The PRU code for hal_pru_generic is here: https://github.com/machinekit/machinekit-hal/tree/master/src/hal/drivers/hal_pru_generic
You'll see a number of .p files and they are assembled using pasm, the source code for which is also in the machinekit repository: https://github.com/machinekit/machinekit-hal/tree/master/src/hal/support/pasm The copyrights at the top of the pasm source are by TI, so I imagine this was copied from somewhere else. I don't see a way to compile the pru code down to elf format using pasm, which is what it appears I need in order to use remoteproc. Is there another tool I can use to compile/assemble the .p files? Alternatively, is there another tool I can use to convert the compiled .bin file to an elf file? On Wednesday, April 8, 2020 at 1:23:48 PM UTC-6, John Allwine wrote: > > The hal_pru_generic PRU code is all written in assembly and is compiled > down to a .bin file. Copying that bin file to the firmware doesn't work. On > the Beaglebone Black the contents of the bin file are copied to the > appropriate address in memory in order to load it onto the PRU. What do I > have to do to this bin file in order to be able to copy it to > /lib/firmare/am57xx-pru1_1-fw (or one of the other 3 pru options) and then > start it with remoteproc? > > On Wednesday, April 8, 2020 at 12:45:33 AM UTC-6, Jason Kridner wrote: >> >> On Wed, Apr 8, 2020 at 12:28 AM John Allwine <[email protected]> >> wrote: >> > >> > Thanks Jason! I’ve found enough info on the pinmux to get me by for >> now. hal_pru_generic and the PRUs seem to be the big blocker at this point. >> I still need to get my head around the details of hal_pru_generic to know >> if using remoteproc would work. How do I use remoteproc to run code on the >> PRU? >> >> Check out >> https://github.com/beagleboard/cloud9-examples/tree/v2020.01/BeagleBone/AI/pru >> >> >> PRU start script in the Makefile is at >> >> https://github.com/beagleboard/cloud9-examples/blob/v2020.01/common/Makefile#L164-L167 >> >> >> > >> > > On Apr 7, 2020, at 9:57 PM, Jason Kridner <[email protected]> >> wrote: >> > > >> > > On Tue, Apr 7, 2020 at 11:27 PM John Allwine < >> [email protected]> wrote: >> > >> >> > >> Is there a UIO PRU driver for the Beaglebone AI? How do I enable it? >> I'm trying to be able to talk to the PRUs using hal_pru_generic on the the >> Beaglebone AI, which does so on the BBB using the uio_pruss module. On the >> AI I see a uio_pruss_shmem module loaded when looking at /proc/modules, is >> that the same thing? >> > > >> > > This custom little uio_pruss_shmem driver will go away as a different >> > > existing uio driver can be configured to provide uio shared memory >> > > access without interfering with the remoteproc driver's ability to >> > > load the PRU code. >> > > >> > > It is largely the same as the uio_pruss module, but the memory region >> > > shared does not include the control registers needed to load code and >> > > start/stop the processor. That can be done with the remoteproc >> > > mechanisms. >> > > >> > > Will this work for you? >> > > >> > > BTW, sorry I never got back to you on the pinmux stuff. It keeps >> > > dropping from my plate as I seem to always have something more urgent >> > > to do at any given moment. Can you throw a meeting time on my >> calendar >> > > if you still need this and we can make it a live working session? The >> > > pinmux thing isn't complicated, but I have to look around in a bunch >> > > of places to gather the right bits. >> > > >> > >> >> > >> I can run the following commands on the AI: >> > >> >> > >> cat /sys/class/uio/uio0/maps/map0/addr >> > >> 0x4b200000 >> > >> >> > >> cat /sys/class/uio/uio0/maps/map0/size >> > >> 0x00020000 >> > >> >> > >> cat /sys/class/uio/uio1/maps/map0/addr >> > >> 0x4b280000 >> > >> >> > >> cat /sys/class/uio/uio1/maps/map0/size >> > >> 0x00020000 >> > >> >> > >> The size on both of those seem small as the PRUSS_INTC region starts >> at 0x00020000 according to the AM572x Technical Reference Manual on page >> 418 (and on the Beaglebone Black the PRU uio size is 0x00080000). >> > >> >> > >> Anyway, I'm not very familiar with things at this level, so I may >> not be phrasing my questions well, but any help is appreciated! >> > >> >> > >> -- >> > >> For more options, visit http://beagleboard.org/discuss >> > >> --- >> > >> You received this message because you are subscribed to the Google >> Groups "BeagleBoard" group. >> > >> To unsubscribe from this group and stop receiving emails from it, >> send an email to [email protected]. >> > >> To view this discussion on the web visit >> https://groups.google.com/d/msgid/beagleboard/02eb6681-dcac-4ad2-a45c-fa27a2e346f3%40googlegroups.com. >> >> >> > > >> > > >> > > >> > > -- >> > > https://beagleboard.org/about - a 501c3 non-profit educating around >> > > open hardware computing >> > > >> > > -- >> > > For more options, visit http://beagleboard.org/discuss >> > > --- >> > > You received this message because you are subscribed to the Google >> Groups "BeagleBoard" group. >> > > To unsubscribe from this group and stop receiving emails from it, >> send an email to [email protected]. >> > > To view this discussion on the web visit >> https://groups.google.com/d/msgid/beagleboard/CA%2BT6QPnMrcQTc8jFkoGncpMZ18O7eSQf_Wm5Bw2KH4PMUFhsrA%40mail.gmail.com. >> >> >> > >> > -- >> > For more options, visit http://beagleboard.org/discuss >> > --- >> > You received this message because you are subscribed to the Google >> Groups "BeagleBoard" group. >> > To unsubscribe from this group and stop receiving emails from it, send >> an email to [email protected]. >> > To view this discussion on the web visit >> https://groups.google.com/d/msgid/beagleboard/396383D5-0B85-40C4-84D3-1AC9FAE2BF29%40allwinedesigns.com. >> >> >> > -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. 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