name("PRU0_GPI_SB")
+ 284 .dwattr $C$DW$17, DW_AT_bit_offset(0x12), DW_AT_bit_size(0x01)
+ 285 .dwattr $C$DW$17, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 286 .dwattr $C$DW$17, DW_AT_accessibility(DW_ACCESS_public)
+ 287 .dwattr $C$DW$17, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 288 .dwattr $C$DW$17, DW_AT_decl_line(0x49)
+ 289 .dwattr $C$DW$17, DW_AT_decl_column(0x0d)
+ 290$C$DW$18 .dwtag DW_TAG_member
+ 291 .dwattr $C$DW$18, DW_AT_type(*$C$DW$T$11)
+ 292 .dwattr $C$DW$18, DW_AT_name("PRU0_GPO_MODE")
+ 293 .dwattr $C$DW$18, DW_AT_TI_symbol_name("PRU0_GPO_MODE")
+ 294 .dwattr $C$DW$18, DW_AT_bit_offset(0x11), DW_AT_bit_size(0x01)
+ 295 .dwattr $C$DW$18, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 296 .dwattr $C$DW$18, DW_AT_accessibility(DW_ACCESS_public)
+ 297 .dwattr $C$DW$18, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 298 .dwattr $C$DW$18, DW_AT_decl_line(0x4a)
+ 299 .dwattr $C$DW$18, DW_AT_decl_column(0x0d)
+ 300$C$DW$19 .dwtag DW_TAG_member
+ 301 .dwattr $C$DW$19, DW_AT_type(*$C$DW$T$11)
+ 302 .dwattr $C$DW$19, DW_AT_name("PRU0_GPO_DIV0")
+ 303 .dwattr $C$DW$19, DW_AT_TI_symbol_name("PRU0_GPO_DIV0")
+ 304 .dwattr $C$DW$19, DW_AT_bit_offset(0x0c), DW_AT_bit_size(0x05)
+ 305 .dwattr $C$DW$19, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 306 .dwattr $C$DW$19, DW_AT_accessibility(DW_ACCESS_public)
+ 307 .dwattr $C$DW$19, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 308 .dwattr $C$DW$19, DW_AT_decl_line(0x4b)
+ 309 .dwattr $C$DW$19, DW_AT_decl_column(0x0d)
+ 310$C$DW$20 .dwtag DW_TAG_member
+ 311 .dwattr $C$DW$20, DW_AT_type(*$C$DW$T$11)
+ 312 .dwattr $C$DW$20, DW_AT_name("PRU0_GPO_DIV1")
+ 313 .dwattr $C$DW$20, DW_AT_TI_symbol_name("PRU0_GPO_DIV1")
+ 314 .dwattr $C$DW$20, DW_AT_bit_offset(0x07), DW_AT_bit_size(0x05)
+ 315 .dwattr $C$DW$20, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 316 .dwattr $C$DW$20, DW_AT_accessibility(DW_ACCESS_public)
+ 317 .dwattr $C$DW$20, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 318 .dwattr $C$DW$20, DW_AT_decl_line(0x4c)
+ 319 .dwattr $C$DW$20, DW_AT_decl_column(0x0d)
+ 320$C$DW$21 .dwtag DW_TAG_member
+ 321 .dwattr $C$DW$21, DW_AT_type(*$C$DW$T$11)
+ 322 .dwattr $C$DW$21, DW_AT_name("PRU0_GPO_SH_SEL")
+ 323 .dwattr $C$DW$21, DW_AT_TI_symbol_name("PRU0_GPO_SH_SEL")
+ 324 .dwattr $C$DW$21, DW_AT_bit_offset(0x06), DW_AT_bit_size(0x01)
+ 325 .dwattr $C$DW$21, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 326 .dwattr $C$DW$21, DW_AT_accessibility(DW_ACCESS_public)
+ 327 .dwattr $C$DW$21, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 328 .dwattr $C$DW$21, DW_AT_decl_line(0x4d)
+ 329 .dwattr $C$DW$21, DW_AT_decl_column(0x0d)
+ 330$C$DW$22 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 7
+
+ 331 .dwattr $C$DW$22, DW_AT_type(*$C$DW$T$11)
+ 332 .dwattr $C$DW$22, DW_AT_name("rsvd26")
+ 333 .dwattr $C$DW$22, DW_AT_TI_symbol_name("rsvd26")
+ 334 .dwattr $C$DW$22, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x06)
+ 335 .dwattr $C$DW$22, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 336 .dwattr $C$DW$22, DW_AT_accessibility(DW_ACCESS_public)
+ 337 .dwattr $C$DW$22, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 338 .dwattr $C$DW$22, DW_AT_decl_line(0x4e)
+ 339 .dwattr $C$DW$22, DW_AT_decl_column(0x0d)
+ 340 .dwendtag $C$DW$T$21
+ 341
+ 342 .dwattr $C$DW$T$21, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 343 .dwattr $C$DW$T$21, DW_AT_decl_line(0x44)
+ 344 .dwattr $C$DW$T$21, DW_AT_decl_column(0x13)
+ 345$C$DW$T$52 .dwtag DW_TAG_volatile_type
+ 346 .dwattr $C$DW$T$52, DW_AT_type(*$C$DW$T$21)
+ 347
+ 348$C$DW$T$22 .dwtag DW_TAG_structure_type
+ 349 .dwattr $C$DW$T$22, DW_AT_byte_size(0x04)
+ 350$C$DW$23 .dwtag DW_TAG_member
+ 351 .dwattr $C$DW$23, DW_AT_type(*$C$DW$T$11)
+ 352 .dwattr $C$DW$23, DW_AT_name("PRU1_GPI_MODE")
+ 353 .dwattr $C$DW$23, DW_AT_TI_symbol_name("PRU1_GPI_MODE")
+ 354 .dwattr $C$DW$23, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x02)
+ 355 .dwattr $C$DW$23, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 356 .dwattr $C$DW$23, DW_AT_accessibility(DW_ACCESS_public)
+ 357 .dwattr $C$DW$23, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 358 .dwattr $C$DW$23, DW_AT_decl_line(0x58)
+ 359 .dwattr $C$DW$23, DW_AT_decl_column(0x0d)
+ 360$C$DW$24 .dwtag DW_TAG_member
+ 361 .dwattr $C$DW$24, DW_AT_type(*$C$DW$T$11)
+ 362 .dwattr $C$DW$24, DW_AT_name("PRU1_GPI_CLK_MODE")
+ 363 .dwattr $C$DW$24, DW_AT_TI_symbol_name("PRU1_GPI_CLK_MODE")
+ 364 .dwattr $C$DW$24, DW_AT_bit_offset(0x1d), DW_AT_bit_size(0x01)
+ 365 .dwattr $C$DW$24, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 366 .dwattr $C$DW$24, DW_AT_accessibility(DW_ACCESS_public)
+ 367 .dwattr $C$DW$24, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 368 .dwattr $C$DW$24, DW_AT_decl_line(0x59)
+ 369 .dwattr $C$DW$24, DW_AT_decl_column(0x0d)
+ 370$C$DW$25 .dwtag DW_TAG_member
+ 371 .dwattr $C$DW$25, DW_AT_type(*$C$DW$T$11)
+ 372 .dwattr $C$DW$25, DW_AT_name("PRU1_GPI_DIV0")
+ 373 .dwattr $C$DW$25, DW_AT_TI_symbol_name("PRU1_GPI_DIV0")
+ 374 .dwattr $C$DW$25, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x05)
+ 375 .dwattr $C$DW$25, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 376 .dwattr $C$DW$25, DW_AT_accessibility(DW_ACCESS_public)
+ 377 .dwattr $C$DW$25, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 378 .dwattr $C$DW$25, DW_AT_decl_line(0x5a)
+ 379 .dwattr $C$DW$25, DW_AT_decl_column(0x0d)
+ 380$C$DW$26 .dwtag DW_TAG_member
+ 381 .dwattr $C$DW$26, DW_AT_type(*$C$DW$T$11)
+ 382 .dwattr $C$DW$26, DW_AT_name("PRU1_GPI_DIV1")
+ 383 .dwattr $C$DW$26, DW_AT_TI_symbol_name("PRU1_GPI_DIV1")
+ 384 .dwattr $C$DW$26, DW_AT_bit_offset(0x13), DW_AT_bit_size(0x05)
+ 385 .dwattr $C$DW$26, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 8
+
+ 386 .dwattr $C$DW$26, DW_AT_accessibility(DW_ACCESS_public)
+ 387 .dwattr $C$DW$26, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 388 .dwattr $C$DW$26, DW_AT_decl_line(0x5b)
+ 389 .dwattr $C$DW$26, DW_AT_decl_column(0x0d)
+ 390$C$DW$27 .dwtag DW_TAG_member
+ 391 .dwattr $C$DW$27, DW_AT_type(*$C$DW$T$11)
+ 392 .dwattr $C$DW$27, DW_AT_name("PRU1_GPI_SB")
+ 393 .dwattr $C$DW$27, DW_AT_TI_symbol_name("PRU1_GPI_SB")
+ 394 .dwattr $C$DW$27, DW_AT_bit_offset(0x12), DW_AT_bit_size(0x01)
+ 395 .dwattr $C$DW$27, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 396 .dwattr $C$DW$27, DW_AT_accessibility(DW_ACCESS_public)
+ 397 .dwattr $C$DW$27, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 398 .dwattr $C$DW$27, DW_AT_decl_line(0x5c)
+ 399 .dwattr $C$DW$27, DW_AT_decl_column(0x0d)
+ 400$C$DW$28 .dwtag DW_TAG_member
+ 401 .dwattr $C$DW$28, DW_AT_type(*$C$DW$T$11)
+ 402 .dwattr $C$DW$28, DW_AT_name("PRU1_GPO_MODE")
+ 403 .dwattr $C$DW$28, DW_AT_TI_symbol_name("PRU1_GPO_MODE")
+ 404 .dwattr $C$DW$28, DW_AT_bit_offset(0x11), DW_AT_bit_size(0x01)
+ 405 .dwattr $C$DW$28, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 406 .dwattr $C$DW$28, DW_AT_accessibility(DW_ACCESS_public)
+ 407 .dwattr $C$DW$28, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 408 .dwattr $C$DW$28, DW_AT_decl_line(0x5d)
+ 409 .dwattr $C$DW$28, DW_AT_decl_column(0x0d)
+ 410$C$DW$29 .dwtag DW_TAG_member
+ 411 .dwattr $C$DW$29, DW_AT_type(*$C$DW$T$11)
+ 412 .dwattr $C$DW$29, DW_AT_name("PRU1_GPO_DIV0")
+ 413 .dwattr $C$DW$29, DW_AT_TI_symbol_name("PRU1_GPO_DIV0")
+ 414 .dwattr $C$DW$29, DW_AT_bit_offset(0x0c), DW_AT_bit_size(0x05)
+ 415 .dwattr $C$DW$29, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 416 .dwattr $C$DW$29, DW_AT_accessibility(DW_ACCESS_public)
+ 417 .dwattr $C$DW$29, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 418 .dwattr $C$DW$29, DW_AT_decl_line(0x5e)
+ 419 .dwattr $C$DW$29, DW_AT_decl_column(0x0d)
+ 420$C$DW$30 .dwtag DW_TAG_member
+ 421 .dwattr $C$DW$30, DW_AT_type(*$C$DW$T$11)
+ 422 .dwattr $C$DW$30, DW_AT_name("PRU1_GPO_DIV1")
+ 423 .dwattr $C$DW$30, DW_AT_TI_symbol_name("PRU1_GPO_DIV1")
+ 424 .dwattr $C$DW$30, DW_AT_bit_offset(0x07), DW_AT_bit_size(0x05)
+ 425 .dwattr $C$DW$30, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 426 .dwattr $C$DW$30, DW_AT_accessibility(DW_ACCESS_public)
+ 427 .dwattr $C$DW$30, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 428 .dwattr $C$DW$30, DW_AT_decl_line(0x5f)
+ 429 .dwattr $C$DW$30, DW_AT_decl_column(0x0d)
+ 430$C$DW$31 .dwtag DW_TAG_member
+ 431 .dwattr $C$DW$31, DW_AT_type(*$C$DW$T$11)
+ 432 .dwattr $C$DW$31, DW_AT_name("PRU1_GPO_SH_SEL")
+ 433 .dwattr $C$DW$31, DW_AT_TI_symbol_name("PRU1_GPO_SH_SEL")
+ 434 .dwattr $C$DW$31, DW_AT_bit_offset(0x06), DW_AT_bit_size(0x01)
+ 435 .dwattr $C$DW$31, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 436 .dwattr $C$DW$31, DW_AT_accessibility(DW_ACCESS_public)
+ 437 .dwattr $C$DW$31, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 438 .dwattr $C$DW$31, DW_AT_decl_line(0x60)
+ 439 .dwattr $C$DW$31, DW_AT_decl_column(0x0d)
+ 440$C$DW$32 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 9
+
+ 441 .dwattr $C$DW$32, DW_AT_type(*$C$DW$T$11)
+ 442 .dwattr $C$DW$32, DW_AT_name("rsvd26")
+ 443 .dwattr $C$DW$32, DW_AT_TI_symbol_name("rsvd26")
+ 444 .dwattr $C$DW$32, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x06)
+ 445 .dwattr $C$DW$32, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 446 .dwattr $C$DW$32, DW_AT_accessibility(DW_ACCESS_public)
+ 447 .dwattr $C$DW$32, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 448 .dwattr $C$DW$32, DW_AT_decl_line(0x61)
+ 449 .dwattr $C$DW$32, DW_AT_decl_column(0x0d)
+ 450 .dwendtag $C$DW$T$22
+ 451
+ 452 .dwattr $C$DW$T$22, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 453 .dwattr $C$DW$T$22, DW_AT_decl_line(0x57)
+ 454 .dwattr $C$DW$T$22, DW_AT_decl_column(0x13)
+ 455$C$DW$T$54 .dwtag DW_TAG_volatile_type
+ 456 .dwattr $C$DW$T$54, DW_AT_type(*$C$DW$T$22)
+ 457
+ 458$C$DW$T$23 .dwtag DW_TAG_structure_type
+ 459 .dwattr $C$DW$T$23, DW_AT_byte_size(0x04)
+ 460$C$DW$33 .dwtag DW_TAG_member
+ 461 .dwattr $C$DW$33, DW_AT_type(*$C$DW$T$11)
+ 462 .dwattr $C$DW$33, DW_AT_name("PRU0_CLK_STOP_REQ")
+ 463 .dwattr $C$DW$33, DW_AT_TI_symbol_name("PRU0_CLK_STOP_REQ")
+ 464 .dwattr $C$DW$33, DW_AT_bit_offset(0x1f), DW_AT_bit_size(0x01)
+ 465 .dwattr $C$DW$33, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 466 .dwattr $C$DW$33, DW_AT_accessibility(DW_ACCESS_public)
+ 467 .dwattr $C$DW$33, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 468 .dwattr $C$DW$33, DW_AT_decl_line(0x6b)
+ 469 .dwattr $C$DW$33, DW_AT_decl_column(0x0d)
+ 470$C$DW$34 .dwtag DW_TAG_member
+ 471 .dwattr $C$DW$34, DW_AT_type(*$C$DW$T$11)
+ 472 .dwattr $C$DW$34, DW_AT_name("PRU0_CLK_STOP_ACK")
+ 473 .dwattr $C$DW$34, DW_AT_TI_symbol_name("PRU0_CLK_STOP_ACK")
+ 474 .dwattr $C$DW$34, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x01)
+ 475 .dwattr $C$DW$34, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 476 .dwattr $C$DW$34, DW_AT_accessibility(DW_ACCESS_public)
+ 477 .dwattr $C$DW$34, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 478 .dwattr $C$DW$34, DW_AT_decl_line(0x6c)
+ 479 .dwattr $C$DW$34, DW_AT_decl_column(0x0d)
+ 480$C$DW$35 .dwtag DW_TAG_member
+ 481 .dwattr $C$DW$35, DW_AT_type(*$C$DW$T$11)
+ 482 .dwattr $C$DW$35, DW_AT_name("PRU0_CLK_EN")
+ 483 .dwattr $C$DW$35, DW_AT_TI_symbol_name("PRU0_CLK_EN")
+ 484 .dwattr $C$DW$35, DW_AT_bit_offset(0x1d), DW_AT_bit_size(0x01)
+ 485 .dwattr $C$DW$35, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 486 .dwattr $C$DW$35, DW_AT_accessibility(DW_ACCESS_public)
+ 487 .dwattr $C$DW$35, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 488 .dwattr $C$DW$35, DW_AT_decl_line(0x6d)
+ 489 .dwattr $C$DW$35, DW_AT_decl_column(0x0d)
+ 490$C$DW$36 .dwtag DW_TAG_member
+ 491 .dwattr $C$DW$36, DW_AT_type(*$C$DW$T$11)
+ 492 .dwattr $C$DW$36, DW_AT_name("PRU1_CLK_STOP_REQ")
+ 493 .dwattr $C$DW$36, DW_AT_TI_symbol_name("PRU1_CLK_STOP_REQ")
+ 494 .dwattr $C$DW$36, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x01)
+ 495 .dwattr $C$DW$36, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 10
+
+ 496 .dwattr $C$DW$36, DW_AT_accessibility(DW_ACCESS_public)
+ 497 .dwattr $C$DW$36, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 498 .dwattr $C$DW$36, DW_AT_decl_line(0x6e)
+ 499 .dwattr $C$DW$36, DW_AT_decl_column(0x0d)
+ 500$C$DW$37 .dwtag DW_TAG_member
+ 501 .dwattr $C$DW$37, DW_AT_type(*$C$DW$T$11)
+ 502 .dwattr $C$DW$37, DW_AT_name("PRU1_CLK_STOP_ACK")
+ 503 .dwattr $C$DW$37, DW_AT_TI_symbol_name("PRU1_CLK_STOP_ACK")
+ 504 .dwattr $C$DW$37, DW_AT_bit_offset(0x1b), DW_AT_bit_size(0x01)
+ 505 .dwattr $C$DW$37, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 506 .dwattr $C$DW$37, DW_AT_accessibility(DW_ACCESS_public)
+ 507 .dwattr $C$DW$37, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 508 .dwattr $C$DW$37, DW_AT_decl_line(0x6f)
+ 509 .dwattr $C$DW$37, DW_AT_decl_column(0x0d)
+ 510$C$DW$38 .dwtag DW_TAG_member
+ 511 .dwattr $C$DW$38, DW_AT_type(*$C$DW$T$11)
+ 512 .dwattr $C$DW$38, DW_AT_name("PRU1_CLK_EN")
+ 513 .dwattr $C$DW$38, DW_AT_TI_symbol_name("PRU1_CLK_EN")
+ 514 .dwattr $C$DW$38, DW_AT_bit_offset(0x1a), DW_AT_bit_size(0x01)
+ 515 .dwattr $C$DW$38, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 516 .dwattr $C$DW$38, DW_AT_accessibility(DW_ACCESS_public)
+ 517 .dwattr $C$DW$38, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 518 .dwattr $C$DW$38, DW_AT_decl_line(0x70)
+ 519 .dwattr $C$DW$38, DW_AT_decl_column(0x0d)
+ 520$C$DW$39 .dwtag DW_TAG_member
+ 521 .dwattr $C$DW$39, DW_AT_type(*$C$DW$T$11)
+ 522 .dwattr $C$DW$39, DW_AT_name("INTC_CLK_STOP_REQ")
+ 523 .dwattr $C$DW$39, DW_AT_TI_symbol_name("INTC_CLK_STOP_REQ")
+ 524 .dwattr $C$DW$39, DW_AT_bit_offset(0x19), DW_AT_bit_size(0x01)
+ 525 .dwattr $C$DW$39, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 526 .dwattr $C$DW$39, DW_AT_accessibility(DW_ACCESS_public)
+ 527 .dwattr $C$DW$39, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 528 .dwattr $C$DW$39, DW_AT_decl_line(0x71)
+ 529 .dwattr $C$DW$39, DW_AT_decl_column(0x0d)
+ 530$C$DW$40 .dwtag DW_TAG_member
+ 531 .dwattr $C$DW$40, DW_AT_type(*$C$DW$T$11)
+ 532 .dwattr $C$DW$40, DW_AT_name("INTC_CLK_STOP_ACK")
+ 533 .dwattr $C$DW$40, DW_AT_TI_symbol_name("INTC_CLK_STOP_ACK")
+ 534 .dwattr $C$DW$40, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x01)
+ 535 .dwattr $C$DW$40, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 536 .dwattr $C$DW$40, DW_AT_accessibility(DW_ACCESS_public)
+ 537 .dwattr $C$DW$40, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 538 .dwattr $C$DW$40, DW_AT_decl_line(0x72)
+ 539 .dwattr $C$DW$40, DW_AT_decl_column(0x0d)
+ 540$C$DW$41 .dwtag DW_TAG_member
+ 541 .dwattr $C$DW$41, DW_AT_type(*$C$DW$T$11)
+ 542 .dwattr $C$DW$41, DW_AT_name("INTC_CLK_EN")
+ 543 .dwattr $C$DW$41, DW_AT_TI_symbol_name("INTC_CLK_EN")
+ 544 .dwattr $C$DW$41, DW_AT_bit_offset(0x17), DW_AT_bit_size(0x01)
+ 545 .dwattr $C$DW$41, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 546 .dwattr $C$DW$41, DW_AT_accessibility(DW_ACCESS_public)
+ 547 .dwattr $C$DW$41, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 548 .dwattr $C$DW$41, DW_AT_decl_line(0x73)
+ 549 .dwattr $C$DW$41, DW_AT_decl_column(0x0d)
+ 550$C$DW$42 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 11
+
+ 551 .dwattr $C$DW$42, DW_AT_type(*$C$DW$T$11)
+ 552 .dwattr $C$DW$42, DW_AT_name("UART_CLK_STOP_REQ")
+ 553 .dwattr $C$DW$42, DW_AT_TI_symbol_name("UART_CLK_STOP_REQ")
+ 554 .dwattr $C$DW$42, DW_AT_bit_offset(0x16), DW_AT_bit_size(0x01)
+ 555 .dwattr $C$DW$42, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 556 .dwattr $C$DW$42, DW_AT_accessibility(DW_ACCESS_public)
+ 557 .dwattr $C$DW$42, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 558 .dwattr $C$DW$42, DW_AT_decl_line(0x74)
+ 559 .dwattr $C$DW$42, DW_AT_decl_column(0x0d)
+ 560$C$DW$43 .dwtag DW_TAG_member
+ 561 .dwattr $C$DW$43, DW_AT_type(*$C$DW$T$11)
+ 562 .dwattr $C$DW$43, DW_AT_name("UART_CLK_STOP_ACK")
+ 563 .dwattr $C$DW$43, DW_AT_TI_symbol_name("UART_CLK_STOP_ACK")
+ 564 .dwattr $C$DW$43, DW_AT_bit_offset(0x15), DW_AT_bit_size(0x01)
+ 565 .dwattr $C$DW$43, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 566 .dwattr $C$DW$43, DW_AT_accessibility(DW_ACCESS_public)
+ 567 .dwattr $C$DW$43, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 568 .dwattr $C$DW$43, DW_AT_decl_line(0x75)
+ 569 .dwattr $C$DW$43, DW_AT_decl_column(0x0d)
+ 570$C$DW$44 .dwtag DW_TAG_member
+ 571 .dwattr $C$DW$44, DW_AT_type(*$C$DW$T$11)
+ 572 .dwattr $C$DW$44, DW_AT_name("UART_CLK_EN")
+ 573 .dwattr $C$DW$44, DW_AT_TI_symbol_name("UART_CLK_EN")
+ 574 .dwattr $C$DW$44, DW_AT_bit_offset(0x14), DW_AT_bit_size(0x01)
+ 575 .dwattr $C$DW$44, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 576 .dwattr $C$DW$44, DW_AT_accessibility(DW_ACCESS_public)
+ 577 .dwattr $C$DW$44, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 578 .dwattr $C$DW$44, DW_AT_decl_line(0x76)
+ 579 .dwattr $C$DW$44, DW_AT_decl_column(0x0d)
+ 580$C$DW$45 .dwtag DW_TAG_member
+ 581 .dwattr $C$DW$45, DW_AT_type(*$C$DW$T$11)
+ 582 .dwattr $C$DW$45, DW_AT_name("ECAP_CLK_STOP_REQ")
+ 583 .dwattr $C$DW$45, DW_AT_TI_symbol_name("ECAP_CLK_STOP_REQ")
+ 584 .dwattr $C$DW$45, DW_AT_bit_offset(0x13), DW_AT_bit_size(0x01)
+ 585 .dwattr $C$DW$45, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 586 .dwattr $C$DW$45, DW_AT_accessibility(DW_ACCESS_public)
+ 587 .dwattr $C$DW$45, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 588 .dwattr $C$DW$45, DW_AT_decl_line(0x77)
+ 589 .dwattr $C$DW$45, DW_AT_decl_column(0x0d)
+ 590$C$DW$46 .dwtag DW_TAG_member
+ 591 .dwattr $C$DW$46, DW_AT_type(*$C$DW$T$11)
+ 592 .dwattr $C$DW$46, DW_AT_name("ECAP_CLK_STOP_ACK")
+ 593 .dwattr $C$DW$46, DW_AT_TI_symbol_name("ECAP_CLK_STOP_ACK")
+ 594 .dwattr $C$DW$46, DW_AT_bit_offset(0x12), DW_AT_bit_size(0x01)
+ 595 .dwattr $C$DW$46, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 596 .dwattr $C$DW$46, DW_AT_accessibility(DW_ACCESS_public)
+ 597 .dwattr $C$DW$46, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 598 .dwattr $C$DW$46, DW_AT_decl_line(0x78)
+ 599 .dwattr $C$DW$46, DW_AT_decl_column(0x0d)
+ 600$C$DW$47 .dwtag DW_TAG_member
+ 601 .dwattr $C$DW$47, DW_AT_type(*$C$DW$T$11)
+ 602 .dwattr $C$DW$47, DW_AT_name("ECAP_CLK_EN")
+ 603 .dwattr $C$DW$47, DW_AT_TI_symbol_name("ECAP_CLK_EN")
+ 604 .dwattr $C$DW$47, DW_AT_bit_offset(0x11), DW_AT_bit_size(0x01)
+ 605 .dwattr $C$DW$47, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 12
+
+ 606 .dwattr $C$DW$47, DW_AT_accessibility(DW_ACCESS_public)
+ 607 .dwattr $C$DW$47, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 608 .dwattr $C$DW$47, DW_AT_decl_line(0x79)
+ 609 .dwattr $C$DW$47, DW_AT_decl_column(0x0d)
+ 610$C$DW$48 .dwtag DW_TAG_member
+ 611 .dwattr $C$DW$48, DW_AT_type(*$C$DW$T$11)
+ 612 .dwattr $C$DW$48, DW_AT_name("IEP_CLK_STOP_REQ")
+ 613 .dwattr $C$DW$48, DW_AT_TI_symbol_name("IEP_CLK_STOP_REQ")
+ 614 .dwattr $C$DW$48, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x01)
+ 615 .dwattr $C$DW$48, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 616 .dwattr $C$DW$48, DW_AT_accessibility(DW_ACCESS_public)
+ 617 .dwattr $C$DW$48, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 618 .dwattr $C$DW$48, DW_AT_decl_line(0x7a)
+ 619 .dwattr $C$DW$48, DW_AT_decl_column(0x0d)
+ 620$C$DW$49 .dwtag DW_TAG_member
+ 621 .dwattr $C$DW$49, DW_AT_type(*$C$DW$T$11)
+ 622 .dwattr $C$DW$49, DW_AT_name("IEP_CLK_STOP_ACK")
+ 623 .dwattr $C$DW$49, DW_AT_TI_symbol_name("IEP_CLK_STOP_ACK")
+ 624 .dwattr $C$DW$49, DW_AT_bit_offset(0x0f), DW_AT_bit_size(0x01)
+ 625 .dwattr $C$DW$49, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 626 .dwattr $C$DW$49, DW_AT_accessibility(DW_ACCESS_public)
+ 627 .dwattr $C$DW$49, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 628 .dwattr $C$DW$49, DW_AT_decl_line(0x7b)
+ 629 .dwattr $C$DW$49, DW_AT_decl_column(0x0d)
+ 630$C$DW$50 .dwtag DW_TAG_member
+ 631 .dwattr $C$DW$50, DW_AT_type(*$C$DW$T$11)
+ 632 .dwattr $C$DW$50, DW_AT_name("IEP_CLK_EN")
+ 633 .dwattr $C$DW$50, DW_AT_TI_symbol_name("IEP_CLK_EN")
+ 634 .dwattr $C$DW$50, DW_AT_bit_offset(0x0e), DW_AT_bit_size(0x01)
+ 635 .dwattr $C$DW$50, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 636 .dwattr $C$DW$50, DW_AT_accessibility(DW_ACCESS_public)
+ 637 .dwattr $C$DW$50, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 638 .dwattr $C$DW$50, DW_AT_decl_line(0x7c)
+ 639 .dwattr $C$DW$50, DW_AT_decl_column(0x0d)
+ 640$C$DW$51 .dwtag DW_TAG_member
+ 641 .dwattr $C$DW$51, DW_AT_type(*$C$DW$T$11)
+ 642 .dwattr $C$DW$51, DW_AT_name("rsvd18")
+ 643 .dwattr $C$DW$51, DW_AT_TI_symbol_name("rsvd18")
+ 644 .dwattr $C$DW$51, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x0e)
+ 645 .dwattr $C$DW$51, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 646 .dwattr $C$DW$51, DW_AT_accessibility(DW_ACCESS_public)
+ 647 .dwattr $C$DW$51, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 648 .dwattr $C$DW$51, DW_AT_decl_line(0x7d)
+ 649 .dwattr $C$DW$51, DW_AT_decl_column(0x0d)
+ 650 .dwendtag $C$DW$T$23
+ 651
+ 652 .dwattr $C$DW$T$23, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 653 .dwattr $C$DW$T$23, DW_AT_decl_line(0x6a)
+ 654 .dwattr $C$DW$T$23, DW_AT_decl_column(0x13)
+ 655$C$DW$T$56 .dwtag DW_TAG_volatile_type
+ 656 .dwattr $C$DW$T$56, DW_AT_type(*$C$DW$T$23)
+ 657
+ 658$C$DW$T$24 .dwtag DW_TAG_structure_type
+ 659 .dwattr $C$DW$T$24, DW_AT_byte_size(0x04)
+ 660$C$DW$52 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 13
+
+ 661 .dwattr $C$DW$52, DW_AT_type(*$C$DW$T$11)
+ 662 .dwattr $C$DW$52, DW_AT_name("PRU0_IMEM_PE_RAW")
+ 663 .dwattr $C$DW$52, DW_AT_TI_symbol_name("PRU0_IMEM_PE_RAW")
+ 664 .dwattr $C$DW$52, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x04)
+ 665 .dwattr $C$DW$52, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 666 .dwattr $C$DW$52, DW_AT_accessibility(DW_ACCESS_public)
+ 667 .dwattr $C$DW$52, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 668 .dwattr $C$DW$52, DW_AT_decl_line(0x87)
+ 669 .dwattr $C$DW$52, DW_AT_decl_column(0x0d)
+ 670$C$DW$53 .dwtag DW_TAG_member
+ 671 .dwattr $C$DW$53, DW_AT_type(*$C$DW$T$11)
+ 672 .dwattr $C$DW$53, DW_AT_name("PRU0_DMEM_PE_RAW")
+ 673 .dwattr $C$DW$53, DW_AT_TI_symbol_name("PRU0_DMEM_PE_RAW")
+ 674 .dwattr $C$DW$53, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x04)
+ 675 .dwattr $C$DW$53, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 676 .dwattr $C$DW$53, DW_AT_accessibility(DW_ACCESS_public)
+ 677 .dwattr $C$DW$53, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 678 .dwattr $C$DW$53, DW_AT_decl_line(0x88)
+ 679 .dwattr $C$DW$53, DW_AT_decl_column(0x0d)
+ 680$C$DW$54 .dwtag DW_TAG_member
+ 681 .dwattr $C$DW$54, DW_AT_type(*$C$DW$T$11)
+ 682 .dwattr $C$DW$54, DW_AT_name("PRU1_IMEM_PE_RAW")
+ 683 .dwattr $C$DW$54, DW_AT_TI_symbol_name("PRU1_IMEM_PE_RAW")
+ 684 .dwattr $C$DW$54, DW_AT_bit_offset(0x14), DW_AT_bit_size(0x04)
+ 685 .dwattr $C$DW$54, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 686 .dwattr $C$DW$54, DW_AT_accessibility(DW_ACCESS_public)
+ 687 .dwattr $C$DW$54, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 688 .dwattr $C$DW$54, DW_AT_decl_line(0x89)
+ 689 .dwattr $C$DW$54, DW_AT_decl_column(0x0d)
+ 690$C$DW$55 .dwtag DW_TAG_member
+ 691 .dwattr $C$DW$55, DW_AT_type(*$C$DW$T$11)
+ 692 .dwattr $C$DW$55, DW_AT_name("PRU1_DMEM_PE_RAW")
+ 693 .dwattr $C$DW$55, DW_AT_TI_symbol_name("PRU1_DMEM_PE_RAW")
+ 694 .dwattr $C$DW$55, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x04)
+ 695 .dwattr $C$DW$55, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 696 .dwattr $C$DW$55, DW_AT_accessibility(DW_ACCESS_public)
+ 697 .dwattr $C$DW$55, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 698 .dwattr $C$DW$55, DW_AT_decl_line(0x8a)
+ 699 .dwattr $C$DW$55, DW_AT_decl_column(0x0d)
+ 700$C$DW$56 .dwtag DW_TAG_member
+ 701 .dwattr $C$DW$56, DW_AT_type(*$C$DW$T$11)
+ 702 .dwattr $C$DW$56, DW_AT_name("RAM_PE_RAW")
+ 703 .dwattr $C$DW$56, DW_AT_TI_symbol_name("RAM_PE_RAW")
+ 704 .dwattr $C$DW$56, DW_AT_bit_offset(0x0c), DW_AT_bit_size(0x04)
+ 705 .dwattr $C$DW$56, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 706 .dwattr $C$DW$56, DW_AT_accessibility(DW_ACCESS_public)
+ 707 .dwattr $C$DW$56, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 708 .dwattr $C$DW$56, DW_AT_decl_line(0x8b)
+ 709 .dwattr $C$DW$56, DW_AT_decl_column(0x0d)
+ 710$C$DW$57 .dwtag DW_TAG_member
+ 711 .dwattr $C$DW$57, DW_AT_type(*$C$DW$T$11)
+ 712 .dwattr $C$DW$57, DW_AT_name("rsvd20")
+ 713 .dwattr $C$DW$57, DW_AT_TI_symbol_name("rsvd20")
+ 714 .dwattr $C$DW$57, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x0c)
+ 715 .dwattr $C$DW$57, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 14
+
+ 716 .dwattr $C$DW$57, DW_AT_accessibility(DW_ACCESS_public)
+ 717 .dwattr $C$DW$57, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 718 .dwattr $C$DW$57, DW_AT_decl_line(0x8c)
+ 719 .dwattr $C$DW$57, DW_AT_decl_column(0x0d)
+ 720 .dwendtag $C$DW$T$24
+ 721
+ 722 .dwattr $C$DW$T$24, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 723 .dwattr $C$DW$T$24, DW_AT_decl_line(0x86)
+ 724 .dwattr $C$DW$T$24, DW_AT_decl_column(0x14)
+ 725$C$DW$T$58 .dwtag DW_TAG_volatile_type
+ 726 .dwattr $C$DW$T$58, DW_AT_type(*$C$DW$T$24)
+ 727
+ 728$C$DW$T$25 .dwtag DW_TAG_structure_type
+ 729 .dwattr $C$DW$T$25, DW_AT_byte_size(0x04)
+ 730$C$DW$58 .dwtag DW_TAG_member
+ 731 .dwattr $C$DW$58, DW_AT_type(*$C$DW$T$11)
+ 732 .dwattr $C$DW$58, DW_AT_name("PRU0_IMEM_PE")
+ 733 .dwattr $C$DW$58, DW_AT_TI_symbol_name("PRU0_IMEM_PE")
