PRU PWM ======= ###Updating kernel * Check your kernel version using `uname -r` * If you get 3.8.13bone56+ as output then you may skip Updating kernel. * For other kernel versions write following cmds in your BBB: ``` wget https://rcn-ee.net/deb/wheezy-armhf/v3.8.13-bone57/install-me.sh chmod +x install-me.sh ./install-me.sh ``` * After above steps reboot and check your kernel version using `uname -r`,it should be `3.8.13bone57` ---- NOTE: For Ubuntu different scripts shall be used. E.g., for precise: - http://rcn-ee.net/deb/precise-armhf/v3.8.13-bone57/install-me.sh ---- ###Setting Up PRU Compiler * Download [PRU C Compiler v2.0.0B2 installer](http://software-dl.ti.com/codegen/non-esd/downloads/beta.htm) * Please check the path where you install PRU compiler. * Setting environment variable ``` echo export PATH=/path/to/pru/compiler/bin:$PATH >> ~/.bashrc echo export PRU_C_DIR="/path/to/pru/compiler/include;/path/to/pru/compiler/lib" >> ~/.bashrc source ~/.bashrc ``` *note: semicolons in second command were intended* ###Compiling and loading the code * just `make` * copy generated executable `pwmpru1` to `ardupilot/Tools/Linux_HAL_Essentials/`. * To load firmware use - `./startup.sh load` : only once after reboot it will copy overlays and firmware to `/lib/firmware/` and loads them. - `./startup.sh reload` : it only copies firmware to `/lib/firmware/` and reloads pru firmware. * Enable loading cape during BBB startup (no need to follow above step if you do this step once): - `cp BB-PXF-01-00A0.dtbo /lib/firmware` - add `cape_enable=capemgr.enable_partno=BB-PXF-01` to `/boot/uboot/uEnv.txt` - add `CAPE=BB-PXF-01` to `/etc/default/capemgr`