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ardupilot/Tools/Linux_HAL_Essentials
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Victor Mayoral Vilches 04a8377462 Tools: Change sensor configurations easily. 
This shell script allows to change the sensor configuration
(for now just supports IMU changes) so that the autopilot is
compiled for different combinations of sensors. This has probed
to be useful with Linux-based boards (e.g.: PXF, Erle-board)
that include serveral, different sensors for each kind.
 		2014-08-19 10:08:16 +10:00
..
pwmpru HAL_Linux: pwmpru,HAL_Linux_RCOut code doesn't wait for magic flag to send data 2014-07-14 09:44:37 +10:00
BB-BONE-PRU-05-00A0.dtbo Linux_HAL_Essentials: cleanup PWM PRU code 2014-07-14 09:32:29 +10:00
BB-BONE-PRU-05-00A0.dts Linux_HAL_Essentials: cleanup PWM PRU code 2014-07-14 09:32:29 +10:00
BB-PXF-01-00A0.dtbo Tools: Remove unrequired pru0 pin setups from BB-PXF-01-00A0 overlay 2014-07-25 15:29:29 +10:00
BB-PXF-01-00A0.dts Tools: Remove unrequired pru0 pin setups from BB-PXF-01-00A0 overlay 2014-07-25 15:29:29 +10:00
BB-SPI0-PXF-01-00A0.dtbo Tools: added dtbo for PXF cape 2014-07-19 13:58:31 +10:00
BB-SPI0-PXF-01-00A0.dts Tools: new dts file for SPI on PXF cape 2014-07-19 13:22:09 +10:00
BB-SPI1-PXF-01-00A0.dtbo Tools: added dtbo for PXF cape 2014-07-19 13:58:31 +10:00
BB-SPI1-PXF-01-00A0.dts Tools: new dts file for SPI on PXF cape 2014-07-19 13:22:09 +10:00
Makefile Tools: fixed DTS Makefile 2014-07-19 13:26:47 +10:00
README.md Tools: add unified device tree overlay to load all requisites 2014-07-25 15:29:27 +10:00
pwmpru1 HAL_Linux: pwmpru,HAL_Linux_RCOut code doesn't wait for magic flag to send data 2014-07-14 09:44:37 +10:00
sensor-select.sh Tools: Change sensor configurations easily. 2014-08-19 10:08:16 +10:00
startup.sh Tools: new dts file for SPI on PXF cape 2014-07-19 13:22:09 +10:00
testpru0 HAL_Linux: Make asynchronous PRU write and reduce the size of data exchange 2014-07-14 09:32:29 +10:00

README.md

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

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