loader:
$(CC) $(CFLAGS) $(LDLIBS) src/pru_loader.c -o bin/pru_loader
rom:
- pasm -b src/pru.S bin/pru
-
+# pasm -b src/pru.S bin/pru
+ pasm -b src/pru-up.S bin/pru-up
+ pasm -b src/pru-down.S bin/pru-down
--- /dev/null
+#!/bin/sh
+
+while (true) ; do
+ sleep 2 && sudo ./bin/pru_loader ./bin/pru.bin &
+ sleep 2 &&
+ sudo ./bin/pru_loader ./bin/pru2.bin &
+done
+
--- /dev/null
+/*
+ * Copyright (c) 2016, Ian Sutton <ian@kremlin.cc>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for
+ * any purpose with or without fee is hereby granted, provided that the
+ * above copyright notice and this permission notice appear in all
+ * copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+ * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+ * AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+ * DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
+ * PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+ * TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+.origin 0
+.entrypoint START /* used by debugger only */
+
+#define PRU0_R31_VEC_VALID (1<<5)
+#define SIGNUM 3 /* corresponds to PRU_EVTOUT_0 */
+
+#define DELAY_SECONDS 5
+#define CLOCK 200000000
+#define CLOCKS_PER_LOOP 2
+#define DELAYCOUNT DELAY_SECONDS * CLOCK / CLOCKS_PER_LOOP
+
+
+#define R_PINKY 0x0
+#define R_RING 0x1
+#define R_MID 0x10
+#define R_FORE 0x11
+#define R_THUMB 0x100
+#define L_THUMB 0x101
+#define L_FORE 0x110
+#define L_MID 0x111
+#define L_RING 0x1000
+#define L_PINKY 0x1001
+
+#define CYCLE 4000000
+#define WIDTH_UP 120000
+#define WIDTH_DOWN 480000
+
+// MOV r1, DELAYCOUNT
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+//DELAY:
+ //SUB r1, r1, 1
+ //NOT r30, r30, r30
+ //QBNE DELAY, r1, 0
+
+START:
+
+ MOV r1, CYCLE
+ MOV r2, WIDTH_UP
+ MOV r3, WIDTH_DOWN
+ MOV r4, 0xffffffff
+ MOV r30, 0x000002ff
+ MOV r5, 0x00000000
+KLOOP:
+ QBGE DOWN, r5, r2
+ QBGE KRST, r5, r1
+ ADD r5, r5, 4
+ JMP KLOOP
+DOWN:
+ MOV r30, 0x00000000
+ JMP KLOOP
+KRST:
+ MOV r5, 0x00000000
+ MOV r30, 0x000002ff
+ JMP KLOOP
+KHALT:
+ MOV R31.b0, PRU0_R31_VEC_VALID | SIGNUM
+ HALT
+
--- /dev/null
+/*
+ * Copyright (c) 2016, Ian Sutton <ian@kremlin.cc>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for
+ * any purpose with or without fee is hereby granted, provided that the
+ * above copyright notice and this permission notice appear in all
+ * copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+ * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+ * AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+ * DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
+ * PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+ * TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+.origin 0
+.entrypoint START /* used by debugger only */
+
+#define PERIOD 200000
+#define DUTY 100000
+
+START:
+ SET r30, r30, 14
+ MOV r1, PERIOD
+ MOV r2, DUTY
+ SUB r3, r1, r2
+ SUB r2, r2, 4
+
+ON:
+ SUB r2, r2, 1
+ QBNE ON, r2, 0
+ CLR r30, r30, 14
+
+OFF:
+ SUB r3, r3, 1
+ QBNE OFF, r3, 0
+ QBA START
+
+
+/*STOP:
+ MOV R31.b0, PRU0_R31_VEC_VALID | SIGNUM
+ HALT*/
+
+
--- /dev/null
+/*
+ * Copyright (c) 2016, Ian Sutton <ian@kremlin.cc>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for
+ * any purpose with or without fee is hereby granted, provided that the
+ * above copyright notice and this permission notice appear in all
+ * copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+ * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+ * AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+ * DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
+ * PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+ * TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+.origin 0
+.entrypoint START /* used by debugger only */
+
+#define PRU0_R31_VEC_VALID (1<<5)
+#define SIGNUM 3 /* corresponds to PRU_EVTOUT_0 */
+
+#define DELAY_SECONDS 5
+#define CLOCK 200000000
+#define CLOCKS_PER_LOOP 2
+#define DELAYCOUNT DELAY_SECONDS * CLOCK / CLOCKS_PER_LOOP
+
+
+#define R_PINKY 0x0
+#define R_RING 0x1
+#define R_MID 0x10
+#define R_FORE 0x11
+#define R_THUMB 0x100
+#define L_THUMB 0x101
+#define L_FORE 0x110
+#define L_MID 0x111
+#define L_RING 0x1000
+#define L_PINKY 0x1001
+
+#define CYCLE 4000000
+#define WIDTH_UP 120000
+#define WIDTH_DOWN 480000
+
+// MOV r1, DELAYCOUNT
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+//DELAY:
+ //SUB r1, r1, 1
+ //NOT r30, r30, r30
+ //QBNE DELAY, r1, 0
+
+START:
+
+ MOV r1, CYCLE
+ MOV r2, WIDTH_UP
