mirror of https://github.com/ArduPilot/ardupilot
6f77d3ae98 | ||
---|---|---|
.. | ||
devicetree | ||
pru | ||
scripts | ||
test_codes | ||
README.md | ||
pwmpru1 | ||
rcinpru0 | ||
sensor-select.sh | ||
startup.sh |
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 be3.8.13bone57
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
toardupilot/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