2014-06-30 13:49:08 -03:00
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PRU PWM
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2014-06-30 10:15:36 -03:00
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=======
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2014-06-30 13:49:08 -03:00
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###Updating kernel
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* Check your kernel version using `uname -r`
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* If you get 3.8.13bone56+ as output then you may skip Updating kernel.
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* For other kernel versions write following cmds in your BBB:
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```
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wget https://rcn-ee.net/deb/wheezy-armhf/v3.8.13-bone57/install-me.sh
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chmod +x install-me.sh
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./install-me.sh
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```
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* After above steps reboot and check your kernel version using `uname -r`,it should be `3.8.13bone57`
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###Setting Up PRU Compiler
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* Download [PRU C Compiler v2.0.0B2 installer](http://software-dl.ti.com/codegen/non-esd/downloads/beta.htm)
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* Please check the path where you install PRU compiler.
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* Setting environment variable
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```
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echo export PATH=/path/to/pru/compiler/bin:$PATH > ~/.bashrc
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echo export PRU_C_DIR="/path/to/pru/compiler/include;/path/to/pru/compiler/lib" > ~/.bashrc
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source ~/.bashrc
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```
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*note: semicolons in second command were intended*
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###Compiling and loading the code
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* just `make`
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* copy generated executable `testpru1` to `ardupilot/Tools/Linux_HAL_Essentials/`.
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* To load firmware use
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- `./startup.sh load` : only once after reboot it will copy overlays and firmware to `/lib/firmware/` and loads them.
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- `./startup.sh reload` : it only copies firmware to `/lib/firmware/` and reloads pru firmware.
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