AM6442: How to program and debugg the PRUs?

Genius 3186 points

Part Number: AM6442
Other Parts Discussed in Thread: SYSCONFIG

May I have some questions about AM64x PRUs?

My customer is developing AM6442 with MCU+SDK 8.06.

Question1

I think AM64 PRU must wake-uped by R5F, A53,... ARM core.

Is there any way wake up from SBL code?

Question2

In SDK example, PRU code is load by R5F core.

Could not we program looks like another ARM core project?

Could not we make PRU project looks like R5F core project?

Question3

In SDK example for pru, I think there are only written in assembler.

Is there any plan that relese C/C++ base PRU example?

Question4

Is there anything document/guide How to debugg PRU code in CCS?

If PRU code loaded by R5F, I think we could not debugg especially PRU core.

Thanks,

over 2 years ago

+1 Nick Saulnier over 2 years ago

TI__Guru** 101460 points

Hello GR,

Where to find PRU Resources?

Our PRU resources are a bit spread out right now. For a list of most of our PRU resources, please take a look at the response "PRU Development" here: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1204069/faq-sitara-multicore-development-and-documentation/4540835#4540835

Specifically, you can find more getting started information about developing C code, and developing and debugging code from CCS, in the PRU Getting Started Labs: https://software-dl.ti.com/processor-sdk-linux/esd/AM64X/08_06_00_42/exports/docs/common/PRU-ICSS/PRU-Getting-Started-Labs.html

Are there any more PRU example projects and labs being written?

We are working on adding additional projects and documentation for R5F core controlling the PRU. Those projects will go into the PRU Software Support Package (PSSP) here: https://git.ti.com/cgit/pru-software-support-package/pru-software-support-package/tree/examples/am243x. I am meeting with the engineer working on that documentation tomorrow, and I will get a status update for you then.

Can I initialize the PRU cores in SBL or uboot instead of through the R5F PRUICSS / Linux RemoteProc driver?

From the Linux SPL boot side, we have not yet added support for Uboot to initialize PRU cores (though the feature is planned).

From the MCU+ SBL side, I am checking with a team member more familiar with MCU+ SDK to comment.

Regards,

Nick

0 GR over 2 years ago in reply to Nick Saulnier

Genius 3186 points

Hi Nick,

Thanks to your information!

I look forward to new information that PSSP and SBL.

Best regards,

+1 Nick Saulnier over 2 years ago in reply to GR

TI__Guru** 101460 points

Hello GR,

The SBL has the capability to turn on the clocks to the PRU subsystem. Then CCS can be used to connect to the PRU, load PRU firmware, and tell the PRU firmware to start running. However, SBL cannot load a program onto the PRU cores and tell the PRU cores to start running.

To enable the PRU clocks from the SBL sysconfig file for something like SBL_OSPI, add the PRU module as shown:

The PSSP meeting got moved to later this week, so I will have to provide that update in a couple of days.

Regards,

Nick

0 Nick Saulnier over 2 years ago in reply to Nick Saulnier

TI__Guru** 101460 points

Hello GR,

We have started the review process of adding the RTOS version of the PRU Getting Started Labs as of today. I plan to push those projects public sometime this week or next week, and I will notify the thread when the new projects are live.

Regards,

Nick

0 GR over 2 years ago in reply to Nick Saulnier

Genius 3186 points

Hello Nick,

Thank you to your information!

I will look forward to PRU getting started Labs for RTOS.

Best regards,

+1 Nick Saulnier over 2 years ago in reply to GR

TI__Guru** 101460 points

Hello GR,

The new MCU+ PRU Getting started labs are now live:
https://git.ti.com/cgit/pru-software-support-package/pru-software-support-package/

Please create a local clone of the git repo to be able to read the pdf files.

The specific directory you are looking for is here:
https://git.ti.com/cgit/pru-software-support-package/pru-software-support-package/tree/examples/am243x

Regards,

Nick

0 GR over 2 years ago in reply to Nick Saulnier

Genius 3186 points

Hello Nick,

Thank you for information.

I will check.

Best regards,

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AM6442: How to program and debugg the PRUs?