+ 734 .dwattr $C$DW$58, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x04)
+ 735 .dwattr $C$DW$58, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 736 .dwattr $C$DW$58, DW_AT_accessibility(DW_ACCESS_public)
+ 737 .dwattr $C$DW$58, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 738 .dwattr $C$DW$58, DW_AT_decl_line(0x96)
+ 739 .dwattr $C$DW$58, DW_AT_decl_column(0x0d)
+ 740$C$DW$59 .dwtag DW_TAG_member
+ 741 .dwattr $C$DW$59, DW_AT_type(*$C$DW$T$11)
+ 742 .dwattr $C$DW$59, DW_AT_name("PRU0_DMEM_PE")
+ 743 .dwattr $C$DW$59, DW_AT_TI_symbol_name("PRU0_DMEM_PE")
+ 744 .dwattr $C$DW$59, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x04)
+ 745 .dwattr $C$DW$59, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 746 .dwattr $C$DW$59, DW_AT_accessibility(DW_ACCESS_public)
+ 747 .dwattr $C$DW$59, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 748 .dwattr $C$DW$59, DW_AT_decl_line(0x97)
+ 749 .dwattr $C$DW$59, DW_AT_decl_column(0x0d)
+ 750$C$DW$60 .dwtag DW_TAG_member
+ 751 .dwattr $C$DW$60, DW_AT_type(*$C$DW$T$11)
+ 752 .dwattr $C$DW$60, DW_AT_name("PRU1_IMEM_PE")
+ 753 .dwattr $C$DW$60, DW_AT_TI_symbol_name("PRU1_IMEM_PE")
+ 754 .dwattr $C$DW$60, DW_AT_bit_offset(0x14), DW_AT_bit_size(0x04)
+ 755 .dwattr $C$DW$60, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 756 .dwattr $C$DW$60, DW_AT_accessibility(DW_ACCESS_public)
+ 757 .dwattr $C$DW$60, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 758 .dwattr $C$DW$60, DW_AT_decl_line(0x98)
+ 759 .dwattr $C$DW$60, DW_AT_decl_column(0x0d)
+ 760$C$DW$61 .dwtag DW_TAG_member
+ 761 .dwattr $C$DW$61, DW_AT_type(*$C$DW$T$11)
+ 762 .dwattr $C$DW$61, DW_AT_name("PRU1_DMEM_PE")
+ 763 .dwattr $C$DW$61, DW_AT_TI_symbol_name("PRU1_DMEM_PE")
+ 764 .dwattr $C$DW$61, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x04)
+ 765 .dwattr $C$DW$61, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 766 .dwattr $C$DW$61, DW_AT_accessibility(DW_ACCESS_public)
+ 767 .dwattr $C$DW$61, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 768 .dwattr $C$DW$61, DW_AT_decl_line(0x99)
+ 769 .dwattr $C$DW$61, DW_AT_decl_column(0x0d)
+ 770$C$DW$62 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 15
+
+ 771 .dwattr $C$DW$62, DW_AT_type(*$C$DW$T$11)
+ 772 .dwattr $C$DW$62, DW_AT_name("RAM_PE")
+ 773 .dwattr $C$DW$62, DW_AT_TI_symbol_name("RAM_PE")
+ 774 .dwattr $C$DW$62, DW_AT_bit_offset(0x0c), DW_AT_bit_size(0x04)
+ 775 .dwattr $C$DW$62, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 776 .dwattr $C$DW$62, DW_AT_accessibility(DW_ACCESS_public)
+ 777 .dwattr $C$DW$62, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 778 .dwattr $C$DW$62, DW_AT_decl_line(0x9a)
+ 779 .dwattr $C$DW$62, DW_AT_decl_column(0x0d)
+ 780$C$DW$63 .dwtag DW_TAG_member
+ 781 .dwattr $C$DW$63, DW_AT_type(*$C$DW$T$11)
+ 782 .dwattr $C$DW$63, DW_AT_name("rsvd20")
+ 783 .dwattr $C$DW$63, DW_AT_TI_symbol_name("rsvd20")
+ 784 .dwattr $C$DW$63, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x0c)
+ 785 .dwattr $C$DW$63, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 786 .dwattr $C$DW$63, DW_AT_accessibility(DW_ACCESS_public)
+ 787 .dwattr $C$DW$63, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 788 .dwattr $C$DW$63, DW_AT_decl_line(0x9b)
+ 789 .dwattr $C$DW$63, DW_AT_decl_column(0x0d)
+ 790 .dwendtag $C$DW$T$25
+ 791
+ 792 .dwattr $C$DW$T$25, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 793 .dwattr $C$DW$T$25, DW_AT_decl_line(0x95)
+ 794 .dwattr $C$DW$T$25, DW_AT_decl_column(0x14)
+ 795$C$DW$T$60 .dwtag DW_TAG_volatile_type
+ 796 .dwattr $C$DW$T$60, DW_AT_type(*$C$DW$T$25)
+ 797
+ 798$C$DW$T$26 .dwtag DW_TAG_structure_type
+ 799 .dwattr $C$DW$T$26, DW_AT_byte_size(0x04)
+ 800$C$DW$64 .dwtag DW_TAG_member
+ 801 .dwattr $C$DW$64, DW_AT_type(*$C$DW$T$11)
+ 802 .dwattr $C$DW$64, DW_AT_name("PRU0_IMEM_PE_SET")
+ 803 .dwattr $C$DW$64, DW_AT_TI_symbol_name("PRU0_IMEM_PE_SET")
+ 804 .dwattr $C$DW$64, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x04)
+ 805 .dwattr $C$DW$64, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 806 .dwattr $C$DW$64, DW_AT_accessibility(DW_ACCESS_public)
+ 807 .dwattr $C$DW$64, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 808 .dwattr $C$DW$64, DW_AT_decl_line(0xa4)
+ 809 .dwattr $C$DW$64, DW_AT_decl_column(0x0d)
+ 810$C$DW$65 .dwtag DW_TAG_member
+ 811 .dwattr $C$DW$65, DW_AT_type(*$C$DW$T$11)
+ 812 .dwattr $C$DW$65, DW_AT_name("PRU0_DMEM_PE_SET")
+ 813 .dwattr $C$DW$65, DW_AT_TI_symbol_name("PRU0_DMEM_PE_SET")
+ 814 .dwattr $C$DW$65, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x04)
+ 815 .dwattr $C$DW$65, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 816 .dwattr $C$DW$65, DW_AT_accessibility(DW_ACCESS_public)
+ 817 .dwattr $C$DW$65, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 818 .dwattr $C$DW$65, DW_AT_decl_line(0xa5)
+ 819 .dwattr $C$DW$65, DW_AT_decl_column(0x0d)
+ 820$C$DW$66 .dwtag DW_TAG_member
+ 821 .dwattr $C$DW$66, DW_AT_type(*$C$DW$T$11)
+ 822 .dwattr $C$DW$66, DW_AT_name("PRU1_IMEM_PE_SET")
+ 823 .dwattr $C$DW$66, DW_AT_TI_symbol_name("PRU1_IMEM_PE_SET")
+ 824 .dwattr $C$DW$66, DW_AT_bit_offset(0x14), DW_AT_bit_size(0x04)
+ 825 .dwattr $C$DW$66, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 16
+
+ 826 .dwattr $C$DW$66, DW_AT_accessibility(DW_ACCESS_public)
+ 827 .dwattr $C$DW$66, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 828 .dwattr $C$DW$66, DW_AT_decl_line(0xa6)
+ 829 .dwattr $C$DW$66, DW_AT_decl_column(0x0d)
+ 830$C$DW$67 .dwtag DW_TAG_member
+ 831 .dwattr $C$DW$67, DW_AT_type(*$C$DW$T$11)
+ 832 .dwattr $C$DW$67, DW_AT_name("PRU1_DMEM_PE_SET")
+ 833 .dwattr $C$DW$67, DW_AT_TI_symbol_name("PRU1_DMEM_PE_SET")
+ 834 .dwattr $C$DW$67, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x04)
+ 835 .dwattr $C$DW$67, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 836 .dwattr $C$DW$67, DW_AT_accessibility(DW_ACCESS_public)
+ 837 .dwattr $C$DW$67, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 838 .dwattr $C$DW$67, DW_AT_decl_line(0xa7)
+ 839 .dwattr $C$DW$67, DW_AT_decl_column(0x0d)
+ 840$C$DW$68 .dwtag DW_TAG_member
+ 841 .dwattr $C$DW$68, DW_AT_type(*$C$DW$T$11)
+ 842 .dwattr $C$DW$68, DW_AT_name("RAM_PE_SET")
+ 843 .dwattr $C$DW$68, DW_AT_TI_symbol_name("RAM_PE_SET")
+ 844 .dwattr $C$DW$68, DW_AT_bit_offset(0x0c), DW_AT_bit_size(0x04)
+ 845 .dwattr $C$DW$68, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 846 .dwattr $C$DW$68, DW_AT_accessibility(DW_ACCESS_public)
+ 847 .dwattr $C$DW$68, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 848 .dwattr $C$DW$68, DW_AT_decl_line(0xa8)
+ 849 .dwattr $C$DW$68, DW_AT_decl_column(0x0d)
+ 850$C$DW$69 .dwtag DW_TAG_member
+ 851 .dwattr $C$DW$69, DW_AT_type(*$C$DW$T$11)
+ 852 .dwattr $C$DW$69, DW_AT_name("rsvd20")
+ 853 .dwattr $C$DW$69, DW_AT_TI_symbol_name("rsvd20")
+ 854 .dwattr $C$DW$69, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x0c)
+ 855 .dwattr $C$DW$69, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 856 .dwattr $C$DW$69, DW_AT_accessibility(DW_ACCESS_public)
+ 857 .dwattr $C$DW$69, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 858 .dwattr $C$DW$69, DW_AT_decl_line(0xa9)
+ 859 .dwattr $C$DW$69, DW_AT_decl_column(0x0d)
+ 860 .dwendtag $C$DW$T$26
+ 861
+ 862 .dwattr $C$DW$T$26, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 863 .dwattr $C$DW$T$26, DW_AT_decl_line(0xa3)
+ 864 .dwattr $C$DW$T$26, DW_AT_decl_column(0x13)
+ 865$C$DW$T$62 .dwtag DW_TAG_volatile_type
+ 866 .dwattr $C$DW$T$62, DW_AT_type(*$C$DW$T$26)
+ 867
+ 868$C$DW$T$27 .dwtag DW_TAG_structure_type
+ 869 .dwattr $C$DW$T$27, DW_AT_byte_size(0x04)
+ 870$C$DW$70 .dwtag DW_TAG_member
+ 871 .dwattr $C$DW$70, DW_AT_type(*$C$DW$T$11)
+ 872 .dwattr $C$DW$70, DW_AT_name("PRU0_IMEM_PE_CLR")
+ 873 .dwattr $C$DW$70, DW_AT_TI_symbol_name("PRU0_IMEM_PE_CLR")
+ 874 .dwattr $C$DW$70, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x04)
+ 875 .dwattr $C$DW$70, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 876 .dwattr $C$DW$70, DW_AT_accessibility(DW_ACCESS_public)
+ 877 .dwattr $C$DW$70, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 878 .dwattr $C$DW$70, DW_AT_decl_line(0xb3)
+ 879 .dwattr $C$DW$70, DW_AT_decl_column(0x0d)
+ 880$C$DW$71 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 17
+
+ 881 .dwattr $C$DW$71, DW_AT_type(*$C$DW$T$11)
+ 882 .dwattr $C$DW$71, DW_AT_name("PRU0_DMEM_PE_CLR")
+ 883 .dwattr $C$DW$71, DW_AT_TI_symbol_name("PRU0_DMEM_PE_CLR")
+ 884 .dwattr $C$DW$71, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x04)
+ 885 .dwattr $C$DW$71, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 886 .dwattr $C$DW$71, DW_AT_accessibility(DW_ACCESS_public)
+ 887 .dwattr $C$DW$71, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 888 .dwattr $C$DW$71, DW_AT_decl_line(0xb4)
+ 889 .dwattr $C$DW$71, DW_AT_decl_column(0x0d)
+ 890$C$DW$72 .dwtag DW_TAG_member
+ 891 .dwattr $C$DW$72, DW_AT_type(*$C$DW$T$11)
+ 892 .dwattr $C$DW$72, DW_AT_name("PRU1_IMEM_PE_CLR")
+ 893 .dwattr $C$DW$72, DW_AT_TI_symbol_name("PRU1_IMEM_PE_CLR")
+ 894 .dwattr $C$DW$72, DW_AT_bit_offset(0x14), DW_AT_bit_size(0x04)
+ 895 .dwattr $C$DW$72, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 896 .dwattr $C$DW$72, DW_AT_accessibility(DW_ACCESS_public)
+ 897 .dwattr $C$DW$72, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 898 .dwattr $C$DW$72, DW_AT_decl_line(0xb5)
+ 899 .dwattr $C$DW$72, DW_AT_decl_column(0x0d)
+ 900$C$DW$73 .dwtag DW_TAG_member
+ 901 .dwattr $C$DW$73, DW_AT_type(*$C$DW$T$11)
+ 902 .dwattr $C$DW$73, DW_AT_name("PRU1_DMEM_PE_CLR")
+ 903 .dwattr $C$DW$73, DW_AT_TI_symbol_name("PRU1_DMEM_PE_CLR")
+ 904 .dwattr $C$DW$73, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x04)
+ 905 .dwattr $C$DW$73, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 906 .dwattr $C$DW$73, DW_AT_accessibility(DW_ACCESS_public)
+ 907 .dwattr $C$DW$73, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 908 .dwattr $C$DW$73, DW_AT_decl_line(0xb6)
+ 909 .dwattr $C$DW$73, DW_AT_decl_column(0x0d)
+ 910$C$DW$74 .dwtag DW_TAG_member
+ 911 .dwattr $C$DW$74, DW_AT_type(*$C$DW$T$11)
+ 912 .dwattr $C$DW$74, DW_AT_name("rsvd16")
+ 913 .dwattr $C$DW$74, DW_AT_TI_symbol_name("rsvd16")
+ 914 .dwattr $C$DW$74, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x10)
+ 915 .dwattr $C$DW$74, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 916 .dwattr $C$DW$74, DW_AT_accessibility(DW_ACCESS_public)
+ 917 .dwattr $C$DW$74, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 918 .dwattr $C$DW$74, DW_AT_decl_line(0xb7)
+ 919 .dwattr $C$DW$74, DW_AT_decl_column(0x0d)
+ 920 .dwendtag $C$DW$T$27
+ 921
+ 922 .dwattr $C$DW$T$27, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 923 .dwattr $C$DW$T$27, DW_AT_decl_line(0xb2)
+ 924 .dwattr $C$DW$T$27, DW_AT_decl_column(0x13)
+ 925$C$DW$T$64 .dwtag DW_TAG_volatile_type
+ 926 .dwattr $C$DW$T$64, DW_AT_type(*$C$DW$T$27)
+ 927
+ 928$C$DW$T$28 .dwtag DW_TAG_structure_type
+ 929 .dwattr $C$DW$T$28, DW_AT_byte_size(0x04)
+ 930$C$DW$75 .dwtag DW_TAG_member
+ 931 .dwattr $C$DW$75, DW_AT_type(*$C$DW$T$11)
+ 932 .dwattr $C$DW$75, DW_AT_name("PMAO_PRU0")
+ 933 .dwattr $C$DW$75, DW_AT_TI_symbol_name("PMAO_PRU0")
+ 934 .dwattr $C$DW$75, DW_AT_bit_offset(0x1f), DW_AT_bit_size(0x01)
+ 935 .dwattr $C$DW$75, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 18
+
+ 936 .dwattr $C$DW$75, DW_AT_accessibility(DW_ACCESS_public)
+ 937 .dwattr $C$DW$75, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 938 .dwattr $C$DW$75, DW_AT_decl_line(0xc4)
+ 939 .dwattr $C$DW$75, DW_AT_decl_column(0x0d)
+ 940$C$DW$76 .dwtag DW_TAG_member
+ 941 .dwattr $C$DW$76, DW_AT_type(*$C$DW$T$11)
+ 942 .dwattr $C$DW$76, DW_AT_name("PMAO_PRU1")
+ 943 .dwattr $C$DW$76, DW_AT_TI_symbol_name("PMAO_PRU1")
+ 944 .dwattr $C$DW$76, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x01)
+ 945 .dwattr $C$DW$76, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 946 .dwattr $C$DW$76, DW_AT_accessibility(DW_ACCESS_public)
+ 947 .dwattr $C$DW$76, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 948 .dwattr $C$DW$76, DW_AT_decl_line(0xc5)
+ 949 .dwattr $C$DW$76, DW_AT_decl_column(0x0d)
+ 950$C$DW$77 .dwtag DW_TAG_member
+ 951 .dwattr $C$DW$77, DW_AT_type(*$C$DW$T$11)
+ 952 .dwattr $C$DW$77, DW_AT_name("rsvd2")
+ 953 .dwattr $C$DW$77, DW_AT_TI_symbol_name("rsvd2")
+ 954 .dwattr $C$DW$77, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x1e)
+ 955 .dwattr $C$DW$77, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 956 .dwattr $C$DW$77, DW_AT_accessibility(DW_ACCESS_public)
+ 957 .dwattr $C$DW$77, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 958 .dwattr $C$DW$77, DW_AT_decl_line(0xc6)
+ 959 .dwattr $C$DW$77, DW_AT_decl_column(0x0d)
+ 960 .dwendtag $C$DW$T$28
+ 961
+ 962 .dwattr $C$DW$T$28, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 963 .dwattr $C$DW$T$28, DW_AT_decl_line(0xc3)
+ 964 .dwattr $C$DW$T$28, DW_AT_decl_column(0x13)
+ 965$C$DW$T$66 .dwtag DW_TAG_volatile_type
+ 966 .dwattr $C$DW$T$66, DW_AT_type(*$C$DW$T$28)
+ 967
+ 968$C$DW$T$29 .dwtag DW_TAG_structure_type
+ 969 .dwattr $C$DW$T$29, DW_AT_byte_size(0x04)
+ 970$C$DW$78 .dwtag DW_TAG_member
+ 971 .dwattr $C$DW$78, DW_AT_type(*$C$DW$T$11)
+ 972 .dwattr $C$DW$78, DW_AT_name("OCP_EN")
+ 973 .dwattr $C$DW$78, DW_AT_TI_symbol_name("OCP_EN")
+ 974 .dwattr $C$DW$78, DW_AT_bit_offset(0x1f), DW_AT_bit_size(0x01)
+ 975 .dwattr $C$DW$78, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 976 .dwattr $C$DW$78, DW_AT_accessibility(DW_ACCESS_public)
+ 977 .dwattr $C$DW$78, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 978 .dwattr $C$DW$78, DW_AT_decl_line(0xd3)
+ 979 .dwattr $C$DW$78, DW_AT_decl_column(0x0d)
+ 980$C$DW$79 .dwtag DW_TAG_member
+ 981 .dwattr $C$DW$79, DW_AT_type(*$C$DW$T$11)
+ 982 .dwattr $C$DW$79, DW_AT_name("rsvd1")
+ 983 .dwattr $C$DW$79, DW_AT_TI_symbol_name("rsvd1")
+ 984 .dwattr $C$DW$79, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x1f)
+ 985 .dwattr $C$DW$79, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 986 .dwattr $C$DW$79, DW_AT_accessibility(DW_ACCESS_public)
+ 987 .dwattr $C$DW$79, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 988 .dwattr $C$DW$79, DW_AT_decl_line(0xd4)
+ 989 .dwattr $C$DW$79, DW_AT_decl_column(0x0d)
+ 990 .dwendtag $C$DW$T$29
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 19
+
+ 991
+ 992 .dwattr $C$DW$T$29, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 993 .dwattr $C$DW$T$29, DW_AT_decl_line(0xd2)
+ 994 .dwattr $C$DW$T$29, DW_AT_decl_column(0x13)
+ 995$C$DW$T$68 .dwtag DW_TAG_volatile_type
+ 996 .dwattr $C$DW$T$68, DW_AT_type(*$C$DW$T$29)
+ 997
+ 998$C$DW$T$30 .dwtag DW_TAG_structure_type
+ 999 .dwattr $C$DW$T$30, DW_AT_byte_size(0x04)
+ 1000$C$DW$80 .dwtag DW_TAG_member
+ 1001 .dwattr $C$DW$80, DW_AT_type(*$C$DW$T$11)
+ 1002 .dwattr $C$DW$80, DW_AT_name("PRU1_PAD_HP_EN")
+ 1003 .dwattr $C$DW$80, DW_AT_TI_symbol_name("PRU1_PAD_HP_EN")
+ 1004 .dwattr $C$DW$80, DW_AT_bit_offset(0x1f), DW_AT_bit_size(0x01)
+ 1005 .dwattr $C$DW$80, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1006 .dwattr $C$DW$80, DW_AT_accessibility(DW_ACCESS_public)
+ 1007 .dwattr $C$DW$80, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1008 .dwattr $C$DW$80, DW_AT_decl_line(0xde)
+ 1009 .dwattr $C$DW$80, DW_AT_decl_column(0x0d)
+ 1010$C$DW$81 .dwtag DW_TAG_member
+ 1011 .dwattr $C$DW$81, DW_AT_type(*$C$DW$T$11)
+ 1012 .dwattr $C$DW$81, DW_AT_name("XFR_SHIFT_EN")
+ 1013 .dwattr $C$DW$81, DW_AT_TI_symbol_name("XFR_SHIFT_EN")
+ 1014 .dwattr $C$DW$81, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x01)
+ 1015 .dwattr $C$DW$81, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1016 .dwattr $C$DW$81, DW_AT_accessibility(DW_ACCESS_public)
+ 1017 .dwattr $C$DW$81, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1018 .dwattr $C$DW$81, DW_AT_decl_line(0xdf)
+ 1019 .dwattr $C$DW$81, DW_AT_decl_column(0x0d)
+ 1020$C$DW$82 .dwtag DW_TAG_member
+ 1021 .dwattr $C$DW$82, DW_AT_type(*$C$DW$T$11)
+ 1022 .dwattr $C$DW$82, DW_AT_name("rsvd2")
+ 1023 .dwattr $C$DW$82, DW_AT_TI_symbol_name("rsvd2")
+ 1024 .dwattr $C$DW$82, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x1e)
+ 1025 .dwattr $C$DW$82, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1026 .dwattr $C$DW$82, DW_AT_accessibility(DW_ACCESS_public)
+ 1027 .dwattr $C$DW$82, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1028 .dwattr $C$DW$82, DW_AT_decl_line(0xe0)
+ 1029 .dwattr $C$DW$82, DW_AT_decl_column(0x0d)
+ 1030 .dwendtag $C$DW$T$30
+ 1031
+ 1032 .dwattr $C$DW$T$30, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1033 .dwattr $C$DW$T$30, DW_AT_decl_line(0xdd)
+ 1034 .dwattr $C$DW$T$30, DW_AT_decl_column(0x13)
+ 1035$C$DW$T$70 .dwtag DW_TAG_volatile_type
+ 1036 .dwattr $C$DW$T$70, DW_AT_type(*$C$DW$T$30)
+ 1037
+ 1038$C$DW$T$31 .dwtag DW_TAG_structure_type
+ 1039 .dwattr $C$DW$T$31, DW_AT_byte_size(0x04)
+ 1040$C$DW$83 .dwtag DW_TAG_member
+ 1041 .dwattr $C$DW$83, DW_AT_type(*$C$DW$T$11)
+ 1042 .dwattr $C$DW$83, DW_AT_name("PIN_MUX_SEL")
+ 1043 .dwattr $C$DW$83, DW_AT_TI_symbol_name("PIN_MUX_SEL")
+ 1044 .dwattr $C$DW$83, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x08)
+ 1045 .dwattr $C$DW$83, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 20
+
+ 1046 .dwattr $C$DW$83, DW_AT_accessibility(DW_ACCESS_public)
+ 1047 .dwattr $C$DW$83, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1048 .dwattr $C$DW$83, DW_AT_decl_line(0xec)
+ 1049 .dwattr $C$DW$83, DW_AT_decl_column(0x0d)
+ 1050$C$DW$84 .dwtag DW_TAG_member
+ 1051 .dwattr $C$DW$84, DW_AT_type(*$C$DW$T$11)
+ 1052 .dwattr $C$DW$84, DW_AT_name("rsvd2")
+ 1053 .dwattr $C$DW$84, DW_AT_TI_symbol_name("rsvd2")
+ 1054 .dwattr $C$DW$84, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x18)
+ 1055 .dwattr $C$DW$84, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1056 .dwattr $C$DW$84, DW_AT_accessibility(DW_ACCESS_public)
+ 1057 .dwattr $C$DW$84, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1058 .dwattr $C$DW$84, DW_AT_decl_line(0xed)
+ 1059 .dwattr $C$DW$84, DW_AT_decl_column(0x0d)
+ 1060 .dwendtag $C$DW$T$31
+ 1061
+ 1062 .dwattr $C$DW$T$31, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1063 .dwattr $C$DW$T$31, DW_AT_decl_line(0xeb)
+ 1064 .dwattr $C$DW$T$31, DW_AT_decl_column(0x13)
+ 1065$C$DW$T$72 .dwtag DW_TAG_volatile_type
+ 1066 .dwattr $C$DW$T$72, DW_AT_type(*$C$DW$T$31)
+ 1067
+ 1068$C$DW$T$35 .dwtag DW_TAG_structure_type
+ 1069 .dwattr $C$DW$T$35, DW_AT_byte_size(0x44)
+ 1070$C$DW$85 .dwtag DW_TAG_member
+ 1071 .dwattr $C$DW$85, DW_AT_type(*$C$DW$T$49)
+ 1072 .dwattr $C$DW$85, DW_AT_name("$P$T0")
+ 1073 .dwattr $C$DW$85, DW_AT_TI_symbol_name("$P$T0")
+ 1074 .dwattr $C$DW$85, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1075 .dwattr $C$DW$85, DW_AT_accessibility(DW_ACCESS_public)
+ 1076 .dwattr $C$DW$85, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1077 .dwattr $C$DW$85, DW_AT_decl_line(0x29)
+ 1078 .dwattr $C$DW$85, DW_AT_decl_column(0x02)
+ 1079$C$DW$86 .dwtag DW_TAG_member
+ 1080 .dwattr $C$DW$86, DW_AT_type(*$C$DW$T$51)
+ 1081 .dwattr $C$DW$86, DW_AT_name("$P$T1")
+ 1082 .dwattr $C$DW$86, DW_AT_TI_symbol_name("$P$T1")
+ 1083 .dwattr $C$DW$86, DW_AT_data_member_location[DW_OP_plus_uconst 0x4]
+ 1084 .dwattr $C$DW$86, DW_AT_accessibility(DW_ACCESS_public)
+ 1085 .dwattr $C$DW$86, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1086 .dwattr $C$DW$86, DW_AT_decl_line(0x33)
+ 1087 .dwattr $C$DW$86, DW_AT_decl_column(0x02)
+ 1088$C$DW$87 .dwtag DW_TAG_member
+ 1089 .dwattr $C$DW$87, DW_AT_type(*$C$DW$T$53)
+ 1090 .dwattr $C$DW$87, DW_AT_name("$P$T2")
+ 1091 .dwattr $C$DW$87, DW_AT_TI_symbol_name("$P$T2")
+ 1092 .dwattr $C$DW$87, DW_AT_data_member_location[DW_OP_plus_uconst 0x8]
+ 1093 .dwattr $C$DW$87, DW_AT_accessibility(DW_ACCESS_public)
+ 1094 .dwattr $C$DW$87, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1095 .dwattr $C$DW$87, DW_AT_decl_line(0x41)
+ 1096 .dwattr $C$DW$87, DW_AT_decl_column(0x02)
+ 1097$C$DW$88 .dwtag DW_TAG_member
+ 1098 .dwattr $C$DW$88, DW_AT_type(*$C$DW$T$55)
+ 1099 .dwattr $C$DW$88, DW_AT_name("$P$T3")
+ 1100 .dwattr $C$DW$88, DW_AT_TI_symbol_name("$P$T3")
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 21
+
+ 1101 .dwattr $C$DW$88, DW_AT_data_member_location[DW_OP_plus_uconst 0xc]
+ 1102 .dwattr $C$DW$88, DW_AT_accessibility(DW_ACCESS_public)
+ 1103 .dwattr $C$DW$88, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1104 .dwattr $C$DW$88, DW_AT_decl_line(0x54)
+ 1105 .dwattr $C$DW$88, DW_AT_decl_column(0x02)
+ 1106$C$DW$89 .dwtag DW_TAG_member
+ 1107 .dwattr $C$DW$89, DW_AT_type(*$C$DW$T$57)
+ 1108 .dwattr $C$DW$89, DW_AT_name("$P$T4")
+ 1109 .dwattr $C$DW$89, DW_AT_TI_symbol_name("$P$T4")
+ 1110 .dwattr $C$DW$89, DW_AT_data_member_location[DW_OP_plus_uconst 0x10]
+ 1111 .dwattr $C$DW$89, DW_AT_accessibility(DW_ACCESS_public)
+ 1112 .dwattr $C$DW$89, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1113 .dwattr $C$DW$89, DW_AT_decl_line(0x67)
+ 1114 .dwattr $C$DW$89, DW_AT_decl_column(0x02)
+ 1115$C$DW$90 .dwtag DW_TAG_member
+ 1116 .dwattr $C$DW$90, DW_AT_type(*$C$DW$T$59)
+ 1117 .dwattr $C$DW$90, DW_AT_name("$P$T5")
+ 1118 .dwattr $C$DW$90, DW_AT_TI_symbol_name("$P$T5")
+ 1119 .dwattr $C$DW$90, DW_AT_data_member_location[DW_OP_plus_uconst 0x14]
+ 1120 .dwattr $C$DW$90, DW_AT_accessibility(DW_ACCESS_public)
+ 1121 .dwattr $C$DW$90, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1122 .dwattr $C$DW$90, DW_AT_decl_line(0x83)
+ 1123 .dwattr $C$DW$90, DW_AT_decl_column(0x02)
+ 1124$C$DW$91 .dwtag DW_TAG_member
+ 1125 .dwattr $C$DW$91, DW_AT_type(*$C$DW$T$61)
+ 1126 .dwattr $C$DW$91, DW_AT_name("$P$T6")
+ 1127 .dwattr $C$DW$91, DW_AT_TI_symbol_name("$P$T6")
+ 1128 .dwattr $C$DW$91, DW_AT_data_member_location[DW_OP_plus_uconst 0x18]
+ 1129 .dwattr $C$DW$91, DW_AT_accessibility(DW_ACCESS_public)
+ 1130 .dwattr $C$DW$91, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1131 .dwattr $C$DW$91, DW_AT_decl_line(0x92)
+ 1132 .dwattr $C$DW$91, DW_AT_decl_column(0x02)
+ 1133$C$DW$92 .dwtag DW_TAG_member
+ 1134 .dwattr $C$DW$92, DW_AT_type(*$C$DW$T$63)
+ 1135 .dwattr $C$DW$92, DW_AT_name("$P$T7")
+ 1136 .dwattr $C$DW$92, DW_AT_TI_symbol_name("$P$T7")
+ 1137 .dwattr $C$DW$92, DW_AT_data_member_location[DW_OP_plus_uconst 0x1c]
+ 1138 .dwattr $C$DW$92, DW_AT_accessibility(DW_ACCESS_public)
+ 1139 .dwattr $C$DW$92, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1140 .dwattr $C$DW$92, DW_AT_decl_line(0xa0)
+ 1141 .dwattr $C$DW$92, DW_AT_decl_column(0x02)
+ 1142$C$DW$93 .dwtag DW_TAG_member
+ 1143 .dwattr $C$DW$93, DW_AT_type(*$C$DW$T$65)
+ 1144 .dwattr $C$DW$93, DW_AT_name("$P$T8")
+ 1145 .dwattr $C$DW$93, DW_AT_TI_symbol_name("$P$T8")
+ 1146 .dwattr $C$DW$93, DW_AT_data_member_location[DW_OP_plus_uconst 0x20]
+ 1147 .dwattr $C$DW$93, DW_AT_accessibility(DW_ACCESS_public)
+ 1148 .dwattr $C$DW$93, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1149 .dwattr $C$DW$93, DW_AT_decl_line(0xaf)
+ 1150 .dwattr $C$DW$93, DW_AT_decl_column(0x02)
+ 1151$C$DW$94 .dwtag DW_TAG_member
+ 1152 .dwattr $C$DW$94, DW_AT_type(*$C$DW$T$32)
+ 1153 .dwattr $C$DW$94, DW_AT_name("rsvd24")
+ 1154 .dwattr $C$DW$94, DW_AT_TI_symbol_name("rsvd24")
+ 1155 .dwattr $C$DW$94, DW_AT_data_member_location[DW_OP_plus_uconst 0x24]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 22
+
+ 1156 .dwattr $C$DW$94, DW_AT_accessibility(DW_ACCESS_public)
+ 1157 .dwattr $C$DW$94, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1158 .dwattr $C$DW$94, DW_AT_decl_line(0xbc)
+ 1159 .dwattr $C$DW$94, DW_AT_decl_column(0x0b)
+ 1160$C$DW$95 .dwtag DW_TAG_member
+ 1161 .dwattr $C$DW$95, DW_AT_type(*$C$DW$T$67)
+ 1162 .dwattr $C$DW$95, DW_AT_name("$P$T9")
+ 1163 .dwattr $C$DW$95, DW_AT_TI_symbol_name("$P$T9")
+ 1164 .dwattr $C$DW$95, DW_AT_data_member_location[DW_OP_plus_uconst 0x28]
+ 1165 .dwattr $C$DW$95, DW_AT_accessibility(DW_ACCESS_public)
+ 1166 .dwattr $C$DW$95, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1167 .dwattr $C$DW$95, DW_AT_decl_line(0xc0)
+ 1168 .dwattr $C$DW$95, DW_AT_decl_column(0x02)
+ 1169$C$DW$96 .dwtag DW_TAG_member
+ 1170 .dwattr $C$DW$96, DW_AT_type(*$C$DW$T$33)
+ 1171 .dwattr $C$DW$96, DW_AT_name("rsvd2c")
+ 1172 .dwattr $C$DW$96, DW_AT_TI_symbol_name("rsvd2c")
+ 1173 .dwattr $C$DW$96, DW_AT_data_member_location[DW_OP_plus_uconst 0x2c]
+ 1174 .dwattr $C$DW$96, DW_AT_accessibility(DW_ACCESS_public)
+ 1175 .dwattr $C$DW$96, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1176 .dwattr $C$DW$96, DW_AT_decl_line(0xcb)
+ 1177 .dwattr $C$DW$96, DW_AT_decl_column(0x0b)
+ 1178$C$DW$97 .dwtag DW_TAG_member
+ 1179 .dwattr $C$DW$97, DW_AT_type(*$C$DW$T$69)
+ 1180 .dwattr $C$DW$97, DW_AT_name("$P$T10")
+ 1181 .dwattr $C$DW$97, DW_AT_TI_symbol_name("$P$T10")
+ 1182 .dwattr $C$DW$97, DW_AT_data_member_location[DW_OP_plus_uconst 0x30]
+ 1183 .dwattr $C$DW$97, DW_AT_accessibility(DW_ACCESS_public)
+ 1184 .dwattr $C$DW$97, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1185 .dwattr $C$DW$97, DW_AT_decl_line(0xcf)
+ 1186 .dwattr $C$DW$97, DW_AT_decl_column(0x02)
+ 1187$C$DW$98 .dwtag DW_TAG_member
+ 1188 .dwattr $C$DW$98, DW_AT_type(*$C$DW$T$71)
+ 1189 .dwattr $C$DW$98, DW_AT_name("$P$T11")
+ 1190 .dwattr $C$DW$98, DW_AT_TI_symbol_name("$P$T11")
+ 1191 .dwattr $C$DW$98, DW_AT_data_member_location[DW_OP_plus_uconst 0x34]
+ 1192 .dwattr $C$DW$98, DW_AT_accessibility(DW_ACCESS_public)
+ 1193 .dwattr $C$DW$98, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1194 .dwattr $C$DW$98, DW_AT_decl_line(0xda)
+ 1195 .dwattr $C$DW$98, DW_AT_decl_column(0x02)
+ 1196$C$DW$99 .dwtag DW_TAG_member
+ 1197 .dwattr $C$DW$99, DW_AT_type(*$C$DW$T$34)
