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6a8420aa48
ardupilot/Tools/Linux_HAL_Essentials
History
Gustavo Jose de Sousa 6a8420aa48 Tools: RCInput_UART PIC firmware: remove code out of place 
That code for serial configuration was not really setting TXSTA register, since
the selected bank is 2. Looking at the datasheet, it seems that we were
actually messing with a register named VRCON (full name "VOLTAGE REFERENCE
CONTROL REGISTER").

This is probably a leftover from a copy/paste, since the same is done (in the
right place) previously.
2015-11-04 13:55:10 +11:00
..
devicetree Linux_HAL_Essentials: Add support for HC-SR04 Range Finder 2015-07-07 08:00:32 +10:00
pru Linux_HAL_Essentials: Add PRU firmware files. Prevent user to install PRU compiler 2015-08-24 08:43:11 +10:00
RCInput_UART Tools: RCInput_UART PIC firmware: remove code out of place 2015-11-04 13:55:10 +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
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
README.md Linux_HAL_Essentials: Update README.md 2015-10-08 15:24:14 +09:00
sensor-select.sh Linux_HAL_Essentials: ERLEBOARD legacy support 2015-09-09 10:31:55 +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 You should first check if there is the PRU Compiler available in your Linux-Distribution.

  • apt-get update
  • sudo apt-get install ti-pru-cgt-installer

If it is not available in your Linux-Distribution you have to download it from the TI website.

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