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Commit c4a51c22 authored by Jason Kridner's avatar Jason Kridner
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books/pru-cookbook: move code to submodule

parent 41ab321a
2 merge requests!40Merge BeaglePlay and latest BeagleConnect documentation,!36Jason's lateast updates
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books/pru-cookbook/02start/code/hello2.pru1_1.c deleted 100644 → 0
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− 63
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#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";
books/pru-cookbook/02start/code/hello2.pru2_0.c deleted 100644 → 0
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− 63
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#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";
books/pru-cookbook/02start/code/hello2.pru2_1.c deleted 100644 → 0
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− 63
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#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";
books/pru-cookbook/02start/code/setup.sh deleted 100755 → 0
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#!/bin/bash
export TARGET=hello.pru0
echo TARGET=$TARGET
books/pru-cookbook/02start/code/setup2.sh deleted 100755 → 0
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#!/bin/bash
export TARGET=hello2.pru1
echo TARGET=$TARGET
books/pru-cookbook/02start/start.rst
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......@@ -278,29 +278,29 @@ 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.
You can find the code on the PRU Cookbook Code project on git.beagleboard.org:
https://git.beagleboard.org/beagleboard/pru-cookbook-code. Just clone
it on your Beagle.
.. 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
.. code-block:: shell-session
bone$ git clone https://git.beagleboard.org/beagleboard/pru-cookbook-code
bone$ cd pru-cookbook-code
bone$ ls -F
01case/ 03details/ 05blocks/ 07more/ README.md
02start/ 04details/ 06io/ 08ai/
Each chapter has its own directory and within that directory
is a **code** directory that has all of the code.
.. code-block::bash
.. code-block:: shell-session
bone$ *cd 02start/code/*
bone$ *ls*
bone$ cd 02start/
bone$ ls
hello.pru0.c hello.pru1_1.c Makefile setup.sh
ai.notes hello2.pru1_1.c hello2.pru2_1.c Makefile
hello2.pru0.c hello2.pru1.c hello.pru0.c setup2.sh*
hello2.pru1_0.c hello2.pru2_0.c hello.pru1_1.c setup.sh*
Go and explore.
......@@ -331,10 +331,10 @@ is some code that blinks the ``USR3`` LED ten times using the PRU.
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
.. code-block:: shell-session
bone$ *git clone https://github.com/MarkAYoder/PRUCookbook.git*
bone$ *cd PRUCookbook/docs/02start/code*
bone$ git clone https://git.beagleboard.org/beagleboard/pru-cookbook-code
bone$ cd pru-cookbook-code/02start
.. tip::
......@@ -347,9 +347,9 @@ to run it right now do the following.
Running Code on the Black or Pocket
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. code-block:: bash
.. code-block:: shell-session
bone$ *make TARGET=hello.pru0*
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
......@@ -366,9 +366,9 @@ Running Code on the Black or Pocket
Running Code on the AI
~~~~~~~~~~~~~~~~~~~~~~~
.. code-block:: bash
.. code-block:: shell-session
bone$ *make TARGET=hello.pru1_1*
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
......
books/pru-cookbook/03details/code/Makefile deleted 100644 → 0
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include /var/lib/cloud9/common/Makefile
books/pru-cookbook/03details/code/am335x_pru.cmd deleted 100644 → 0
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/****************************************************************************/
/* AM335x_PRU.cmd */
/* Copyright (c) 2015 Texas Instruments Incorporated */
/* */
/* Description: This file is a linker command file that can be used for */
/* linking PRU programs built with the C compiler and */
/* the resulting .out file on an AM335x device. */
/****************************************************************************/
-cr /* Link using C conventions */
/* Specify the System Memory Map */
MEMORY
{
PAGE 0:
PRU_IMEM : org = 0x00000000 len = 0x00002000 /* 8kB PRU0 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27
}
/* Specify the sections allocation into memory */
SECTIONS {
/* Forces _c_int00 to the start of PRU IRAM. Not necessary when loading
an ELF file, but useful when loading a binary */
.text:_c_int00* > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
.init_pins > PRU_DMEM_0_1, PAGE 1
}
\ No newline at end of file
books/pru-cookbook/03details/code/encoder_setup.sh deleted 100755 → 0
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#!/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 $pin
done
books/pru-cookbook/03details/code/gpio_setup.sh deleted 100755 → 0
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#!/bin/bash
export TARGET=gpio.pru0
echo TARGET=$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 $pin
done
books/pru-cookbook/03details/code/servos_setup.sh deleted 100755 → 0
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#!/bin/bash
# Configure the PRU pins based on which Beagle is running
machine=$(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
books/pru-cookbook/04debug/code/AM335x_PRU.cmd deleted 100644 → 0
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/****************************************************************************/
/* AM335x_PRU.cmd */
/* Copyright (c) 2015 Texas Instruments Incorporated */
/* */
/* Description: This file is a linker command file that can be used for */
/* linking PRU programs built with the C compiler and */
/* the resulting .out file on an AM335x device. */
/****************************************************************************/
-cr /* Link using C conventions */
/* Specify the System Memory Map */
MEMORY
{
PAGE 0:
PRU_IMEM : org = 0x00000000 len = 0x00002000 /* 8kB PRU0 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27
}
/* Specify the sections allocation into memory */
SECTIONS {
/* Forces _c_int00 to the start of PRU IRAM. Not necessary when loading
an ELF file, but useful when loading a binary */
.text:_c_int00* > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
}
books/pru-cookbook/04debug/code/Makefile deleted 100644 → 0
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include /var/lib/cloud9/common/Makefile
books/pru-cookbook/04debug/code/copyright.c deleted 100644 → 0
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/*
* 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.
*/
books/pru-cookbook/04debug/code/resource_table_empty.h deleted 100644 → 0
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/*
* 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_ */
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// 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();
}
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// 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();
}
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// 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();
}
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// 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();
}
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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
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