+ 1198 .dwattr $C$DW$99, DW_AT_name("rsvd38")
+ 1199 .dwattr $C$DW$99, DW_AT_TI_symbol_name("rsvd38")
+ 1200 .dwattr $C$DW$99, DW_AT_data_member_location[DW_OP_plus_uconst 0x38]
+ 1201 .dwattr $C$DW$99, DW_AT_accessibility(DW_ACCESS_public)
+ 1202 .dwattr $C$DW$99, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pru
+ 1203 .dwattr $C$DW$99, DW_AT_decl_line(0xe5)
+ 1204 .dwattr $C$DW$99, DW_AT_decl_column(0x0b)
+ 1205$C$DW$100 .dwtag DW_TAG_member
+ 1206 .dwattr $C$DW$100, DW_AT_type(*$C$DW$T$73)
+ 1207 .dwattr $C$DW$100, DW_AT_name("$P$T12")
+ 1208 .dwattr $C$DW$100, DW_AT_TI_symbol_name("$P$T12")
+ 1209 .dwattr $C$DW$100, DW_AT_data_member_location[DW_OP_plus_uconst 0x40]
+ 1210 .dwattr $C$DW$100, DW_AT_accessibility(DW_ACCESS_public)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 23
+
+ 1211 .dwattr $C$DW$100, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1212 .dwattr $C$DW$100, DW_AT_decl_line(0xe8)
+ 1213 .dwattr $C$DW$100, DW_AT_decl_column(0x02)
+ 1214 .dwendtag $C$DW$T$35
+ 1215
+ 1216 .dwattr $C$DW$T$35, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1217 .dwattr $C$DW$T$35, DW_AT_decl_line(0x26)
+ 1218 .dwattr $C$DW$T$35, DW_AT_decl_column(0x10)
+ 1219$C$DW$T$97 .dwtag DW_TAG_typedef, DW_AT_name("pruCfg")
+ 1220 .dwattr $C$DW$T$97, DW_AT_type(*$C$DW$T$35)
+ 1221 .dwattr $C$DW$T$97, DW_AT_language(DW_LANG_C)
+ 1222 .dwattr $C$DW$T$97, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1223 .dwattr $C$DW$T$97, DW_AT_decl_line(0xf0)
+ 1224 .dwattr $C$DW$T$97, DW_AT_decl_column(0x03)
+ 1225$C$DW$T$98 .dwtag DW_TAG_volatile_type
+ 1226 .dwattr $C$DW$T$98, DW_AT_type(*$C$DW$T$97)
+ 1227
+ 1228$C$DW$T$36 .dwtag DW_TAG_structure_type
+ 1229 .dwattr $C$DW$T$36, DW_AT_byte_size(0x04)
+ 1230$C$DW$101 .dwtag DW_TAG_member
+ 1231 .dwattr $C$DW$101, DW_AT_type(*$C$DW$T$11)
+ 1232 .dwattr $C$DW$101, DW_AT_name("SOFT_RST_N")
+ 1233 .dwattr $C$DW$101, DW_AT_TI_symbol_name("SOFT_RST_N")
+ 1234 .dwattr $C$DW$101, DW_AT_bit_offset(0x1f), DW_AT_bit_size(0x01)
+ 1235 .dwattr $C$DW$101, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1236 .dwattr $C$DW$101, DW_AT_accessibility(DW_ACCESS_public)
+ 1237 .dwattr $C$DW$101, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1238 .dwattr $C$DW$101, DW_AT_decl_line(0x2d)
+ 1239 .dwattr $C$DW$101, DW_AT_decl_column(0x0d)
+ 1240$C$DW$102 .dwtag DW_TAG_member
+ 1241 .dwattr $C$DW$102, DW_AT_type(*$C$DW$T$11)
+ 1242 .dwattr $C$DW$102, DW_AT_name("EN")
+ 1243 .dwattr $C$DW$102, DW_AT_TI_symbol_name("EN")
+ 1244 .dwattr $C$DW$102, DW_AT_bit_offset(0x1e), DW_AT_bit_size(0x01)
+ 1245 .dwattr $C$DW$102, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1246 .dwattr $C$DW$102, DW_AT_accessibility(DW_ACCESS_public)
+ 1247 .dwattr $C$DW$102, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1248 .dwattr $C$DW$102, DW_AT_decl_line(0x2e)
+ 1249 .dwattr $C$DW$102, DW_AT_decl_column(0x0d)
+ 1250$C$DW$103 .dwtag DW_TAG_member
+ 1251 .dwattr $C$DW$103, DW_AT_type(*$C$DW$T$11)
+ 1252 .dwattr $C$DW$103, DW_AT_name("SLEEPING")
+ 1253 .dwattr $C$DW$103, DW_AT_TI_symbol_name("SLEEPING")
+ 1254 .dwattr $C$DW$103, DW_AT_bit_offset(0x1d), DW_AT_bit_size(0x01)
+ 1255 .dwattr $C$DW$103, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1256 .dwattr $C$DW$103, DW_AT_accessibility(DW_ACCESS_public)
+ 1257 .dwattr $C$DW$103, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1258 .dwattr $C$DW$103, DW_AT_decl_line(0x2f)
+ 1259 .dwattr $C$DW$103, DW_AT_decl_column(0x0d)
+ 1260$C$DW$104 .dwtag DW_TAG_member
+ 1261 .dwattr $C$DW$104, DW_AT_type(*$C$DW$T$11)
+ 1262 .dwattr $C$DW$104, DW_AT_name("CTR_EN")
+ 1263 .dwattr $C$DW$104, DW_AT_TI_symbol_name("CTR_EN")
+ 1264 .dwattr $C$DW$104, DW_AT_bit_offset(0x1c), DW_AT_bit_size(0x01)
+ 1265 .dwattr $C$DW$104, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 24
+
+ 1266 .dwattr $C$DW$104, DW_AT_accessibility(DW_ACCESS_public)
+ 1267 .dwattr $C$DW$104, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1268 .dwattr $C$DW$104, DW_AT_decl_line(0x30)
+ 1269 .dwattr $C$DW$104, DW_AT_decl_column(0x0d)
+ 1270$C$DW$105 .dwtag DW_TAG_member
+ 1271 .dwattr $C$DW$105, DW_AT_type(*$C$DW$T$11)
+ 1272 .dwattr $C$DW$105, DW_AT_name("rsvd4")
+ 1273 .dwattr $C$DW$105, DW_AT_TI_symbol_name("rsvd4")
+ 1274 .dwattr $C$DW$105, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x04)
+ 1275 .dwattr $C$DW$105, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1276 .dwattr $C$DW$105, DW_AT_accessibility(DW_ACCESS_public)
+ 1277 .dwattr $C$DW$105, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1278 .dwattr $C$DW$105, DW_AT_decl_line(0x31)
+ 1279 .dwattr $C$DW$105, DW_AT_decl_column(0x0d)
+ 1280$C$DW$106 .dwtag DW_TAG_member
+ 1281 .dwattr $C$DW$106, DW_AT_type(*$C$DW$T$11)
+ 1282 .dwattr $C$DW$106, DW_AT_name("SINGLE_STEP")
+ 1283 .dwattr $C$DW$106, DW_AT_TI_symbol_name("SINGLE_STEP")
+ 1284 .dwattr $C$DW$106, DW_AT_bit_offset(0x17), DW_AT_bit_size(0x01)
+ 1285 .dwattr $C$DW$106, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1286 .dwattr $C$DW$106, DW_AT_accessibility(DW_ACCESS_public)
+ 1287 .dwattr $C$DW$106, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1288 .dwattr $C$DW$106, DW_AT_decl_line(0x32)
+ 1289 .dwattr $C$DW$106, DW_AT_decl_column(0x0d)
+ 1290$C$DW$107 .dwtag DW_TAG_member
+ 1291 .dwattr $C$DW$107, DW_AT_type(*$C$DW$T$11)
+ 1292 .dwattr $C$DW$107, DW_AT_name("rsvd9")
+ 1293 .dwattr $C$DW$107, DW_AT_TI_symbol_name("rsvd9")
+ 1294 .dwattr $C$DW$107, DW_AT_bit_offset(0x11), DW_AT_bit_size(0x06)
+ 1295 .dwattr $C$DW$107, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1296 .dwattr $C$DW$107, DW_AT_accessibility(DW_ACCESS_public)
+ 1297 .dwattr $C$DW$107, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1298 .dwattr $C$DW$107, DW_AT_decl_line(0x33)
+ 1299 .dwattr $C$DW$107, DW_AT_decl_column(0x0d)
+ 1300$C$DW$108 .dwtag DW_TAG_member
+ 1301 .dwattr $C$DW$108, DW_AT_type(*$C$DW$T$11)
+ 1302 .dwattr $C$DW$108, DW_AT_name("RUNSTATE")
+ 1303 .dwattr $C$DW$108, DW_AT_TI_symbol_name("RUNSTATE")
+ 1304 .dwattr $C$DW$108, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x01)
+ 1305 .dwattr $C$DW$108, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1306 .dwattr $C$DW$108, DW_AT_accessibility(DW_ACCESS_public)
+ 1307 .dwattr $C$DW$108, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1308 .dwattr $C$DW$108, DW_AT_decl_line(0x34)
+ 1309 .dwattr $C$DW$108, DW_AT_decl_column(0x0d)
+ 1310$C$DW$109 .dwtag DW_TAG_member
+ 1311 .dwattr $C$DW$109, DW_AT_type(*$C$DW$T$11)
+ 1312 .dwattr $C$DW$109, DW_AT_name("PCTR_RST_VAL")
+ 1313 .dwattr $C$DW$109, DW_AT_TI_symbol_name("PCTR_RST_VAL")
+ 1314 .dwattr $C$DW$109, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x10)
+ 1315 .dwattr $C$DW$109, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1316 .dwattr $C$DW$109, DW_AT_accessibility(DW_ACCESS_public)
+ 1317 .dwattr $C$DW$109, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1318 .dwattr $C$DW$109, DW_AT_decl_line(0x35)
+ 1319 .dwattr $C$DW$109, DW_AT_decl_column(0x0d)
+ 1320 .dwendtag $C$DW$T$36
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 25
+
+ 1321
+ 1322 .dwattr $C$DW$T$36, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1323 .dwattr $C$DW$T$36, DW_AT_decl_line(0x2c)
+ 1324 .dwattr $C$DW$T$36, DW_AT_decl_column(0x13)
+ 1325$C$DW$T$74 .dwtag DW_TAG_volatile_type
+ 1326 .dwattr $C$DW$T$74, DW_AT_type(*$C$DW$T$36)
+ 1327
+ 1328$C$DW$T$37 .dwtag DW_TAG_structure_type
+ 1329 .dwattr $C$DW$T$37, DW_AT_byte_size(0x04)
+ 1330$C$DW$110 .dwtag DW_TAG_member
+ 1331 .dwattr $C$DW$110, DW_AT_type(*$C$DW$T$11)
+ 1332 .dwattr $C$DW$110, DW_AT_name("PCTR")
+ 1333 .dwattr $C$DW$110, DW_AT_TI_symbol_name("PCTR")
+ 1334 .dwattr $C$DW$110, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x10)
+ 1335 .dwattr $C$DW$110, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1336 .dwattr $C$DW$110, DW_AT_accessibility(DW_ACCESS_public)
+ 1337 .dwattr $C$DW$110, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1338 .dwattr $C$DW$110, DW_AT_decl_line(0x3f)
+ 1339 .dwattr $C$DW$110, DW_AT_decl_column(0x0d)
+ 1340$C$DW$111 .dwtag DW_TAG_member
+ 1341 .dwattr $C$DW$111, DW_AT_type(*$C$DW$T$11)
+ 1342 .dwattr $C$DW$111, DW_AT_name("rsvd16")
+ 1343 .dwattr $C$DW$111, DW_AT_TI_symbol_name("rsvd16")
+ 1344 .dwattr $C$DW$111, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x10)
+ 1345 .dwattr $C$DW$111, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1346 .dwattr $C$DW$111, DW_AT_accessibility(DW_ACCESS_public)
+ 1347 .dwattr $C$DW$111, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1348 .dwattr $C$DW$111, DW_AT_decl_line(0x40)
+ 1349 .dwattr $C$DW$111, DW_AT_decl_column(0x0d)
+ 1350 .dwendtag $C$DW$T$37
+ 1351
+ 1352 .dwattr $C$DW$T$37, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1353 .dwattr $C$DW$T$37, DW_AT_decl_line(0x3e)
+ 1354 .dwattr $C$DW$T$37, DW_AT_decl_column(0x13)
+ 1355$C$DW$T$76 .dwtag DW_TAG_volatile_type
+ 1356 .dwattr $C$DW$T$76, DW_AT_type(*$C$DW$T$37)
+ 1357
+ 1358$C$DW$T$38 .dwtag DW_TAG_structure_type
+ 1359 .dwattr $C$DW$T$38, DW_AT_byte_size(0x04)
+ 1360$C$DW$112 .dwtag DW_TAG_member
+ 1361 .dwattr $C$DW$112, DW_AT_type(*$C$DW$T$11)
+ 1362 .dwattr $C$DW$112, DW_AT_name("BITWISE_ENS")
+ 1363 .dwattr $C$DW$112, DW_AT_TI_symbol_name("BITWISE_ENS")
+ 1364 .dwattr $C$DW$112, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x20)
+ 1365 .dwattr $C$DW$112, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1366 .dwattr $C$DW$112, DW_AT_accessibility(DW_ACCESS_public)
+ 1367 .dwattr $C$DW$112, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1368 .dwattr $C$DW$112, DW_AT_decl_line(0x4a)
+ 1369 .dwattr $C$DW$112, DW_AT_decl_column(0x0d)
+ 1370 .dwendtag $C$DW$T$38
+ 1371
+ 1372 .dwattr $C$DW$T$38, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1373 .dwattr $C$DW$T$38, DW_AT_decl_line(0x49)
+ 1374 .dwattr $C$DW$T$38, DW_AT_decl_column(0x13)
+ 1375$C$DW$T$78 .dwtag DW_TAG_volatile_type
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 26
+
+ 1376 .dwattr $C$DW$T$78, DW_AT_type(*$C$DW$T$38)
+ 1377
+ 1378$C$DW$T$39 .dwtag DW_TAG_structure_type
+ 1379 .dwattr $C$DW$T$39, DW_AT_byte_size(0x04)
+ 1380$C$DW$113 .dwtag DW_TAG_member
+ 1381 .dwattr $C$DW$113, DW_AT_type(*$C$DW$T$11)
+ 1382 .dwattr $C$DW$113, DW_AT_name("CYCLECOUNT")
+ 1383 .dwattr $C$DW$113, DW_AT_TI_symbol_name("CYCLECOUNT")
+ 1384 .dwattr $C$DW$113, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x20)
+ 1385 .dwattr $C$DW$113, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1386 .dwattr $C$DW$113, DW_AT_accessibility(DW_ACCESS_public)
+ 1387 .dwattr $C$DW$113, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1388 .dwattr $C$DW$113, DW_AT_decl_line(0x54)
+ 1389 .dwattr $C$DW$113, DW_AT_decl_column(0x0d)
+ 1390 .dwendtag $C$DW$T$39
+ 1391
+ 1392 .dwattr $C$DW$T$39, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1393 .dwattr $C$DW$T$39, DW_AT_decl_line(0x53)
+ 1394 .dwattr $C$DW$T$39, DW_AT_decl_column(0x13)
+ 1395$C$DW$T$80 .dwtag DW_TAG_volatile_type
+ 1396 .dwattr $C$DW$T$80, DW_AT_type(*$C$DW$T$39)
+ 1397
+ 1398$C$DW$T$40 .dwtag DW_TAG_structure_type
+ 1399 .dwattr $C$DW$T$40, DW_AT_byte_size(0x04)
+ 1400$C$DW$114 .dwtag DW_TAG_member
+ 1401 .dwattr $C$DW$114, DW_AT_type(*$C$DW$T$11)
+ 1402 .dwattr $C$DW$114, DW_AT_name("STALLCOUNT")
+ 1403 .dwattr $C$DW$114, DW_AT_TI_symbol_name("STALLCOUNT")
+ 1404 .dwattr $C$DW$114, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x20)
+ 1405 .dwattr $C$DW$114, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1406 .dwattr $C$DW$114, DW_AT_accessibility(DW_ACCESS_public)
+ 1407 .dwattr $C$DW$114, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1408 .dwattr $C$DW$114, DW_AT_decl_line(0x5e)
+ 1409 .dwattr $C$DW$114, DW_AT_decl_column(0x0d)
+ 1410 .dwendtag $C$DW$T$40
+ 1411
+ 1412 .dwattr $C$DW$T$40, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1413 .dwattr $C$DW$T$40, DW_AT_decl_line(0x5d)
+ 1414 .dwattr $C$DW$T$40, DW_AT_decl_column(0x14)
+ 1415$C$DW$T$82 .dwtag DW_TAG_volatile_type
+ 1416 .dwattr $C$DW$T$82, DW_AT_type(*$C$DW$T$40)
+ 1417
+ 1418$C$DW$T$41 .dwtag DW_TAG_structure_type
+ 1419 .dwattr $C$DW$T$41, DW_AT_byte_size(0x04)
+ 1420$C$DW$115 .dwtag DW_TAG_member
+ 1421 .dwattr $C$DW$115, DW_AT_type(*$C$DW$T$11)
+ 1422 .dwattr $C$DW$115, DW_AT_name("C24_BLK_IDX")
+ 1423 .dwattr $C$DW$115, DW_AT_TI_symbol_name("C24_BLK_IDX")
+ 1424 .dwattr $C$DW$115, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x08)
+ 1425 .dwattr $C$DW$115, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1426 .dwattr $C$DW$115, DW_AT_accessibility(DW_ACCESS_public)
+ 1427 .dwattr $C$DW$115, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1428 .dwattr $C$DW$115, DW_AT_decl_line(0x6b)
+ 1429 .dwattr $C$DW$115, DW_AT_decl_column(0x0d)
+ 1430$C$DW$116 .dwtag DW_TAG_member
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 27
+
+ 1431 .dwattr $C$DW$116, DW_AT_type(*$C$DW$T$11)
+ 1432 .dwattr $C$DW$116, DW_AT_name("rsvd8")
+ 1433 .dwattr $C$DW$116, DW_AT_TI_symbol_name("rsvd8")
+ 1434 .dwattr $C$DW$116, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x08)
+ 1435 .dwattr $C$DW$116, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1436 .dwattr $C$DW$116, DW_AT_accessibility(DW_ACCESS_public)
+ 1437 .dwattr $C$DW$116, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1438 .dwattr $C$DW$116, DW_AT_decl_line(0x6c)
+ 1439 .dwattr $C$DW$116, DW_AT_decl_column(0x0d)
+ 1440$C$DW$117 .dwtag DW_TAG_member
+ 1441 .dwattr $C$DW$117, DW_AT_type(*$C$DW$T$11)
+ 1442 .dwattr $C$DW$117, DW_AT_name("C25_BLK_IDX")
+ 1443 .dwattr $C$DW$117, DW_AT_TI_symbol_name("C25_BLK_IDX")
+ 1444 .dwattr $C$DW$117, DW_AT_bit_offset(0x08), DW_AT_bit_size(0x08)
+ 1445 .dwattr $C$DW$117, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1446 .dwattr $C$DW$117, DW_AT_accessibility(DW_ACCESS_public)
+ 1447 .dwattr $C$DW$117, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1448 .dwattr $C$DW$117, DW_AT_decl_line(0x6d)
+ 1449 .dwattr $C$DW$117, DW_AT_decl_column(0x0d)
+ 1450$C$DW$118 .dwtag DW_TAG_member
+ 1451 .dwattr $C$DW$118, DW_AT_type(*$C$DW$T$11)
+ 1452 .dwattr $C$DW$118, DW_AT_name("rsvd24")
+ 1453 .dwattr $C$DW$118, DW_AT_TI_symbol_name("rsvd24")
+ 1454 .dwattr $C$DW$118, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x08)
+ 1455 .dwattr $C$DW$118, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1456 .dwattr $C$DW$118, DW_AT_accessibility(DW_ACCESS_public)
+ 1457 .dwattr $C$DW$118, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1458 .dwattr $C$DW$118, DW_AT_decl_line(0x6e)
+ 1459 .dwattr $C$DW$118, DW_AT_decl_column(0x0d)
+ 1460 .dwendtag $C$DW$T$41
+ 1461
+ 1462 .dwattr $C$DW$T$41, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1463 .dwattr $C$DW$T$41, DW_AT_decl_line(0x6a)
+ 1464 .dwattr $C$DW$T$41, DW_AT_decl_column(0x13)
+ 1465$C$DW$T$84 .dwtag DW_TAG_volatile_type
+ 1466 .dwattr $C$DW$T$84, DW_AT_type(*$C$DW$T$41)
+ 1467
+ 1468$C$DW$T$42 .dwtag DW_TAG_structure_type
+ 1469 .dwattr $C$DW$T$42, DW_AT_byte_size(0x04)
+ 1470$C$DW$119 .dwtag DW_TAG_member
+ 1471 .dwattr $C$DW$119, DW_AT_type(*$C$DW$T$11)
+ 1472 .dwattr $C$DW$119, DW_AT_name("C26_BLK_IDX")
+ 1473 .dwattr $C$DW$119, DW_AT_TI_symbol_name("C26_BLK_IDX")
+ 1474 .dwattr $C$DW$119, DW_AT_bit_offset(0x18), DW_AT_bit_size(0x08)
+ 1475 .dwattr $C$DW$119, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1476 .dwattr $C$DW$119, DW_AT_accessibility(DW_ACCESS_public)
+ 1477 .dwattr $C$DW$119, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1478 .dwattr $C$DW$119, DW_AT_decl_line(0x78)
+ 1479 .dwattr $C$DW$119, DW_AT_decl_column(0x0d)
+ 1480$C$DW$120 .dwtag DW_TAG_member
+ 1481 .dwattr $C$DW$120, DW_AT_type(*$C$DW$T$11)
+ 1482 .dwattr $C$DW$120, DW_AT_name("rsvd8")
+ 1483 .dwattr $C$DW$120, DW_AT_TI_symbol_name("rsvd8")
+ 1484 .dwattr $C$DW$120, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x08)
+ 1485 .dwattr $C$DW$120, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 28
+
+ 1486 .dwattr $C$DW$120, DW_AT_accessibility(DW_ACCESS_public)
+ 1487 .dwattr $C$DW$120, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1488 .dwattr $C$DW$120, DW_AT_decl_line(0x79)
+ 1489 .dwattr $C$DW$120, DW_AT_decl_column(0x0d)
+ 1490$C$DW$121 .dwtag DW_TAG_member
+ 1491 .dwattr $C$DW$121, DW_AT_type(*$C$DW$T$11)
+ 1492 .dwattr $C$DW$121, DW_AT_name("C27_BLK_IDX")
+ 1493 .dwattr $C$DW$121, DW_AT_TI_symbol_name("C27_BLK_IDX")
+ 1494 .dwattr $C$DW$121, DW_AT_bit_offset(0x08), DW_AT_bit_size(0x08)
+ 1495 .dwattr $C$DW$121, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1496 .dwattr $C$DW$121, DW_AT_accessibility(DW_ACCESS_public)
+ 1497 .dwattr $C$DW$121, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1498 .dwattr $C$DW$121, DW_AT_decl_line(0x7a)
+ 1499 .dwattr $C$DW$121, DW_AT_decl_column(0x0d)
+ 1500$C$DW$122 .dwtag DW_TAG_member
+ 1501 .dwattr $C$DW$122, DW_AT_type(*$C$DW$T$11)
+ 1502 .dwattr $C$DW$122, DW_AT_name("rsvd24")
+ 1503 .dwattr $C$DW$122, DW_AT_TI_symbol_name("rsvd24")
+ 1504 .dwattr $C$DW$122, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x08)
+ 1505 .dwattr $C$DW$122, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1506 .dwattr $C$DW$122, DW_AT_accessibility(DW_ACCESS_public)
+ 1507 .dwattr $C$DW$122, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1508 .dwattr $C$DW$122, DW_AT_decl_line(0x7b)
+ 1509 .dwattr $C$DW$122, DW_AT_decl_column(0x0d)
+ 1510 .dwendtag $C$DW$T$42
+ 1511
+ 1512 .dwattr $C$DW$T$42, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1513 .dwattr $C$DW$T$42, DW_AT_decl_line(0x77)
+ 1514 .dwattr $C$DW$T$42, DW_AT_decl_column(0x13)
+ 1515$C$DW$T$86 .dwtag DW_TAG_volatile_type
+ 1516 .dwattr $C$DW$T$86, DW_AT_type(*$C$DW$T$42)
+ 1517
+ 1518$C$DW$T$43 .dwtag DW_TAG_structure_type
+ 1519 .dwattr $C$DW$T$43, DW_AT_byte_size(0x04)
+ 1520$C$DW$123 .dwtag DW_TAG_member
+ 1521 .dwattr $C$DW$123, DW_AT_type(*$C$DW$T$11)
+ 1522 .dwattr $C$DW$123, DW_AT_name("C28_BLK_POINTER")
+ 1523 .dwattr $C$DW$123, DW_AT_TI_symbol_name("C28_BLK_POINTER")
+ 1524 .dwattr $C$DW$123, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x10)
+ 1525 .dwattr $C$DW$123, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1526 .dwattr $C$DW$123, DW_AT_accessibility(DW_ACCESS_public)
+ 1527 .dwattr $C$DW$123, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1528 .dwattr $C$DW$123, DW_AT_decl_line(0x85)
+ 1529 .dwattr $C$DW$123, DW_AT_decl_column(0x0d)
+ 1530$C$DW$124 .dwtag DW_TAG_member
+ 1531 .dwattr $C$DW$124, DW_AT_type(*$C$DW$T$11)
+ 1532 .dwattr $C$DW$124, DW_AT_name("C29_BLK_POINTER")
+ 1533 .dwattr $C$DW$124, DW_AT_TI_symbol_name("C29_BLK_POINTER")
+ 1534 .dwattr $C$DW$124, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x10)
+ 1535 .dwattr $C$DW$124, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1536 .dwattr $C$DW$124, DW_AT_accessibility(DW_ACCESS_public)
+ 1537 .dwattr $C$DW$124, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1538 .dwattr $C$DW$124, DW_AT_decl_line(0x86)
+ 1539 .dwattr $C$DW$124, DW_AT_decl_column(0x0d)
+ 1540 .dwendtag $C$DW$T$43
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 29
+
+ 1541
+ 1542 .dwattr $C$DW$T$43, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1543 .dwattr $C$DW$T$43, DW_AT_decl_line(0x84)
+ 1544 .dwattr $C$DW$T$43, DW_AT_decl_column(0x13)
+ 1545$C$DW$T$88 .dwtag DW_TAG_volatile_type
+ 1546 .dwattr $C$DW$T$88, DW_AT_type(*$C$DW$T$43)
+ 1547
+ 1548$C$DW$T$44 .dwtag DW_TAG_structure_type
+ 1549 .dwattr $C$DW$T$44, DW_AT_byte_size(0x04)
+ 1550$C$DW$125 .dwtag DW_TAG_member
+ 1551 .dwattr $C$DW$125, DW_AT_type(*$C$DW$T$11)
+ 1552 .dwattr $C$DW$125, DW_AT_name("C30_BLK_POINTER")
+ 1553 .dwattr $C$DW$125, DW_AT_TI_symbol_name("C30_BLK_POINTER")
+ 1554 .dwattr $C$DW$125, DW_AT_bit_offset(0x10), DW_AT_bit_size(0x10)
+ 1555 .dwattr $C$DW$125, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1556 .dwattr $C$DW$125, DW_AT_accessibility(DW_ACCESS_public)
+ 1557 .dwattr $C$DW$125, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1558 .dwattr $C$DW$125, DW_AT_decl_line(0x90)
+ 1559 .dwattr $C$DW$125, DW_AT_decl_column(0x0d)
+ 1560$C$DW$126 .dwtag DW_TAG_member
+ 1561 .dwattr $C$DW$126, DW_AT_type(*$C$DW$T$11)
+ 1562 .dwattr $C$DW$126, DW_AT_name("C31_BLK_POINTER")
+ 1563 .dwattr $C$DW$126, DW_AT_TI_symbol_name("C31_BLK_POINTER")
+ 1564 .dwattr $C$DW$126, DW_AT_bit_offset(0x00), DW_AT_bit_size(0x10)
+ 1565 .dwattr $C$DW$126, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1566 .dwattr $C$DW$126, DW_AT_accessibility(DW_ACCESS_public)
+ 1567 .dwattr $C$DW$126, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1568 .dwattr $C$DW$126, DW_AT_decl_line(0x91)
+ 1569 .dwattr $C$DW$126, DW_AT_decl_column(0x0d)
+ 1570 .dwendtag $C$DW$T$44
+ 1571
+ 1572 .dwattr $C$DW$T$44, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1573 .dwattr $C$DW$T$44, DW_AT_decl_line(0x8f)
+ 1574 .dwattr $C$DW$T$44, DW_AT_decl_column(0x13)
+ 1575$C$DW$T$90 .dwtag DW_TAG_volatile_type
+ 1576 .dwattr $C$DW$T$90, DW_AT_type(*$C$DW$T$44)
+ 1577
+ 1578$C$DW$T$46 .dwtag DW_TAG_structure_type
+ 1579 .dwattr $C$DW$T$46, DW_AT_byte_size(0x30)
+ 1580$C$DW$127 .dwtag DW_TAG_member
+ 1581 .dwattr $C$DW$127, DW_AT_type(*$C$DW$T$75)
+ 1582 .dwattr $C$DW$127, DW_AT_name("$P$T13")
+ 1583 .dwattr $C$DW$127, DW_AT_TI_symbol_name("$P$T13")
+ 1584 .dwattr $C$DW$127, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1585 .dwattr $C$DW$127, DW_AT_accessibility(DW_ACCESS_public)
+ 1586 .dwattr $C$DW$127, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1587 .dwattr $C$DW$127, DW_AT_decl_line(0x29)
+ 1588 .dwattr $C$DW$127, DW_AT_decl_column(0x02)
+ 1589$C$DW$128 .dwtag DW_TAG_member
+ 1590 .dwattr $C$DW$128, DW_AT_type(*$C$DW$T$77)
+ 1591 .dwattr $C$DW$128, DW_AT_name("$P$T14")
+ 1592 .dwattr $C$DW$128, DW_AT_TI_symbol_name("$P$T14")
+ 1593 .dwattr $C$DW$128, DW_AT_data_member_location[DW_OP_plus_uconst 0x4]
+ 1594 .dwattr $C$DW$128, DW_AT_accessibility(DW_ACCESS_public)
+ 1595 .dwattr $C$DW$128, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 30
+
+ 1596 .dwattr $C$DW$128, DW_AT_decl_line(0x3b)
+ 1597 .dwattr $C$DW$128, DW_AT_decl_column(0x02)
+ 1598$C$DW$129 .dwtag DW_TAG_member
+ 1599 .dwattr $C$DW$129, DW_AT_type(*$C$DW$T$79)
+ 1600 .dwattr $C$DW$129, DW_AT_name("$P$T15")
+ 1601 .dwattr $C$DW$129, DW_AT_TI_symbol_name("$P$T15")
+ 1602 .dwattr $C$DW$129, DW_AT_data_member_location[DW_OP_plus_uconst 0x8]
+ 1603 .dwattr $C$DW$129, DW_AT_accessibility(DW_ACCESS_public)
+ 1604 .dwattr $C$DW$129, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1605 .dwattr $C$DW$129, DW_AT_decl_line(0x46)
+ 1606 .dwattr $C$DW$129, DW_AT_decl_column(0x02)
+ 1607$C$DW$130 .dwtag DW_TAG_member
+ 1608 .dwattr $C$DW$130, DW_AT_type(*$C$DW$T$81)
+ 1609 .dwattr $C$DW$130, DW_AT_name("$P$T16")
+ 1610 .dwattr $C$DW$130, DW_AT_TI_symbol_name("$P$T16")
+ 1611 .dwattr $C$DW$130, DW_AT_data_member_location[DW_OP_plus_uconst 0xc]
+ 1612 .dwattr $C$DW$130, DW_AT_accessibility(DW_ACCESS_public)
+ 1613 .dwattr $C$DW$130, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1614 .dwattr $C$DW$130, DW_AT_decl_line(0x50)
+ 1615 .dwattr $C$DW$130, DW_AT_decl_column(0x02)
+ 1616$C$DW$131 .dwtag DW_TAG_member
+ 1617 .dwattr $C$DW$131, DW_AT_type(*$C$DW$T$83)
+ 1618 .dwattr $C$DW$131, DW_AT_name("$P$T17")
+ 1619 .dwattr $C$DW$131, DW_AT_TI_symbol_name("$P$T17")
+ 1620 .dwattr $C$DW$131, DW_AT_data_member_location[DW_OP_plus_uconst 0x10]
+ 1621 .dwattr $C$DW$131, DW_AT_accessibility(DW_ACCESS_public)
+ 1622 .dwattr $C$DW$131, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1623 .dwattr $C$DW$131, DW_AT_decl_line(0x5a)
+ 1624 .dwattr $C$DW$131, DW_AT_decl_column(0x02)
+ 1625$C$DW$132 .dwtag DW_TAG_member
+ 1626 .dwattr $C$DW$132, DW_AT_type(*$C$DW$T$45)
+ 1627 .dwattr $C$DW$132, DW_AT_name("rsvd14")
+ 1628 .dwattr $C$DW$132, DW_AT_TI_symbol_name("rsvd14")
+ 1629 .dwattr $C$DW$132, DW_AT_data_member_location[DW_OP_plus_uconst 0x14]
+ 1630 .dwattr $C$DW$132, DW_AT_accessibility(DW_ACCESS_public)
+ 1631 .dwattr $C$DW$132, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1632 .dwattr $C$DW$132, DW_AT_decl_line(0x63)
+ 1633 .dwattr $C$DW$132, DW_AT_decl_column(0x0b)
+ 1634$C$DW$133 .dwtag DW_TAG_member
+ 1635 .dwattr $C$DW$133, DW_AT_type(*$C$DW$T$85)
+ 1636 .dwattr $C$DW$133, DW_AT_name("$P$T18")
+ 1637 .dwattr $C$DW$133, DW_AT_TI_symbol_name("$P$T18")
+ 1638 .dwattr $C$DW$133, DW_AT_data_member_location[DW_OP_plus_uconst 0x20]
+ 1639 .dwattr $C$DW$133, DW_AT_accessibility(DW_ACCESS_public)
+ 1640 .dwattr $C$DW$133, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1641 .dwattr $C$DW$133, DW_AT_decl_line(0x67)
+ 1642 .dwattr $C$DW$133, DW_AT_decl_column(0x02)
+ 1643$C$DW$134 .dwtag DW_TAG_member
+ 1644 .dwattr $C$DW$134, DW_AT_type(*$C$DW$T$87)
+ 1645 .dwattr $C$DW$134, DW_AT_name("$P$T19")
+ 1646 .dwattr $C$DW$134, DW_AT_TI_symbol_name("$P$T19")
+ 1647 .dwattr $C$DW$134, DW_AT_data_member_location[DW_OP_plus_uconst 0x24]
+ 1648 .dwattr $C$DW$134, DW_AT_accessibility(DW_ACCESS_public)
+ 1649 .dwattr $C$DW$134, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1650 .dwattr $C$DW$134, DW_AT_decl_line(0x74)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 31
+
+ 1651 .dwattr $C$DW$134, DW_AT_decl_column(0x02)
+ 1652$C$DW$135 .dwtag DW_TAG_member
+ 1653 .dwattr $C$DW$135, DW_AT_type(*$C$DW$T$89)
+ 1654 .dwattr $C$DW$135, DW_AT_name("$P$T20")
+ 1655 .dwattr $C$DW$135, DW_AT_TI_symbol_name("$P$T20")
+ 1656 .dwattr $C$DW$135, DW_AT_data_member_location[DW_OP_plus_uconst 0x28]
+ 1657 .dwattr $C$DW$135, DW_AT_accessibility(DW_ACCESS_public)
