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-rw-r--r--src/pru/AM335x_PRU.cmd86
-rw-r--r--src/pru/intc_map.h81
-rw-r--r--src/pru/pru_pwm.c102
-rw-r--r--src/pru/pwm_test.c82
-rw-r--r--src/pru/resource_table_empty.h38
5 files changed, 0 insertions, 389 deletions
diff --git a/src/pru/AM335x_PRU.cmd b/src/pru/AM335x_PRU.cmd
deleted file mode 100644
index b62f044..0000000
--- a/src/pru/AM335x_PRU.cmd
+++ /dev/null
@@ -1,86 +0,0 @@
-/****************************************************************************/
-/* 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
-}
diff --git a/src/pru/intc_map.h b/src/pru/intc_map.h
deleted file mode 100644
index eebf27b..0000000
--- a/src/pru/intc_map.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (C) 2021 Texas Instruments Incorporated - http://www.ti.com/
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the
- * distribution.
- *
- * * Neither the name of Texas Instruments Incorporated nor the names of
- * its contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
- * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
- * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef _INTC_MAP_0_H_
-#define _INTC_MAP_0_H_
-
-/*
- * ======== PRU INTC Map ========
- *
- * Define the INTC mapping for interrupts going to the ICSS / ICSSG:
- * ICSS Host interrupts 0, 1
- * ICSSG Host interrupts 0, 1, 10-19
- *
- * Note that INTC interrupts going to the ARM Linux host should not be defined
- * in this file (ICSS/ICSSG Host interrupts 2-9).
- *
- * The INTC configuration for interrupts going to the ARM host should be defined
- * in the device tree node of the client driver, "interrupts" property.
- * See Documentation/devicetree/bindings/interrupt-controller/ti,pruss-intc.yaml
- * entry #interrupt-cells for more.
- *
- * For example, on ICSSG:
- *
- * &client_driver0 {
- * interrupt-parent = <&icssg0_intc>;
- * interrupts = <21 2 2>, <22 3 3>;
- * interrupt-names = "interrupt_name1", "interrupt_name2";
- * };
- *
- */
-
-#include <stddef.h>
-#include <rsc_types.h>
-
-/*
- * .pru_irq_map is used by the RemoteProc driver during initialization. However,
- * the map is NOT used by the PRU firmware. That means DATA_SECTION and RETAIN
- * are required to prevent the PRU compiler from optimizing out .pru_irq_map.
- */
-#pragma DATA_SECTION(my_irq_rsc, ".pru_irq_map")
-#pragma RETAIN(my_irq_rsc)
-
-struct pru_irq_rsc my_irq_rsc = {
- 0, /* type = 0 */
- 1, /* number of system events being mapped */
- {
- {7, 1, 1}, /* {sysevt, channel, host interrupt} */
- },
-};
-
-#endif /* _INTC_MAP_0_H_ */
diff --git a/src/pru/pru_pwm.c b/src/pru/pru_pwm.c
deleted file mode 100644
index 796040b..0000000
--- a/src/pru/pru_pwm.c
+++ /dev/null
@@ -1,102 +0,0 @@
-#include <stdint.h>
-#include <pru_cfg.h>
-#include <pru_intc.h>
-#include <pru_iep.h>
-#include "intc_map.h"
-#include "resource_table_empty.h"
-
-#define CYCLES_PER_SECOND 200000000
-#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800)
-#define DEFAULT_DUTY_CYCLE 0
-#define P8_12 (1 << 14)
-#define P8_12_n ~(1 << 14)
-#define PRU0_DRAM 0x00000 // Offset to DRAM
-#define PRU_TIMER_PASSCODE 0x31138423
-#define BURN_TIME 2 // seconds for motor burn
-
-volatile uint32_t *pru0_dram = (uint32_t *) (PRU0_DRAM + 0x200);
-
-
-volatile register uint32_t __R30;
