ardupilot/Tools/Linux_HAL_Essentials

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

###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 testpru1 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.