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How to compile prussdrv code on remote machine?

Lukasz Przenioslo
Expert 2630 points

Hello there,

I have a problem with pru package. I am using eclipse and crosscompiller to remotelly compile, debug and deploy c++ apps to beaglebone black. everything worked so far. Problems started when i tried to use pru. I have downloaded the pru package from github and installed it on bbb. I can now compile and execute aps on bbb with lprussdrv linker flag. i have copoed all tje necessary .h and .c files to the remote system. also copied the libs frob bbb to remote system. i could then compile the code with -lprussdrv flag on remote system. the problem is, that when i try to run that crosscompiled code, i am getting a segfault when trying to open the .bin file... what did I do wrong? I installed the ccs6 sitara ti compiler hoping to find anything i could use in eclipse there, but I cant.

Could someone please tell me how to use the pru package from remote xcompile system? I would really really aprichiatw all help, im really stuck without pru in my project. I can post additional info if needed.

  • 0
    TI__Guru**** 173310 points
    Moving this to Sitara form.
  • 0
    TI__Guru**** 393215 points

    Hi Lukasz,

    Which PRU package are you asking about? This one https://github.com/beagleboard/am335x_pru_package is not supported by TI. You can check here for the latest PRU package released by TI: http://software-dl.ti.com/sitara_linux/esd/PRU-SWPKG/latest/index_FDS.html

  • 0 in reply to Biser Gatchev-XID
    Expert 2630 points

    Hello,

    Yes I was asking about the one from github. Could you please tell me either it is possible to use the one you linked from eclipse and deploy to BeagleBone Black? I am desperate right now as I have only a little tile to finish the project and this is a blocking point for me. I would really aprichiate all help.

  • 0 in reply to Lukasz Przenioslo
    TI__Guru**** 393215 points

    I will ask the factory team about this. Response will be posted here as soon as available.

  • 0 in reply to Biser Gatchev-XID
    Expert 2630 points
    Thank you a lot. At the moment I have a big project configured and running in eclipse on my remote linux x86 system. I have to add the PRU functionality now and I dont know how to add it to this existing enviroment. I Would really aprichiate all help, this is really urgent for me. Looking forward to your answer.
    There are a lot of descriptions how to install the package you have linked, but there are no real examples of how is it working, thats also confusing for me as I am not sure how will this work in the end.
  • 0 in reply to Lukasz Przenioslo
    TI__Guru**** 393215 points

    Here is a wiki link: http://processors.wiki.ti.com/index.php/PRU-ICSS_Getting_Started_Guide I don't know if you have seen this, but you may find something helpful there. I have already asked the factory team for help.

  • 0 in reply to Biser Gatchev-XID
    Expert 2630 points
    Ive seen this, thank you.
  • 0 in reply to Biser Gatchev-XID
    Expert 2630 points

    Hey, any news regarding the case?

  • 0 in reply to Lukasz Przenioslo
    TI__Guru**** 393215 points

    Feedback will be posted here when available.

  • 0 in reply to Biser Gatchev-XID
    TI__Mastermind 25936 points

    >>running in eclipse on my remote linux x86 system

    What remote machine are you using and which SDK?

    (Understanding as Biser says above that this package is not supported by TI), I've built with SDK6.0 (i.e. Linaro gcc tool chain) using UBuntu12.04 as a host machine.  Attached is my build log for /am335x_pru_package-master/pru_sw/example_apps in Ubuntu.  The PRU_memAccess_DDR_PRUsharedRAM example I use the most is compiled at line 39. And I can manually build it with make:

    make
    arm-linux-gnueabihf-gcc -Wall -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -c -o obj/PRU_memAccessPRUDataRam.o PRU_memAccessPRUDataRam.c
    arm-linux-gnueabihf-gcc -Wall -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -o ../bin/PRU_memAccessPRUDataRam obj/PRU_memAccessPRUDataRam.o -L../../app_loader/lib -lprussdrv -lpthread

    I don't understand the Linux libraries paths well so when running (on Beaglebone White):

    root@am335x-evm:~/bin# ./PRU_memAccessPRUDataRam

    ./PRU_memAccessPRUDataRam: error while loading shared libraries: libprussdrv.so: cannot open shared object file: No such file or directory

     

    I had to specify the path:

    root@am335x-evm:~/bin# LD_LIBRARY_PATH=/usr/local/lib ./PRU_memAccessPRUDataRam

    INFO: Starting PRU_memAccessPRUDataRam example.         INFO: Initializing example.         INFO: Executing example.         INFO: Waiting for HALT command.         INFO: PRU completed transfer. INFO: Example executed succesfully.