+ 1658 .dwattr $C$DW$135, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1659 .dwattr $C$DW$135, DW_AT_decl_line(0x81)
+ 1660 .dwattr $C$DW$135, DW_AT_decl_column(0x02)
+ 1661$C$DW$136 .dwtag DW_TAG_member
+ 1662 .dwattr $C$DW$136, DW_AT_type(*$C$DW$T$91)
+ 1663 .dwattr $C$DW$136, DW_AT_name("$P$T21")
+ 1664 .dwattr $C$DW$136, DW_AT_TI_symbol_name("$P$T21")
+ 1665 .dwattr $C$DW$136, DW_AT_data_member_location[DW_OP_plus_uconst 0x2c]
+ 1666 .dwattr $C$DW$136, DW_AT_accessibility(DW_ACCESS_public)
+ 1667 .dwattr $C$DW$136, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1668 .dwattr $C$DW$136, DW_AT_decl_line(0x8c)
+ 1669 .dwattr $C$DW$136, DW_AT_decl_column(0x02)
+ 1670 .dwendtag $C$DW$T$46
+ 1671
+ 1672 .dwattr $C$DW$T$46, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1673 .dwattr $C$DW$T$46, DW_AT_decl_line(0x26)
+ 1674 .dwattr $C$DW$T$46, DW_AT_decl_column(0x10)
+ 1675$C$DW$T$102 .dwtag DW_TAG_typedef, DW_AT_name("pruCtrl")
+ 1676 .dwattr $C$DW$T$102, DW_AT_type(*$C$DW$T$46)
+ 1677 .dwattr $C$DW$T$102, DW_AT_language(DW_LANG_C)
+ 1678 .dwattr $C$DW$T$102, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/
+ 1679 .dwattr $C$DW$T$102, DW_AT_decl_line(0x95)
+ 1680 .dwattr $C$DW$T$102, DW_AT_decl_column(0x03)
+ 1681
+ 1682$C$DW$T$49 .dwtag DW_TAG_union_type
+ 1683 .dwattr $C$DW$T$49, DW_AT_byte_size(0x04)
+ 1684$C$DW$137 .dwtag DW_TAG_member
+ 1685 .dwattr $C$DW$137, DW_AT_type(*$C$DW$T$47)
+ 1686 .dwattr $C$DW$137, DW_AT_name("REVID")
+ 1687 .dwattr $C$DW$137, DW_AT_TI_symbol_name("REVID")
+ 1688 .dwattr $C$DW$137, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1689 .dwattr $C$DW$137, DW_AT_accessibility(DW_ACCESS_public)
+ 1690 .dwattr $C$DW$137, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1691 .dwattr $C$DW$137, DW_AT_decl_line(0x2a)
+ 1692 .dwattr $C$DW$137, DW_AT_decl_column(0x15)
+ 1693$C$DW$138 .dwtag DW_TAG_member
+ 1694 .dwattr $C$DW$138, DW_AT_type(*$C$DW$T$48)
+ 1695 .dwattr $C$DW$138, DW_AT_name("REVID_bit")
+ 1696 .dwattr $C$DW$138, DW_AT_TI_symbol_name("REVID_bit")
+ 1697 .dwattr $C$DW$138, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1698 .dwattr $C$DW$138, DW_AT_accessibility(DW_ACCESS_public)
+ 1699 .dwattr $C$DW$138, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1700 .dwattr $C$DW$138, DW_AT_decl_line(0x2e)
+ 1701 .dwattr $C$DW$138, DW_AT_decl_column(0x05)
+ 1702 .dwendtag $C$DW$T$49
+ 1703
+ 1704 .dwattr $C$DW$T$49, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1705 .dwattr $C$DW$T$49, DW_AT_decl_line(0x29)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 32
+
+ 1706 .dwattr $C$DW$T$49, DW_AT_decl_column(0x08)
+ 1707
+ 1708$C$DW$T$51 .dwtag DW_TAG_union_type
+ 1709 .dwattr $C$DW$T$51, DW_AT_byte_size(0x04)
+ 1710$C$DW$139 .dwtag DW_TAG_member
+ 1711 .dwattr $C$DW$139, DW_AT_type(*$C$DW$T$47)
+ 1712 .dwattr $C$DW$139, DW_AT_name("SYSCFG")
+ 1713 .dwattr $C$DW$139, DW_AT_TI_symbol_name("SYSCFG")
+ 1714 .dwattr $C$DW$139, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1715 .dwattr $C$DW$139, DW_AT_accessibility(DW_ACCESS_public)
+ 1716 .dwattr $C$DW$139, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1717 .dwattr $C$DW$139, DW_AT_decl_line(0x34)
+ 1718 .dwattr $C$DW$139, DW_AT_decl_column(0x15)
+ 1719$C$DW$140 .dwtag DW_TAG_member
+ 1720 .dwattr $C$DW$140, DW_AT_type(*$C$DW$T$50)
+ 1721 .dwattr $C$DW$140, DW_AT_name("SYSCFG_bit")
+ 1722 .dwattr $C$DW$140, DW_AT_TI_symbol_name("SYSCFG_bit")
+ 1723 .dwattr $C$DW$140, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1724 .dwattr $C$DW$140, DW_AT_accessibility(DW_ACCESS_public)
+ 1725 .dwattr $C$DW$140, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1726 .dwattr $C$DW$140, DW_AT_decl_line(0x3c)
+ 1727 .dwattr $C$DW$140, DW_AT_decl_column(0x05)
+ 1728 .dwendtag $C$DW$T$51
+ 1729
+ 1730 .dwattr $C$DW$T$51, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1731 .dwattr $C$DW$T$51, DW_AT_decl_line(0x33)
+ 1732 .dwattr $C$DW$T$51, DW_AT_decl_column(0x08)
+ 1733
+ 1734$C$DW$T$53 .dwtag DW_TAG_union_type
+ 1735 .dwattr $C$DW$T$53, DW_AT_byte_size(0x04)
+ 1736$C$DW$141 .dwtag DW_TAG_member
+ 1737 .dwattr $C$DW$141, DW_AT_type(*$C$DW$T$47)
+ 1738 .dwattr $C$DW$141, DW_AT_name("GPCFG0")
+ 1739 .dwattr $C$DW$141, DW_AT_TI_symbol_name("GPCFG0")
+ 1740 .dwattr $C$DW$141, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1741 .dwattr $C$DW$141, DW_AT_accessibility(DW_ACCESS_public)
+ 1742 .dwattr $C$DW$141, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1743 .dwattr $C$DW$141, DW_AT_decl_line(0x42)
+ 1744 .dwattr $C$DW$141, DW_AT_decl_column(0x15)
+ 1745$C$DW$142 .dwtag DW_TAG_member
+ 1746 .dwattr $C$DW$142, DW_AT_type(*$C$DW$T$52)
+ 1747 .dwattr $C$DW$142, DW_AT_name("GPCFG0_bit")
+ 1748 .dwattr $C$DW$142, DW_AT_TI_symbol_name("GPCFG0_bit")
+ 1749 .dwattr $C$DW$142, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1750 .dwattr $C$DW$142, DW_AT_accessibility(DW_ACCESS_public)
+ 1751 .dwattr $C$DW$142, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1752 .dwattr $C$DW$142, DW_AT_decl_line(0x4f)
+ 1753 .dwattr $C$DW$142, DW_AT_decl_column(0x05)
+ 1754 .dwendtag $C$DW$T$53
+ 1755
+ 1756 .dwattr $C$DW$T$53, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1757 .dwattr $C$DW$T$53, DW_AT_decl_line(0x41)
+ 1758 .dwattr $C$DW$T$53, DW_AT_decl_column(0x08)
+ 1759
+ 1760$C$DW$T$55 .dwtag DW_TAG_union_type
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 33
+
+ 1761 .dwattr $C$DW$T$55, DW_AT_byte_size(0x04)
+ 1762$C$DW$143 .dwtag DW_TAG_member
+ 1763 .dwattr $C$DW$143, DW_AT_type(*$C$DW$T$47)
+ 1764 .dwattr $C$DW$143, DW_AT_name("GPCFG1")
+ 1765 .dwattr $C$DW$143, DW_AT_TI_symbol_name("GPCFG1")
+ 1766 .dwattr $C$DW$143, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1767 .dwattr $C$DW$143, DW_AT_accessibility(DW_ACCESS_public)
+ 1768 .dwattr $C$DW$143, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1769 .dwattr $C$DW$143, DW_AT_decl_line(0x55)
+ 1770 .dwattr $C$DW$143, DW_AT_decl_column(0x15)
+ 1771$C$DW$144 .dwtag DW_TAG_member
+ 1772 .dwattr $C$DW$144, DW_AT_type(*$C$DW$T$54)
+ 1773 .dwattr $C$DW$144, DW_AT_name("GPCFG1_bit")
+ 1774 .dwattr $C$DW$144, DW_AT_TI_symbol_name("GPCFG1_bit")
+ 1775 .dwattr $C$DW$144, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1776 .dwattr $C$DW$144, DW_AT_accessibility(DW_ACCESS_public)
+ 1777 .dwattr $C$DW$144, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1778 .dwattr $C$DW$144, DW_AT_decl_line(0x62)
+ 1779 .dwattr $C$DW$144, DW_AT_decl_column(0x05)
+ 1780 .dwendtag $C$DW$T$55
+ 1781
+ 1782 .dwattr $C$DW$T$55, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1783 .dwattr $C$DW$T$55, DW_AT_decl_line(0x54)
+ 1784 .dwattr $C$DW$T$55, DW_AT_decl_column(0x08)
+ 1785
+ 1786$C$DW$T$57 .dwtag DW_TAG_union_type
+ 1787 .dwattr $C$DW$T$57, DW_AT_byte_size(0x04)
+ 1788$C$DW$145 .dwtag DW_TAG_member
+ 1789 .dwattr $C$DW$145, DW_AT_type(*$C$DW$T$47)
+ 1790 .dwattr $C$DW$145, DW_AT_name("CGR")
+ 1791 .dwattr $C$DW$145, DW_AT_TI_symbol_name("CGR")
+ 1792 .dwattr $C$DW$145, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1793 .dwattr $C$DW$145, DW_AT_accessibility(DW_ACCESS_public)
+ 1794 .dwattr $C$DW$145, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1795 .dwattr $C$DW$145, DW_AT_decl_line(0x68)
+ 1796 .dwattr $C$DW$145, DW_AT_decl_column(0x15)
+ 1797$C$DW$146 .dwtag DW_TAG_member
+ 1798 .dwattr $C$DW$146, DW_AT_type(*$C$DW$T$56)
+ 1799 .dwattr $C$DW$146, DW_AT_name("CGR_bit")
+ 1800 .dwattr $C$DW$146, DW_AT_TI_symbol_name("CGR_bit")
+ 1801 .dwattr $C$DW$146, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1802 .dwattr $C$DW$146, DW_AT_accessibility(DW_ACCESS_public)
+ 1803 .dwattr $C$DW$146, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1804 .dwattr $C$DW$146, DW_AT_decl_line(0x7e)
+ 1805 .dwattr $C$DW$146, DW_AT_decl_column(0x05)
+ 1806 .dwendtag $C$DW$T$57
+ 1807
+ 1808 .dwattr $C$DW$T$57, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1809 .dwattr $C$DW$T$57, DW_AT_decl_line(0x67)
+ 1810 .dwattr $C$DW$T$57, DW_AT_decl_column(0x08)
+ 1811
+ 1812$C$DW$T$59 .dwtag DW_TAG_union_type
+ 1813 .dwattr $C$DW$T$59, DW_AT_byte_size(0x04)
+ 1814$C$DW$147 .dwtag DW_TAG_member
+ 1815 .dwattr $C$DW$147, DW_AT_type(*$C$DW$T$47)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 34
+
+ 1816 .dwattr $C$DW$147, DW_AT_name("ISRP")
+ 1817 .dwattr $C$DW$147, DW_AT_TI_symbol_name("ISRP")
+ 1818 .dwattr $C$DW$147, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1819 .dwattr $C$DW$147, DW_AT_accessibility(DW_ACCESS_public)
+ 1820 .dwattr $C$DW$147, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1821 .dwattr $C$DW$147, DW_AT_decl_line(0x84)
+ 1822 .dwattr $C$DW$147, DW_AT_decl_column(0x15)
+ 1823$C$DW$148 .dwtag DW_TAG_member
+ 1824 .dwattr $C$DW$148, DW_AT_type(*$C$DW$T$58)
+ 1825 .dwattr $C$DW$148, DW_AT_name("ISRP_bit")
+ 1826 .dwattr $C$DW$148, DW_AT_TI_symbol_name("ISRP_bit")
+ 1827 .dwattr $C$DW$148, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1828 .dwattr $C$DW$148, DW_AT_accessibility(DW_ACCESS_public)
+ 1829 .dwattr $C$DW$148, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1830 .dwattr $C$DW$148, DW_AT_decl_line(0x8d)
+ 1831 .dwattr $C$DW$148, DW_AT_decl_column(0x05)
+ 1832 .dwendtag $C$DW$T$59
+ 1833
+ 1834 .dwattr $C$DW$T$59, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1835 .dwattr $C$DW$T$59, DW_AT_decl_line(0x83)
+ 1836 .dwattr $C$DW$T$59, DW_AT_decl_column(0x08)
+ 1837
+ 1838$C$DW$T$61 .dwtag DW_TAG_union_type
+ 1839 .dwattr $C$DW$T$61, DW_AT_byte_size(0x04)
+ 1840$C$DW$149 .dwtag DW_TAG_member
+ 1841 .dwattr $C$DW$149, DW_AT_type(*$C$DW$T$47)
+ 1842 .dwattr $C$DW$149, DW_AT_name("ISP")
+ 1843 .dwattr $C$DW$149, DW_AT_TI_symbol_name("ISP")
+ 1844 .dwattr $C$DW$149, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1845 .dwattr $C$DW$149, DW_AT_accessibility(DW_ACCESS_public)
+ 1846 .dwattr $C$DW$149, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1847 .dwattr $C$DW$149, DW_AT_decl_line(0x93)
+ 1848 .dwattr $C$DW$149, DW_AT_decl_column(0x15)
+ 1849$C$DW$150 .dwtag DW_TAG_member
+ 1850 .dwattr $C$DW$150, DW_AT_type(*$C$DW$T$60)
+ 1851 .dwattr $C$DW$150, DW_AT_name("ISP_bit")
+ 1852 .dwattr $C$DW$150, DW_AT_TI_symbol_name("ISP_bit")
+ 1853 .dwattr $C$DW$150, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1854 .dwattr $C$DW$150, DW_AT_accessibility(DW_ACCESS_public)
+ 1855 .dwattr $C$DW$150, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1856 .dwattr $C$DW$150, DW_AT_decl_line(0x9c)
+ 1857 .dwattr $C$DW$150, DW_AT_decl_column(0x05)
+ 1858 .dwendtag $C$DW$T$61
+ 1859
+ 1860 .dwattr $C$DW$T$61, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1861 .dwattr $C$DW$T$61, DW_AT_decl_line(0x92)
+ 1862 .dwattr $C$DW$T$61, DW_AT_decl_column(0x08)
+ 1863
+ 1864$C$DW$T$63 .dwtag DW_TAG_union_type
+ 1865 .dwattr $C$DW$T$63, DW_AT_byte_size(0x04)
+ 1866$C$DW$151 .dwtag DW_TAG_member
+ 1867 .dwattr $C$DW$151, DW_AT_type(*$C$DW$T$47)
+ 1868 .dwattr $C$DW$151, DW_AT_name("IESP")
+ 1869 .dwattr $C$DW$151, DW_AT_TI_symbol_name("IESP")
+ 1870 .dwattr $C$DW$151, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 35
+
+ 1871 .dwattr $C$DW$151, DW_AT_accessibility(DW_ACCESS_public)
+ 1872 .dwattr $C$DW$151, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1873 .dwattr $C$DW$151, DW_AT_decl_line(0xa1)
+ 1874 .dwattr $C$DW$151, DW_AT_decl_column(0x15)
+ 1875$C$DW$152 .dwtag DW_TAG_member
+ 1876 .dwattr $C$DW$152, DW_AT_type(*$C$DW$T$62)
+ 1877 .dwattr $C$DW$152, DW_AT_name("IESP_bit")
+ 1878 .dwattr $C$DW$152, DW_AT_TI_symbol_name("IESP_bit")
+ 1879 .dwattr $C$DW$152, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1880 .dwattr $C$DW$152, DW_AT_accessibility(DW_ACCESS_public)
+ 1881 .dwattr $C$DW$152, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1882 .dwattr $C$DW$152, DW_AT_decl_line(0xaa)
+ 1883 .dwattr $C$DW$152, DW_AT_decl_column(0x05)
+ 1884 .dwendtag $C$DW$T$63
+ 1885
+ 1886 .dwattr $C$DW$T$63, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1887 .dwattr $C$DW$T$63, DW_AT_decl_line(0xa0)
+ 1888 .dwattr $C$DW$T$63, DW_AT_decl_column(0x08)
+ 1889
+ 1890$C$DW$T$65 .dwtag DW_TAG_union_type
+ 1891 .dwattr $C$DW$T$65, DW_AT_byte_size(0x04)
+ 1892$C$DW$153 .dwtag DW_TAG_member
+ 1893 .dwattr $C$DW$153, DW_AT_type(*$C$DW$T$47)
+ 1894 .dwattr $C$DW$153, DW_AT_name("IECP")
+ 1895 .dwattr $C$DW$153, DW_AT_TI_symbol_name("IECP")
+ 1896 .dwattr $C$DW$153, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1897 .dwattr $C$DW$153, DW_AT_accessibility(DW_ACCESS_public)
+ 1898 .dwattr $C$DW$153, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1899 .dwattr $C$DW$153, DW_AT_decl_line(0xb0)
+ 1900 .dwattr $C$DW$153, DW_AT_decl_column(0x15)
+ 1901$C$DW$154 .dwtag DW_TAG_member
+ 1902 .dwattr $C$DW$154, DW_AT_type(*$C$DW$T$64)
+ 1903 .dwattr $C$DW$154, DW_AT_name("IECP_bit")
+ 1904 .dwattr $C$DW$154, DW_AT_TI_symbol_name("IECP_bit")
+ 1905 .dwattr $C$DW$154, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1906 .dwattr $C$DW$154, DW_AT_accessibility(DW_ACCESS_public)
+ 1907 .dwattr $C$DW$154, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1908 .dwattr $C$DW$154, DW_AT_decl_line(0xb8)
+ 1909 .dwattr $C$DW$154, DW_AT_decl_column(0x05)
+ 1910 .dwendtag $C$DW$T$65
+ 1911
+ 1912 .dwattr $C$DW$T$65, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1913 .dwattr $C$DW$T$65, DW_AT_decl_line(0xaf)
+ 1914 .dwattr $C$DW$T$65, DW_AT_decl_column(0x08)
+ 1915
+ 1916$C$DW$T$67 .dwtag DW_TAG_union_type
+ 1917 .dwattr $C$DW$T$67, DW_AT_byte_size(0x04)
+ 1918$C$DW$155 .dwtag DW_TAG_member
+ 1919 .dwattr $C$DW$155, DW_AT_type(*$C$DW$T$47)
+ 1920 .dwattr $C$DW$155, DW_AT_name("PMAO")
+ 1921 .dwattr $C$DW$155, DW_AT_TI_symbol_name("PMAO")
+ 1922 .dwattr $C$DW$155, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1923 .dwattr $C$DW$155, DW_AT_accessibility(DW_ACCESS_public)
+ 1924 .dwattr $C$DW$155, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1925 .dwattr $C$DW$155, DW_AT_decl_line(0xc1)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 36
+
+ 1926 .dwattr $C$DW$155, DW_AT_decl_column(0x15)
+ 1927$C$DW$156 .dwtag DW_TAG_member
+ 1928 .dwattr $C$DW$156, DW_AT_type(*$C$DW$T$66)
+ 1929 .dwattr $C$DW$156, DW_AT_name("PMAO_bit")
+ 1930 .dwattr $C$DW$156, DW_AT_TI_symbol_name("PMAO_bit")
+ 1931 .dwattr $C$DW$156, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1932 .dwattr $C$DW$156, DW_AT_accessibility(DW_ACCESS_public)
+ 1933 .dwattr $C$DW$156, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1934 .dwattr $C$DW$156, DW_AT_decl_line(0xc7)
+ 1935 .dwattr $C$DW$156, DW_AT_decl_column(0x05)
+ 1936 .dwendtag $C$DW$T$67
+ 1937
+ 1938 .dwattr $C$DW$T$67, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1939 .dwattr $C$DW$T$67, DW_AT_decl_line(0xc0)
+ 1940 .dwattr $C$DW$T$67, DW_AT_decl_column(0x08)
+ 1941
+ 1942$C$DW$T$69 .dwtag DW_TAG_union_type
+ 1943 .dwattr $C$DW$T$69, DW_AT_byte_size(0x04)
+ 1944$C$DW$157 .dwtag DW_TAG_member
+ 1945 .dwattr $C$DW$157, DW_AT_type(*$C$DW$T$47)
+ 1946 .dwattr $C$DW$157, DW_AT_name("IEPCLK")
+ 1947 .dwattr $C$DW$157, DW_AT_TI_symbol_name("IEPCLK")
+ 1948 .dwattr $C$DW$157, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1949 .dwattr $C$DW$157, DW_AT_accessibility(DW_ACCESS_public)
+ 1950 .dwattr $C$DW$157, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1951 .dwattr $C$DW$157, DW_AT_decl_line(0xd0)
+ 1952 .dwattr $C$DW$157, DW_AT_decl_column(0x15)
+ 1953$C$DW$158 .dwtag DW_TAG_member
+ 1954 .dwattr $C$DW$158, DW_AT_type(*$C$DW$T$68)
+ 1955 .dwattr $C$DW$158, DW_AT_name("IEPCLK_bit")
+ 1956 .dwattr $C$DW$158, DW_AT_TI_symbol_name("IEPCLK_bit")
+ 1957 .dwattr $C$DW$158, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1958 .dwattr $C$DW$158, DW_AT_accessibility(DW_ACCESS_public)
+ 1959 .dwattr $C$DW$158, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1960 .dwattr $C$DW$158, DW_AT_decl_line(0xd5)
+ 1961 .dwattr $C$DW$158, DW_AT_decl_column(0x05)
+ 1962 .dwendtag $C$DW$T$69
+ 1963
+ 1964 .dwattr $C$DW$T$69, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1965 .dwattr $C$DW$T$69, DW_AT_decl_line(0xcf)
+ 1966 .dwattr $C$DW$T$69, DW_AT_decl_column(0x08)
+ 1967
+ 1968$C$DW$T$71 .dwtag DW_TAG_union_type
+ 1969 .dwattr $C$DW$T$71, DW_AT_byte_size(0x04)
+ 1970$C$DW$159 .dwtag DW_TAG_member
+ 1971 .dwattr $C$DW$159, DW_AT_type(*$C$DW$T$47)
+ 1972 .dwattr $C$DW$159, DW_AT_name("SPP")
+ 1973 .dwattr $C$DW$159, DW_AT_TI_symbol_name("SPP")
+ 1974 .dwattr $C$DW$159, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1975 .dwattr $C$DW$159, DW_AT_accessibility(DW_ACCESS_public)
+ 1976 .dwattr $C$DW$159, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1977 .dwattr $C$DW$159, DW_AT_decl_line(0xdb)
+ 1978 .dwattr $C$DW$159, DW_AT_decl_column(0x15)
+ 1979$C$DW$160 .dwtag DW_TAG_member
+ 1980 .dwattr $C$DW$160, DW_AT_type(*$C$DW$T$70)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 37
+
+ 1981 .dwattr $C$DW$160, DW_AT_name("SPP_bit")
+ 1982 .dwattr $C$DW$160, DW_AT_TI_symbol_name("SPP_bit")
+ 1983 .dwattr $C$DW$160, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 1984 .dwattr $C$DW$160, DW_AT_accessibility(DW_ACCESS_public)
+ 1985 .dwattr $C$DW$160, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 1986 .dwattr $C$DW$160, DW_AT_decl_line(0xe1)
+ 1987 .dwattr $C$DW$160, DW_AT_decl_column(0x05)
+ 1988 .dwendtag $C$DW$T$71
+ 1989
+ 1990 .dwattr $C$DW$T$71, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 1991 .dwattr $C$DW$T$71, DW_AT_decl_line(0xda)
+ 1992 .dwattr $C$DW$T$71, DW_AT_decl_column(0x08)
+ 1993
+ 1994$C$DW$T$73 .dwtag DW_TAG_union_type
+ 1995 .dwattr $C$DW$T$73, DW_AT_byte_size(0x04)
+ 1996$C$DW$161 .dwtag DW_TAG_member
+ 1997 .dwattr $C$DW$161, DW_AT_type(*$C$DW$T$47)
+ 1998 .dwattr $C$DW$161, DW_AT_name("PIN_MX")
+ 1999 .dwattr $C$DW$161, DW_AT_TI_symbol_name("PIN_MX")
+ 2000 .dwattr $C$DW$161, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2001 .dwattr $C$DW$161, DW_AT_accessibility(DW_ACCESS_public)
+ 2002 .dwattr $C$DW$161, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2003 .dwattr $C$DW$161, DW_AT_decl_line(0xe9)
+ 2004 .dwattr $C$DW$161, DW_AT_decl_column(0x15)
+ 2005$C$DW$162 .dwtag DW_TAG_member
+ 2006 .dwattr $C$DW$162, DW_AT_type(*$C$DW$T$72)
+ 2007 .dwattr $C$DW$162, DW_AT_name("PIN_MX_bit")
+ 2008 .dwattr $C$DW$162, DW_AT_TI_symbol_name("PIN_MX_bit")
+ 2009 .dwattr $C$DW$162, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2010 .dwattr $C$DW$162, DW_AT_accessibility(DW_ACCESS_public)
+ 2011 .dwattr $C$DW$162, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2012 .dwattr $C$DW$162, DW_AT_decl_line(0xee)
+ 2013 .dwattr $C$DW$162, DW_AT_decl_column(0x05)
+ 2014 .dwendtag $C$DW$T$73
+ 2015
+ 2016 .dwattr $C$DW$T$73, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2017 .dwattr $C$DW$T$73, DW_AT_decl_line(0xe8)
+ 2018 .dwattr $C$DW$T$73, DW_AT_decl_column(0x08)
+ 2019
+ 2020$C$DW$T$75 .dwtag DW_TAG_union_type
+ 2021 .dwattr $C$DW$T$75, DW_AT_byte_size(0x04)
+ 2022$C$DW$163 .dwtag DW_TAG_member
+ 2023 .dwattr $C$DW$163, DW_AT_type(*$C$DW$T$47)
+ 2024 .dwattr $C$DW$163, DW_AT_name("CTRL")
+ 2025 .dwattr $C$DW$163, DW_AT_TI_symbol_name("CTRL")
+ 2026 .dwattr $C$DW$163, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2027 .dwattr $C$DW$163, DW_AT_accessibility(DW_ACCESS_public)
+ 2028 .dwattr $C$DW$163, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2029 .dwattr $C$DW$163, DW_AT_decl_line(0x2a)
+ 2030 .dwattr $C$DW$163, DW_AT_decl_column(0x15)
+ 2031$C$DW$164 .dwtag DW_TAG_member
+ 2032 .dwattr $C$DW$164, DW_AT_type(*$C$DW$T$74)
+ 2033 .dwattr $C$DW$164, DW_AT_name("CTRL_bit")
+ 2034 .dwattr $C$DW$164, DW_AT_TI_symbol_name("CTRL_bit")
+ 2035 .dwattr $C$DW$164, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 38
+
+ 2036 .dwattr $C$DW$164, DW_AT_accessibility(DW_ACCESS_public)
+ 2037 .dwattr $C$DW$164, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2038 .dwattr $C$DW$164, DW_AT_decl_line(0x36)
+ 2039 .dwattr $C$DW$164, DW_AT_decl_column(0x05)
+ 2040 .dwendtag $C$DW$T$75
+ 2041
+ 2042 .dwattr $C$DW$T$75, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2043 .dwattr $C$DW$T$75, DW_AT_decl_line(0x29)
+ 2044 .dwattr $C$DW$T$75, DW_AT_decl_column(0x08)
+ 2045
+ 2046$C$DW$T$77 .dwtag DW_TAG_union_type
+ 2047 .dwattr $C$DW$T$77, DW_AT_byte_size(0x04)
+ 2048$C$DW$165 .dwtag DW_TAG_member
+ 2049 .dwattr $C$DW$165, DW_AT_type(*$C$DW$T$47)
+ 2050 .dwattr $C$DW$165, DW_AT_name("STS")
+ 2051 .dwattr $C$DW$165, DW_AT_TI_symbol_name("STS")
+ 2052 .dwattr $C$DW$165, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2053 .dwattr $C$DW$165, DW_AT_accessibility(DW_ACCESS_public)
+ 2054 .dwattr $C$DW$165, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2055 .dwattr $C$DW$165, DW_AT_decl_line(0x3c)
+ 2056 .dwattr $C$DW$165, DW_AT_decl_column(0x15)
+ 2057$C$DW$166 .dwtag DW_TAG_member
+ 2058 .dwattr $C$DW$166, DW_AT_type(*$C$DW$T$76)
+ 2059 .dwattr $C$DW$166, DW_AT_name("STS_bit")
+ 2060 .dwattr $C$DW$166, DW_AT_TI_symbol_name("STS_bit")
+ 2061 .dwattr $C$DW$166, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2062 .dwattr $C$DW$166, DW_AT_accessibility(DW_ACCESS_public)
+ 2063 .dwattr $C$DW$166, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2064 .dwattr $C$DW$166, DW_AT_decl_line(0x41)
+ 2065 .dwattr $C$DW$166, DW_AT_decl_column(0x05)
+ 2066 .dwendtag $C$DW$T$77
+ 2067
+ 2068 .dwattr $C$DW$T$77, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2069 .dwattr $C$DW$T$77, DW_AT_decl_line(0x3b)
+ 2070 .dwattr $C$DW$T$77, DW_AT_decl_column(0x08)
+ 2071
+ 2072$C$DW$T$79 .dwtag DW_TAG_union_type
+ 2073 .dwattr $C$DW$T$79, DW_AT_byte_size(0x04)
+ 2074$C$DW$167 .dwtag DW_TAG_member
+ 2075 .dwattr $C$DW$167, DW_AT_type(*$C$DW$T$47)
+ 2076 .dwattr $C$DW$167, DW_AT_name("WAKEUP_EN")
+ 2077 .dwattr $C$DW$167, DW_AT_TI_symbol_name("WAKEUP_EN")
+ 2078 .dwattr $C$DW$167, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2079 .dwattr $C$DW$167, DW_AT_accessibility(DW_ACCESS_public)
+ 2080 .dwattr $C$DW$167, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2081 .dwattr $C$DW$167, DW_AT_decl_line(0x47)
+ 2082 .dwattr $C$DW$167, DW_AT_decl_column(0x15)
+ 2083$C$DW$168 .dwtag DW_TAG_member
+ 2084 .dwattr $C$DW$168, DW_AT_type(*$C$DW$T$78)
+ 2085 .dwattr $C$DW$168, DW_AT_name("WAKEUP_EN_bit")
+ 2086 .dwattr $C$DW$168, DW_AT_TI_symbol_name("WAKEUP_EN_bit")
+ 2087 .dwattr $C$DW$168, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2088 .dwattr $C$DW$168, DW_AT_accessibility(DW_ACCESS_public)
+ 2089 .dwattr $C$DW$168, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2090 .dwattr $C$DW$168, DW_AT_decl_line(0x4b)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 39
+
+ 2091 .dwattr $C$DW$168, DW_AT_decl_column(0x05)
+ 2092 .dwendtag $C$DW$T$79
+ 2093
+ 2094 .dwattr $C$DW$T$79, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2095 .dwattr $C$DW$T$79, DW_AT_decl_line(0x46)
+ 2096 .dwattr $C$DW$T$79, DW_AT_decl_column(0x08)
+ 2097
+ 2098$C$DW$T$81 .dwtag DW_TAG_union_type
+ 2099 .dwattr $C$DW$T$81, DW_AT_byte_size(0x04)
+ 2100$C$DW$169 .dwtag DW_TAG_member
+ 2101 .dwattr $C$DW$169, DW_AT_type(*$C$DW$T$47)
+ 2102 .dwattr $C$DW$169, DW_AT_name("CYCLE")
+ 2103 .dwattr $C$DW$169, DW_AT_TI_symbol_name("CYCLE")
+ 2104 .dwattr $C$DW$169, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2105 .dwattr $C$DW$169, DW_AT_accessibility(DW_ACCESS_public)
+ 2106 .dwattr $C$DW$169, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2107 .dwattr $C$DW$169, DW_AT_decl_line(0x51)
+ 2108 .dwattr $C$DW$169, DW_AT_decl_column(0x15)
+ 2109$C$DW$170 .dwtag DW_TAG_member
+ 2110 .dwattr $C$DW$170, DW_AT_type(*$C$DW$T$80)
+ 2111 .dwattr $C$DW$170, DW_AT_name("CYCLE_bit")
+ 2112 .dwattr $C$DW$170, DW_AT_TI_symbol_name("CYCLE_bit")
+ 2113 .dwattr $C$DW$170, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2114 .dwattr $C$DW$170, DW_AT_accessibility(DW_ACCESS_public)
+ 2115 .dwattr $C$DW$170, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2116 .dwattr $C$DW$170, DW_AT_decl_line(0x55)
+ 2117 .dwattr $C$DW$170, DW_AT_decl_column(0x05)
+ 2118 .dwendtag $C$DW$T$81
+ 2119
+ 2120 .dwattr $C$DW$T$81, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2121 .dwattr $C$DW$T$81, DW_AT_decl_line(0x50)
+ 2122 .dwattr $C$DW$T$81, DW_AT_decl_column(0x08)
+ 2123
+ 2124$C$DW$T$83 .dwtag DW_TAG_union_type
+ 2125 .dwattr $C$DW$T$83, DW_AT_byte_size(0x04)
+ 2126$C$DW$171 .dwtag DW_TAG_member
+ 2127 .dwattr $C$DW$171, DW_AT_type(*$C$DW$T$47)
+ 2128 .dwattr $C$DW$171, DW_AT_name("STALL")
+ 2129 .dwattr $C$DW$171, DW_AT_TI_symbol_name("STALL")
+ 2130 .dwattr $C$DW$171, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2131 .dwattr $C$DW$171, DW_AT_accessibility(DW_ACCESS_public)
+ 2132 .dwattr $C$DW$171, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2133 .dwattr $C$DW$171, DW_AT_decl_line(0x5b)
+ 2134 .dwattr $C$DW$171, DW_AT_decl_column(0x15)
+ 2135$C$DW$172 .dwtag DW_TAG_member
+ 2136 .dwattr $C$DW$172, DW_AT_type(*$C$DW$T$82)
+ 2137 .dwattr $C$DW$172, DW_AT_name("STALL_bit")
+ 2138 .dwattr $C$DW$172, DW_AT_TI_symbol_name("STALL_bit")
+ 2139 .dwattr $C$DW$172, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2140 .dwattr $C$DW$172, DW_AT_accessibility(DW_ACCESS_public)
+ 2141 .dwattr $C$DW$172, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2142 .dwattr $C$DW$172, DW_AT_decl_line(0x5f)
+ 2143 .dwattr $C$DW$172, DW_AT_decl_column(0x05)
+ 2144 .dwendtag $C$DW$T$83
+ 2145
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 40
+
+ 2146 .dwattr $C$DW$T$83, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2147 .dwattr $C$DW$T$83, DW_AT_decl_line(0x5a)
+ 2148 .dwattr $C$DW$T$83, DW_AT_decl_column(0x08)