-volatile register uint32_t __R31;
-
-
-void main(void) {
- uint32_t duty_cycle = DEFAULT_DUTY_CYCLE;
- uint32_t off_cycles = ((100 - duty_cycle) * CYCLES_PER_PERIOD / 100);
- uint32_t on_cycles = ((100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100);
- uint32_t off_count = off_cycles;
- uint32_t on_count = on_cycles;
- *pru0_dram = duty_cycle;
-
- /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
- CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
-
- while (1) {
- if (pru0_dram[1] == PRU_TIMER_PASSCODE) {
- /* Disable counter */
- CT_IEP.TMR_GLB_CFG_bit.CNT_EN = 0;
-
- /* Reset Count register */
- CT_IEP.TMR_CNT = 0x0;
-
- /* Clear overflow status register */
- CT_IEP.TMR_GLB_STS_bit.CNT_OVF = 0x1;
-
- /* Set compare value */
- CT_IEP.TMR_CMP0 = (BURN_TIME * CYCLES_PER_SECOND); // 10 seconds @ 200MHz
-
- /* Clear compare status */
- CT_IEP.TMR_CMP_STS_bit.CMP_HIT = 0xFF;
-
- /* Disable compensation */
- CT_IEP.TMR_COMPEN_bit.COMPEN_CNT = 0x0;
-
- /* Enable CMP0 and reset on event */
- CT_IEP.TMR_CMP_CFG_bit.CMP0_RST_CNT_EN = 0x1;
- CT_IEP.TMR_CMP_CFG_bit.CMP_EN = 0x1;
-
- /* Clear the status of all interrupts */
- CT_INTC.SECR0 = 0xFFFFFFFF;
- CT_INTC.SECR1 = 0xFFFFFFFF;
-
- /* Enable counter */
- CT_IEP.TMR_GLB_CFG = 0x11;
- break;
- }
- }
-
- /* Poll until R31.31 is set */
- do {
- while ((__R31 & 0x80000000) == 0) {
- }
- /* Verify that the IEP is the source of the interrupt */
- } while ((CT_INTC.SECR0 & (1 << 7)) == 0);
-
- /* Disable counter */
- CT_IEP.TMR_GLB_CFG_bit.CNT_EN = 0x0;
-
- /* Disable Compare0 */
- CT_IEP.TMR_CMP_CFG = 0x0;
-
- /* Clear Compare status */
- CT_IEP.TMR_CMP_STS = 0xFF;
-
- /* Clear the status of the interrupt */
- CT_INTC.SECR0 = (1 << 7);
-
- while (1) {
- if (on_count) {
- __R30 |= P8_12; // Set the GPIO pin to 1
- on_count--;
- __delay_cycles(3);
- } else if (off_count) {
- __R30 &= P8_12_n; // Clear the GPIO pin
- off_count--;
- } else {
- duty_cycle = *pru0_dram;
- off_count = ((100 - duty_cycle) * CYCLES_PER_PERIOD / 100);
- on_count = ((100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100);
- }
- }
-}
diff --git a/src/pru/pwm_test.c b/src/pru/pwm_test.c
deleted file mode 100644
index 9c19314..0000000
--- a/src/pru/pwm_test.c
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- *
- * pwm tester
- * The on cycle and off cycles are stored in each PRU's Data memory
- *
- */
-
-#include <stdio.h>
-#include <stdint.h>
-#include <fcntl.h>
-#include <sys/mman.h>
-
-#define PRU_ADDR 0x4A300000 // Start of PRU memory Page 184 am335x TRM
-#define PRU_LEN 0x80000 // Length of PRU memory
-#define PRU0_DRAM 0x00000 // Offset to DRAM
-#define PRU1_DRAM 0x02000
-#define PRU_SHAREDMEM 0x10000 // Offset to shared memory
-
-#define CYCLES_PER_SECOND 200000000
-#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800)
-#define PRU_TIMER_PASSCODE 0x31138423
-
-uint32_t *pru0DRAM_32int_ptr; // Points to the start of local DRAM
-uint32_t *pru1DRAM_32int_ptr; // Points to the start of local DRAM
-uint32_t *prusharedMem_32int_ptr; // Points to the start of the shared memory
-
-/*******************************************************************************
-* int start_pwm_count(int ch, int countOn, int countOff)
-*
-* Starts a pwm pulse on for countOn and off for countOff to a single channel (ch)