    >> i am getting a segfault when trying to open the .bin file 

    I did get these when I was experimenting with PRU Compiler (clpru) output when using hexpru.  Must have been a binary mismatch (I never solved).

    >>I can now compile and execute aps on bbb with lprussdrv linker flag

    Interesting that you are natively compiling the apploader code.  And even that you must be compiling and running pasm on the bbb.

     >> I installed the ccs6 sitara ti compiler hoping to find anything i could use in eclipse there

    Rereading this, are you building with the TI CCSv6 C compiler?

    If so, you are probably seeing a similar binary mismatch to what I saw.

    Can't you just run make and the Linaro gcc tool chain on you Linux host? 

    If not, you might use a hex editor to figure out the format differences (which is what started to do).

    Fullscreen am335x_pru_package_build.log Download 
    root1@root1-Latitude-E6410:~$ cd /home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface$ export PATH="$PATH:/usr/local/ti-sdk-am335x-evm/linux-devkit/sysroots/i686-arago-linux/usr/bin"
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface$ ls
debug  FIXME  Makefile  prussdrv.c  __prussdrv.h  release
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface$ make
make: Nothing to be done for `all'.
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface$ make clean
rm -rf release debug *~ ../lib/*
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface$ make
arm-linux-gnueabihf-gcc -I. -Wall -I../include  -c -g -O0 -D__DEBUG -o debug/prussdrv.o prussdrv.c
arm-linux-gnueabihf-ar rc ../lib/libprussdrvd.a debug/prussdrv.o
arm-linux-gnueabihf-gcc -I. -Wall -I../include  -c -O3 -mtune=cortex-a8 -march=armv7-a -o release/prussdrv.o prussdrv.c
arm-linux-gnueabihf-ar rc ../lib/libprussdrv.a release/prussdrv.o
arm-linux-gnueabihf-gcc -I. -Wall -I../include  -c -fPIC -g -O0 -D__DEBUG -o debug/prussdrv_PIC.o prussdrv.c
arm-linux-gnueabihf-gcc -shared -o ../lib/libprussdrvd.so debug/prussdrv_PIC.o
arm-linux-gnueabihf-gcc -I. -Wall -I../include  -c -fPIC -O3 -mtune=cortex-a8 -march=armv7-a -o release/prussdrv_PIC.o prussdrv.c
arm-linux-gnueabihf-gcc -shared -o ../lib/libprussdrv.so release/prussdrv_PIC.o
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/interface$ cd /home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/utils/pasm_source
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/utils/pasm_source$ ./linuxbuild
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/utils/pasm_source$ cd /home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps$ ls
bin   Makefile                        PRU_memAccessPRUDataRam
DIRS  PRU_memAccess_DDR_PRUsharedRAM  PRU_PRUtoPRU_Interrupt
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps$ make clean
for dir in  PRU_memAccess_DDR_PRUsharedRAM PRU_memAccessPRUDataRam PRU_PRUtoPRU_Interrupt; do make -C $dir clean LIBDIR_APP_LOADER="../../app_loader/lib" LIBDIR_EDMA_DRIVER="" INCDIR_APP_LOADER="../../app_loader/include" INCDIR_EDMA_DRIVER="" BINDIR="../bin"; done
make[1]: Entering directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccess_DDR_PRUsharedRAM'
rm -rf obj/ *~  ../../app_loader/include/*~  ../bin/PRU_memAcc_DDR_sharedRAM
make[1]: Leaving directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccess_DDR_PRUsharedRAM'
