diff --git a/Dockerfile b/Dockerfile
index af84c4d64aab1451224c234bc01ff92bfe15fe82..370950521074232b0e8ef1c7144b64bb20b47f03 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/beaglebone-cookbook/index.rst b/beaglebone-cookbook/index.rst
index 6192126bff250278716438a6a608c8c192998275..f8f394aeb8c0637aba811b634770c95607c4ea28 100644
--- a/beaglebone-cookbook/index.rst
+++ b/beaglebone-cookbook/index.rst
@@ -1,4 +1,4 @@
-.. _beaglebone-cookbook-home:
+.. _bone-cook-book-home:
BeagleBone Cookbook
#######################
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.rst b/index.rst
index 8d96344e287eb13ebc8d0cdb6071eb410247f67d..3d9e4de14601ffdfb1666eef43a835d87f2830a1 100644
--- a/index.rst
+++ b/index.rst
@@ -40,6 +40,7 @@ Sections
:caption: Books
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..61e21f02af4e43aa6f5691f02119de6370621fa9
--- /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
diff --git a/pru-cookbook/01case/figures/LEDblink.png b/pru-cookbook/01case/figures/LEDblink.png
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..afa771caec1d7b66ba59f0bc6d649ba010fad9e8
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diff --git a/pru-cookbook/01case/figures/fpp_channel_inputs.png b/pru-cookbook/01case/figures/fpp_channel_inputs.png
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diff --git a/pru-cookbook/01case/figures/fpp_channel_outputs.png b/pru-cookbook/01case/figures/fpp_channel_outputs.png
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new file mode 100644
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diff --git a/pru-cookbook/01case/figures/fpp_display_testing.png b/pru-cookbook/01case/figures/fpp_display_testing.png
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diff --git a/pru-cookbook/01case/figures/xlights_test.png b/pru-cookbook/01case/figures/xlights_test.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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