+ MOV r3, WIDTH_DOWN
+ MOV r4, 0xffffffff
+ MOV r30, 0x000003ff
+ MOV r5, 0x00000000
+KLOOP:
+ QBLE DOWN, r5, r3
+ QBLE KRST, r5, r1
+ ADD r5, r5, 4
+ JMP KLOOP
+DOWN:
+ MOV r30, 0x00000000
+ MOV r3, 0xffffffff
+ JMP KLOOP
+KRST:
+ MOV r5, 0x00000000
+ MOV r30, 0x000003ff
+ MOV r3, WIDTH_DOWN
+ JMP KLOOP
+KHALT:
+ MOV R31.b0, PRU0_R31_VEC_VALID | SIGNUM
+ HALT
+
--- /dev/null
+/*
+ * Copyright (c) 2016, Ian Sutton <ian@kremlin.cc>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for
+ * any purpose with or without fee is hereby granted, provided that the
+ * above copyright notice and this permission notice appear in all
+ * copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+ * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+ * AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+ * DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
+ * PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+ * TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#define PRU0_R31_VEC_VALID (1<<5)
+
+.origin 0
+.entrypoint TOP
+
+TOP:
+ SET r30, r30, 15
+
+ MOV R31.b0, PRU0_R31_VEC_VALID | 3
+ HALT
+
--- /dev/null
+/*
+ * Copyright (c) 2016, Ian Sutton <ian@kremlin.cc>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for
+ * any purpose with or without fee is hereby granted, provided that the
+ * above copyright notice and this permission notice appear in all
+ * copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+ * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+ * AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+ * DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
+ * PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+ * TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+.origin 0
+.entrypoint START /* used by debugger only */
+
+#define PRU0_R31_VEC_VALID (1<<5)
+#define SIGNUM 3 /* corresponds to PRU_EVTOUT_0 */
+
+#define DELAY_SECONDS 5
+#define CLOCK 200000000
+#define CLOCKS_PER_LOOP 2
+#define DELAYCOUNT DELAY_SECONDS * CLOCK / CLOCKS_PER_LOOP
+
+
+#define R_PINKY 0x0
+#define R_RING 0x1
+#define R_MID 0x10
+#define R_FORE 0x11
+#define R_THUMB 0x100
+#define L_THUMB 0x101
+#define L_FORE 0x110
+#define L_MID 0x111
+#define L_RING 0x1000
+#define L_PINKY 0x1001
+
+#define CYCLE 4000000
+#define WIDTH_UP 120000
+#define WIDTH_DOWN 480000
+
+// MOV r1, DELAYCOUNT
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+//DELAY:
+ //SUB r1, r1, 1
+ //NOT r30, r30, r30
+ //QBNE DELAY, r1, 0
+
+START:
+
+ MOV r1, CYCLE
+ MOV r2, WIDTH_UP
+ MOV r3, WIDTH_DOWN
+ MOV r4, 0xffffffff
+ MOV r30, 0x000003ff
+ MOV r5, 0x00000000
+KLOOP:
+ QBLE DOWN, r5, r2
+ QBLE KRST, r5, r1
+ ADD r5, r5, 4
+ JMP KLOOP
+DOWN:
+ MOV r30, 0x00000000
+ MOV r2, 0xffffffff
+ JMP KLOOP
+KRST:
+ MOV r5, 0x00000000
+ MOV r30, 0x000003ff
+ MOV r2, WIDTH_UP
+ JMP KLOOP
+KHALT:
+ MOV R31.b0, PRU0_R31_VEC_VALID | SIGNUM
+ HALT
+
#define CLOCKS_PER_LOOP 2
#define DELAYCOUNT DELAY_SECONDS * CLOCK / CLOCKS_PER_LOOP
-START:
- MOV r1, DELAYCOUNT
-DELAY:
- SUB r1, r1, 1
- QBNE DELAY, r1, 0
+#define R_PINKY 0x0
+#define R_RING 0x1
+#define R_MID 0x10
+#define R_FORE 0x11
+#define R_THUMB 0x100
+#define L_THUMB 0x101
+#define L_FORE 0x110
+#define L_MID 0x111
+#define L_RING 0x1000
+#define L_PINKY 0x1001
+
+#define CYCLE 4000000
+#define WIDTH_UP 120000
+#define WIDTH_DOWN 480000
+
+// MOV r1, DELAYCOUNT
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+// ADD r1, r1, r1
+//DELAY:
+ //SUB r1, r1, 1
+ //NOT r30, r30, r30
+ //QBNE DELAY, r1, 0
+
+START:
- /* intr */
+ MOV r1, CYCLE
+ MOV r2, WIDTH_UP
+ MOV r3, WIDTH_DOWN
+ MOV r4, 0xffffffff
+ MOV r30, 0x000003ff
+ MOV r5, 0x00000000
+KLOOP:
+ QBLE DOWN, r5, r2
+ QBLE KRST, r5, r1
+ ADD r5, r5, 4
+ JMP KLOOP
+DOWN:
+ MOV r30, 0x00000000
+ MOV r2, 0xffffffff
+ JMP KLOOP
+KRST:
+ MOV r5, 0x00000000
+ MOV r30, 0x000003ff
+ MOV r2, WIDTH_UP
+ JMP KLOOP
+KHALT:
MOV R31.b0, PRU0_R31_VEC_VALID | SIGNUM
HALT
#include <pruss/prussdrv.h>
#include <pruss/pruss_intc_mapping.h>
+#define PRU_NUM 1
+
int main(int argc, char *argv[]) {
tpruss_intc_initdata init_data = PRUSS_INTC_INITDATA;
return ENXIO;
/* exec */
- if(prussdrv_exec_program(0, argv[1]))
+ if(prussdrv_exec_program(PRU_NUM, argv[1]))
return ENXIO;
/* block until intr */
/* clean up, halt & disable pru, terminate pru drv */
prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
- prussdrv_pru_disable(0);
+ prussdrv_pru_disable(PRU_NUM);
prussdrv_exit();
return 0;
projects / capstone.git / commitdiff