PLEASE

diff --git a/Makefile b/Makefile
index 8087f8171d0bbf826a4cf513efe08bf1404e36af..02f8bd83dcb60a005db6f5e8f4a5d736f5e7d40f 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -13,5 +13,6 @@ all: loader rom
 loader:
        $(CC) $(CFLAGS) $(LDLIBS) src/pru_loader.c -o bin/pru_loader
 rom:
 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

diff --git a/demo.sh b/demo.sh
new file mode 100644 (file)
index 0000000..6afd5b9
--- /dev/null
+++ b/demo.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+while (true) ; do
+       sleep 2 && sudo ./bin/pru_loader ./bin/pru.bin &
+       sleep 2 &&
+       sudo ./bin/pru_loader ./bin/pru2.bin &
+done
+

diff --git a/src/.pru-back.S.swp b/src/.pru-back.S.swp
new file mode 100644 (file)
index 0000000..9064b56
Binary files /dev/null and b/src/.pru-back.S.swp differ

diff --git a/src/pru-a.S b/src/pru-a.S
new file mode 100644 (file)
index 0000000..95d6fff
--- /dev/null
+++ b/src/pru-a.S
@@ -0,0 +1,79 @@
+/* 
+ * 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
+

diff --git a/src/pru-back.S b/src/pru-back.S
new file mode 100644 (file)
index 0000000..bc65276
--- /dev/null
+++ b/src/pru-back.S
@@ -0,0 +1,47 @@
+/* 
+ * 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*/
+
+

diff --git a/src/pru-down.S b/src/pru-down.S
new file mode 100644 (file)
index 0000000..136e169
--- /dev/null
+++ b/src/pru-down.S
@@ -0,0 +1,81 @@
+/* 
+ * 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
+

diff --git a/src/pru-gpio.S b/src/pru-gpio.S
new file mode 100644 (file)
index 0000000..7077e55
--- /dev/null
+++ b/src/pru-gpio.S
@@ -0,0 +1,29 @@
+/* 
+ * 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
+

diff --git a/src/pru-up.S b/src/pru-up.S
new file mode 100644 (file)
index 0000000..25cd3c3
--- /dev/null
+++ b/src/pru-up.S
@@ -0,0 +1,81 @@
+/* 
+ * 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
+

diff --git a/src/pru.S b/src/pru.S
index dcc5493a1395c240fede446f2a1068154bcdbba5..25cd3c360f9186d295bbad88f1a0b47275b08715 100644 (file)
--- a/src/pru.S
+++ b/src/pru.S
@@ -27,14 +27,55 @@
 #define CLOCKS_PER_LOOP 2
 #define DELAYCOUNT DELAY_SECONDS * CLOCK / CLOCKS_PER_LOOP
 
 #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
 
        MOV     R31.b0, PRU0_R31_VEC_VALID | SIGNUM
        HALT
 

diff --git a/src/pru_loader.c b/src/pru_loader.c
index 6eeeed5cee5b32825093f1525f029de355dbd27f..25fa9f97a78f7898b74edf73aa0dee0dc42d0e10 100644 (file)
--- a/src/pru_loader.c
+++ b/src/pru_loader.c
@@ -24,6 +24,8 @@
 #include <pruss/prussdrv.h>
 #include <pruss/pruss_intc_mapping.h>
 
 #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;
 int main(int argc, char *argv[]) {
 
        tpruss_intc_initdata init_data = PRUSS_INTC_INITDATA;


@@ -47,7 +49,7 @@ int main(int argc, char *argv[]) {
            return ENXIO;
 
        /* exec */
            return ENXIO;
 
        /* exec */

-       if(prussdrv_exec_program(0, argv[1]))
+       if(prussdrv_exec_program(PRU_NUM, argv[1]))

            return ENXIO;
 
        /* block until intr */
            return ENXIO;
 
        /* block until intr */


@@ -55,7 +57,7 @@ int main(int argc, char *argv[]) {
 
        /* clean up, halt & disable pru, terminate pru drv */
        prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
 
        /* 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;
        prussdrv_exit();
 
        return 0;