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silver2row/AM335x_PRU.cmd

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Created November 9, 2021 00:34
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PRU programming with Debian Stretch BeagleBoard.org IoT 2017-06-11 image
Raw
README.md

Instructions

  1. Grab https://rcn-ee.com/rootfs/bb.org/testing/2017-06-11/stretch-iot/bone-debian-stretch-iot-armhf-2017-06-11-4gb.img.xz
  2. Program a microSD card with that image using http://etcher.io
  3. Boot it on a BeagleBone
  4. Get connected to the Internet
  5. Run the following in the shell
cd /var/lib/cloud9
git clone https://gist.github.com/jadonk/2ecf864e1b3f250bad82c0eae12b7b64
cd 2ecf864e1b3f250bad82c0eae12b7b64
make
echo none > /sys/class/leds/beaglebone\:green\:usr0/trigger
sudo config-pin overlay cape-universala
sudo config-pin p9.30 pruout
sudo make run

You'll see USR0 blinking 5 times a second (toggles every 100ms). Modify hello-pru.c as desired and enjoy!

Notes

Version

Debian Stretch BeagleBoard.org BeagleBone IoT Image

git:/opt/scripts/:[09ae22ec483e5483c6ae7f0ca7bbbabf864b06af]
eeprom:[A335BNLTBP00yywwBP000000]
dogtag:[BeagleBoard.org Debian Image 2017-06-11]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2017.05-00002-ga302d6e48b]
kernel:[4.4.68-ti-r108]
nodejs:[v6.11.0]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
Raw
AM335x_PRU.cmd
/****************************************************************************/
/* 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
}
Raw
hello-pru.c
/*
* Source Modified by Zubeen Tolani < ZeekHuge - [email protected] >
* 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 <pru_ctrl.h>
#include "resource_table_empty.h"
#define INS_PER_US 200 // 5ns per instruction
#define INS_PER_DELAY_LOOP 2 // two instructions per delay loop
#define DELAY_CYCLES_US (INS_PER_US / INS_PER_DELAY_LOOP)
#define GPIO1 0x4804C000
#define GPIO_CLEARDATAOUT 0x190
#define GPIO_SETDATAOUT 0x194
#define USR0 (1<<21)
#define USR1 (1<<22)
#define USR2 (1<<23)
#define USR3 (1<<24)
unsigned int volatile * const GPIO1_CLEAR = (unsigned int *) (GPIO1 + GPIO_CLEARDATAOUT);
unsigned int volatile * const GPIO1_SET = (unsigned int *) (GPIO1 + GPIO_SETDATAOUT);
volatile register unsigned int __R30;
volatile register unsigned int __R31;
#define PRU0_GPIO (1<<2)
#ifndef DECAY_RATE
#define DECAY_RATE 100
#endif
#ifndef DELAY_CYCLES
#define DELAY_CYCLES DELAY_CYCLES_US
#endif
const int decay = DECAY_RATE;
void main(void) {
int i, j;
/* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
for(i = 1000000; i > 0; i = (i * decay) / 100) {
#ifndef LED_DISABLE
*GPIO1_SET = USR0;
#endif
#ifndef GPIO_DISABLE
__R30 |= PRU0_GPIO;
#endif
for(j=0;j<i;j++){ __delay_cycles(DELAY_CYCLES); }
#ifndef LED_DISABLE
*GPIO1_CLEAR = USR0;
#endif
#ifndef GPIO_DISABLE
__R30 ^= PRU0_GPIO;
#endif
for(j=0;j<i;j++){ __delay_cycles(DELAY_CYCLES); }
}
__halt();
}
Raw
Makefile
#
# Copyright (c) 2016 Zubeen Tolani <ZeekHuge - [email protected]>
# Copyright (c) 2017 Texas Instruments - Jason Kridner <[email protected]>
#
PROJ_NAME=hello-pru
# PRU_CGT environment variable must point to the TI PRU compiler directory.
# PRU_SUPPORT points to pru-software-support-package
# Both are set in setup.sh
PRU_CGT:=/usr/share/ti/cgt-pru
PRU_SUPPORT:=/usr/lib/ti/pru-software-support-package
LINKER_COMMAND_FILE=./AM335x_PRU.cmd
LIBS=--library=$(PRU_SUPPORT)/lib/rpmsg_lib.lib
INCLUDE=--include_path=$(PRU_SUPPORT)/include --include_path=$(PRU_SUPPORT)/include/am335x
STACK_SIZE=0x100
HEAP_SIZE=0x100
CFLAGS=-v3 -O2 --display_error_number --endian=little --hardware_mac=on --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) -ppd -ppa --asm_listing --c_src_interlist # --absolute_listing
LFLAGS=--reread_libs --warn_sections --stack_size=$(STACK_SIZE) --heap_size=$(HEAP_SIZE) -m $(GEN_DIR)/file.map
GEN_DIR=gen
PRU0_FW =$(GEN_DIR)/$(PROJ_NAME).out
# -----------------------------------------------------
# Variable to edit in the makefile
# add the required firmwares to TARGETS
TARGETS =$(PRU0_FW) $(GEN_DIR)/decay95.out
#------------------------------------------------------
.PHONY: all
all: $(TARGETS)
@echo '- Generated firmwares are : $^'
$(GEN_DIR)/decay95.out: $(GEN_DIR)/decay95.obj
@echo 'LD $^'
@lnkpru -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $@ $^ $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS) $^
$(GEN_DIR)/decay95.obj: $(PROJ_NAME).c
@mkdir -p $(GEN_DIR)
@echo 'CC $<'
@clpru --define=DECAY_RATE=95 --include_path=$(PRU_CGT)/include $(INCLUDE) $(CFLAGS) -fe $@ $<
$(PRU0_FW): $(GEN_DIR)/$(PROJ_NAME).obj
@echo 'LD $^'
@lnkpru -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $@ $^ $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS) $^
$(GEN_DIR)/$(PROJ_NAME).obj: $(PROJ_NAME).c
@mkdir -p $(GEN_DIR)
@echo 'CC $<'
@clpru --include_path=$(PRU_CGT)/include $(INCLUDE) $(CFLAGS) -fe $@ $<
.PHONY: install run run95
install:
@echo '- copying firmware file $(PRU0_FW) to /lib/firmware/am335x-pru0-fw'
@cp $(PRU0_FW) /lib/firmware/am335x-pru0-fw
run: install
@echo '- rebooting pru core 0'
$(shell echo "4a334000.pru0" > /sys/bus/platform/drivers/pru-rproc/unbind 2> /dev/null)
$(shell echo "4a334000.pru0" > /sys/bus/platform/drivers/pru-rproc/bind)
@echo "- pru core 0 is now loaded with $(PRU0_FW)"
run95:
@echo '- copying firmware file $(GEN_DIR)/decay95.out to /lib/firmware/am335x-pru0-fw'
@cp $(GEN_DIR)/decay95.out /lib/firmware/am335x-pru0-fw
@echo '- rebooting pru core 0'
$(shell echo "4a334000.pru0" > /sys/bus/platform/drivers/pru-rproc/unbind 2> /dev/null)
$(shell echo "4a334000.pru0" > /sys/bus/platform/drivers/pru-rproc/bind)
@echo "- pru core 0 is now loaded with $(GEN_DIR)/decay95.out"
.PHONY: clean
clean:
@echo 'CLEAN .'
@rm -rf $(GEN_DIR) $(PROJ_NAME).asm
Raw
resource_table_empty.h
/*
* 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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