+ 2149
+ 2150$C$DW$T$85 .dwtag DW_TAG_union_type
+ 2151 .dwattr $C$DW$T$85, DW_AT_byte_size(0x04)
+ 2152$C$DW$173 .dwtag DW_TAG_member
+ 2153 .dwattr $C$DW$173, DW_AT_type(*$C$DW$T$47)
+ 2154 .dwattr $C$DW$173, DW_AT_name("CTBIR0")
+ 2155 .dwattr $C$DW$173, DW_AT_TI_symbol_name("CTBIR0")
+ 2156 .dwattr $C$DW$173, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2157 .dwattr $C$DW$173, DW_AT_accessibility(DW_ACCESS_public)
+ 2158 .dwattr $C$DW$173, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2159 .dwattr $C$DW$173, DW_AT_decl_line(0x68)
+ 2160 .dwattr $C$DW$173, DW_AT_decl_column(0x15)
+ 2161$C$DW$174 .dwtag DW_TAG_member
+ 2162 .dwattr $C$DW$174, DW_AT_type(*$C$DW$T$84)
+ 2163 .dwattr $C$DW$174, DW_AT_name("CTBIR0_bit")
+ 2164 .dwattr $C$DW$174, DW_AT_TI_symbol_name("CTBIR0_bit")
+ 2165 .dwattr $C$DW$174, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2166 .dwattr $C$DW$174, DW_AT_accessibility(DW_ACCESS_public)
+ 2167 .dwattr $C$DW$174, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2168 .dwattr $C$DW$174, DW_AT_decl_line(0x6f)
+ 2169 .dwattr $C$DW$174, DW_AT_decl_column(0x05)
+ 2170 .dwendtag $C$DW$T$85
+ 2171
+ 2172 .dwattr $C$DW$T$85, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2173 .dwattr $C$DW$T$85, DW_AT_decl_line(0x67)
+ 2174 .dwattr $C$DW$T$85, DW_AT_decl_column(0x08)
+ 2175
+ 2176$C$DW$T$87 .dwtag DW_TAG_union_type
+ 2177 .dwattr $C$DW$T$87, DW_AT_byte_size(0x04)
+ 2178$C$DW$175 .dwtag DW_TAG_member
+ 2179 .dwattr $C$DW$175, DW_AT_type(*$C$DW$T$47)
+ 2180 .dwattr $C$DW$175, DW_AT_name("CTBIR1")
+ 2181 .dwattr $C$DW$175, DW_AT_TI_symbol_name("CTBIR1")
+ 2182 .dwattr $C$DW$175, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2183 .dwattr $C$DW$175, DW_AT_accessibility(DW_ACCESS_public)
+ 2184 .dwattr $C$DW$175, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2185 .dwattr $C$DW$175, DW_AT_decl_line(0x75)
+ 2186 .dwattr $C$DW$175, DW_AT_decl_column(0x15)
+ 2187$C$DW$176 .dwtag DW_TAG_member
+ 2188 .dwattr $C$DW$176, DW_AT_type(*$C$DW$T$86)
+ 2189 .dwattr $C$DW$176, DW_AT_name("CTBIR1_bit")
+ 2190 .dwattr $C$DW$176, DW_AT_TI_symbol_name("CTBIR1_bit")
+ 2191 .dwattr $C$DW$176, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2192 .dwattr $C$DW$176, DW_AT_accessibility(DW_ACCESS_public)
+ 2193 .dwattr $C$DW$176, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2194 .dwattr $C$DW$176, DW_AT_decl_line(0x7c)
+ 2195 .dwattr $C$DW$176, DW_AT_decl_column(0x05)
+ 2196 .dwendtag $C$DW$T$87
+ 2197
+ 2198 .dwattr $C$DW$T$87, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2199 .dwattr $C$DW$T$87, DW_AT_decl_line(0x74)
+ 2200 .dwattr $C$DW$T$87, DW_AT_decl_column(0x08)
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 41
+
+ 2201
+ 2202$C$DW$T$89 .dwtag DW_TAG_union_type
+ 2203 .dwattr $C$DW$T$89, DW_AT_byte_size(0x04)
+ 2204$C$DW$177 .dwtag DW_TAG_member
+ 2205 .dwattr $C$DW$177, DW_AT_type(*$C$DW$T$47)
+ 2206 .dwattr $C$DW$177, DW_AT_name("CTPPR0")
+ 2207 .dwattr $C$DW$177, DW_AT_TI_symbol_name("CTPPR0")
+ 2208 .dwattr $C$DW$177, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2209 .dwattr $C$DW$177, DW_AT_accessibility(DW_ACCESS_public)
+ 2210 .dwattr $C$DW$177, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2211 .dwattr $C$DW$177, DW_AT_decl_line(0x82)
+ 2212 .dwattr $C$DW$177, DW_AT_decl_column(0x15)
+ 2213$C$DW$178 .dwtag DW_TAG_member
+ 2214 .dwattr $C$DW$178, DW_AT_type(*$C$DW$T$88)
+ 2215 .dwattr $C$DW$178, DW_AT_name("CTPPR0_bit")
+ 2216 .dwattr $C$DW$178, DW_AT_TI_symbol_name("CTPPR0_bit")
+ 2217 .dwattr $C$DW$178, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2218 .dwattr $C$DW$178, DW_AT_accessibility(DW_ACCESS_public)
+ 2219 .dwattr $C$DW$178, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2220 .dwattr $C$DW$178, DW_AT_decl_line(0x87)
+ 2221 .dwattr $C$DW$178, DW_AT_decl_column(0x05)
+ 2222 .dwendtag $C$DW$T$89
+ 2223
+ 2224 .dwattr $C$DW$T$89, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2225 .dwattr $C$DW$T$89, DW_AT_decl_line(0x81)
+ 2226 .dwattr $C$DW$T$89, DW_AT_decl_column(0x08)
+ 2227
+ 2228$C$DW$T$91 .dwtag DW_TAG_union_type
+ 2229 .dwattr $C$DW$T$91, DW_AT_byte_size(0x04)
+ 2230$C$DW$179 .dwtag DW_TAG_member
+ 2231 .dwattr $C$DW$179, DW_AT_type(*$C$DW$T$47)
+ 2232 .dwattr $C$DW$179, DW_AT_name("CTPPR1")
+ 2233 .dwattr $C$DW$179, DW_AT_TI_symbol_name("CTPPR1")
+ 2234 .dwattr $C$DW$179, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2235 .dwattr $C$DW$179, DW_AT_accessibility(DW_ACCESS_public)
+ 2236 .dwattr $C$DW$179, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2237 .dwattr $C$DW$179, DW_AT_decl_line(0x8d)
+ 2238 .dwattr $C$DW$179, DW_AT_decl_column(0x15)
+ 2239$C$DW$180 .dwtag DW_TAG_member
+ 2240 .dwattr $C$DW$180, DW_AT_type(*$C$DW$T$90)
+ 2241 .dwattr $C$DW$180, DW_AT_name("CTPPR1_bit")
+ 2242 .dwattr $C$DW$180, DW_AT_TI_symbol_name("CTPPR1_bit")
+ 2243 .dwattr $C$DW$180, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2244 .dwattr $C$DW$180, DW_AT_accessibility(DW_ACCESS_public)
+ 2245 .dwattr $C$DW$180, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/pr
+ 2246 .dwattr $C$DW$180, DW_AT_decl_line(0x92)
+ 2247 .dwattr $C$DW$180, DW_AT_decl_column(0x05)
+ 2248 .dwendtag $C$DW$T$91
+ 2249
+ 2250 .dwattr $C$DW$T$91, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/am335x/p
+ 2251 .dwattr $C$DW$T$91, DW_AT_decl_line(0x8c)
+ 2252 .dwattr $C$DW$T$91, DW_AT_decl_column(0x08)
+ 2253$C$DW$T$2 .dwtag DW_TAG_unspecified_type
+ 2254 .dwattr $C$DW$T$2, DW_AT_name("void")
+ 2255$C$DW$T$4 .dwtag DW_TAG_base_type
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 42
+
+ 2256 .dwattr $C$DW$T$4, DW_AT_encoding(DW_ATE_boolean)
+ 2257 .dwattr $C$DW$T$4, DW_AT_name("bool")
+ 2258 .dwattr $C$DW$T$4, DW_AT_byte_size(0x01)
+ 2259$C$DW$T$5 .dwtag DW_TAG_base_type
+ 2260 .dwattr $C$DW$T$5, DW_AT_encoding(DW_ATE_signed_char)
+ 2261 .dwattr $C$DW$T$5, DW_AT_name("signed char")
+ 2262 .dwattr $C$DW$T$5, DW_AT_byte_size(0x01)
+ 2263$C$DW$T$6 .dwtag DW_TAG_base_type
+ 2264 .dwattr $C$DW$T$6, DW_AT_encoding(DW_ATE_unsigned_char)
+ 2265 .dwattr $C$DW$T$6, DW_AT_name("unsigned char")
+ 2266 .dwattr $C$DW$T$6, DW_AT_byte_size(0x01)
+ 2267$C$DW$T$7 .dwtag DW_TAG_base_type
+ 2268 .dwattr $C$DW$T$7, DW_AT_encoding(DW_ATE_signed_char)
+ 2269 .dwattr $C$DW$T$7, DW_AT_name("wchar_t")
+ 2270 .dwattr $C$DW$T$7, DW_AT_byte_size(0x04)
+ 2271$C$DW$T$8 .dwtag DW_TAG_base_type
+ 2272 .dwattr $C$DW$T$8, DW_AT_encoding(DW_ATE_signed)
+ 2273 .dwattr $C$DW$T$8, DW_AT_name("short")
+ 2274 .dwattr $C$DW$T$8, DW_AT_byte_size(0x02)
+ 2275$C$DW$T$9 .dwtag DW_TAG_base_type
+ 2276 .dwattr $C$DW$T$9, DW_AT_encoding(DW_ATE_unsigned)
+ 2277 .dwattr $C$DW$T$9, DW_AT_name("unsigned short")
+ 2278 .dwattr $C$DW$T$9, DW_AT_byte_size(0x02)
+ 2279$C$DW$T$10 .dwtag DW_TAG_base_type
+ 2280 .dwattr $C$DW$T$10, DW_AT_encoding(DW_ATE_signed)
+ 2281 .dwattr $C$DW$T$10, DW_AT_name("int")
+ 2282 .dwattr $C$DW$T$10, DW_AT_byte_size(0x04)
+ 2283$C$DW$T$11 .dwtag DW_TAG_base_type
+ 2284 .dwattr $C$DW$T$11, DW_AT_encoding(DW_ATE_unsigned)
+ 2285 .dwattr $C$DW$T$11, DW_AT_name("unsigned int")
+ 2286 .dwattr $C$DW$T$11, DW_AT_byte_size(0x04)
+ 2287$C$DW$T$32 .dwtag DW_TAG_typedef, DW_AT_name("uint32_t")
+ 2288 .dwattr $C$DW$T$32, DW_AT_type(*$C$DW$T$11)
+ 2289 .dwattr $C$DW$T$32, DW_AT_language(DW_LANG_C)
+ 2290 .dwattr $C$DW$T$32, DW_AT_decl_file("/usr/share/ti/cgt-pru/include/stdint.h")
+ 2291 .dwattr $C$DW$T$32, DW_AT_decl_line(0x2f)
+ 2292 .dwattr $C$DW$T$32, DW_AT_decl_column(0x1c)
+ 2293
+ 2294$C$DW$T$33 .dwtag DW_TAG_array_type
+ 2295 .dwattr $C$DW$T$33, DW_AT_type(*$C$DW$T$32)
+ 2296 .dwattr $C$DW$T$33, DW_AT_language(DW_LANG_C)
+ 2297 .dwattr $C$DW$T$33, DW_AT_byte_size(0x04)
+ 2298$C$DW$181 .dwtag DW_TAG_subrange_type
+ 2299 .dwattr $C$DW$181, DW_AT_upper_bound(0x00)
+ 2300 .dwendtag $C$DW$T$33
+ 2301
+ 2302
+ 2303$C$DW$T$34 .dwtag DW_TAG_array_type
+ 2304 .dwattr $C$DW$T$34, DW_AT_type(*$C$DW$T$32)
+ 2305 .dwattr $C$DW$T$34, DW_AT_language(DW_LANG_C)
+ 2306 .dwattr $C$DW$T$34, DW_AT_byte_size(0x08)
+ 2307$C$DW$182 .dwtag DW_TAG_subrange_type
+ 2308 .dwattr $C$DW$182, DW_AT_upper_bound(0x01)
+ 2309 .dwendtag $C$DW$T$34
+ 2310
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 43
+
+ 2311
+ 2312$C$DW$T$45 .dwtag DW_TAG_array_type
+ 2313 .dwattr $C$DW$T$45, DW_AT_type(*$C$DW$T$32)
+ 2314 .dwattr $C$DW$T$45, DW_AT_language(DW_LANG_C)
+ 2315 .dwattr $C$DW$T$45, DW_AT_byte_size(0x0c)
+ 2316$C$DW$183 .dwtag DW_TAG_subrange_type
+ 2317 .dwattr $C$DW$183, DW_AT_upper_bound(0x02)
+ 2318 .dwendtag $C$DW$T$45
+ 2319
+ 2320$C$DW$T$47 .dwtag DW_TAG_volatile_type
+ 2321 .dwattr $C$DW$T$47, DW_AT_type(*$C$DW$T$32)
+ 2322$C$DW$T$12 .dwtag DW_TAG_base_type
+ 2323 .dwattr $C$DW$T$12, DW_AT_encoding(DW_ATE_signed)
+ 2324 .dwattr $C$DW$T$12, DW_AT_name("long")
+ 2325 .dwattr $C$DW$T$12, DW_AT_byte_size(0x04)
+ 2326$C$DW$T$13 .dwtag DW_TAG_base_type
+ 2327 .dwattr $C$DW$T$13, DW_AT_encoding(DW_ATE_unsigned)
+ 2328 .dwattr $C$DW$T$13, DW_AT_name("unsigned long")
+ 2329 .dwattr $C$DW$T$13, DW_AT_byte_size(0x04)
+ 2330$C$DW$T$14 .dwtag DW_TAG_base_type
+ 2331 .dwattr $C$DW$T$14, DW_AT_encoding(DW_ATE_signed)
+ 2332 .dwattr $C$DW$T$14, DW_AT_name("long long")
+ 2333 .dwattr $C$DW$T$14, DW_AT_byte_size(0x08)
+ 2334$C$DW$T$15 .dwtag DW_TAG_base_type
+ 2335 .dwattr $C$DW$T$15, DW_AT_encoding(DW_ATE_unsigned)
+ 2336 .dwattr $C$DW$T$15, DW_AT_name("unsigned long long")
+ 2337 .dwattr $C$DW$T$15, DW_AT_byte_size(0x08)
+ 2338$C$DW$T$16 .dwtag DW_TAG_base_type
+ 2339 .dwattr $C$DW$T$16, DW_AT_encoding(DW_ATE_float)
+ 2340 .dwattr $C$DW$T$16, DW_AT_name("float")
+ 2341 .dwattr $C$DW$T$16, DW_AT_byte_size(0x04)
+ 2342$C$DW$T$17 .dwtag DW_TAG_base_type
+ 2343 .dwattr $C$DW$T$17, DW_AT_encoding(DW_ATE_float)
+ 2344 .dwattr $C$DW$T$17, DW_AT_name("double")
+ 2345 .dwattr $C$DW$T$17, DW_AT_byte_size(0x08)
+ 2346$C$DW$T$18 .dwtag DW_TAG_base_type
+ 2347 .dwattr $C$DW$T$18, DW_AT_encoding(DW_ATE_float)
+ 2348 .dwattr $C$DW$T$18, DW_AT_name("long double")
+ 2349 .dwattr $C$DW$T$18, DW_AT_byte_size(0x08)
+ 2350
+ 2351$C$DW$T$92 .dwtag DW_TAG_structure_type
+ 2352 .dwattr $C$DW$T$92, DW_AT_name("my_resource_table")
+ 2353 .dwattr $C$DW$T$92, DW_AT_byte_size(0x14)
+ 2354$C$DW$184 .dwtag DW_TAG_member
+ 2355 .dwattr $C$DW$184, DW_AT_type(*$C$DW$T$93)
+ 2356 .dwattr $C$DW$184, DW_AT_name("base")
+ 2357 .dwattr $C$DW$184, DW_AT_TI_symbol_name("base")
+ 2358 .dwattr $C$DW$184, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2359 .dwattr $C$DW$184, DW_AT_accessibility(DW_ACCESS_public)
+ 2360 .dwattr $C$DW$184, DW_AT_decl_file("/var/lib/cloud9/common/resource_table_empty.h")
+ 2361 .dwattr $C$DW$184, DW_AT_decl_line(0x18)
+ 2362 .dwattr $C$DW$184, DW_AT_decl_column(0x18)
+ 2363$C$DW$185 .dwtag DW_TAG_member
+ 2364 .dwattr $C$DW$185, DW_AT_type(*$C$DW$T$33)
+ 2365 .dwattr $C$DW$185, DW_AT_name("offset")
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 44
+
+ 2366 .dwattr $C$DW$185, DW_AT_TI_symbol_name("offset")
+ 2367 .dwattr $C$DW$185, DW_AT_data_member_location[DW_OP_plus_uconst 0x10]
+ 2368 .dwattr $C$DW$185, DW_AT_accessibility(DW_ACCESS_public)
+ 2369 .dwattr $C$DW$185, DW_AT_decl_file("/var/lib/cloud9/common/resource_table_empty.h")
+ 2370 .dwattr $C$DW$185, DW_AT_decl_line(0x1a)
+ 2371 .dwattr $C$DW$185, DW_AT_decl_column(0x0b)
+ 2372 .dwendtag $C$DW$T$92
+ 2373
+ 2374 .dwattr $C$DW$T$92, DW_AT_decl_file("/var/lib/cloud9/common/resource_table_empty.h")
+ 2375 .dwattr $C$DW$T$92, DW_AT_decl_line(0x17)
+ 2376 .dwattr $C$DW$T$92, DW_AT_decl_column(0x08)
+ 2377
+ 2378$C$DW$T$93 .dwtag DW_TAG_structure_type
+ 2379 .dwattr $C$DW$T$93, DW_AT_name("resource_table")
+ 2380 .dwattr $C$DW$T$93, DW_AT_byte_size(0x10)
+ 2381$C$DW$186 .dwtag DW_TAG_member
+ 2382 .dwattr $C$DW$186, DW_AT_type(*$C$DW$T$32)
+ 2383 .dwattr $C$DW$186, DW_AT_name("ver")
+ 2384 .dwattr $C$DW$186, DW_AT_TI_symbol_name("ver")
+ 2385 .dwattr $C$DW$186, DW_AT_data_member_location[DW_OP_plus_uconst 0x0]
+ 2386 .dwattr $C$DW$186, DW_AT_accessibility(DW_ACCESS_public)
+ 2387 .dwattr $C$DW$186, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/rsc_types
+ 2388 .dwattr $C$DW$186, DW_AT_decl_line(0x59)
+ 2389 .dwattr $C$DW$186, DW_AT_decl_column(0x0b)
+ 2390$C$DW$187 .dwtag DW_TAG_member
+ 2391 .dwattr $C$DW$187, DW_AT_type(*$C$DW$T$32)
+ 2392 .dwattr $C$DW$187, DW_AT_name("num")
+ 2393 .dwattr $C$DW$187, DW_AT_TI_symbol_name("num")
+ 2394 .dwattr $C$DW$187, DW_AT_data_member_location[DW_OP_plus_uconst 0x4]
+ 2395 .dwattr $C$DW$187, DW_AT_accessibility(DW_ACCESS_public)
+ 2396 .dwattr $C$DW$187, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/rsc_types
+ 2397 .dwattr $C$DW$187, DW_AT_decl_line(0x5a)
+ 2398 .dwattr $C$DW$187, DW_AT_decl_column(0x0b)
+ 2399$C$DW$188 .dwtag DW_TAG_member
+ 2400 .dwattr $C$DW$188, DW_AT_type(*$C$DW$T$34)
+ 2401 .dwattr $C$DW$188, DW_AT_name("reserved")
+ 2402 .dwattr $C$DW$188, DW_AT_TI_symbol_name("reserved")
+ 2403 .dwattr $C$DW$188, DW_AT_data_member_location[DW_OP_plus_uconst 0x8]
+ 2404 .dwattr $C$DW$188, DW_AT_accessibility(DW_ACCESS_public)
+ 2405 .dwattr $C$DW$188, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/rsc_types
+ 2406 .dwattr $C$DW$188, DW_AT_decl_line(0x5b)
+ 2407 .dwattr $C$DW$188, DW_AT_decl_column(0x0b)
+ 2408 .dwendtag $C$DW$T$93
+ 2409
+ 2410 .dwattr $C$DW$T$93, DW_AT_decl_file("/usr/lib/ti/pru-software-support-package/include/rsc_type
+ 2411 .dwattr $C$DW$T$93, DW_AT_decl_line(0x58)
+ 2412 .dwattr $C$DW$T$93, DW_AT_decl_column(0x08)
+ 2413 .dwattr $C$DW$CU, DW_AT_language(DW_LANG_C)
+ 2414
+ 2415;***************************************************************
+ 2416;* DWARF CIE ENTRIES *
+ 2417;***************************************************************
+ 2418
+ 2419$C$DW$CIE .dwcie 14
+ 2420 .dwcfi cfa_register, 8
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 45
+
+ 2421 .dwcfi cfa_offset, 0
+ 2422 .dwcfi undefined, 0
+ 2423 .dwcfi undefined, 1
+ 2424 .dwcfi undefined, 2
+ 2425 .dwcfi undefined, 3
+ 2426 .dwcfi undefined, 4
+ 2427 .dwcfi undefined, 5
+ 2428 .dwcfi undefined, 6
+ 2429 .dwcfi undefined, 7
+ 2430 .dwcfi same_value, 8
+ 2431 .dwcfi same_value, 9
+ 2432 .dwcfi same_value, 10
+ 2433 .dwcfi same_value, 11
+ 2434 .dwcfi undefined, 12
+ 2435 .dwcfi undefined, 13
+ 2436 .dwcfi undefined, 14
+ 2437 .dwcfi undefined, 15
+ 2438 .dwcfi same_value, 16
+ 2439 .dwcfi same_value, 17
+ 2440 .dwcfi same_value, 18
+ 2441 .dwcfi same_value, 19
+ 2442 .dwcfi same_value, 20
+ 2443 .dwcfi same_value, 21
+ 2444 .dwcfi same_value, 22
+ 2445 .dwcfi same_value, 23
+ 2446 .dwcfi same_value, 24
+ 2447 .dwcfi same_value, 25
+ 2448 .dwcfi same_value, 26
+ 2449 .dwcfi same_value, 27
+ 2450 .dwcfi same_value, 28
+ 2451 .dwcfi same_value, 29
+ 2452 .dwcfi same_value, 30
+ 2453 .dwcfi same_value, 31
+ 2454 .dwcfi same_value, 32
+ 2455 .dwcfi same_value, 33
+ 2456 .dwcfi same_value, 34
+ 2457 .dwcfi same_value, 35
+ 2458 .dwcfi same_value, 36
+ 2459 .dwcfi same_value, 37
+ 2460 .dwcfi same_value, 38
+ 2461 .dwcfi same_value, 39
+ 2462 .dwcfi same_value, 40
+ 2463 .dwcfi same_value, 41
+ 2464 .dwcfi same_value, 42
+ 2465 .dwcfi same_value, 43
+ 2466 .dwcfi same_value, 44
+ 2467 .dwcfi same_value, 45
+ 2468 .dwcfi same_value, 46
+ 2469 .dwcfi same_value, 47
+ 2470 .dwcfi same_value, 48
+ 2471 .dwcfi same_value, 49
+ 2472 .dwcfi same_value, 50
+ 2473 .dwcfi same_value, 51
+ 2474 .dwcfi same_value, 52
+ 2475 .dwcfi same_value, 53
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 46
+
+ 2476 .dwcfi same_value, 54
+ 2477 .dwcfi same_value, 55
+ 2478 .dwcfi undefined, 56
+ 2479 .dwcfi undefined, 57
+ 2480 .dwcfi undefined, 58
+ 2481 .dwcfi undefined, 59
+ 2482 .dwcfi undefined, 60
+ 2483 .dwcfi undefined, 61
+ 2484 .dwcfi undefined, 62
+ 2485 .dwcfi undefined, 63
+ 2486 .dwcfi undefined, 64
+ 2487 .dwcfi undefined, 65
+ 2488 .dwcfi undefined, 66
+ 2489 .dwcfi undefined, 67
+ 2490 .dwcfi undefined, 68
+ 2491 .dwcfi undefined, 69
+ 2492 .dwcfi undefined, 70
+ 2493 .dwcfi undefined, 71
+ 2494 .dwcfi undefined, 72
+ 2495 .dwcfi undefined, 73
+ 2496 .dwcfi undefined, 74
+ 2497 .dwcfi undefined, 75
+ 2498 .dwcfi undefined, 76
+ 2499 .dwcfi undefined, 77
+ 2500 .dwcfi undefined, 78
+ 2501 .dwcfi undefined, 79
+ 2502 .dwcfi undefined, 80
+ 2503 .dwcfi undefined, 81
+ 2504 .dwcfi undefined, 82
+ 2505 .dwcfi undefined, 83
+ 2506 .dwcfi undefined, 84
+ 2507 .dwcfi undefined, 85
+ 2508 .dwcfi undefined, 86
+ 2509 .dwcfi undefined, 87
+ 2510 .dwcfi undefined, 88
+ 2511 .dwcfi undefined, 89
+ 2512 .dwcfi undefined, 90
+ 2513 .dwcfi undefined, 91
+ 2514 .dwcfi undefined, 92
+ 2515 .dwcfi undefined, 93
+ 2516 .dwcfi undefined, 94
+ 2517 .dwcfi undefined, 95
+ 2518 .dwcfi undefined, 96
+ 2519 .dwcfi undefined, 97
+ 2520 .dwcfi undefined, 98
+ 2521 .dwcfi undefined, 99
+ 2522 .dwcfi undefined, 100
+ 2523 .dwcfi undefined, 101
+ 2524 .dwcfi undefined, 102
+ 2525 .dwcfi undefined, 103
+ 2526 .dwcfi undefined, 104
+ 2527 .dwcfi undefined, 105
+ 2528 .dwcfi undefined, 106
+ 2529 .dwcfi undefined, 107
+ 2530 .dwcfi undefined, 108
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 47
+
+ 2531 .dwcfi undefined, 109
+ 2532 .dwcfi undefined, 110
+ 2533 .dwcfi undefined, 111
+ 2534 .dwcfi undefined, 112
+ 2535 .dwcfi undefined, 113
+ 2536 .dwcfi undefined, 114
+ 2537 .dwcfi undefined, 115
+ 2538 .dwcfi undefined, 116
+ 2539 .dwcfi undefined, 117
+ 2540 .dwcfi undefined, 118
+ 2541 .dwcfi undefined, 119
+ 2542 .dwcfi undefined, 120
+ 2543 .dwcfi undefined, 121
+ 2544 .dwcfi undefined, 122
+ 2545 .dwcfi undefined, 123
+ 2546 .dwcfi undefined, 124
+ 2547 .dwcfi undefined, 125
+ 2548 .dwcfi undefined, 126
+ 2549 .dwcfi undefined, 127
+ 2550 .dwcfi undefined, 128
+ 2551 .dwcfi undefined, 129
+ 2552 .dwcfi undefined, 130
+ 2553 .dwcfi undefined, 131
+ 2554 .dwcfi undefined, 132
+ 2555 .dwcfi undefined, 133
+ 2556 .dwcfi undefined, 134
+ 2557 .dwendentry
+ 2558
+ 2559;***************************************************************
+ 2560;* DWARF REGISTER MAP *
+ 2561;***************************************************************
+ 2562
+ 2563$C$DW$189 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R0_b0")
+ 2564 .dwattr $C$DW$189, DW_AT_location[DW_OP_reg0]
+ 2565$C$DW$190 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R0_b1")
+ 2566 .dwattr $C$DW$190, DW_AT_location[DW_OP_reg1]
+ 2567$C$DW$191 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R0_b2")
+ 2568 .dwattr $C$DW$191, DW_AT_location[DW_OP_reg2]
+ 2569$C$DW$192 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R0_b3")
+ 2570 .dwattr $C$DW$192, DW_AT_location[DW_OP_reg3]
+ 2571$C$DW$193 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R1_b0")
+ 2572 .dwattr $C$DW$193, DW_AT_location[DW_OP_reg4]
+ 2573$C$DW$194 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R1_b1")
+ 2574 .dwattr $C$DW$194, DW_AT_location[DW_OP_reg5]
+ 2575$C$DW$195 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R1_b2")
+ 2576 .dwattr $C$DW$195, DW_AT_location[DW_OP_reg6]
+ 2577$C$DW$196 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R1_b3")
+ 2578 .dwattr $C$DW$196, DW_AT_location[DW_OP_reg7]
+ 2579$C$DW$197 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R2_b0")
+ 2580 .dwattr $C$DW$197, DW_AT_location[DW_OP_reg8]
+ 2581$C$DW$198 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R2_b1")
+ 2582 .dwattr $C$DW$198, DW_AT_location[DW_OP_reg9]
+ 2583$C$DW$199 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R2_b2")
+ 2584 .dwattr $C$DW$199, DW_AT_location[DW_OP_reg10]
+ 2585$C$DW$200 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R2_b3")
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 48
+
+ 2586 .dwattr $C$DW$200, DW_AT_location[DW_OP_reg11]
+ 2587$C$DW$201 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R3_b0")
+ 2588 .dwattr $C$DW$201, DW_AT_location[DW_OP_reg12]
+ 2589$C$DW$202 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R3_b1")
+ 2590 .dwattr $C$DW$202, DW_AT_location[DW_OP_reg13]
+ 2591$C$DW$203 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R3_b2")
+ 2592 .dwattr $C$DW$203, DW_AT_location[DW_OP_reg14]
+ 2593$C$DW$204 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R3_b3")
+ 2594 .dwattr $C$DW$204, DW_AT_location[DW_OP_reg15]
+ 2595$C$DW$205 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R4_b0")
+ 2596 .dwattr $C$DW$205, DW_AT_location[DW_OP_reg16]
+ 2597$C$DW$206 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R4_b1")
+ 2598 .dwattr $C$DW$206, DW_AT_location[DW_OP_reg17]
+ 2599$C$DW$207 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R4_b2")
+ 2600 .dwattr $C$DW$207, DW_AT_location[DW_OP_reg18]
+ 2601$C$DW$208 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R4_b3")
+ 2602 .dwattr $C$DW$208, DW_AT_location[DW_OP_reg19]
+ 2603$C$DW$209 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R5_b0")
+ 2604 .dwattr $C$DW$209, DW_AT_location[DW_OP_reg20]
+ 2605$C$DW$210 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R5_b1")
+ 2606 .dwattr $C$DW$210, DW_AT_location[DW_OP_reg21]
+ 2607$C$DW$211 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R5_b2")
+ 2608 .dwattr $C$DW$211, DW_AT_location[DW_OP_reg22]
+ 2609$C$DW$212 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R5_b3")
+ 2610 .dwattr $C$DW$212, DW_AT_location[DW_OP_reg23]
+ 2611$C$DW$213 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R6_b0")
+ 2612 .dwattr $C$DW$213, DW_AT_location[DW_OP_reg24]
+ 2613$C$DW$214 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R6_b1")
+ 2614 .dwattr $C$DW$214, DW_AT_location[DW_OP_reg25]
+ 2615$C$DW$215 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R6_b2")
+ 2616 .dwattr $C$DW$215, DW_AT_location[DW_OP_reg26]
+ 2617$C$DW$216 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R6_b3")
+ 2618 .dwattr $C$DW$216, DW_AT_location[DW_OP_reg27]
+ 2619$C$DW$217 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R7_b0")
+ 2620 .dwattr $C$DW$217, DW_AT_location[DW_OP_reg28]
+ 2621$C$DW$218 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R7_b1")
+ 2622 .dwattr $C$DW$218, DW_AT_location[DW_OP_reg29]
+ 2623$C$DW$219 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R7_b2")
+ 2624 .dwattr $C$DW$219, DW_AT_location[DW_OP_reg30]
+ 2625$C$DW$220 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R7_b3")
+ 2626 .dwattr $C$DW$220, DW_AT_location[DW_OP_reg31]
+ 2627$C$DW$221 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R8_b0")
+ 2628 .dwattr $C$DW$221, DW_AT_location[DW_OP_regx 0x20]
+ 2629$C$DW$222 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R8_b1")
+ 2630 .dwattr $C$DW$222, DW_AT_location[DW_OP_regx 0x21]
+ 2631$C$DW$223 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R8_b2")
+ 2632 .dwattr $C$DW$223, DW_AT_location[DW_OP_regx 0x22]
+ 2633$C$DW$224 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R8_b3")
+ 2634 .dwattr $C$DW$224, DW_AT_location[DW_OP_regx 0x23]
+ 2635$C$DW$225 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R9_b0")
+ 2636 .dwattr $C$DW$225, DW_AT_location[DW_OP_regx 0x24]
+ 2637$C$DW$226 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R9_b1")
+ 2638 .dwattr $C$DW$226, DW_AT_location[DW_OP_regx 0x25]
+ 2639$C$DW$227 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R9_b2")
+ 2640 .dwattr $C$DW$227, DW_AT_location[DW_OP_regx 0x26]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 49
+
+ 2641$C$DW$228 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R9_b3")
+ 2642 .dwattr $C$DW$228, DW_AT_location[DW_OP_regx 0x27]
+ 2643$C$DW$229 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R10_b0")
+ 2644 .dwattr $C$DW$229, DW_AT_location[DW_OP_regx 0x28]
+ 2645$C$DW$230 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R10_b1")
+ 2646 .dwattr $C$DW$230, DW_AT_location[DW_OP_regx 0x29]
+ 2647$C$DW$231 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R10_b2")
+ 2648 .dwattr $C$DW$231, DW_AT_location[DW_OP_regx 0x2a]
+ 2649$C$DW$232 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R10_b3")
+ 2650 .dwattr $C$DW$232, DW_AT_location[DW_OP_regx 0x2b]
+ 2651$C$DW$233 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R11_b0")
+ 2652 .dwattr $C$DW$233, DW_AT_location[DW_OP_regx 0x2c]
+ 2653$C$DW$234 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R11_b1")
+ 2654 .dwattr $C$DW$234, DW_AT_location[DW_OP_regx 0x2d]
+ 2655$C$DW$235 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R11_b2")
+ 2656 .dwattr $C$DW$235, DW_AT_location[DW_OP_regx 0x2e]
+ 2657$C$DW$236 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R11_b3")
+ 2658 .dwattr $C$DW$236, DW_AT_location[DW_OP_regx 0x2f]
+ 2659$C$DW$237 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R12_b0")
+ 2660 .dwattr $C$DW$237, DW_AT_location[DW_OP_regx 0x30]
+ 2661$C$DW$238 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R12_b1")
+ 2662 .dwattr $C$DW$238, DW_AT_location[DW_OP_regx 0x31]
+ 2663$C$DW$239 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R12_b2")
+ 2664 .dwattr $C$DW$239, DW_AT_location[DW_OP_regx 0x32]
+ 2665$C$DW$240 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R12_b3")
+ 2666 .dwattr $C$DW$240, DW_AT_location[DW_OP_regx 0x33]
+ 2667$C$DW$241 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R13_b0")
+ 2668 .dwattr $C$DW$241, DW_AT_location[DW_OP_regx 0x34]
+ 2669$C$DW$242 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R13_b1")
+ 2670 .dwattr $C$DW$242, DW_AT_location[DW_OP_regx 0x35]
+ 2671$C$DW$243 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R13_b2")
+ 2672 .dwattr $C$DW$243, DW_AT_location[DW_OP_regx 0x36]
+ 2673$C$DW$244 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R13_b3")