make[1]: Entering directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccessPRUDataRam'
rm -rf obj/ *~  ../../app_loader/include/*~  ../bin/PRU_memAccessPRUDataRam
make[1]: Leaving directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccessPRUDataRam'
make[1]: Entering directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_PRUtoPRU_Interrupt'
rm -rf obj/ *~  ../../app_loader/include/*~  ../bin/PRU_PRUtoPRU_Interrupt
make[1]: Leaving directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_PRUtoPRU_Interrupt'
for bin_file in  PRU_memAcc_DDR_sharedRAM.bin PRU_memAccessPRUDataRam.bin PRU_PRU0toPRU1_Interrupt.bin PRU_PRU1toPRU0_Interrupt.bin; do rm -fr bin/$bin_file; done
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps$ make
mkdir -p bin
for dir in  PRU_memAccess_DDR_PRUsharedRAM PRU_memAccessPRUDataRam PRU_PRUtoPRU_Interrupt; do make -C $dir CROSS_COMPILE="arm-linux-gnueabihf-" LIBDIR_APP_LOADER="../../app_loader/lib" LIBDIR_EDMA_DRIVER="" INCDIR_APP_LOADER="../../app_loader/include" INCDIR_EDMA_DRIVER="" BINDIR="../bin"; done
make[1]: Entering directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccess_DDR_PRUsharedRAM'
arm-linux-gnueabihf-gcc -Wall -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -c -o obj/PRU_memAcc_DDR_sharedRAM.o PRU_memAcc_DDR_sharedRAM.c
arm-linux-gnueabihf-gcc -Wall -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -o ../bin/PRU_memAcc_DDR_sharedRAM obj/PRU_memAcc_DDR_sharedRAM.o -L../../app_loader/lib -lprussdrv
make[1]: Leaving directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccess_DDR_PRUsharedRAM'
make[1]: Entering directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccessPRUDataRam'
arm-linux-gnueabihf-gcc -Wall -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -c -o obj/PRU_memAccessPRUDataRam.o PRU_memAccessPRUDataRam.c
arm-linux-gnueabihf-gcc -Wall -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -o ../bin/PRU_memAccessPRUDataRam obj/PRU_memAccessPRUDataRam.o -L../../app_loader/lib -lprussdrv
make[1]: Leaving directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_memAccessPRUDataRam'
make[1]: Entering directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_PRUtoPRU_Interrupt'
arm-linux-gnueabihf-gcc -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -c -o obj/PRU_PRUtoPRU_Interrupt.o PRU_PRUtoPRU_Interrupt.c
arm-linux-gnueabihf-gcc -I../../app_loader/include -D__DEBUG -O2 -mtune=cortex-a8 -march=armv7-a -o ../bin/PRU_PRUtoPRU_Interrupt obj/PRU_PRUtoPRU_Interrupt.o -L../../app_loader/lib -lprussdrv
make[1]: Leaving directory `/home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/PRU_PRUtoPRU_Interrupt'
for a_file in  PRU_memAccess_DDR_PRUsharedRAM/PRU_memAcc_DDR_sharedRAM.p PRU_memAccessPRUDataRam/PRU_memAccessPRUDataRam.p PRU_PRUtoPRU_Interrupt/PRU_PRU0toPRU1_Interrupt.p PRU_PRUtoPRU_Interrupt/PRU_PRU1toPRU0_Interrupt.p ; \
	do \
          ../utils/pasm_2 -V3 -b $a_file ; \
	done ; \
	mv *.bin bin


PRU Assembler Version 0.86
Copyright (C) 2005-2013 by Texas Instruments Inc.


Pass 2 : 0 Error(s), 0 Warning(s)

Writing Code Image of 16 word(s)



PRU Assembler Version 0.86
Copyright (C) 2005-2013 by Texas Instruments Inc.


Pass 2 : 0 Error(s), 0 Warning(s)

Writing Code Image of 14 word(s)



PRU Assembler Version 0.86
Copyright (C) 2005-2013 by Texas Instruments Inc.


