Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
These are the files used by all the platforms for running the PRUs.
First off, thanks for taking the time to think about contributing!
The following is a set of guidelines for contributing to docs.beagleboard.io, which is hosted by the BeagleBoard.org Foundation at https://git.beagleboard.org/docs/docs.beagleboard.io. These are mostly guidelines, not rules. Use your best judgment, and feel free to propose changes to this document in a pull request.
This project and everyone participating in it is governed by the BeagleBoard.org Code of Conduct. By participating, you are expected to uphold this code. Please report unacceptable behavior to [email protected] or contact one of the administrators on https://forum.beagleboard.org.
See more at https://docs.beagleboard.org/en/latest/intro/contribution/.
// / AM335x_PRU.cmd / / Copyright (c) 2015 Texas Instruments Incorporated / / / / Description: This file is a linker command file that can be used for / / linking PRU programs built with the C compiler and / / the resulting .out file on an AM335x device. / //
-cr /* Link using C conventions */
/* Specify the System Memory Map / MEMORY { PAGE 0: PRU_IMEM : org = 0x00000000 len = 0x00002000 / 8kB PRU0 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27}
/* Specify the sections allocation into memory / SECTIONS { / Forces _c_int00 to the start of PRU IRAM. Not necessary when loading an ELF file, but useful when loading a binary / .text:_c_int00 > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
.init_pins > PRU_DMEM_0_1, PAGE 1}
This project seeks to document the design and usage of BeagleBoard.org boards.
Priority is given to the out-of-box Debian Linux software images, but additional well-maintained software projects supporting these boards are welcome to be documented here as well.
This project seeks to provide a more authoritative and easy to consume set of documentation than is available through wiki pages, but still encourages community contributions. Issues and pull requests will be reviewed for accuracy.
The project will have release versions and archive those specific versions for future reference. The stable release versions will be published at https://docs.beagleboard.org. The latest output is hosted at https://docs.beagleboard.io and source is maintained at https://git.beagleboard.org/docs/docs.beagleboard.io.
// / AM57xx_PRU.cmd / / Copyright (c) 2015 Texas Instruments Incorporated / / / / Description: This file is a linker command file that can be used for / / linking PRU programs built with the C compiler and / / the resulting .out file on an AM57xx device. / //
-cr /* Link using C conventions */
/* Specify the System Memory Map / MEMORY { PAGE 0: PRU_IMEM : org = 0x00000000 len = 0x00003000 / 12kB PRU-ICSS1 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00008000 CREGISTER=28 /* 32kB Shared RAM */
DDR : org = 0x80000000 len = 0x00010000 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000120 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
MCASP3_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
I2C3 : org = 0x48060000 len = 0x00000300 CREGISTER=5
RSVD1 : org = 0x48040000 len = 0x0000005C CREGISTER=1
RSVD2 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
RSVD6 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
RSVD9 : org = 0x4A100000 len = 0x0000128C CREGISTER=9
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD11 : org = 0x48022000 len = 0x00000088 CREGISTER=11
RSVD12 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD14 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
RSVD15 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
RSVD16 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
RSVD17 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
RSVD18 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
RSVD19 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
RSVD20 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD22 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
RSVD23 : org = 0x480CA000 len = 0x00000880 CREGISTER=23
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27
RSVD29 : org = 0x49000000 len = 0x00001098 CREGISTER=29}
/* Specify the sections allocation into memory / SECTIONS { / Forces _c_int00 to the start of PRU IRAM. Not necessary when loading an ELF file, but useful when loading a binary / .text:_c_int00 > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
.init_pins > PRU_DMEM_0_1, PAGE 1}
libgpiod is a new C library and tools for interacting with the linux GPIO character device. Detailed information is here and Adafruit also has information.
One of the advantages of gpiod is that it can toggle multiple bits on the same gpio chip at the same time. The toggle2 examples show how it's done.
The directory contains examples of using gpiod with C and python to read/write a gpio pin.
Toggles one pin as fast as possible. (300KHz in C, 57KHz in python)
Toggles two pins as fast as possible. (280KHz in C, 55KHz in python)
Reads an input pin and prints its value.
Reads an input pin and writes its value to an output pin. (5us delay in C, 20 us Delay in python)
Like getset, but uses events. (40 us delay in C, 75 us delay in python)
Toggles the four built in USR LEDs.
Tip: Use gpioinfo to lookup chip and line numbers for various pins.
// / AM335x_PRU.cmd / / Copyright (c) 2015 Texas Instruments Incorporated / / / / Description: This file is a linker command file that can be used for / / linking PRU programs built with the C compiler and / / the resulting .out file on an AM335x device. / //
-cr /* Link using C conventions */
/* Specify the System Memory Map / MEMORY { PAGE 0: PRU_IMEM : org = 0x00000000 len = 0x00002000 / 8kB PRU0 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27}
/* Specify the sections allocation into memory / SECTIONS { / Forces _c_int00 to the start of PRU IRAM. Not necessary when loading an ELF file, but useful when loading a binary / .text:_c_int00 > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1}
// / AM335x_PRU.cmd / / Copyright (c) 2015 Texas Instruments Incorporated / / / / Description: This file is a linker command file that can be used for / / linking PRU programs built with the C compiler and / / the resulting .out file on an AM335x device. / //
-cr /* Link using C conventions */
/* Specify the System Memory Map / MEMORY { PAGE 0: PRU_IMEM : org = 0x00000000 len = 0x00002000 / 8kB PRU0 Instruction RAM */
}
/* Specify the sections allocation into memory / SECTIONS { / Forces _c_int00 to the start of PRU IRAM. Not necessary when loading an ELF file, but useful when loading a binary / .text:_c_int00 > 0x0, PAGE 0
}
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
.init_pins > PRU_DMEM_0_1, PAGE 1// / AM335x_PRU.cmd / / Copyright (c) 2015 Texas Instruments Incorporated / / / / Description: This file is a linker command file that can be used for / / linking PRU programs built with the C compiler and / / the resulting .out file on an AM335x device. / //
-cr /* Link using C conventions */
/* Specify the System Memory Map / MEMORY { PAGE 0: PRU_IMEM : org = 0x00000000 len = 0x00002000 / 8kB PRU0 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PAGE 2:
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000044 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000060 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000038 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x000001E8 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x000001E8 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x0000005C CREGISTER=1
PWMSS0 : org = 0x48300000 len = 0x000002C4 CREGISTER=18
PWMSS1 : org = 0x48302000 len = 0x000002C4 CREGISTER=19
PWMSS2 : org = 0x48304000 len = 0x000002C4 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x0000128C CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x000000D8 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x000000D8 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000140 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x000001A4 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x000001A4 CREGISTER=16
MMCHS0 : org = 0x48060000 len = 0x00000300 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000880 CREGISTER=23
TPCC : org = 0x49000000 len = 0x00001098 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000088 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000088 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD21 : org = 0x00032400 len = 0x00000100 CREGISTER=21
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27}
/* Specify the sections allocation into memory / SECTIONS { / Forces _c_int00 to the start of PRU IRAM. Not necessary when loading an ELF file, but useful when loading a binary / .text:_c_int00 > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
.init_pins > PRU_DMEM_0_1, PAGE 1}