+ 2674 .dwattr $C$DW$244, DW_AT_location[DW_OP_regx 0x37]
+ 2675$C$DW$245 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R14_b0")
+ 2676 .dwattr $C$DW$245, DW_AT_location[DW_OP_regx 0x38]
+ 2677$C$DW$246 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R14_b1")
+ 2678 .dwattr $C$DW$246, DW_AT_location[DW_OP_regx 0x39]
+ 2679$C$DW$247 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R14_b2")
+ 2680 .dwattr $C$DW$247, DW_AT_location[DW_OP_regx 0x3a]
+ 2681$C$DW$248 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R14_b3")
+ 2682 .dwattr $C$DW$248, DW_AT_location[DW_OP_regx 0x3b]
+ 2683$C$DW$249 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R15_b0")
+ 2684 .dwattr $C$DW$249, DW_AT_location[DW_OP_regx 0x3c]
+ 2685$C$DW$250 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R15_b1")
+ 2686 .dwattr $C$DW$250, DW_AT_location[DW_OP_regx 0x3d]
+ 2687$C$DW$251 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R15_b2")
+ 2688 .dwattr $C$DW$251, DW_AT_location[DW_OP_regx 0x3e]
+ 2689$C$DW$252 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R15_b3")
+ 2690 .dwattr $C$DW$252, DW_AT_location[DW_OP_regx 0x3f]
+ 2691$C$DW$253 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R16_b0")
+ 2692 .dwattr $C$DW$253, DW_AT_location[DW_OP_regx 0x40]
+ 2693$C$DW$254 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R16_b1")
+ 2694 .dwattr $C$DW$254, DW_AT_location[DW_OP_regx 0x41]
+ 2695$C$DW$255 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R16_b2")
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 50
+
+ 2696 .dwattr $C$DW$255, DW_AT_location[DW_OP_regx 0x42]
+ 2697$C$DW$256 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R16_b3")
+ 2698 .dwattr $C$DW$256, DW_AT_location[DW_OP_regx 0x43]
+ 2699$C$DW$257 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R17_b0")
+ 2700 .dwattr $C$DW$257, DW_AT_location[DW_OP_regx 0x44]
+ 2701$C$DW$258 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R17_b1")
+ 2702 .dwattr $C$DW$258, DW_AT_location[DW_OP_regx 0x45]
+ 2703$C$DW$259 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R17_b2")
+ 2704 .dwattr $C$DW$259, DW_AT_location[DW_OP_regx 0x46]
+ 2705$C$DW$260 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R17_b3")
+ 2706 .dwattr $C$DW$260, DW_AT_location[DW_OP_regx 0x47]
+ 2707$C$DW$261 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R18_b0")
+ 2708 .dwattr $C$DW$261, DW_AT_location[DW_OP_regx 0x48]
+ 2709$C$DW$262 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R18_b1")
+ 2710 .dwattr $C$DW$262, DW_AT_location[DW_OP_regx 0x49]
+ 2711$C$DW$263 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R18_b2")
+ 2712 .dwattr $C$DW$263, DW_AT_location[DW_OP_regx 0x4a]
+ 2713$C$DW$264 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R18_b3")
+ 2714 .dwattr $C$DW$264, DW_AT_location[DW_OP_regx 0x4b]
+ 2715$C$DW$265 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R19_b0")
+ 2716 .dwattr $C$DW$265, DW_AT_location[DW_OP_regx 0x4c]
+ 2717$C$DW$266 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R19_b1")
+ 2718 .dwattr $C$DW$266, DW_AT_location[DW_OP_regx 0x4d]
+ 2719$C$DW$267 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R19_b2")
+ 2720 .dwattr $C$DW$267, DW_AT_location[DW_OP_regx 0x4e]
+ 2721$C$DW$268 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R19_b3")
+ 2722 .dwattr $C$DW$268, DW_AT_location[DW_OP_regx 0x4f]
+ 2723$C$DW$269 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R20_b0")
+ 2724 .dwattr $C$DW$269, DW_AT_location[DW_OP_regx 0x50]
+ 2725$C$DW$270 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R20_b1")
+ 2726 .dwattr $C$DW$270, DW_AT_location[DW_OP_regx 0x51]
+ 2727$C$DW$271 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R20_b2")
+ 2728 .dwattr $C$DW$271, DW_AT_location[DW_OP_regx 0x52]
+ 2729$C$DW$272 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R20_b3")
+ 2730 .dwattr $C$DW$272, DW_AT_location[DW_OP_regx 0x53]
+ 2731$C$DW$273 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R21_b0")
+ 2732 .dwattr $C$DW$273, DW_AT_location[DW_OP_regx 0x54]
+ 2733$C$DW$274 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R21_b1")
+ 2734 .dwattr $C$DW$274, DW_AT_location[DW_OP_regx 0x55]
+ 2735$C$DW$275 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R21_b2")
+ 2736 .dwattr $C$DW$275, DW_AT_location[DW_OP_regx 0x56]
+ 2737$C$DW$276 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R21_b3")
+ 2738 .dwattr $C$DW$276, DW_AT_location[DW_OP_regx 0x57]
+ 2739$C$DW$277 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R22_b0")
+ 2740 .dwattr $C$DW$277, DW_AT_location[DW_OP_regx 0x58]
+ 2741$C$DW$278 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R22_b1")
+ 2742 .dwattr $C$DW$278, DW_AT_location[DW_OP_regx 0x59]
+ 2743$C$DW$279 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R22_b2")
+ 2744 .dwattr $C$DW$279, DW_AT_location[DW_OP_regx 0x5a]
+ 2745$C$DW$280 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R22_b3")
+ 2746 .dwattr $C$DW$280, DW_AT_location[DW_OP_regx 0x5b]
+ 2747$C$DW$281 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R23_b0")
+ 2748 .dwattr $C$DW$281, DW_AT_location[DW_OP_regx 0x5c]
+ 2749$C$DW$282 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R23_b1")
+ 2750 .dwattr $C$DW$282, DW_AT_location[DW_OP_regx 0x5d]
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 51
+
+ 2751$C$DW$283 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R23_b2")
+ 2752 .dwattr $C$DW$283, DW_AT_location[DW_OP_regx 0x5e]
+ 2753$C$DW$284 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R23_b3")
+ 2754 .dwattr $C$DW$284, DW_AT_location[DW_OP_regx 0x5f]
+ 2755$C$DW$285 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R24_b0")
+ 2756 .dwattr $C$DW$285, DW_AT_location[DW_OP_regx 0x60]
+ 2757$C$DW$286 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R24_b1")
+ 2758 .dwattr $C$DW$286, DW_AT_location[DW_OP_regx 0x61]
+ 2759$C$DW$287 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R24_b2")
+ 2760 .dwattr $C$DW$287, DW_AT_location[DW_OP_regx 0x62]
+ 2761$C$DW$288 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R24_b3")
+ 2762 .dwattr $C$DW$288, DW_AT_location[DW_OP_regx 0x63]
+ 2763$C$DW$289 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R25_b0")
+ 2764 .dwattr $C$DW$289, DW_AT_location[DW_OP_regx 0x64]
+ 2765$C$DW$290 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R25_b1")
+ 2766 .dwattr $C$DW$290, DW_AT_location[DW_OP_regx 0x65]
+ 2767$C$DW$291 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R25_b2")
+ 2768 .dwattr $C$DW$291, DW_AT_location[DW_OP_regx 0x66]
+ 2769$C$DW$292 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R25_b3")
+ 2770 .dwattr $C$DW$292, DW_AT_location[DW_OP_regx 0x67]
+ 2771$C$DW$293 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R26_b0")
+ 2772 .dwattr $C$DW$293, DW_AT_location[DW_OP_regx 0x68]
+ 2773$C$DW$294 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R26_b1")
+ 2774 .dwattr $C$DW$294, DW_AT_location[DW_OP_regx 0x69]
+ 2775$C$DW$295 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R26_b2")
+ 2776 .dwattr $C$DW$295, DW_AT_location[DW_OP_regx 0x6a]
+ 2777$C$DW$296 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R26_b3")
+ 2778 .dwattr $C$DW$296, DW_AT_location[DW_OP_regx 0x6b]
+ 2779$C$DW$297 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R27_b0")
+ 2780 .dwattr $C$DW$297, DW_AT_location[DW_OP_regx 0x6c]
+ 2781$C$DW$298 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R27_b1")
+ 2782 .dwattr $C$DW$298, DW_AT_location[DW_OP_regx 0x6d]
+ 2783$C$DW$299 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R27_b2")
+ 2784 .dwattr $C$DW$299, DW_AT_location[DW_OP_regx 0x6e]
+ 2785$C$DW$300 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R27_b3")
+ 2786 .dwattr $C$DW$300, DW_AT_location[DW_OP_regx 0x6f]
+ 2787$C$DW$301 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R28_b0")
+ 2788 .dwattr $C$DW$301, DW_AT_location[DW_OP_regx 0x70]
+ 2789$C$DW$302 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R28_b1")
+ 2790 .dwattr $C$DW$302, DW_AT_location[DW_OP_regx 0x71]
+ 2791$C$DW$303 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R28_b2")
+ 2792 .dwattr $C$DW$303, DW_AT_location[DW_OP_regx 0x72]
+ 2793$C$DW$304 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R28_b3")
+ 2794 .dwattr $C$DW$304, DW_AT_location[DW_OP_regx 0x73]
+ 2795$C$DW$305 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R29_b0")
+ 2796 .dwattr $C$DW$305, DW_AT_location[DW_OP_regx 0x74]
+ 2797$C$DW$306 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R29_b1")
+ 2798 .dwattr $C$DW$306, DW_AT_location[DW_OP_regx 0x75]
+ 2799$C$DW$307 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R29_b2")
+ 2800 .dwattr $C$DW$307, DW_AT_location[DW_OP_regx 0x76]
+ 2801$C$DW$308 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R29_b3")
+ 2802 .dwattr $C$DW$308, DW_AT_location[DW_OP_regx 0x77]
+ 2803$C$DW$309 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R30_b0")
+ 2804 .dwattr $C$DW$309, DW_AT_location[DW_OP_regx 0x78]
+ 2805$C$DW$310 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R30_b1")
+ PRU Assembler Unix v2.1.5 Fri Jun 5 14:14:07 2020
+
+Tools Copyright (c) 2012-2017 Texas Instruments Incorporated
+/tmp/cloud9-examples/cycle.pru0.asm PAGE 52
+
+ 2806 .dwattr $C$DW$310, DW_AT_location[DW_OP_regx 0x79]
+ 2807$C$DW$311 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R30_b2")
+ 2808 .dwattr $C$DW$311, DW_AT_location[DW_OP_regx 0x7a]
+ 2809$C$DW$312 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R30_b3")
+ 2810 .dwattr $C$DW$312, DW_AT_location[DW_OP_regx 0x7b]
+ 2811$C$DW$313 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R31_b0")
+ 2812 .dwattr $C$DW$313, DW_AT_location[DW_OP_regx 0x7c]
+ 2813$C$DW$314 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R31_b1")
+ 2814 .dwattr $C$DW$314, DW_AT_location[DW_OP_regx 0x7d]
+ 2815$C$DW$315 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R31_b2")
+ 2816 .dwattr $C$DW$315, DW_AT_location[DW_OP_regx 0x7e]
+ 2817$C$DW$316 .dwtag DW_TAG_TI_assign_register, DW_AT_name("R31_b3")
+ 2818 .dwattr $C$DW$316, DW_AT_location[DW_OP_regx 0x7f]
+ 2819 .dwendtag $C$DW$CU
+ 2820
+
+No Assembly Errors, No Assembly Warnings
diff --git a/pru-cookbook/07more/code/delay-test.pru0.c b/pru-cookbook/07more/code/delay-test.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..337ecbb23cb0920a687b30b3e50dcdbf5ae86f86
--- /dev/null
+++ b/pru-cookbook/07more/code/delay-test.pru0.c
@@ -0,0 +1,28 @@
+// Shows how to call an assembly routine with one parameter
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+// The function is defined in delay.asm in same dir
+// We just need to add a declaration here, the defination can be
+// seperately linked
+extern void my_delay_cycles(uint32_t);
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_31; // Select which pin to toggle.;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while(1) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ my_delay_cycles(1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ my_delay_cycles(1);
+ }
+}
diff --git a/pru-cookbook/07more/code/delay-test2.pru0.c b/pru-cookbook/07more/code/delay-test2.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..763b3a7d7b0452139cb817b0d56bf5e13688e0f6
--- /dev/null
+++ b/pru-cookbook/07more/code/delay-test2.pru0.c
@@ -0,0 +1,32 @@
+// Shows how to call an assembly routine with a return value
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define TEST 100
+
+// The function is defined in delay.asm in same dir
+// We just need to add a declaration here, the defination can be
+// seperately linked
+extern uint32_t my_delay_cycles(uint32_t);
+
+uint32_t ret;
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_31; // Select which pin to toggle.;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while(1) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ ret = my_delay_cycles(1);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ ret = my_delay_cycles(1);
+ }
+}
diff --git a/pru-cookbook/07more/code/delay.pru0.asm b/pru-cookbook/07more/code/delay.pru0.asm
new file mode 100644
index 0000000000000000000000000000000000000000..1c1cce7d1d986e55bc3bc3f8bf3cc3e3d783fc21
--- /dev/null
+++ b/pru-cookbook/07more/code/delay.pru0.asm
@@ -0,0 +1,9 @@
+; This is an example of how to call an assembly routine from C.
+; Mark A. Yoder, 9-July-2018
+ .global my_delay_cycles
+my_delay_cycles:
+delay:
+ sub r14, r14, 1 ; The first argument is passed in r14
+ qbne delay, r14, 0
+
+ jmp r3.w2 ; r3 contains the return address
\ No newline at end of file
diff --git a/pru-cookbook/07more/code/delay2.pru0.asm b/pru-cookbook/07more/code/delay2.pru0.asm
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1da03d37ece54ca7c577b4244bd8abbbc921f
--- /dev/null
+++ b/pru-cookbook/07more/code/delay2.pru0.asm
@@ -0,0 +1,15 @@
+; This is an example of how to call an assembly routine from C with a retun value.
+; Mark A. Yoder, 9-July-2018
+
+ .cdecls "delay-test2.pru0.c"
+
+ .global my_delay_cycles
+my_delay_cycles:
+delay:
+ sub r14, r14, 1 ; The first argument is passed in r14
+ qbne delay, r14, 0
+
+ ldi r14, TEST ; TEST is defined in delay-test2.c
+ ; r14 is the return register
+
+ jmp r3.w2 ; r3 contains the return address
\ No newline at end of file
diff --git a/pru-cookbook/07more/code/logic.c b/pru-cookbook/07more/code/logic.c
new file mode 100644
index 0000000000000000000000000000000000000000..f774708d22f3ef26ede77fe45a8057d7f1e905f2
--- /dev/null
+++ b/pru-cookbook/07more/code/logic.c
@@ -0,0 +1,34 @@
+// Access the CYCLE and STALL registers
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ // Copy lower 8 bits to r16
+ struct {
+ uint8_t b0;
+ uint8_t b1;
+ uint8_t b2;
+ uint8_t b3;
+ } r17;
+
+ // Clear SYSCFG[STANDBY_INIT] to enable OCP master port
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+// r16.b0 = __R31.b0;
+ __asm(" mov r17.b0, r31.b0");
+ __delay_cycles(1);
+ r17.b1 = (uint32_t) __R31;
+ __delay_cycles(1);
+ r17.b2 = (uint32_t) __R31;
+ __delay_cycles(1);
+ r17.b3 = (uint32_t) __R31;
+
+ __xout(10, 16, 0, r17);
+
+ __halt();
+}
diff --git a/pru-cookbook/07more/code/logic_setup.sh b/pru-cookbook/07more/code/logic_setup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..2253459cf1f8efde2e61281525f26872a3940a42
--- /dev/null
+++ b/pru-cookbook/07more/code/logic_setup.sh
@@ -0,0 +1,30 @@
+#!/bin/bash
+#
+export PRUN=0
+export TARGET=logic
+echo PRUN=$PRUN
+echo TARGET=$TARGET
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_31 P9_29 P9_30 P9_28 P9_92 P9_27 P9_91 P9_25 "
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_36 P1_33 P2_32 P2_30 P1_31 P2_34 P2_28 P1_29"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruin
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/07more/code/resource_table_pru0.h b/pru-cookbook/07more/code/resource_table_pru0.h
new file mode 100644
index 0000000000000000000000000000000000000000..06c148006b7a892d30f16d69891c6165e3525161
--- /dev/null
+++ b/pru-cookbook/07more/code/resource_table_pru0.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * ======== rsc_table_pru.h ========
+ *
+ * Define the resource table entries for PRU0. This will be
+ * incorporated into corresponding base images, and used by the remoteproc
+ * on the host-side to allocated/reserve resources. Note the remoteproc
+ * driver requires that all PRU firmware be built with a resource table.
+ *
+ *
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+#include "pru_virtio_ids.h"
+
+/*
+ * Sizes of the virtqueues (expressed in number of buffers supported,
+ * and must be power of 2)
+ */
+#define PRU_RPMSG_VQ0_SIZE 2
+#define PRU_RPMSG_VQ1_SIZE 2
+
+/* flip up bits whose indices represent features we support */
+#define RPMSG_PRU_C0_FEATURES 1
+
+/* Definition for unused interrupts */
+#define HOST_UNUSED 255
+
+/* Mapping sysevts to a channel. Each pair contains a sysevt, channel */
+struct ch_map pru_intc_map[] = { {17, 1}, {18, 0}, {19, 2}, {20, 3}, {21, 0},
+ {22, 1}, {24, 4}, {25, 5}, {26, 6}, {27, 7},
+};
+
+struct my_resource_table {
+ struct resource_table base;
+
+ uint32_t offset[1]; /* Should match 'num' in actual definition */
+
+ /* intc definition */
+ struct fw_rsc_custom pru_ints;
+};
+
+#pragma DATA_SECTION(am335x_pru_remoteproc_ResourceTable, ".resource_table")
+#pragma RETAIN(am335x_pru_remoteproc_ResourceTable)
+struct my_resource_table am335x_pru_remoteproc_ResourceTable = {
+ 1, /* we're the first version that implements this */
+ 1, /* number of entries in the table */
+ 0, 0, /* reserved, must be zero */
+ /* offsets to entries */
+ {
+ offsetof(struct my_resource_table, pru_ints),
+ },
+
+ {
+ TYPE_CUSTOM, TYPE_PRU_INTS,
+ sizeof(struct fw_rsc_custom_ints),
+ { /* PRU_INTS version */
+ 0x0000,
+ /* Channel-to-host mapping, 255 for unused */
+ 0, 1, 2, 3, 0, 6, 1, 7, HOST_UNUSED, HOST_UNUSED,
+ /* Number of evts being mapped to channels */
+ (sizeof(pru_intc_map) / sizeof(struct ch_map)),
+ /* Pointer to the structure containing mapped events */
+ pru_intc_map,
+ },
+ },
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
diff --git a/pru-cookbook/07more/code/setup.sh b/pru-cookbook/07more/code/setup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..f1d0d9db334b125b68171dd18ce04abec94ace08
--- /dev/null
+++ b/pru-cookbook/07more/code/setup.sh
@@ -0,0 +1,30 @@
+#!/bin/bash
+#
+export TARGET=delay-test.pru0
+export TARGETasm=delay.pru0
+echo TARGET=$TARGET
+echo TARGETasm=$TARGETasm
+
+# Configure the PRU pins based on which Beagle is running
+machine=$(awk '{print $NF}' /proc/device-tree/model)
+echo -n $machine
+if [ $machine = "Black" ]; then
+ echo " Found"
+ pins="P9_31"
+elif [ $machine = "Blue" ]; then
+ echo " Found"
+ pins=""
+elif [ $machine = "PocketBeagle" ]; then
+ echo " Found"
+ pins="P1_33"
+else
+ echo " Not Found"
+ pins=""
+fi
+
+for pin in $pins
+do
+ echo $pin
+ config-pin $pin pruout
+ config-pin -q $pin
+done
diff --git a/pru-cookbook/07more/code/xin.pru1.c b/pru-cookbook/07more/code/xin.pru1.c
new file mode 100644
index 0000000000000000000000000000000000000000..56d4a68209d974c51e50559cc6d90ff9046f3a68
--- /dev/null
+++ b/pru-cookbook/07more/code/xin.pru1.c
@@ -0,0 +1,34 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/trees/master/examples/am335x/PRU_Direct_Connect1
+#include <stdint.h>
+#include "resource_table_empty.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+typedef struct {
+ uint32_t reg5;
+ uint32_t reg6;
+ uint32_t reg7;
+ uint32_t reg8;
+ uint32_t reg9;
+ uint32_t reg10;
+} bufferData;
+
+bufferData dmemBuf;
+
+/* PRU-to-ARM interrupt */
+#define PRU1_PRU0_INTERRUPT (18)
+#define PRU1_ARM_INTERRUPT (20+16)
+
+void main(void)
+{
+ /* Let PRU0 know that I am awake */
+ __R31 = PRU1_PRU0_INTERRUPT+16;
+
+ /* XFR registers R5-R10 from PRU0 to PRU1 */
+ /* 14 is the device_id that signifies a PRU to PRU transfer */
+ __xin(14, 5, 0, dmemBuf);
+
+ /* Halt the PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/07more/code/xout-cycle.pru0.c b/pru-cookbook/07more/code/xout-cycle.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..339fedfc38eed9d9372a0b55ee74dfc031be70c2
--- /dev/null
+++ b/pru-cookbook/07more/code/xout-cycle.pru0.c
@@ -0,0 +1,62 @@
+// Version of xout.c with code to use CYCLE to count cycle times.
+#include <stdint.h>
+#include <pru_intc.h>
+#include <pru_ctrl.h>
+#include "resource_table_pru0.h"
+
+#define PRU0
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+typedef struct {
+ uint32_t reg5;
+ uint32_t reg6;
+ uint32_t reg7;
+ uint32_t reg8;
+ uint32_t reg9;
+ uint32_t reg10;
+} bufferData;
+
+bufferData dmemBuf;
+
+/* PRU-to-ARM interrupt */
+#define PRU1_PRU0_INTERRUPT (18)
+#define PRU0_ARM_INTERRUPT (19+16)
+
+void main(void)
+{
+ uint32_t cycleXX; // Use a name that's easy to search
+ /* Clear the status of all interrupts */
+ CT_INTC.SECR0 = 0xFFFFFFFF;
+ CT_INTC.SECR1 = 0xFFFFFFFF;
+
+ /* Load the buffer with default values to transfer */
+ dmemBuf.reg5 = 0xDEADBEEF;
+ dmemBuf.reg6 = 0xAAAAAAAA;
+ dmemBuf.reg7 = 0x12345678;
+ dmemBuf.reg8 = 0xBBBBBBBB;
+ dmemBuf.reg9 = 0x87654321;
+ dmemBuf.reg10 = 0xCCCCCCCC;
+
+ /* Poll until R31.30 (PRU0 interrupt) is set
+ * This signals PRU1 is initialized */
+ while ((__R31 & (1<<30)) == 0) {
+ }
+
+ /* XFR registers R5-R10 from PRU0 to PRU1 */
+ /* 14 is the device_id that signifies a PRU to PRU transfer */
+ PRU0_CTRL.CTRL_bit.CTR_EN = 1; // Enable cycle counter
+
+ __xout(14, 5, 0, dmemBuf);
+
+ cycleXX = PRU0_CTRL.CYCLE; // Read cycle and store in a register
+
+ /* Clear the status of the interrupt */
+ CT_INTC.SICR = PRU1_PRU0_INTERRUPT;
+
+ dmemBuf.reg5 = cycleXX;
+
+ /* Halt the PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/07more/code/xout.pru0.c b/pru-cookbook/07more/code/xout.pru0.c
new file mode 100644
index 0000000000000000000000000000000000000000..bfcdbf5f927700c2d250abc0f28850bb4884392f
--- /dev/null
+++ b/pru-cookbook/07more/code/xout.pru0.c
@@ -0,0 +1,52 @@
+// From: http://git.ti.com/pru-software-support-package/pru-software-support-package/trees/master/examples/am335x/PRU_Direct_Connect0
+#include <stdint.h>
+#include <pru_intc.h>
+#include "resource_table_pru0.h"
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+typedef struct {
+ uint32_t reg5;
+ uint32_t reg6;
+ uint32_t reg7;
+ uint32_t reg8;
+ uint32_t reg9;
+ uint32_t reg10;
+} bufferData;
+
+bufferData dmemBuf;
+
+/* PRU-to-ARM interrupt */
+#define PRU1_PRU0_INTERRUPT (18)
+#define PRU0_ARM_INTERRUPT (19+16)
+
+void main(void)
+{
+ /* Clear the status of all interrupts */
+ CT_INTC.SECR0 = 0xFFFFFFFF;
+ CT_INTC.SECR1 = 0xFFFFFFFF;
+
+ /* Load the buffer with default values to transfer */
+ dmemBuf.reg5 = 0xDEADBEEF;
+ dmemBuf.reg6 = 0xAAAAAAAA;
+ dmemBuf.reg7 = 0x12345678;
+ dmemBuf.reg8 = 0xBBBBBBBB;
+ dmemBuf.reg9 = 0x87654321;
+ dmemBuf.reg10 = 0xCCCCCCCC;
+
+ /* Poll until R31.30 (PRU0 interrupt) is set
+ * This signals PRU1 is initialized */
+ while ((__R31 & (1<<30)) == 0) {
+ }
+
+ /* XFR registers R5-R10 from PRU0 to PRU1 */
+ /* 14 is the device_id that signifies a PRU to PRU transfer */
+ __xout(14, 5, 0, dmemBuf);
+
+ /* Clear the status of the interrupt */
+ CT_INTC.SICR = PRU1_PRU0_INTERRUPT;
+
+ /* Halt the PRU core */
+ __halt();
+}
diff --git a/pru-cookbook/07more/code/xout_run.sh b/pru-cookbook/07more/code/xout_run.sh
new file mode 100755
index 0000000000000000000000000000000000000000..158cf472beddca5d3781df4026dbeea4de3338b7
--- /dev/null
+++ b/pru-cookbook/07more/code/xout_run.sh
@@ -0,0 +1,3 @@
+# Be sure to start PRU 0 before PRU 1. PRU 0 will wait for PRU 1 to signal it.
+make TARGET=xout.pru0
+make TARGET=xin.pru1
diff --git a/pru-cookbook/07more/figures/my_delay_cycles.png b/pru-cookbook/07more/figures/my_delay_cycles.png
new file mode 100644
index 0000000000000000000000000000000000000000..125a85c0ba66e1bbc3e2bb6bffefae68538f0216
Binary files /dev/null and b/pru-cookbook/07more/figures/my_delay_cycles.png differ
diff --git a/pru-cookbook/07more/more.rst b/pru-cookbook/07more/more.rst
new file mode 100644
index 0000000000000000000000000000000000000000..ae3abcf84c1598a23f54a2a0ea044952809d38ce
--- /dev/null
+++ b/pru-cookbook/07more/more.rst
@@ -0,0 +1,443 @@
+.. _pru-cookbook-more:
+
+More Performance
+##################
+
+So far in all our examples we've been able to meet our timing goals by writing
+our code in the C programming language. The C compiler does a suprisingly
+good job at generating code, most the time. However there are times
+when very precise timing is needed and the compiler isn't doing it.
+
+At these times you need to write in assembly language. This chapter
+introduces the PRU assembler and shows how to call assembly code from
+C. Detailing on how to program in assembly are beyond the scope of this text.
+
+The following are resources used in this chapter.
+
+Resources
+~~~~~~~~~~
+
+* `PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_
+* `PRU Assembly Language Tools User's Guide <http://www.ti.com/lit/ug/spruhv6b/spruhv6b.pdf>`_
+* `PRU Assembly Instruction User Guide <http://www.ti.com/lit/ug/spruij2/spruij2.pdf>`_
+
+Calling Assembly from C
+-------------------------
+
+Problem
+~~~~~~~~~
+
+You have some C code and you want to call an assembly language routine from it.
+
+Solution
+~~~~~~~~~
+
+You need to do two things, write the assembler file and modify the ``Makefile``
+to include it. For example, let's write our own ``my_delay_cycles`` routine in
+in assembly. The intrinsic ``pass:[__]delay_cycles`` must be passed a compile time
+constant. Our new ``delay_cycles`` can take a runtime delay value.
+
+:ref:`more_delay-test` is much like our other c code, but on line 10 we declare
+``my_delay_cycles`` and then on lines 24 and 26 we'll call it with an argument of 1.
+
+.. _more_delay-test:
+
+delay-test.pru0.c
+~~~~~~~~~~~~~~~~~~~
+
+:download:`code/delay-test.pru0.c <code/delay-test.pru0.c>`
+
+:ref:`more_delay` is the assembly code.
+
+.. _more_delay:
+
+delay.pru0.asm
+~~~~~~~~~~~~~~~
+
+:download:`delay.pru0.asm <code/delay.pru0.asm>`
+
+The ``Makefile`` has one addition that needs to be made to compile both :ref:`more_delay-test`
+and :ref:`more_delay`.
+If you look in the local ``Makefile`` you'll see:
+
+.. _more_makefile:
+
+Makefile
+~~~~~~~~~
+
+:download:`Makefile <code/Makefile>`
+
+This Makefle includes a common Makfile at ``/var/lib/cloud9/common/Makefile``, this the Makefile
+you need to edit. Edit ``/var/lib/cloud9/common/Makefile`` and go to line 195.
