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pru: BeagleBone Firmware upgrade to Debian 11.7 Bullseye (#6577)

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* Porting BeagleBone to Kernel 5.10

* Fixing issue with installation for BeagleBone.

This fix resolve 2 issue:
1. Conflict with AVR packages.
2. "klipper_pru" script is executed before PRU cores are ready

* Adding additional steps to BeagleBone install guide.

* Updating BeagleBone documentation, adding different use cases, adding buses configurations SPI, I2C, CAN, UART

Signed-off-by: Oleg Gavavka <work@datalink.net.ua>
This commit is contained in:
Oleg Gavavka
2024-04-27 18:01:57 +03:00
committed by GitHub
parent 0b329c5d28
commit b1eec53ff4
23 changed files with 565 additions and 2601 deletions
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31
src/pru/main.c
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@@ -7,7 +7,7 @@
#include <stdint.h> // uint32_t
#include <pru/io.h> // read_r31
#include <pru_iep.h> // CT_IEP
#include <pru_intc.h> // CT_INTC
#include <rsc_types.h> // resource_table
#include "board/misc.h" // dynmem_start
#include "board/io.h" // readl
@@ -75,7 +75,7 @@ timer_kick(void)
timer_set(timer_read_time() + 50);
CT_IEP.TMR_CMP_STS = 0xff;
__delay_cycles(4);
CT_INTC.SECR0 = 1 << IEP_EVENT;
PRU_INTC.SECR0 = 1 << IEP_EVENT;
}
static uint32_t in_timer_dispatch;
@@ -83,9 +83,9 @@ static uint32_t in_timer_dispatch;
static void
_irq_poll(void)
{
uint32_t secr0 = CT_INTC.SECR0;
uint32_t secr0 = PRU_INTC.SECR0;
if (secr0 & (1 << KICK_PRU1_EVENT)) {
CT_INTC.SECR0 = 1 << KICK_PRU1_EVENT;
PRU_INTC.SECR0 = 1 << KICK_PRU1_EVENT;
sched_wake_tasks();
}
if (secr0 & (1 << IEP_EVENT)) {
@@ -93,7 +93,7 @@ _irq_poll(void)
in_timer_dispatch = 1;
uint32_t next = timer_dispatch_many();
timer_set(next);
CT_INTC.SECR0 = 1 << IEP_EVENT;
PRU_INTC.SECR0 = 1 << IEP_EVENT;
in_timer_dispatch = 0;
}
}
@@ -148,7 +148,7 @@ console_sendf(const struct command_encoder *ce, va_list args)
SHARED_MEM->next_encoder_args = args;
writel(&SHARED_MEM->next_encoder, (uint32_t)ce);
// Signal PRU0 to transmit message
// Signal PRU0 to transmit message - 20 | (18-16) = 22 = 0010 0010
write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU0_EVENT - R31_WRITE_IRQ_OFFSET));
uint32_t itd = in_timer_dispatch;
while (readl(&SHARED_MEM->next_encoder))
@@ -197,25 +197,6 @@ dynmem_end(void)
return (void*)(8*1024 - STACK_SIZE);
}
/****************************************************************
* Resource table
****************************************************************/
struct my_resource_table {
struct resource_table base;
uint32_t offset[1]; /* Should match 'num' in actual definition */
} resourceTable __visible __section(".resource_table") = {
{
1, /* Resource table version: only version 1 is
* supported by the current driver */
0, /* number of entries in the table */
{ 0, 0 }, /* reserved, must be zero */
},
};
/****************************************************************
* Startup
****************************************************************/