Hi guys,
today to load the a code to PRU on BBB, BBG and Pocket we are using this addresses:
POCKET:
#define RCIN_PRUSS_RAM_BASE 0x4a301000
#define RCOUT_PRUSS_RAM_BASE 0x4a300000
#define RCOUT_PRUSS_CTRL_BASE 0x4a322000
#define RCOUT_PRUSS_IRAM_BASE 0x4a334000
BBB:
#define RCIN_PRUSS_RAM_BASE 0x4a303000
#define RCOUT_PRUSS_RAM_BASE 0x4a302000
#define RCOUT_PRUSS_CTRL_BASE 0x4a324000
#define RCOUT_PRUSS_IRAM_BASE 0x4a338000
Anyone please help me in what is the addresses for PRU2_0 for this addresses ? I tried all the addresses I found at AM5729 Reference manual and digging the filesystem I achived this addresses:
#define RCOUT_PRUSS_RAM_BASE 0x4b280000
#define RCOUT_PRUSS_CTRL_BASE 0x4b24000
#define RCOUT_PRUSS_IRAM_BASE 0x4b2b4000
#define RCIN_PRUSS_RAM_BASE 0x4b281000
But or the beagle freeze or there are sigbus error. I create a custom dtb and all pins are as expected.
Thanks for your help
This is the version script:
root@beaglebone:~/ardupilot# /opt/scripts/tools/version.sh
git:/opt/scripts/:[fa783d879c7ae9986f2d97977a8f8987bb16f72e]
model:[BeagleBoard.org_BeagleBone_AI]
dogtag:[BeagleBoard.org Debian Buster IoT TIDL Image 2020-11-30]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot SPL 2020.10-rc1-00001-gc5bc0aaa70 (Aug 24 2020 - 16:42:42 -0500)]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot SPL 2020.10-rc1-00001-gc5bc0aaa70 (Aug 24 2020 - 16:42:42 -0500)]:[location: dd MBR]
kernel:[4.14.108-ti-r137]
nodejs:[v10.21.0]
device-tree-override:[dtb=am572x-juva1.dtb]
/boot/uEnv.txt Settings:
pkg check: to individually upgrade run: [sudo apt install --only-upgrade ]
pkg:[bb-cape-overlays]:[4.14.20201221.0-0~buster+20201221]
pkg:[bb-customizations]:[1.20201105.0-0~buster+20201110]
pkg:[bb-usb-gadgets]:[1.20200504.0-0~buster+20200504]
pkg:[bb-wl18xx-firmware]:[1.20200813.1-0~buster+20200813]
pkg:[kmod]:[26-1]
pkg:[librobotcontrol]:[1.0.5-git20200715.0-0~buster+20200716]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev i2c gpio admin spi iio docker tisdk weston-launch xenomai cloud9ide pwm eqep remoteproc]
cmdline:[console=ttyS0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 10.000747] remoteproc remoteproc0: 58820000.ipu is available
[ 10.042150] remoteproc remoteproc1: 55020000.ipu is available
[ 10.054416] remoteproc remoteproc2: 40800000.dsp is available
[ 10.055056] remoteproc remoteproc3: 41000000.dsp is available
[ 10.113018] remoteproc remoteproc1: powering up 55020000.ipu
[ 10.113037] remoteproc remoteproc1: Booting fw image dra7-ipu2-fw.xem4, size 3751356
[ 10.201346] remoteproc remoteproc0: powering up 58820000.ipu
[ 10.201367] remoteproc remoteproc0: Booting fw image dra7-ipu1-fw.xem4, size 7051536
[ 10.234158] remoteproc remoteproc1: registered virtio0 (type 7)
[ 10.234164] remoteproc remoteproc1: remote processor 55020000.ipu is now up
[ 10.252833] remoteproc remoteproc0: registered virtio1 (type 7)
[ 10.252845] remoteproc remoteproc0: remote processor 58820000.ipu is now up
[ 10.419761] Modules linked in: omap_remoteproc virtio_rpmsg_bus rpmsg_core usb_f_ncm usb_f_mass_storage usb_f_rndis u_ether libcomposite uio_pdrv_genirq uio cmemk(O) spidev
[ 10.420732] Modules linked in: omap_remoteproc virtio_rpmsg_bus rpmsg_core usb_f_ncm usb_f_mass_storage usb_f_rndis u_ether libcomposite uio_pdrv_genirq uio cmemk(O) spidev
[ 10.421741] Modules linked in: omap_remoteproc virtio_rpmsg_bus rpmsg_core usb_f_ncm usb_f_mass_storage usb_f_rndis u_ether libcomposite uio_pdrv_genirq uio cmemk(O) spidev
[ 10.590953] remoteproc remoteproc2: powering up 40800000.dsp
[ 10.590972] remoteproc remoteproc2: Booting fw image dra7-dsp1-fw.xe66, size 21014532
[ 10.649036] remoteproc remoteproc2: registered virtio2 (type 7)
[ 10.649050] remoteproc remoteproc2: remote processor 40800000.dsp is now up
[ 10.758789] remoteproc remoteproc3: powering up 41000000.dsp
[ 10.758812] remoteproc remoteproc3: Booting fw image dra7-dsp2-fw.xe66, size 21014532
[ 10.800268] remoteproc remoteproc3: registered virtio3 (type 7)
[ 10.800276] remoteproc remoteproc3: remote processor 41000000.dsp is now up
[ 16.681661] remoteproc remoteproc4: 4b234000.pru is available
[ 16.688795] remoteproc remoteproc5: 4b238000.pru is available
[ 16.690645] remoteproc remoteproc6: 4b2b4000.pru is available
[ 16.693835] remoteproc remoteproc7: 4b2b8000.pru is available
dmesg | grep pru
[ 16.498643] pruss 4b200000.pruss: creating PRU cores and other child platform devices
[ 16.550295] pruss 4b280000.pruss: creating PRU cores and other child platform devices
[ 16.681661] remoteproc remoteproc4: 4b234000.pru is available
[ 16.681730] pru-rproc 4b234000.pru: PRU rproc node /ocp/pruss_soc_bus@4b226004/pruss@0/pru@34000 probed successfully
[ 16.688795] remoteproc remoteproc5: 4b238000.pru is available
[ 16.688867] pru-rproc 4b238000.pru: PRU rproc node /ocp/pruss_soc_bus@4b226004/pruss@0/pru@38000 probed successfully
[ 16.690645] remoteproc remoteproc6: 4b2b4000.pru is available
[ 16.690698] pru-rproc 4b2b4000.pru: PRU rproc node /ocp/pruss_soc_bus@4b2a6004/pruss@0/pru@34000 probed successfully
[ 16.693835] remoteproc remoteproc7: 4b2b8000.pru is available
[ 16.693894] pru-rproc 4b2b8000.pru: PRU rproc node /ocp/pruss_soc_bus@4b2a6004/pruss@0/pru@38000 probed successfully
dmesg | grep pinctrl-single
[ 0.805236] pinctrl-single 4a003400.pinmux: 282 pins at pa fc003400 size 1128
dmesg | grep gpio-of-helper
lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END