+
+.. code-block:: bash
+
+ $(GEN_DIR)/%.out: $(GEN_DIR)/%.o *$(GEN_DIR)/$(TARGETasm).o*
+ @mkdir -p $(GEN_DIR)
+ @echo 'LD $^'
+ $(eval $(call target-to-proc,$@))
+ $(eval $(call proc-to-build-vars,$@))
+ @$(LD) $@ $^ $(LDFLAGS)
+
+Add ``*(GEN_DIR)/$(TARGETasm).o*`` as shown in bold above. You will want to remove
+this addition once you are done with this example since it will break the other examples.
+
+The following will compile and run everything.
+
+.. code-block:: bash
+
+ bone$ *config-pin P9_31 pruout*
+ bone$ *make TARGET=delay-test.pru0 TARGETasm=delay.pru0*
+ /var/lib/cloud9/common/Makefile:29: MODEL=TI_AM335x_BeagleBone_Black,TARGET=delay-test.pru0
+ - Stopping PRU 0
+ - copying firmware file /tmp/cloud9-examples/delay-test.pru0.out to /lib/firmware/am335x-pru0-fw
+ write_init_pins.sh
+ - Starting PRU 0
+ MODEL = TI_AM335x_BeagleBone_Black
+ PROC = pru
+ PRUN = 0
+ PRU_DIR = /sys/class/remoteproc/remoteproc1
+
+The resulting output is shown in :ref:`more_my_delay_cycles`.
+
+.. _more_my_delay_cycles:
+
+Output of my_delay_cycles()
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: figures/my_delay_cycles.png
+ :align: center
+ :alt: Output of my_delay_cycles()
+
+Notice the on time is about 35ns and the off time is 30ns.
+
+Discission
+~~~~~~~~~~~~
+
+There is much to explain here. Let's start with :ref:`more_delay`.
+
+Line-by-line of delay.pru0.asm
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. table::
+
+ +-------+-------------------------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=======+=======================================================================================================+
+ |3 | Declare `my_delay_cycles` to be global so the linker can find it. |
+ +-------+-------------------------------------------------------------------------------------------------------+
+ |4 | Label the starting point for `my_delay_cycles`. |
+ +-------+-------------------------------------------------------------------------------------------------------+
+ |5 | Label for our delay loop. |
+ +-------+-------------------------------------------------------------------------------------------------------+
+ |6 | The first argument is passed in register ``r14``. Page 111 of |
+ | | `PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_ |
+ | | gives the argument passing convention. Registers ``r14`` to ``r29`` are used |
+ | | to pass arguments, if there are more arguments, the argument stack (``r4``) |
+ | | is used. The other register conventions are found on page 108. |
+ | | Here we subtract 1 from ``r14`` and save it back into ``r14``. |
+ +-------+-------------------------------------------------------------------------------------------------------+
+ |7 | `qbne` is a quick branch if not equal. |
+ +-------+-------------------------------------------------------------------------------------------------------+
+ |9 | Once we've delayed enough we drop through the quick branch and |
+ | | hit the jump. The upper bits of register `r3` has the return address, |
+ | | therefore we return to the c code. |
+ +-------+-------------------------------------------------------------------------------------------------------+
+
+:ref:`more_my_delay_cycles` shows the **on** time is 35ns and the off time is 30ns.
+With 5ns/cycle this gives 7 cycles on and 6 off. These times make sense
+because each instruction takes a cycle and you have, set ``R30``, jump to
+``my_delay_cycles``, ``sub``, ``qbne``, ``jmp``. Plus the instruction (not seen) that
+initilizes `r14` to the passed value. That's a total of six instructions.
+The extra instruction is the branch at the bottom of the ``while`` loop.
+
+
+Returning a Value from Assembly
+--------------------------------
+
+Problem
+~~~~~~~~~
+
+Your assembly code needs to return a value.
+
+Solution
+~~~~~~~~~
+
+``R14`` is how the return value is passed back. :ref:`more_test2` shows the c code.
+
+.. _more_test2:
+
+delay-test2.pru0.c
+~~~~~~~~~~~~~~~~~~~
+
+:download:`delay-test2.pru0.c <code/delay-test2.pru0.c>`
+
+:ref:`more_delay2` is the assembly code.
+
+.. _more_delay2:
+
+delay2.pru0.asm
+~~~~~~~~~~~~~~~~~
+
+:download:`delay2.pru0.asm <code/delay2.pru0.asm>`
+
+An additional feature is shown in line 4 of :ref:`more_delay2`. The
+``.cdecls "delay-test2.pru0.c"`` says to include any defines from ``delay-test2.pru0.c``
+In this example, line 6 of :ref:`more_test2` `#defines` TEST and line 12 of
+:ref:`more_delay2` reference it.
+
+
+Using the Built-In Counter for Timing
+---------------------------------------
+
+Problem
+~~~~~~~~~
+
+I want to count how many cycles my routine takes.
+
+Solution
+~~~~~~~~~
+
+Each PRU has a ``CYCLE`` register which counts the number of cycles since
+the PRU was enabled. They also have a ``STALL`` register that counts how
+many times the PRU stalled fetching an instruction.
+:ref:`more_cycle` shows they are used.
+
+.. _more_cycle:
+
+cycle.pru0.c - Code to count cycles.
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`delay2.pru0.asm <code/cycle.pru0.c>`
+
+Discission
+~~~~~~~~~~~~
+
+The code is mostly the same as other examples. ``cycle`` and ``stall`` end up in registers which
+we can read using prudebug. :ref:`more_cycle_lines` is the Line-by-line.
+
+.. _more_cycle_lines:
+
+Line-by-line for cycle.pru0.c
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +-------+---------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=======+=======================================================================================+
+ |4 | Include needed to reference `CYCLE` and `STALL`. |
+ +-------+---------------------------------------------------------------------------------------+
+ |16 | Declaring `cycle` and `stall`. The compiler will optimize these and just |
+ | | keep them in registers. We'll have to look at the `cycle.pru0.lst` file to see where |
+ | | they are stored. |
+ +-------+---------------------------------------------------------------------------------------+
+ |21 | Enables `CYCLE`. |
+ +-------+---------------------------------------------------------------------------------------+
+ |26 | Reset `CYCLE`. It ignores the value assigned to it and always sets it |
+ | | to 0. `cycle` is on the right hand side to make the compiler give it it's own |
+ | | register. |
+ +-------+---------------------------------------------------------------------------------------+
+ |28, 29 | Reads the `CYCLE` and `STALL` values into registers. |
+ +-------+---------------------------------------------------------------------------------------+
+
+You can see where ``cycle`` and ``stall`` are stored by looking into :ref:`more_cycle_list0`.
+
+.. _more_cycle_list0:
+
+/tmp/cloud9-examples/cycle.pru0.lst Lines 113..119
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`cycle.pru0.lst lines=113..119 <code/cycle.pru0.lst>`
+
+Here the ``LDI32`` instruction loads the address ``0x22000`` into ``r0``. This is the offset to
+the ``CTRL`` registers. Later in the file we see :ref:`more_cycle_list1`.
+
+.. _more_cycle_list1:
+
+/tmp/cloud9-examples/cycle.pru0.lst Lines 146..152
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:download:`lines=146..152 <code/cycle.pru0.lst>`
+
+
+The first ``LBBO`` takes the contents of ``r0`` and adds the offset 12 to it and copies 4 bytes
+into ``r1``. This points to ``CYCLE``, so ``r1`` has the contents of ``CYCLE``.
+
+The second ``LBBO`` does the same, but with offset 16, which points to ``STALL``,
+thus ``STALL`` is now in ``r0``.
+
+Now fire up **prudebug** and look at those registers.
+
+.. code-block:: bash
+
+ bone$ *sudo prudebug*
+ PRU0> *r*
+ r
+ r
+ Register info for PRU0
+ Control register: 0x00000009
+ Reset PC:0x0000 STOPPED, FREE_RUN, COUNTER_ENABLED, NOT_SLEEPING, PROC_DISABLED
+
+ Program counter: 0x0012
+ Current instruction: HALT
+
+ R00: *0x00000005* R08: 0x00000200 R16: 0x000003c6 R24: 0x00110210
+ R01: *0x00000003* R09: 0x00000000 R17: 0x00000000 R25: 0x00000000
+ R02: 0x000000fc R10: 0xfff4ea57 R18: 0x000003e6 R26: 0x6e616843
+ R03: 0x0004272c R11: 0x5fac6373 R19: 0x30203020 R27: 0x206c656e
+ R04: 0xffffffff R12: 0x59bfeafc R20: 0x0000000a R28: 0x00003033
+ R05: 0x00000007 R13: 0xa4c19eaf R21: 0x00757270 R29: 0x02100000
+ R06: 0xefd30a00 R14: 0x00000005 R22: 0x0000001e R30: 0xa03f9990
+ R07: 0x00020024 R15: 0x00000003 R23: 0x00000000 R31: 0x00000000
+
+
+So ``cycle`` is 3 and ``stall`` is 5. It must be one cycle to clear the GPIO and 2 cycles to read the
+``CYCLE`` register and save it in the register. It's interesting there are 5 ``stall`` cycles.
+
+If you switch the order of lines 30 and 31 you'll see ``cycle`` is 7 and ``stall`` is 2. ``cycle`` now includes the
+time needed to read ``stall`` and ``stall`` no longer includes the time to read ``cycle``.
+
+Xout and Xin - Transfering Between PRUs
+---------------------------------------
+
+Problem
+~~~~~~~~~
+
+I need to transfer data between PRUs quickly.
+
+Solution
+~~~~~~~~~
+
+The ``pass:[__]xout()`` and ``pass:[__]xin()`` intrinsics are able to transfer up to 30 registers between PRU 0 and PRU 1 quickly.
+:ref:`more_xout` shows how ``xout()`` running on PRU 0 transfers six registers to PRU 1.
+
+.. _more_xout:
+
+xout.pru0.c
+~~~~~~~~~~~~
+
+:download:`xout.pru0.c <code/xout.pru0.c>`
+
+PRU 1 waits at line 41 until PRU 0 signals it. :ref:`more_xin` sends sends an
+interupt to PRU 0 and waits for it to send the data.
+
+.. _more_xin:
+
+xin.pru1.c
+~~~~~~~~~~~
+
+:download:`xin.pru1.c <code/xin.pru1.c>`
+
+Use ``prudebug`` to see registers R5-R10 are transfered from PRU 0 to PRU 1.
+
+.. code-block:: bash
+
+ PRU0> *r*
+ Register info for PRU0
+ Control register: 0x00000001
+ Reset PC:0x0000 STOPPED, FREE_RUN, COUNTER_DISABLED, NOT_SLEEPING, PROC_DISABLED
+
+ Program counter: 0x0026
+ Current instruction: HALT
+
+ R00: 0x00000012 *R08: 0xbbbbbbbb* R16: 0x000003c6 R24: 0x00110210
+ R01: 0x00020000 *R09: 0x87654321* R17: 0x00000000 R25: 0x00000000
+ R02: 0x000000e4 *R10: 0xcccccccc* R18: 0x000003e6 R26: 0x6e616843
+ R03: 0x0004272c R11: 0x5fac6373 R19: 0x30203020 R27: 0x206c656e
+ R04: 0xffffffff R12: 0x59bfeafc R20: 0x0000000a R28: 0x00003033
+ *R05: 0xdeadbeef* R13: 0xa4c19eaf R21: 0x00757270 R29: 0x02100000
+ *R06: 0xaaaaaaaa* R14: 0x00000005 R22: 0x0000001e R30: 0xa03f9990
+ *R07: 0x12345678* R15: 0x00000003 R23: 0x00000000 R31: 0x00000000
+
+ PRU0> *pru 1*
+ pru 1
+ Active PRU is PRU1.
+
+ PRU1> *r*
+ r
+ Register info for PRU1
+ Control register: 0x00000001
+ Reset PC:0x0000 STOPPED, FREE_RUN, COUNTER_DISABLED, NOT_SLEEPING, PROC_DISABLED
+
+ Program counter: 0x000b
+ Current instruction: HALT
+
+ R00: 0x00000100 *R08: 0xbbbbbbbb* R16: 0xe9da228b R24: 0x28113189
+ R01: 0xe48cdb1f *R09: 0x87654321* R17: 0x66621777 R25: 0xddd29ab1
+ R02: 0x000000e4 *R10: 0xcccccccc* R18: 0x661f83ea R26: 0xcf1cd4a5
+ R03: 0x0004db97 R11: 0xdec387d5 R19: 0xa85adb78 R27: 0x70af2d02
+ R04: 0xa90e496f R12: 0xbeac3878 R20: 0x048fff22 R28: 0x7465f5f0
+ *R05: 0xdeadbeef* R13: 0x5777b488 R21: 0xa32977c7 R29: 0xae96b530
+ *R06: 0xaaaaaaaa* R14: 0xffa60550 R22: 0x99fb123e R30: 0x52c42a0d
+ *R07: 0x12345678* R15: 0xdeb2142d R23: 0xa353129d R31: 0x00000000
+
+
+Discussion
+~~~~~~~~~
+
+:ref:`more_zout_lines` shows the line-by-line for ``xout.pru0.c``
+
+.. _more_zout_lines:
+
+xout.pru0.c Line-by-line
+~~~~~~~~~~~~~~~~~~~~~~~~~
+.. table::
+
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |Line | Explanation |
+ +=======+=========================================================================================================+
+ |4 | A different resource so PRU 0 can receive a signal from PRU 1. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |9-16 | ``dmemBuf`` holds the data to be sent to PRU 1. Each will be transfered |
+ | | to its corresponding register by ``xout()``. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |21-22 | Define the interupts we're using. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |27-28 | Clear the interrupts. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |31-36 | Initialize dmemBuf with easy to recognize values. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |40 | Wait for PRU 1 to signal. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |45 | ``pass:[__]xout()`` does a direct transfer to PRU 1. Page 92 of |
+ | | `PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_ |
+ | | shows how to use `xout()`. The first argument, 14, says to do a direct transfer to PRU 1. If the |
+ | | first argument is 10, 11 or 12, the data is transfered to one of three scratchpad memories that |
+ | | PRU 1 can access later. The second argument, 5, says to start transfering with register ``r5`` |
+ | | and use as many regsiters as needed to transfer all of ``dmemBuf``. The third argument, 0, |
+ | | says to not use remapping. (See the User's Guide for details.) |
+ | | The final argument is the data to be transfered. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+ |48 | Clear the interupt so it can go again. |
+ +-------+---------------------------------------------------------------------------------------------------------+
+
+:ref:`more_xin_lines` shows the line-by-line for ``xin.pru1.c``.
+
+.. _more_xin_lines:
+
+xin.pru1.c Line-by-line
+~~~~~~~~~~~~~~~~~~~~~~~~
+.. table::
+
+ +-------+-----------------------------------------------------------+
+ |Line | Explanation |
+ +=======+===========================================================+
+ |8-15 | Place to put the received data. |
+ +-------+-----------------------------------------------------------+
+ |26 | Signal PRU 0 |
+ +-------+-----------------------------------------------------------+
+ |30 | Receive the data. The arguments are the same as `xout()`, |
+ | | 14 says to get the data directly from PRU 0. |
+ | | 5 says to start with register `r5`. |
+ | | `dmemBuf` is where to put the data. |
+ +-------+-----------------------------------------------------------+
+
+If you really need speed, considering using ``pass:[__]xout()`` and ``pass:[__]xin()`` in assembly.
+
+Copyright
+----------
+
+copyright.c
+~~~~~~~~~~~~~
+
+:download:`copyright.c <code/copyright.c>`
diff --git a/pru-cookbook/08ai/ai.rst b/pru-cookbook/08ai/ai.rst
new file mode 100644
index 0000000000000000000000000000000000000000..db36f383f27b505f3f613a471bae81e0525db48e
--- /dev/null
+++ b/pru-cookbook/08ai/ai.rst
@@ -0,0 +1,377 @@
+.. _pru-cookbook-ai:
+
+Moving to the BeagleBone AI
+############################
+
+So far all our examples have focussed mostly on the BeagleBone Black and Pocket Beagle.
+These are both based on the am335x chip. The new kid on the block is the BeagleBone AI
+which is based on the am5729. The new chip brings with it new capabilities one of
+which is four PRUs. This chapter details what changes when moving from two to
+four PRUs.
+
+The following are resources used in this chapter.
+
+Resources
+~~~~~~~~~~~
+
+* `AM572x Technical Reference Manual <http://www.ti.com/lit/pdf/spruhz6l>`_ (AI)
+* `BeagleBone AI PRU pins <https://docs.google.com/spreadsheets/d/1dFSBVem86vAUD7MLXvqdS-N0Efi8_g_O1iTqzql8DAo/edit#gid=0>`_
+
+Moving from two to four PRUs
+=============================
+
+Problem
+--------
+
+You have code that works on the am335x PRUs and you want to move it to the
+am5729 on the AI.
+
+Solution
+--------
+
+Things to consider when moving to the AI are:
+
+* Which pins are you going to use
+* Which PRU are you going to run on
+
+Knowing which pins to use impacts the PRU you'll use.
+
+Discission
+--------
+
+The various System Reference Manuals (SRM's) list which pins go to the PRUs.
+Here the tables are combined into one to make it easier to see what goes where.
+
+.. _aimapping_bits:
+
+Mapping bit positions to pin names
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. table::
+
+ +---+---+---------+-----------+-----------+-------------+
+ |PRU|Bit|Black pin|AI PRU1 pin|AI PRU2 pin|Pocket pin |
+ |0 |0 |P9_31 | |P8_44 |P1.36 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |1 |P9_29 | |P8_41 |P1.33 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |2 |P9_30 | |P8_42/P8_21|P2.32 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |3 |P9_28 |P8_12 |P8_39/P8_20|P2.30 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |4 |P9_92 |P8_11 |P8_40/P8_25|P1.31 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |5 |P9_27 |P9_15 |P8_37/P8_24|P2.34 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |6 |P9_91 | |P8_38/P8_5 |P2.28 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |7 |P9_25 | |P8_36/P8_6 |P1.29 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |8 | | |P8_34/P8_23| |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |9 | | |P8_35/P8_22| |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |19 | | |P8_33/P8_3 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |11 | | |P8_31/P8_4 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |12 | | |P8_32 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |13 | | |P8_45 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |14 |P8_12(out) P8_16(in)||P9_11 |P2.24 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |15 |P8_11(out) P8_15(in)||P8_17/P9_13|P2.33 |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |16 |P9_41(in) P9_26(in)| |P8_27 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |17 | |P9_26 |P8_28 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |18 | | |P8_29 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |19 | | |P8_30 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |0 |20 | | |P8_46/P8_8 | |
+ +---+---+---------+-----------+-----------+-------------+
+ | | | | | | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |0 |P8_45 | |P8_32 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |1 |P8_46 |*P9_20* | | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |2 |P8_43 |*P9_19* | | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |3 |P8_44 |P9_41 | | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |4 |P8_41 | | | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |5 |P8_42 |*P8_18* |P9_25 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |6 |P8_39 |*P8_19* |P8_9 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |7 |P8_40 |*P8_13* |P9_31 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |8 |P8_27 | |P9_18 |P2.35 |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |9 |P8_29 |P8_14 |P9_17 |P2.01 |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |10 |P8_28 |P9_42 |P9_31 |P1.35 |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |11 |P8_30 |P9_27 |P9_29 |P1.04 |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |12 |P8_21 | |P9_30 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |13 |P8_20 | |P9_26 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |14 | |P9_14 |P9_42 |P1.32 |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |15 | |*P9_16* |P8_10 |P1.30 |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |16 |P9_26(in)|*P8_15* |P8_7 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |17 | |*P8_26* |P8_27 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |18 | |*P8_16* |P8_45 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |19 | | |P8_46 | |
+ +---+---+---------+-----------+-----------+-------------+
+ |1 |19 | | |P8_43 | |
+ +---+---+---------+-----------+-----------+-------------+
+
+The pins in *bold* are already configured as pru pins. See :ref:`ai_config` to
+see what's currently configured as what. See :ref:`ai_device_tree` to
+configure pins.
+
+.. _ai_config:
+
+Seeing how pins are configured
+===============================
+
+Problem
+--------
+
+You want to know how the pins are currently configured.
+
+Solution
+---------
+
+The ``show-pins.pl`` command does what you want, but you have to set it up first.
+
+.. code-block:: bash
+
+ bone$ cd ~/bin
+ bone$ ln -s /opt/scripts/device/bone/show-pins.pl .
+
+This creates a symbolic link to the ``show-pins.pl`` command that is rather hidden
+away. The link is put in the ``bin`` directory which is in the default command
+``$PATH``. Now you can run ``show-pins.pl`` from anywhere.
+
+.. code-block:: bash
+
+ bone$ *show-pins.pl*
+ P9.19a 16 R6 7 fast rx up i2c4_scl
+ P9.20a 17 T9 7 fast rx up i2c4_sda
+ P8.35b 57 AD9 e fast down gpio3_0
+ P8.33b 58 AF9 e fast down gpio3_1
+ ...
+
+Here you see ``P9.19a`` and ``P9.20a`` are configured for i2c with pull up resistors.
+The ``P8`` pins are configured as gpio with pull down resistors. They are
+both on gpio port 3. ``P8.35b`` is bit 0 while ``P8.33b`` is bit 1. You can find
+which direction they are set by using ``gpioinfo`` and the chip number.
+Unfortunately you subtract one from the port number to get the chip number.
+So ``P8.35b`` is on chip number 2.
+
+.. code-block:: bash
+
+ bone$ *gpioinfo 2*
+ line 0: unnamed unused *input* active-high
+ line 1: unnamed unused *input* active-high
+ line 2: unnamed unused input active-high
+ line 3: unnamed unused input active-high
+ line 4: unnamed unused input active-high
+ ...
+
+Here we see both (lines 0 and 1) are set to input.
+
+Adding ``-v`` gives more details.
+
+.. code-block:: bash
+
+ bone$ *show-pins.pl -v*
+ ...
+ sysboot 14 14 H2 f fast down sysboot14
+ sysboot 15 15 H3 f fast down sysboot15
+ P9.19a 16 R6 7 fast rx up i2c4_scl
+ P9.20a 17 T9 7 fast rx up i2c4_sda
+ 18 T6 f fast down Driver off
+ 19 T7 f fast down Driver off
+ bluetooth in 20 P6 8 fast rx uart6_rxd mmc@480d1000 (wifibt_extra_pins_default)
+ bluetooth out 21 R9 8 fast rx uart6_txd mmc@480d1000 (wifibt_extra_pins_default)
+ ...
+
+The best way to use ``show-pins.pl`` is with ``grep``. To see all the pru pins try:
+
+.. code-block:: bash
+
+ bone$ *show-pins.pl | grep -i pru | sort*
+ P8.13 100 D3 c fast rx pr1_pru1_gpi7
+ P8.15b 109 A3 d fast down pr1_pru1_gpo16
+ P8.16 111 B4 d fast down pr1_pru1_gpo18
+ P8.18 98 F5 c fast rx pr1_pru1_gpi5
+ P8.19 99 E6 c fast rx pr1_pru1_gpi6
+ P8.26 110 B3 d fast down pr1_pru1_gpo17
+ P9.16 108 C5 d fast down pr1_pru1_gpo15
+ P9.19b 95 F4 c fast rx up pr1_pru1_gpi2
+ P9.20b 94 D2 c fast rx up pr1_pru1_gpi1
+
+Here we have nine pins configured for the PRU registers ``R30`` and ``R31``.
+Five are input pins and four are out.
+
+.. _ai_device_tree:
+
+Configuring pins on the AI via device trees
+============================================
+
+Problem
+--------
+
+I want to configure another pin for the PRU, but I get an error.
+
+.. code-block:: bash
+
+ bone$ *config-pin P9_31 pruout*
+ ERROR: open() for /sys/devices/platform/ocp/ocp:P9_31_pinmux/state failed, No such file or directory
+
+Solution
+---------
+
+The pins on the AI must be configure at boot time and therefor cannot be
+configured with ``config-pin``. Instead you must edit the device tree.
+
+Discission
+-----------
+
+Suppose you want to make ``P9_31`` a PRU output pin. First go to the
+`am5729 System Reference Manual <https://github.com/beagleboard/beaglebone-ai/wiki/System-Reference-Manual#p8.10-p8.13>`_
+and look up ``P9_31``.
+
+.. tip::
+
+ The `BeagleBone AI PRU pins <https://docs.google.com/spreadsheets/d/1dFSBVem86vAUD7MLXvqdS-N0Efi8_g_O1iTqzql8DAo/edit#gid=0>`_
+ table may be easier to use.
+
+``P9_31`` appears twice, as ``P9_31a`` and ``P9_31b``. Either should work, let's pick ``P9_31a``.
+
+.. warning::
+ When you have two internal pins attached to the same header (either P8 or P9)
+ make sure only one is configured as an output. If both are outputs, you could
+ damage the AI.
+
+We see that when ``P9_31a`` is set to ``MODE13`` it will be a PRU **out** pin.
+``MODE12`` makes it a PRU **in** pin. It appears at bit 10 on PRU2_1.
+
+Next, find which kernel you are running.
+
+.. code-block:: bash
+ bone$ uname -a
+ Linux ai 4.14.108-ti-r131 #1buster SMP PREEMPT Tue Mar 24 19:18:36 UTC 2020 armv7l GNU/Linux
+
+I'm running the 4.14 version. Now look in ``/opt/source`` for your kernel.
+
+.. code-block:: bash
+
+ bone$ cd /opt/source/
+ bone$ ls
+ adafruit-beaglebone-io-python dtb-5.4-ti rcpy
+ BBIOConfig librobotcontrol u-boot_v2019.04
+ bb.org-overlays list.txt u-boot_v2019.07-rc4
+ *dtb-4.14-ti* pyctrl
+ dtb-4.19-ti py-uio
+
+``am5729-beagleboneai.dts`` is the file we need to edit. Search for ``P9_31``. You'l see:
+
+.. code-block:: bash
+ :linenos:
+
+ DRA7XX_CORE_IOPAD(0x36DC, MUX_MODE14) // B13: P9.30: mcasp1_axr10.off //
+ DRA7XX_CORE_IOPAD(0x36D4, *MUX_MODE13*) // B12: *P9.31a*: mcasp1_axr8.off //
+ DRA7XX_CORE_IOPAD(0x36A4, MUX_MODE14) // C14: P9.31b: mcasp1_aclkx.off //
+
+Change the ``MUX_MODE14`` to ``MUX_MODE13`` for output, or ``MUX_MODE12`` for input.
+
+Compile and install. The first time will take a while since it recompiles all the dts files.
+
+.. code-block:: bash
+ :linenos:
+
+ bone$ make
+ ...
+ DTC src/arm/am335x-sl50.dtb
+ DTC src/arm/am5729-beagleboneai.dtb
+ DTC src/arm/am335x-nano.dtb
+ ...
+ bone$ sudo make install
+ ...
+ 'src/arm/am5729-beagleboneai.dtb' -> '/boot/dtbs/4.14.108-ti-r131/am5729-beagleboneai.dtb'
+ ...
+ bone$ reboot
+ ...
+ bone$ *show-pins.pl -v | sort | grep -i pru*
+ P8.13 100 D3 c fast rx pr1_pru1_gpi7
+ P8.15b 109 A3 d fast down pr1_pru1_gpo16
+ P8.16 111 B4 d fast down pr1_pru1_gpo18
+ P8.18 98 F5 c fast rx pr1_pru1_gpi5
+ P8.19 99 E6 c fast rx pr1_pru1_gpi6
+ P8.26 110 B3 d fast down pr1_pru1_gpo17
+ P9.16 108 C5 d fast down pr1_pru1_gpo15
+ P9.19b 95 F4 c fast rx up pr1_pru1_gpi2
+ P9.20b 94 D2 c fast rx up pr1_pru1_gpi1
+ P9.31a 181 B12 d fast down pr2_pru1_gpo10
+
+
+There it is. `P9_31` is now a PRU output pin on PRU1_0, bit 3.
+
+.. _ai_using_pru_pins:
+
+Using the PRU pins
+====================
+
+Problem
+--------
+
+Once I have the PRU pins configured on the AI how do I use them?
+
+Solution
+--------
+
+In :ref:`ai_device_tree` we configured ``P9_31a`` to be a PRU pin. ``show-pins.pl`` showed
+that it appears at ``pr2_pru1_gpo10``, which means pru2_1 accesses it using
+bit 10 of register ``R30``.
+
+Discission
+--------
+
+It's easy to modify the pwm example from :ref:`blocks_pwm` to use this pin.
+First copy the example you want to modify to ``pwm1.pru2_1.c``. The ``pru2_1`` in
+the file name tells the Makefile to run the code on pru2_1. :ref:`ai_pwm1` shows
+the adapted code.
+
+.. _ai_pwm1:
+
+pwm1.pru2_1.c
+~~~~~~~~~~~~~~
+
+:download:`pwm1.pru2_1.c <code/pwm1.pru2_1.c>`
+
+
+One line 6 ``P9_31`` is defined as ``(0x1:ref:`10)``, which means shift ``1`` over by 10 bits.
+That's the only change needed. Copy the local Makefile to the same directory and
+compile and run.
+
+.. code-block:: bash
+ :linenos:
+
+ bone$ make TARGET=pwm1.pru2_1
+
+Attach an LED to ``P9_31`` and it should be blinking.
diff --git a/pru-cookbook/08ai/code/Makefile b/pru-cookbook/08ai/code/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a7557fdaa22988d89cec879477ded78522d7116f
--- /dev/null
+++ b/pru-cookbook/08ai/code/Makefile
@@ -0,0 +1 @@
+include /var/lib/cloud9/common/Makefile
diff --git a/pru-cookbook/08ai/code/pwm1.pru2_1.c b/pru-cookbook/08ai/code/pwm1.pru2_1.c
new file mode 100644
index 0000000000000000000000000000000000000000..d35f2185cffd779cb1f18e252fe5252b803cd26e
--- /dev/null
+++ b/pru-cookbook/08ai/code/pwm1.pru2_1.c
@@ -0,0 +1,24 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include "resource_table_empty.h"
+#include "prugpio.h"
+
+#define P9_31 (0x1<<10)
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+void main(void)
+{
+ uint32_t gpio = P9_31; // Select which pin to toggle.;
+
+ /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+ CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+ while(1) {
+ __R30 |= gpio; // Set the GPIO pin to 1
+ __delay_cycles(100000000);
+ __R30 &= ~gpio; // Clear the GPIO pin
+ __delay_cycles(100000000);
+ }
+}
diff --git a/pru-cookbook/common/Makefile b/pru-cookbook/common/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..5b3999031af3d04540e6d4c8057624d1fe21664b
--- /dev/null
+++ b/pru-cookbook/common/Makefile
@@ -0,0 +1,235 @@
+#
+# Optional definitions
+#
+# TARGET - executable to create (currently supports single .c source)
+# should have .<proc>(<n>) extension (lower case, check below for valid options)
+# without TARGET, as of now, we don't have any build targets
+# TODO: work with a list of targets, rather than a single file
+# PRUN - TBD
+
+#
+# Directories (external packages, etc.)
+#
+# COMMON points to where this primary Makefile and shell scripts live.
+# PRU_CGT points to the TI PRU compiler directory.
+# PRU_SUPPORT points to pru-software-support-package.
+# C6X_CGT points to the TI C6X compiler directory.
+# TIDL_API_DIR points to the TIDL API install directory.
+# GEN_DIR points to where to build the binaries.
+# MODEL is the board model (BeagleBoard.org_BeagleBone_AI, TI_AM335x_BeagleBone_Blue, etc.)
+COMMON:=$(abspath $(lastword $(MAKEFILE_LIST)/..))
+PRU_CGT:=/usr/share/ti/cgt-pru
+PRU_SUPPORT:=/usr/lib/ti/pru-software-support-package
+PRU_STARTERWARE:=/usr/share/ti/starterware
+C6X_CGT:=/usr/share/ti/cgt-c6x
+TIDL_API_DIR:=/usr/share/ti/tidl/tidl_api
+GEN_DIR:=/tmp/cloud9-examples
+MODEL:=$(shell cat /proc/device-tree/model | sed 's/ /_/g' | tr -d '\000')
+# $(warning MODEL=$(MODEL),TARGET=$(TARGET),COMMON=$(COMMON))
+$(warning MODEL=$(MODEL),TARGET=$(TARGET))
+
+#
+# Define PROC and build variables
+#
+# Arguments:
+# $@ - target name
+#
+# Variables defined:
+# CHIP - target system-on-chip (am57xx, am335x)
+# CHIP_REV - target system-on-chip with rev (am572x_2_0, am335x)
+# PROC - cpu type (arm, pru, c6x, etc.)
+# PRUN - identifier for target PRU core
+# PRU_DIR - control directory for the PRU
+# CC -
+# LD -
+# LDFLAGS -
+# CFLAGS -
+#
+# Depends on udev rules: https://github.com/beagleboard/customizations/blob/master/etc/udev/rules.d/86-remoteproc-noroot.rules
+# Check which model
+define target-to-proc =
+ ifeq ($(suffix $(basename $(1))),.pru1_0)
+ CHIP=am57xx
+ CHIP_REV=am572x_2_0
+ PRU_DIR=/dev/remoteproc/pruss1-core0
+ PRUN=1_0
+ PROC=pru
+ EXE=.out
+ else ifeq ($(suffix $(basename $(1))),.pru1_1)
+ CHIP=am57xx
+ CHIP_REV=am572x_2_0
+ PRU_DIR=/dev/remoteproc/pruss1-core1
+ PRUN=1_1
+ PROC=pru
+ EXE=.out
+ else ifeq ($(suffix $(basename $(1))),.pru2_0)
+ CHIP=am57xx
+ CHIP_REV=am572x_2_0
+ PRU_DIR=/dev/remoteproc/pruss2-core0
+ PRUN=2_0
+ PROC=pru
+ EXE=.out
+ else ifeq ($(suffix $(basename $(1))),.pru2_1)
+ CHIP=am57xx
+ CHIP_REV=am572x_2_0
+ PRU_DIR=/dev/remoteproc/pruss2-core1
+ PRUN=2_1
+ PROC=pru
+ EXE=.out
+ else ifeq ($(suffix $(basename $(1))),.pru0)
+ CHIP=am335x
+ CHIP_REV=am335x
+ PRU_DIR=/dev/remoteproc/pruss-core0
+ PRUN=0
+ PROC=pru
+ EXE=.out
+ else ifeq ($(suffix $(basename $(1))),.pru1)
+ CHIP=am335x
+ CHIP_REV=am335x
+ PRU_DIR=/dev/remoteproc/pruss-core1
+ PRUN=1
+ PROC=pru
+ EXE=.out
+ else ifeq ($(suffix $(basename $(1))),.tidl)
+ CHIP=am57xx
+ PROC=tidl
+ EXE=.so
+ else
+ PROC=arm
+ EXE=.out
+ endif
+endef
+
+#
+# Arguments:
+# $@ - target name
+#
+# Variables required:
+# CHIP - target system-on-chip (am57xx, am335x)
+# CHIP_REV - target system-on-chip with rev (am572x_2_0, am335x)
+# PROC - cpu type (arm, pru, c6x, etc.)
