mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
fdf916025a
no more loading multiple capes to enable pru, spi, pwm etc. Steps to load the cape during boot also added.
45 lines
1.6 KiB
Markdown
45 lines
1.6 KiB
Markdown
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`
|
|
|