This project is based on a Texas Instruments demonstration project.
This project uses the RemoteProc and messaging framework to connect the PRUs to Linux user-space.
The PRU firmware code as published by TI was based on the “Mailboxes” which
was shortly thereafter changed to use the System interrupts.
A few minor changes were required to make the code compatible with the newer
RemoteProc system.
The project uses the PRUs to implement a “Proportional Integral Derivative” type DC motor speed controller.
In addition, a different Motor-encoder is recommended. Minor tweaks were required
to the firmware code to match the specs of the different motor-encoder.
The Github repository:
https://github.com/Greg-R/pru-pid-motor
The main documentation file:
https://github.com/Greg-R/pru-pid-motor/blob/master/doc/PRUPIDMOTORlatex/pru-pid.pdf
The project at Hackster.io:
and a short introductory youtube video:
https://www.youtube.com/watch?v=wzNGHVjAqL8&feature=youtu.be
Regards,
Greg