+# PRUN - identifier for target PRU core
+# PRU_DIR - control directory for the PRU
+define proc-to-build-vars =
+ ifeq ($(PROC),pru)
+ LD=lnkpru -o
+ LDFLAGS=--reread_libs --warn_sections --stack_size=0x100 --heap_size=0x100 -m $(basename $(1)).map \
+ -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(COMMON)/$(CHIP)_$(PROC).cmd --library=libc.a \
+ --library=$(PRU_SUPPORT)/lib/rpmsg_lib.lib
+ CC=clpru -fe
+ CFLAGS=--include_path=$(COMMON) --include_path=$(PRU_SUPPORT)/include \
+ --include_path=$(PRU_SUPPORT)/include/$(CHIP_REV) \
+ --include_path=$(PRU_STARTERWARE)/include --include_path=$(PRU_STARTERWARE)/include/hw \
+ --include_path=$(PRU_CGT)/include -DCHIP=$(CHIP) -DCHIP_IS_$(CHIP) -DMODEL=$(MODEL) -DPROC=$(PROC) -DPRUN=$(PRUN) \
+ -v3 -O2 --printf_support=minimal --display_error_number --endian=little --hardware_mac=on \
+ --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) --asm_directory=$(GEN_DIR) -ppd -ppa --asm_listing \
+ --c_src_interlist
+ else ifeq ($(PROC),tidl)
+ LD=g++ -o
+ LDFLAGS=-lopencv_highgui -lopencv_imgcodecs -lopencv_videoio -lopencv_imgproc -lopencv_core \
+ $(TIDL_API_DIR)/tidl_api.a $(TIDL_API_DIR)/tidl_imgutil.a \
+ -lTIOpenCL -locl_util -lpthread
+ CXX=g++ -c -o
+ CXXFLAGS=-DCHIP=$(CHIP) -DMODEL=$(MODEL) -DPROC=$(PROC) -fPIC -O3 -Wall -Werror -Wno-error=ignored-attributes \
+ -I. -I$(TIDL_API_DIR)/inc -std=c++14 -I/usr/share/ti/opencl
+ else
+ LD=gcc -o
+ LDFLAGS=-lc -lm
+ CC=gcc -c -o
+ CFLAGS=-DCHIP=$(CHIP) -DMODEL=$(MODEL) -DPROC=$(PROC)
+ endif
+endef
+
+#
+#
+#
+
+ifneq ($(TARGET),)
+$(eval $(call target-to-proc,$(TARGET).out))
+# $(warning GEN_DIR=$(GEN_DIR),CHIP=$(CHIP),PROC=$(PROC),PRUN=$(PRUN),PRU_DIR=$(PRU_DIR),EXE=$(EXE))
+
+all: stop install start
+ @echo "MODEL = $(MODEL)"
+ @echo "PROC = $(PROC)"
+ @echo "PRUN = $(PRUN)"
+ @echo "PRU_DIR = $(PRU_DIR)"
+
+# TODO: think about what we want to say if stop fails
+stop:
+ifneq ($(PRU_DIR),)
+ @echo "- Stopping PRU $(PRUN)"
+ @echo stop > $(PRU_DIR)/state || echo Cannot stop $(PRUN)
+endif
+
+start:
+ifneq ($(PRU_DIR),)
+ @echo write_init_pins.sh
+ @$(COMMON)/write_init_pins.sh /lib/firmware/$(CHIP)-pru$(PRUN)-fw
+ @echo "- Starting PRU $(PRUN)"
+ @echo start > $(PRU_DIR)/state
+else ifeq ($(PROC),tidl)
+ ti-mct-heap-check -c
+ sudo mjpg_streamer -i "input_opencv.so -r 640x480 -d /dev/$(shell fgrep -v vpe /sys/class/video4linux/video*/name | perl -ne '/\/(video\d+)\/name/ && print $$1') \
+ --filter ./$(TARGET)$(EXE)" -o "output_http.so -p 8090 -w /usr/share/mjpg-streamer/www"
+else
+ ./$(TARGET)$(EXE)
+endif
+
+install: $(GEN_DIR)/$(TARGET)$(EXE)
+ifneq ($(PRU_DIR),)
+ @echo '- copying firmware file $(GEN_DIR)/$(TARGET).out to /lib/firmware/$(CHIP)-pru$(PRUN)-fw'
+ @cp $(GEN_DIR)/$(TARGET)$(EXE) /lib/firmware/$(CHIP)-pru$(PRUN)-fw
+else
+ @cp $(GEN_DIR)/$(TARGET)$(EXE) ./$(TARGET)$(EXE)
+endif
+endif
+
+%.out: $(GEN_DIR)/%.out
+ @echo 'CP $^'
+ @cp $^ $@
+
+%.so: $(GEN_DIR)/%.so
+ @echo 'CP $^'
+ @cp $^ $@
+
+# TODO: look up how Makefiles typically break down the output file specification
+# $(warning CHIP=$(CHIP),PROC=$(PROC))
+# $(warning CC=$(CC),LD=$(LD),CFLAGS=$(CFLAGS),LDFLAGS=$(LDFLAGS))
+$(GEN_DIR)/%.out: $(GEN_DIR)/%.o
+ @mkdir -p $(GEN_DIR)
+ @echo 'LD $^'
+ $(eval $(call target-to-proc,$@))
+ $(eval $(call proc-to-build-vars,$@))
+ @$(LD) $@ $^ $(LDFLAGS)
+
+$(GEN_DIR)/%.so: $(GEN_DIR)/%.o
+ @mkdir -p $(GEN_DIR)
+ @echo 'LD $^'
+ $(eval $(call target-to-proc,$@))
+ $(eval $(call proc-to-build-vars,$@))
+ @$(LD) $@ -shared $^ $(LDFLAGS)
+
+$(GEN_DIR)/%.o: %.asm
+ @mkdir -p $(GEN_DIR)
+ @echo 'CC $^'
+ $(eval $(call target-to-proc,$@))
+ $(eval $(call proc-to-build-vars,$@))
+ @$(CC) $@ $^ $(CFLAGS)
+
+$(GEN_DIR)/%.o: %.c
+ @mkdir -p $(GEN_DIR)
+ @echo 'CC $^'
+ $(eval $(call target-to-proc,$@))
+ $(eval $(call proc-to-build-vars,$@))
+ @$(CC) $@ $^ $(CFLAGS)
+
+$(GEN_DIR)/%.o: %.cpp
+ @mkdir -p $(GEN_DIR)
+ @echo 'CXX $^'
+ $(eval $(call target-to-proc,$@))
+ $(eval $(call proc-to-build-vars,$@))
+ @$(CXX) $@ $^ $(CXXFLAGS)
+
+clean:
+ @echo 'CLEAN'
+ @rm -rf $(GEN_DIR)
diff --git a/pru-cookbook/common/README.md b/pru-cookbook/common/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..379ccc41af34ca13255e40b76c1b8461f5f78bea
--- /dev/null
+++ b/pru-cookbook/common/README.md
@@ -0,0 +1,2 @@
+# common
+These are the files used by all the platforms for running the PRUs.
diff --git a/pru-cookbook/common/config-pin.sh b/pru-cookbook/common/config-pin.sh
new file mode 100755
index 0000000000000000000000000000000000000000..682fecd697201463a0ab58d238aad25cfbffe760
--- /dev/null
+++ b/pru-cookbook/common/config-pin.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+# Adds "in" and "out" to config-pin
+#
+# Usage: config-pin.sh P9_11 out
+
+pin=$1 # Name of pin to be changed
+dir=$2 # Direction, either in or out
+
+if [ "$dir" != "in" ] && [ "$dir" != "out" ] ; then
+ # Use config-pin
+ /usr/bin/config-pin $*
+ exit
+fi
+
+# Maps pin name (P9_11) to gpio number (gpio30) via libgpiod
+# Find which gpio
+chip=0
+found=0
+
+# Check each gpio chip
+while [ $chip -lt 4 ] ; do
+ # echo $chip
+ # Remove : from line number
+ line=$(gpioinfo $chip | grep $pin | awk '{ print substr($2, 1, length($2)-1) }')
+
+ [ ! -z "$line" ] && found=1 && break
+ chip=$[$chip+1]
+done
+
+# echo chip: $chip line: $line
+
+if [ $found -ne 0 ] ; then
+ gpio=gpio$[32*$chip+$line]
+ # echo $gpio
+ echo $dir > /sys/class/gpio/$gpio/direction
+ /usr/bin/config-pin $pin gpio
+else
+ echo $pin not found
+fi
diff --git a/pru-cookbook/common/init_pins_empty.h b/pru-cookbook/common/init_pins_empty.h
new file mode 100644
index 0000000000000000000000000000000000000000..9da8995e8c6ba25775f9748bc4366ce58d0e85c9
--- /dev/null
+++ b/pru-cookbook/common/init_pins_empty.h
@@ -0,0 +1,6 @@
+// Defins an empty table to write_init_pins wont' complain
+
+#pragma DATA_SECTION(init_pins, ".init_pins")
+#pragma RETAIN(init_pins)
+const char init_pins[] =
+ "\0\0";
diff --git a/pru-cookbook/common/prugpio.h b/pru-cookbook/common/prugpio.h
new file mode 100644
index 0000000000000000000000000000000000000000..6d83e1d8a386442ea0f39895146b6fa040f3f0a6
--- /dev/null
+++ b/pru-cookbook/common/prugpio.h
@@ -0,0 +1,105 @@
+// This file defines the GPIO port addresses and PRU address
+
+#if defined(CHIP) && defined(CHIP_IS_am57xx)
+#warning "Found AI"
+// These are addresses for the am5729
+// First define the 9 GPIO port addresses
+#define GPIO1 0x4AE10000
+#define GPIO2 0x48055000
+#define GPIO3 0x48057000
+#define GPIO4 0x48059000
+#define GPIO5 0x4805B000
+#define GPIO6 0x4805D000
+#define GPIO7 0x48051000
+#define GPIO8 0x48053000
+
+// These define which bits in a given port go to the USR LEDs
+// GPIO3
+#define USR0 (1<<17)
+#define USR2 (1<<15)
+#define USR3 (1<<14)
+#define USR4 (1<< 7)
+// GPIO5
+#define USR1 (1<< 5)
+// The define a couple of GPIO pin addresses
+// GPIO6
+#define P9_25 (1<<17)
+// GPIO8
+#define P8_17 (1<18)
+
+// These define which bin in register R30 go to which header pins
+// R30 bits - Output on pru1_1
+#define P9_14 (1<<14)
+#define P9_16 (1<<15)
+#define P8_15 (1<<16)
+#define P8_26 (1<<17)
+#define P8_16 (1<<18)
+// R31 bits - Input on pru1_1
+#define P8_18 (1<<5)
+#define P8_19 (1<<6)
+#define P8_13 (1<<7)
+
+// Shared memory
+#define AM33XX_DATARAM0_PHYS_BASE1 0x4b200000
+#define AM33XX_DATARAM1_PHYS_BASE1 0x4b202000
+#define AM33XX_PRUSS_SHAREDRAM_BASE1 0x4b210000
+
+#define AM33XX_DATARAM0_PHYS_BASE2 0x4b280000
+#define AM33XX_DATARAM1_PHYS_BASE2 0x4b282000
+#define AM33XX_PRUSS_SHAREDRAM_BASE2 0x4b290000
+
+#else
+
+#warning "Found am335x"
+// These are addresses for the am35xx
+#define GPIO0 0x44E07000 // From table 2.2 of am335x TRM
+#define GPIO1 0x4804C000
+#define GPIO2 0x481AC000
+#define GPIO3 0x481AE000
+
+// USR LED bit positions
+// GPIO1
+#define USR0 (1<<21)
+#define USR1 (1<<22)
+#define USR2 (1<<23)
+#define USR3 (1<<24)
+// The define a couple of GPIO pin addresses on Black
+// GPIO1
+#define P9_14 (1<<18)
+#define P9_16 (1<<19)
+
+// The define a couple of GPIO pin addresses on Pocket
+// GPIO1
+#define P2_1 (1<<18)
+#define P1_32 (1<<10)
+
+// R30 output bits on pru0
+#define P9_31 (1<<0)
+#define P9_29 (1<<1)
+#define P9_30 (1<<2)
+#define P9_28 (1<<3)
+#define P9_92 (1<<4)
+#define P9_27 (1<<5)
+#define P9_91 (1<<6)
+#define P9_25 (1<<7)
+
+// R30 output bits on pru0 on Pocket
+#define P1_36 (1<<0)
+#define P1_33 (1<<1)
+#define P2_32 (1<<2)
+#define P2_30 (1<<3)
+#define P1_31 (1<<4)
+#define P2_34 (1<<5)
+#define P2_28 (1<<6)
+#define P1_29 (1<<7)
+
+// Shared memory
+#define AM33XX_DATARAM0_PHYS_BASE 0x4a300000
+#define AM33XX_DATARAM1_PHYS_BASE 0x4a302000
+#define AM33XX_PRUSS_SHAREDRAM_BASE 0x4a310000
+
+#endif
+// /4 to convert from byte address to word address
+#define GPIO_CLEARDATAOUT 0x190/4 // Write 1 here to set a given bit
+#define GPIO_SETDATAOUT 0x194/4 // A 1 here clears the corresponding bit
+#define GPIO_DATAOUT 0x138/4 // For reading the GPIO registers
diff --git a/pru-cookbook/common/resource_table_0.h b/pru-cookbook/common/resource_table_0.h
new file mode 100644
index 0000000000000000000000000000000000000000..1c853b95775fd159d65ef12c71abfde1baff890e
--- /dev/null
+++ b/pru-cookbook/common/resource_table_0.h
@@ -0,0 +1,136 @@
+/*
+ * Copyright (C) 2016 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+#include "pru_virtio_ids.h"
+
+/*
+ * Sizes of the virtqueues (expressed in number of buffers supported,
+ * and must be power of 2)
+ */
+#define PRU_RPMSG_VQ0_SIZE 16
+#define PRU_RPMSG_VQ1_SIZE 16
+
+/*
+ * The feature bitmap for virtio rpmsg
+ */
+#define VIRTIO_RPMSG_F_NS 0 //name service notifications
+
+/* This firmware supports name service notifications as one of its features */
+#define RPMSG_PRU_C0_FEATURES (1 << VIRTIO_RPMSG_F_NS)
+
+/* Definition for unused interrupts */
+#define HOST_UNUSED 255
+
+/* Mapping sysevts to a channel. Each pair contains a sysevt, channel. */
+struct ch_map pru_intc_map[] = {
+ {16, 2},
+ {17, 0},
+};
+
+struct my_resource_table {
+ struct resource_table base;
+
+ uint32_t offset[2]; /* Should match 'num' in actual definition */
+
+ /* rpmsg vdev entry */
+ struct fw_rsc_vdev rpmsg_vdev;
+ struct fw_rsc_vdev_vring rpmsg_vring0;
+ struct fw_rsc_vdev_vring rpmsg_vring1;
+
+ /* intc definition */
+ struct fw_rsc_custom pru_ints;
+};
+
+#pragma DATA_SECTION(resourceTable, ".resource_table")
+#pragma RETAIN(resourceTable)
+struct my_resource_table resourceTable = {
+ 1, /* Resource table version: only version 1 is supported by the current driver */
+ 2, /* number of entries in the table */
+ 0, 0, /* reserved, must be zero */
+ /* offsets to entries */
+ {
+ offsetof(struct my_resource_table, rpmsg_vdev),
+ offsetof(struct my_resource_table, pru_ints),
+ },
+
+ /* rpmsg vdev entry */
+ {
+ (uint32_t)TYPE_VDEV, //type
+ (uint32_t)VIRTIO_ID_RPMSG, //id
+ (uint32_t)0, //notifyid
+ (uint32_t)RPMSG_PRU_C0_FEATURES, //dfeatures
+ (uint32_t)0, //gfeatures
+ (uint32_t)0, //config_len
+ (uint8_t)0, //status
+ (uint8_t)2, //num_of_vrings, only two is supported
+ { (uint8_t)0, (uint8_t)0 }, //reserved
+ /* no config data */
+ },
+ /* the two vrings */
+ {
+ 0, //da, will be populated by host, can't pass it in
+ 16, //align (bytes),
+ PRU_RPMSG_VQ0_SIZE, //num of descriptors
+ 0, //notifyid, will be populated, can't pass right now
+ 0 //reserved
+ },
+ {
+ 0, //da, will be populated by host, can't pass it in
+ 16, //align (bytes),
+ PRU_RPMSG_VQ1_SIZE, //num of descriptors
+ 0, //notifyid, will be populated, can't pass right now
+ 0 //reserved
+ },
+
+ {
+ TYPE_CUSTOM, TYPE_PRU_INTS,
+ sizeof(struct fw_rsc_custom_ints),
+ { /* PRU_INTS version */
+ 0x0000,
+ /* Channel-to-host mapping, 255 for unused */
+ 0, HOST_UNUSED, 2, HOST_UNUSED, HOST_UNUSED,
+ HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED,
+ /* Number of evts being mapped to channels */
+ (sizeof(pru_intc_map) / sizeof(struct ch_map)),
+ /* Pointer to the structure containing mapped events */
+ pru_intc_map,
+ },
+ },
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
diff --git a/pru-cookbook/common/resource_table_1.h b/pru-cookbook/common/resource_table_1.h
new file mode 100644
index 0000000000000000000000000000000000000000..b062c71f3e66559102cc8f65f9b8d8274b144aef
--- /dev/null
+++ b/pru-cookbook/common/resource_table_1.h
@@ -0,0 +1,135 @@
+/*
+ * Copyright (C) 2016 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+#include "pru_virtio_ids.h"
+
+/*
+ * Sizes of the virtqueues (expressed in number of buffers supported,
+ * and must be power of 2)
+ */
+#define PRU_RPMSG_VQ0_SIZE 16
+#define PRU_RPMSG_VQ1_SIZE 16
+
+/*
+ * The feature bitmap for virtio rpmsg
+ */
+#define VIRTIO_RPMSG_F_NS 0 //name service notifications
+
+/* This firmware supports name service notifications as one of its features */
+#define RPMSG_PRU_C0_FEATURES (1 << VIRTIO_RPMSG_F_NS)
+
+/* Definition for unused interrupts */
+#define HOST_UNUSED 255
+
+/* Mapping sysevts to a channel. Each pair contains a sysevt, channel. */
+struct ch_map pru_intc_map[] = { {18, 3},
+ {19, 1},
+};
+
+struct my_resource_table {
+ struct resource_table base;
+
+ uint32_t offset[2]; /* Should match 'num' in actual definition */
+
+ /* rpmsg vdev entry */
+ struct fw_rsc_vdev rpmsg_vdev;
+ struct fw_rsc_vdev_vring rpmsg_vring0;
+ struct fw_rsc_vdev_vring rpmsg_vring1;
+
+ /* intc definition */
+ struct fw_rsc_custom pru_ints;
+};
+
+#pragma DATA_SECTION(resourceTable, ".resource_table")
+#pragma RETAIN(resourceTable)
+struct my_resource_table resourceTable = {
+ 1, /* Resource table version: only version 1 is supported by the current driver */
+ 2, /* number of entries in the table */
+ 0, 0, /* reserved, must be zero */
+ /* offsets to entries */
+ {
+ offsetof(struct my_resource_table, rpmsg_vdev),
+ offsetof(struct my_resource_table, pru_ints),
+ },
+
+ /* rpmsg vdev entry */
+ {
+ (uint32_t)TYPE_VDEV, //type
+ (uint32_t)VIRTIO_ID_RPMSG, //id
+ (uint32_t)0, //notifyid
+ (uint32_t)RPMSG_PRU_C0_FEATURES, //dfeatures
+ (uint32_t)0, //gfeatures
+ (uint32_t)0, //config_len
+ (uint8_t)0, //status
+ (uint8_t)2, //num_of_vrings, only two is supported
+ { (uint8_t)0, (uint8_t)0 }, //reserved
+ /* no config data */
+ },
+ /* the two vrings */
+ {
+ 0, //da, will be populated by host, can't pass it in
+ 16, //align (bytes),
+ PRU_RPMSG_VQ0_SIZE, //num of descriptors
+ 0, //notifyid, will be populated, can't pass right now
+ 0 //reserved
+ },
+ {
+ 0, //da, will be populated by host, can't pass it in
+ 16, //align (bytes),
+ PRU_RPMSG_VQ1_SIZE, //num of descriptors
+ 0, //notifyid, will be populated, can't pass right now
+ 0 //reserved
+ },
+
+ {
+ TYPE_CUSTOM, TYPE_PRU_INTS,
+ sizeof(struct fw_rsc_custom_ints),
+ { /* PRU_INTS version */
+ 0x0000,
+ /* Channel-to-host mapping, 255 for unused */
+ HOST_UNUSED, 1, HOST_UNUSED, 3, HOST_UNUSED,
+ HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED,
+ /* Number of evts being mapped to channels */
+ (sizeof(pru_intc_map) / sizeof(struct ch_map)),
+ /* Pointer to the structure containing mapped events */
+ pru_intc_map,
+ },
+ },
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
diff --git a/pru-cookbook/common/resource_table_empty.h b/pru-cookbook/common/resource_table_empty.h
new file mode 100644
index 0000000000000000000000000000000000000000..07e97d9b383c9d937d4b55e705024d6c28dc748a
--- /dev/null
+++ b/pru-cookbook/common/resource_table_empty.h
@@ -0,0 +1,39 @@
+/*
+ * ======== resource_table_empty.h ========
+ *
+ * Define the resource table entries for all PRU cores. This will be
+ * incorporated into corresponding base images, and used by the remoteproc
+ * on the host-side to allocated/reserve resources. Note the remoteproc
+ * driver requires that all PRU firmware be built with a resource table.
+ *
+ * This file contains an empty resource table. It can be used either as:
+ *
+ * 1) A template, or
+ * 2) As-is if a PRU application does not need to configure PRU_INTC
+ * or interact with the rpmsg driver
+ *
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+
+struct my_resource_table {
+ struct resource_table base;
+
+ uint32_t offset[1]; /* Should match 'num' in actual definition */
+};
+
+#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
+#pragma RETAIN(pru_remoteproc_ResourceTable)
+struct my_resource_table pru_remoteproc_ResourceTable = {
+ 1, /* we're the first version that implements this */
+ 0, /* number of entries in the table */
+ 0, 0, /* reserved, must be zero */
+ 0, /* offset[0] */
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
+
diff --git a/pru-cookbook/common/write_init_pins.sh b/pru-cookbook/common/write_init_pins.sh
new file mode 100755
index 0000000000000000000000000000000000000000..f52082365a8b2a72a6c30d39938077bd9addf741
--- /dev/null
+++ b/pru-cookbook/common/write_init_pins.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+init_pins=$(readelf -x .init_pins $1 | grep 0x000 | cut -d' ' -f4-7 | xxd -r -p | tr '\0' '\n' | paste - -)
+while read -a line; do
+ if [ ${#line[@]} == 2 ]; then
+ echo writing \"${line[1]}\" to \"${line[0]}\"
+ echo ${line[1]} > ${line[0]}
+ sleep 0.1
+ fi
+done <<< "$init_pins"
diff --git a/pru-cookbook/index.rst b/pru-cookbook/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..981f2fb27405e0a3f32ceceab1cd7de890745413
--- /dev/null
+++ b/pru-cookbook/index.rst
@@ -0,0 +1,27 @@
+.. _pru-cookbook-home:
+
+PRU Cookbook
+#############
+
+.. admonition:: Contributors
+
+ - Author: `Mark A. Yoder <Mark.A.Yoder@Rose-Hulman.edu>`_
+ - Book revision: v2.0 beta
+
+Outline
+
+A cookbook for programming the PRUs in C using remoteproc and
+compiling on the Beagle
+
+.. toctree::
+ :maxdepth: 1
+
+ 01case/case.rst
+ 02start/start.rst
+ 03details/details.rst
+ 04debug/debug.rst
+ 05blocks/blocks.rst
+ 06io/io.rst
+ 07more/more.rst
+ 08ai/ai.rst
+ projects.rst
\ No newline at end of file
diff --git a/pru-cookbook/projects.rst b/pru-cookbook/projects.rst
new file mode 100644
index 0000000000000000000000000000000000000000..39263b91e03c611604c1e60d416f92e1db44e1b3
--- /dev/null
+++ b/pru-cookbook/projects.rst
@@ -0,0 +1,311 @@
+.. _pru-cookbook-projects:
+
+PRU Projects
+##############
+
+Users of TI processors with PRU-ICSS have created application for many different uses.
+A list of a few are shared below. For additional support resources, software and
+documentation visit the PRU-ICSS wiki.
+
+PRU projects
+~~~~~~~~~~~~~~
+
+.. dropdown:: **LEDscape**
+ :open:
+
+ **Description:** BeagleBone Black cape and firmware for driving a large number of WS281x LED strips.
+
+ **Type:** Code Library Documentation and example projects.
+
+ **References:**
+ * https://github.com/osresearch/LEDscape http://trmm.net/LEDscape
+
+.. dropdown:: **LDGraphy**
+ :open:
+
+ **Description:** Laser direct lithography for printing PCBs.
+
+ **Type:** Code Library and example project.
+
+ **References:**
+ * https://github.com/hzeller/ldgraphy/blob/master/README.md
+
+.. dropdown:: **PRdUino**
+ :open:
+
+ **Description:** This is a port of the Energia platform based on the Arduino framework allowing you to use Arduino software libraries on PRU.
+
+ **Type:** Code Library
+
+ **References:**
+ * https://github.com/lucas-ti/PRdUino
+
+.. dropdown:: **DMX Lighting**
+ :open:
+
+ **Description:** Controlling professional lighting systems
+
+ **Type:** Project Tutorial Code Library
+
+ **References:**
+ * http://beagleboard.org/CapeContest/entries/BeagleBone+DMX+Cape/
+ * http://blog.boxysean.com/2012/08/12/first-steps-with-the-beaglebone-pru/
+ * https://github.com/boxysean/beaglebone-DMX
+
+.. dropdown:: **Interacto**
+ :open:
+
+ **Description:** A cape making BeagleBone interactive with a triple-axis accelerometer, gyroscope
+ and magnetometer plus a 640 x 480/30 fps camera. All sensors are digital and communicate via I²C
+ to the BeagleBone. The camera frames are captured using the PRU-ICSS. The sensors on this cape
+ give hobbyists and students a starting point to easily build robots and flying drones.
+
+ **Type:** Project 1 Project 2 Code Library
+
+ **References:**
+ * http://beagleboard.org/CapeContest/entries/Interacto/
+ * http://www.hitchhikeree.org/beaglebone_capes/interacto/
+ * https://github.com/cclark2/interacto_bbone_cape
+
+.. dropdown:: **Replicape: 3D Printer**
+ :open:
+
+ **Description:** Replicape is a high end 3D-printer electronics package in the form of a Cape
+ that can be placed on a BeagleBone Black. It has five high power stepper motors with cool running
+ MosFets and it has been designed to fit in small spaces without active cooling. For a Replicape
+ Daemon that processes G-code, see the Redeem Project
+
+ **Type:** Project Code Library
+
+ **References:**
+ * http://www.thing-printer.com/product/replicape/
+ * https://bitbucket.org/intelligentagent/replicape/
+
+.. dropdown:: **PyPRUSS: Python Library**
+ :open:
+
+ **Description:** PyPRUSS is a Python library for programming the PRUs on BeagleBone (Black)
+
+ **Type:** Code Library
+
+ **References:**
+ http://hipstercircuits.com/pypruss-a-simple-pru-python-binding-for-beaglebone/
+
+.. dropdown:: **Geiger**
+ :open:
+
+ **Description:** The Geiger Cape, created by Matt Ranostay, is a design that measures radiation counts
+ from background and test sources by utilising multiple Geiger tubes. The cape can be used to detect
+ low-level radiation, which is needed in certain industries such as security and medical.
+
+ **Type:** Project 1 Project 2 Code Library
+
+ **References:**
+ * http://beagleboard.org/CapeContest/entries/Geiger+Cape/
+ * http://elinux.org/BeagleBone/GeigerCapePrototype
+ * https://github.com/mranostay/beaglebone-telemetry-presentation
+
+.. dropdown:: **Servo Controller Foosball Table**
+ :open:
+
+ **Description:** Used for ball tracking and motor control
+
+ **Type:** Project Tutorial Code Library
+
+ **References:**
+ * http://www.element14.com/community/community/knode/single-board_computers/next-gen_beaglebone/blog/2013/07/17/hackerspace-challenge--leeds-only-pru-can-make-the-leds-bright
+ * https://docs.google.com/spreadsheet/pub?key=0AmI_ryMKXUGJdDQ3LXB4X3VBWlpxQTFWbGh6RGJHUEE&output=html
+ * https://github.com/pbrook/pypruss
+
+.. dropdown:: **Imaging with connected camera**
+ :open:
+
+ **Description:** Low resolution imaging ideal for machine vision use-cases, robotics and movement detection
+
+ **Type:** Project Code Library
+
+ **References:**
+ * http://www.element14.com/community/community/knode/single-board_computers/next-gen_beaglebone/blog/2013/08/18/bbb--imaging-with-a-pru-connected-camera
+
+.. dropdown:: **Computer Numerical Control (CNC) Translator**
+ :open:
+
+ **Description:** Smooth stepper motor control; real embedded version of LinuxCNC
+
+ **Type:** Tutorial Tutorial
+
+ **References:**
+ * http://www.buildlog.net/blog/2013/09/cnc-translator-for-beaglebone/ http://bb-lcnc.blogspot.com/p/machinekit_16.html
+
+.. dropdown:: **Robotic Control**
+ :open:
+
+ **Description:** Chubby SpiderBot
+
+ **Type:** Project Code Library Project Reference
+
+ **References:**
+ * http://www.youtube.com/watch?v=dEes9k7-DYY
+ * https://github.com/cagdasc/Chubby1_v1
+ * http://www.youtube.com/watch?v=JXyewd98e9Q
+ * http://www.ti.com/lit/wp/spry235/spry235.pdf
+
+.. dropdown:: **Software UART**
+ :open:
+
+ **Description:** Soft-UART implementation on the PRU of AM335x
+
+ **Type:** Code Library Reference
+
+ **References:**
+ * http://processors.wiki.ti.com/index.php/Soft-UART_Implementation_on_AM335X_PRU_-_Software_Users_Guide
+
+.. dropdown:: **Deviant LCD**
+ :open:
+
+ **Description:** PRU bit-banged LCD interface @ 240x320
+
+ **Type:** Project Code Library
+
+ **References:**
+ * http://www.beagleboard.org/CapeContest/entries/DeviantLCD/
+ * https://github.com/cclark2/deviantlcd_bbone_cape
+
+.. dropdown:: **Nixie tube interface**
+ :open:
+
+ **Description:**
+
+ **Type:** Code Library
+
+ **References:**
+ * https://github.com/mranostay/beagle-nixie
+
+.. dropdown:: **Thermal imaging camera**
+ :open:
+
+ **Description:** Thermal camera using Beaglebone Black, a small LCD, and a thermal array sensor
+
+ **Type:** Project Code Library
+
+ **References:**
+ * https://element14.com/community/community/knode/single-board_computers/next-gen_beaglebone/blog/2013/06/07/bbb--building-a-thermal-imaging-camera
+
+.. dropdown:: **Sine wave generator using PWMs**
+ :open:
+
+ **Description:** Simulation of a pulse width modulation
+
+ **Type:** Project Reference Code Library
+
+ **References:**
+ * http://elinux.org/ECE497_BeagleBone_PRU
+ * https://github.com/millerap/AM335x_PRU_BeagleBone
+
+.. dropdown:: **Emulated memory interface**
+ :open:
+
+ **Description:** ABX loads amovie into the Beaglebone's memory and then launches the memory emulator
+ on the PRU sub-processor of the Beaglebone's ARM AM335x
+
+ **Type:** Project
+
+ **References:**
+ * https://github.com/lybrown/abx
+
+.. dropdown:: **6502 memory interface**
+ :open:
+
+ **Description:** System permitting communication between Linux and 6502 processor
+
+ **Type:** Project Code Library
+
+ **References:**
+ * http://elinux.org/images/a/ac/What's_Old_Is_New-_A_6502-based_Remote_Processor.pdf
+ * https://github.com/lybrown/abx
+
+.. dropdown:: **JTAG/Debug**
+ :open:
+
+ **Description:** Investigating the fastest way to program using JTAG and provide
+ for debugging facilities built into the Beaglebone.
+
+ **Type:** Project
+
+ **References:**
+ * http://beagleboard.org/project/PRUJTAG/
+
+.. dropdown:: **High Speed Data Acquistion**
+ :open:
+
+ **Description:** Reading data at high speeds
+
+ **Type:** Reference
+
+ **References:**
+ * http://www.element14.com/community/community/knode/single-board_computers/next-gen_beaglebone/blog/2013/08/04/bbb--high-speed-data-acquisition-and-web-based-ui
+
+.. dropdown:: **Prufh (PRU Forth)**
+ :open:
+
+ **Description:** Forth Programming Language and Compiler. It consists of a compiler,
+ the forth system itself, and anoptional program for loading and communicating with the forth code proper.
+
+ **Type:** Compiler
+
+ **References:**
+ * https://github.com/biocode3D/prufh
+
+.. dropdown:: **VisualPRU**
+ :open:
+
+ **Description:** VisualPRU is a minimal browser-based editor and debugger for the Beaglebone PRUs.
+ The app runs from a local server on the Beaglebone.
+
+ **Type:** Editor and Debugger
+
+ **References:**
+ * https://github.com/mmcdan/visualpru
+
+.. dropdown:: **libpruio**
+ :open:
+
+ **Description:** Library for easy configuration and data handling at high speeds.
+ This library can configure and control the devices from single source (no need for
+ further overlays or the device tree compiler)
+
+ **Type:** Documentation
+
+ **References:**
+ * http://users.freebasic-portal.de/tjf/Projekte/libpruio/doc/html/index.html
+ * Library http://www.freebasic-portal.de/downloads/fb-on-arm/libpruio-325.html[(German)]
+
+.. dropdown:: **BeagleLogic**
+ :open:
+
+ **Description:** 100MHz 14channel logic analyzer using both PRUs (one to capture and one to transfer the data)
+
+ **Type:** Project
+
+ **References:**
+ * http://beaglelogic.net
+
+.. dropdown:: **BeaglePilot**
+ :open:
+
+ **Description:** Uses PRUs as part of code for a BeagleBone based autopilot
+
+ **Type:** Code Library
+
+ **References:**
+ * https://github.com/BeaglePilot/beaglepilot
+
+.. dropdown:: **PRU Speak**
+ :open:
+
+ **Description:** Implements BotSpeak, a platform independent interpreter for tools like Labview, on the PRUs
+
+ **Type:** Code Library
+
+ **References:**
+ * https://github.com/deepakkarki/pruspeak
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