History

mirkix 1f85a087ac Linux_HAL_Essentials: Move pwmpru and rcinpru to subfolder pru		2015-03-17 08:21:46 +11:00
..
devicetree	Linux_HAL_Essentials: Move PFX DT files to devicetree/pxf	2015-03-17 08:20:51 +11:00
pru	Linux_HAL_Essentials: Move pwmpru and rcinpru to subfolder pru	2015-03-17 08:21:46 +11:00
scripts	Linux: added example startup script for plane	2014-08-19 20:03:33 +10:00
test_codes	Tools:HAL_Linux_Essentials:add rcinput test code	2014-08-19 10:08:16 +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
rcinpru0	Linux_HAL_Essentials: rebuilt rcinpru0 with 300 ring buffer entries	2014-10-07 14:57:35 +11:00
sensor-select.sh	Tools: Change sensor configurations easily.	2014-08-19 10:08:16 +10:00
startup.sh	Linux_HAL_Essentials: Move PFX DT files to devicetree/pxf	2015-03-17 08:20:51 +11:00

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

Download PRU C Compiler v2.0.0B2 installer
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