-*******************************************************************************/
-int start_pwm_count(uint32_t duty_cycle) {
- uint32_t *pruDRAM_32int_ptr = pru0DRAM_32int_ptr;
- uint32_t old_duty_cycle = pruDRAM_32int_ptr[0];
- uint32_t old_count_on = (100 - (100 - old_duty_cycle)) * CYCLES_PER_PERIOD / 100;
- uint32_t old_count_off = (100 - old_duty_cycle) * CYCLES_PER_PERIOD / 100;
- uint32_t new_count_on = (100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100;
- uint32_t new_count_off = (100 - duty_cycle) * CYCLES_PER_PERIOD / 100;
-
- printf("old:\n\tcountOn: %d, countOff: %d, count: %d\nnew:\n\tcountOn: %d, countOff: %d, count: %d\n", old_count_on, old_count_off, old_count_off + old_count_on, new_count_on, new_count_off, new_count_off + new_count_on);
- // write to PRU shared memory
- pruDRAM_32int_ptr[1] = PRU_TIMER_PASSCODE;
- pruDRAM_32int_ptr[0] = duty_cycle; // On time
- return 0;
-}
-
-int main(int argc, char *argv[])
-{
- uint32_t *pru; // Points to start of PRU memory.
- int fd;
- printf("Servo tester\n");
-
- fd = open ("/dev/mem", O_RDWR | O_SYNC);
- if (fd == -1) {
- printf ("ERROR: could not open /dev/mem.\n\n");
- return 1;
- }
- pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
- if (pru == MAP_FAILED) {
- printf ("ERROR: could not map memory.\n\n");
- return 1;
- }
- close(fd);
- printf ("Using /dev/mem.\n");
-
- pru0DRAM_32int_ptr = pru + PRU0_DRAM/4 + 0x200/4; // Points to 0x200 of PRU0 memory
- pru1DRAM_32int_ptr = pru + PRU1_DRAM/4 + 0x200/4; // Points to 0x200 of PRU1 memory
- prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4; // Points to start of shared memory
-
- uint32_t desired_duty_cycle = 0;
- while (1) {
- printf("Enter a duty cycle: ");
- scanf("%d", &desired_duty_cycle);
- start_pwm_count(desired_duty_cycle);
- }
-
- if(munmap(pru, PRU_LEN)) {
- printf("munmap failed\n");
- } else {
- printf("munmap succeeded\n");
- }
-}
diff --git a/src/pru/resource_table_empty.h b/src/pru/resource_table_empty.h
deleted file mode 100644
index 8e7743e..0000000
--- a/src/pru/resource_table_empty.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * ======== resource_table_empty.h ========
- *
- * Define the resource table entries for all PRU cores. This will be
- * incorporated into corresponding base images, and used by the remoteproc
- * on the host-side to allocated/reserve resources. Note the remoteproc
- * driver requires that all PRU firmware be built with a resource table.
- *
- * This file contains an empty resource table. It can be used either as:
- *
- * 1) A template, or
- * 2) As-is if a PRU application does not need to configure PRU_INTC
- * or interact with the rpmsg driver
- *
- */
-
-#ifndef _RSC_TABLE_PRU_H_
-#define _RSC_TABLE_PRU_H_
-
-#include <stddef.h>
-#include <rsc_types.h>
-
-struct my_resource_table {
- struct resource_table base;
-
- uint32_t offset[1]; /* Should match 'num' in actual definition */
-};
-
-#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
-#pragma RETAIN(pru_remoteproc_ResourceTable)
-struct my_resource_table pru_remoteproc_ResourceTable = {
- 1, /* we're the first version that implements this */
- 0, /* number of entries in the table */
- 0, 0, /* reserved, must be zero */
- 0, /* offset[0] */
-};
-
-#endif /* _RSC_TABLE_PRU_H_ */
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