Linux_HAL_Essentials: add PocketPilot PRU Firmware

Tools/Linux_HAL_Essentials/pru/aiopru/Makefile

@@ -1,6 +1,7 @@
 RcAioPRU: RcAioPRU.p
 	pasm -V3 -c RcAioPRU.p RcAioPRU_BBBMINI -DBBBMINI
 	pasm -V3 -c RcAioPRU.p RcAioPRU_BBBLUE -DBBBLUE
+	pasm -V3 -c RcAioPRU.p RcAioPRU_POCKET -DPOCKET
 
 test: RcAioPRUTest.c
 	gcc -g -o RcAioPRUTest RcAioPRUTest.c

Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU.p

@@ -152,6 +152,15 @@
 #define RC_CH_8_PIN r30.t5
 #endif
 
+#ifdef POCKET
+#define RC_CH_1_PIN r30.t9
+#define RC_CH_2_PIN r30.t11
+#define RC_CH_3_PIN r30.t15
+#define RC_CH_4_PIN r30.t14
+#define RC_CH_5_PIN r30.t10
+#define RC_CH_6_PIN r30.t8
+#endif
+
 // RCOut enable bits
 #define RC_CH_1_ENABLE register.ch_enable.t0
 #define RC_CH_2_ENABLE register.ch_enable.t1
@@ -387,9 +396,13 @@ mainloop:
    RCOUT_PWM RC_CH_4_PIN, register.ch_4_next_time, RC_CH_4_ENABLE, CH_4_PULSE_TIME_RAM_OFFSET, CH_4_T_TIME_RAM_OFFSET
    RCOUT_PWM RC_CH_5_PIN, register.ch_5_next_time, RC_CH_5_ENABLE, CH_5_PULSE_TIME_RAM_OFFSET, CH_5_T_TIME_RAM_OFFSET
    RCOUT_PWM RC_CH_6_PIN, register.ch_6_next_time, RC_CH_6_ENABLE, CH_6_PULSE_TIME_RAM_OFFSET, CH_6_T_TIME_RAM_OFFSET
+#ifdef BBBLUE
    RCOUT_PWM RC_CH_7_PIN, register.ch_7_next_time, RC_CH_7_ENABLE, CH_7_PULSE_TIME_RAM_OFFSET, CH_7_T_TIME_RAM_OFFSET
    RCOUT_PWM RC_CH_8_PIN, register.ch_8_next_time, RC_CH_8_ENABLE, CH_8_PULSE_TIME_RAM_OFFSET, CH_8_T_TIME_RAM_OFFSET
+#endif
 #ifdef BBBMINI
+   RCOUT_PWM RC_CH_7_PIN, register.ch_7_next_time, RC_CH_7_ENABLE, CH_7_PULSE_TIME_RAM_OFFSET, CH_7_T_TIME_RAM_OFFSET
+   RCOUT_PWM RC_CH_8_PIN, register.ch_8_next_time, RC_CH_8_ENABLE, CH_8_PULSE_TIME_RAM_OFFSET, CH_8_T_TIME_RAM_OFFSET
    RCOUT_PWM RC_CH_9_PIN, register.ch_9_next_time, RC_CH_9_ENABLE, CH_9_PULSE_TIME_RAM_OFFSET, CH_9_T_TIME_RAM_OFFSET
    RCOUT_PWM RC_CH_10_PIN, register.ch_10_next_time, RC_CH_10_ENABLE, CH_10_PULSE_TIME_RAM_OFFSET, CH_10_T_TIME_RAM_OFFSET
    RCOUT_PWM RC_CH_11_PIN, register.ch_11_next_time, RC_CH_11_ENABLE, CH_11_PULSE_TIME_RAM_OFFSET, CH_11_T_TIME_RAM_OFFSET

Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_POCKET_bin.h

@@ -0,0 +1,184 @@
+
+
+/* This file contains the PRU instructions in a C array which are to  */
+/* be downloaded from the host CPU to the PRU instruction memory.     */
+/* This file is generated by the PRU assembler.                       */
+
+const unsigned int PRUcode[] =  {
+     0x240000fe,
+     0x2effaf84,
+     0x240000f9,
+     0x81643899,
+     0x241004f4,
+     0x24012cf6,
+     0x241000f7,
+     0x241002f8,
+     0x240000f9,
+     0xe1001799,
+     0xe1001899,
+     0x2403e8e5,
+     0x2407d0e6,
+     0x240bb8e7,
+     0x240fa0e8,
+     0x241388e9,
+     0x241770ea,
+     0x241b58eb,
+     0x241f40ec,
+     0x242328ed,
+     0x242710ee,
+     0x242af8ef,
+     0x242ee0f0,
+     0x240000e4,
+     0x81003884,
+     0x240002d9,
+     0x24cec099,
+     0x81043899,
+     0x810c3899,
+     0x81143899,
+     0x811c3899,
+     0x81243899,
+     0x812c3899,
+     0x81343899,
+     0x813c3899,
+     0x81443899,
+     0x814c3899,
+     0x81543899,
+     0x815c3899,
+     0x24003dd9,
+     0x24090099,
+     0x81083899,
+     0x81103899,
+     0x81183899,
+     0x81203899,
+     0x81283899,
+     0x81303899,
+     0x81383899,
+     0x81403899,
+     0x81483899,
+     0x81503899,
+     0x81583899,
+     0x81603899,
+     0x240010f9,
+     0x81003a99,
+     0x24ffffd9,
+     0x24ffff99,
+     0x810c3a99,
+     0x91003a99,
+     0x1301f9f9,
+     0x81003a99,
+     0x24010bf9,
+     0x81282399,
+     0x240092f9,
+     0x812a2399,
+     0x91003884,
+     0x910c3a91,
+     0x04f1e5f9,
+     0x24f000da,
+     0x2400009a,
+     0x60faf90d,
+     0x10f1f1e5,
+     0xd109fe06,
+     0x91043899,
+     0x00f9e5e5,
+     0xc900e408,
+     0x1f09fefe,
+     0x21005300,
+     0x9104389a,
+     0x91083899,
+     0x04faf9f9,
+     0x00f9e5e5,
+     0x1d09fefe,
+     0x04f1e6f9,
+     0x24f000da,
+     0x2400009a,
+     0x60faf90d,
+     0x10f1f1e6,
+     0xd10bfe06,
+     0x910c3899,
+     0x00f9e6e6,
+     0xc901e408,
+     0x1f0bfefe,
+     0x21006300,
+     0x910c389a,
+     0x91103899,
+     0x04faf9f9,
+     0x00f9e6e6,
+     0x1d0bfefe,
+     0x04f1e7f9,
+     0x24f000da,
+     0x2400009a,
+     0x60faf90d,
+     0x10f1f1e7,
+     0xd10ffe06,
+     0x91143899,
+     0x00f9e7e7,
+     0xc902e408,
+     0x1f0ffefe,
+     0x21007300,
+     0x9114389a,
+     0x91183899,
+     0x04faf9f9,
+     0x00f9e7e7,
+     0x1d0ffefe,
+     0x04f1e8f9,
+     0x24f000da,
+     0x2400009a,
+     0x60faf90d,
+     0x10f1f1e8,
+     0xd10efe06,
+     0x911c3899,
+     0x00f9e8e8,
+     0xc903e408,
+     0x1f0efefe,
+     0x21008300,
+     0x911c389a,
+     0x91203899,
+     0x04faf9f9,
+     0x00f9e8e8,
+     0x1d0efefe,
+     0x04f1e9f9,
+     0x24f000da,
+     0x2400009a,
+     0x60faf90d,
+     0x10f1f1e9,
+     0xd10afe06,
+     0x91243899,
+     0x00f9e9e9,
+     0xc904e408,
+     0x1f0afefe,
+     0x21009300,
+     0x9124389a,
+     0x91283899,
+     0x04faf9f9,
+     0x00f9e9e9,
+     0x1d0afefe,
+     0x04f1eaf9,
+     0x24f000da,
+     0x2400009a,
+     0x60faf90d,
+     0x10f1f1ea,
+     0xd108fe06,
+     0x912c3899,
+     0x00f9eaea,
+     0xc905e408,
+     0x1f08fefe,
+     0x2100a300,
+     0x912c389a,
+     0x91303899,
+     0x04faf9f9,
+     0x00f9eaea,
+     0x1d08fefe,
+     0x912e2399,
+     0xc902f90b,
+     0x91086399,
+     0xe1007499,
+     0x240006f9,
+     0x81302399,
+     0xe1001895,
+     0x0101f5f5,
+     0x0108f4f4,
+     0x48f5f603,
+     0x241004f4,
+     0x240000f5,
+     0x21004100 };
+