ardupilot/Tools/Linux_HAL_Essentials/testpru
Siddharth Bharat Purohit 1956c68e16 Linux: Add usage steps for PRU firmware to Readme 2014-07-14 09:32:29 +10:00
..
Makefile Linux: add PRU PWM code to Linux_HAL_Essentials 2014-07-14 09:32:29 +10:00
README.md Linux: Add usage steps for PRU firmware to Readme 2014-07-14 09:32:29 +10:00
linux_types.h Linux: add PRU PWM code to Linux_HAL_Essentials 2014-07-14 09:32:29 +10:00
lnk-am33xx.cmd Linux: add PRU PWM code to Linux_HAL_Essentials 2014-07-14 09:32:29 +10:00
pru_defs.h Linux: add PRU PWM code to Linux_HAL_Essentials 2014-07-14 09:32:29 +10:00
prucomm.h Linux: add PRU PWM code to Linux_HAL_Essentials 2014-07-14 09:32:29 +10:00
testpru1.c Linux: add PRU PWM code to Linux_HAL_Essentials 2014-07-14 09:32:29 +10:00

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

###Setting Up PRU Compiler

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.