Pass 2 : 0 Error(s), 0 Warning(s)

Writing Code Image of 16 word(s)



PRU Assembler Version 0.86
Copyright (C) 2005-2013 by Texas Instruments Inc.


Pass 2 : 0 Error(s), 0 Warning(s)

Writing Code Image of 14 word(s)

root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps$ ls
bin   Makefile   Makefile.ori                    PRU_memAccessPRUDataRam
DIRS  Makefile~  PRU_memAccess_DDR_PRUsharedRAM  PRU_PRUtoPRU_Interrupt
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps$ cd bin
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/bin$ ls
PRU_memAcc_DDR_sharedRAM      PRU_PRU0toPRU1_Interrupt.bin
PRU_memAcc_DDR_sharedRAM.bin  PRU_PRU1toPRU0_Interrupt.bin
PRU_memAccessPRUDataRam       PRU_PRUtoPRU_Interrupt
PRU_memAccessPRUDataRam.bin
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/bin$ file PRU_memAccessPRUDataRam
PRU_memAccessPRUDataRam: ELF 32-bit LSB executable, ARM, version 1 (SYSV), dynamically linked (uses shared libs), for GNU/Linux 2.6.31, BuildID[sha1]=0x7b6c7ffaf5b058d3e2b013a4e09bbd8c01a17575, not stripped
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/bin$ file PRU_memAccessPRUDataRam.bin
PRU_memAccessPRUDataRam.bin: data
root1@root1-Latitude-E6410:~/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/example_apps/bin$ cd /home/root1/joetemp/AM335x/PRU/am335x_pru_package-master/pru_sw/app_loader/lib
      

  • 0 in reply to Joe G.
    Expert 2630 points

    hello, thank you for answer.

    i am building my code also using linaro xcompiller, on a linux mint system.

    i dont quite understand what you advise me to do- i can only compile c prpgrams with pru libs on bbb.and my whole project is on my host linux mint. I would like to compile pruss using cross gcc on my pc instead of bbb but the script did not work.

  • 0 in reply to Lukasz Przenioslo
    TI__Mastermind 25936 points
    >>I would like to compile pruss using cross gcc on my pc instead of bbb but the script did not work
    So I am doing this on Ubuntu 12.04 with above build log. Have you tried the same examples as an experiment?

    Have you followed all the instructions in PRU - 03-AM335x_PRU_Linux_Application_Loader-ug.pdf from /am335x_pru_package-master/Documentation directory?
  • 0 in reply to Joe G.
    Expert 2630 points
    I have it doesnt reffer to a remote system, but building everything on bbb.
  • 0 in reply to Joe G.
    TI__Mastermind 25936 points
    P. 6 (copied below) along with the kernal build on p. 4 is all built on the host (i just manually built with Ubuntu 12.04 in a different directory):

    Installing the PRUSSDRV User Space Library
    The user space library is provided by am335x_pru_package/pru_sw/app_loader/interface/prussdrv.c.
    1. Set environment variables
    $host . /home/.../ti-sdk-am335x-evm-xx.xx.xx.xx/linux-devkit/environment-setup
    2. Compile prussdrv.c
    $host cd pru_sw/app_loader/interface
    $host make clean
    $host make
    2. Compile application code using PRUSSDRV APIs.
    3. Download executable file and PRU binaries to your file system.
  • 0 in reply to Joe G.
    Expert 2630 points
    So you can compile pru c code on ubuntu pc and then run it on bbb with success? So i have to simply cross compile prussdrv.c and the run make?
  • 0 in reply to Joe G.
    Expert 2630 points
    In other words- how are the steps different than from building this package on bbb?
  • 0 in reply to Lukasz Przenioslo
    TI__Mastermind 25936 points

    >>So you can compile pru c code on ubuntu pc and then run it on bbb with success?

    Yes.

    >>So i have to simply cross compile prussdrv.c and the run make?

    Would be a good experiment.

    >>In other words- how are the steps different than from building this package on bbb?

    Honestly don't know what seems to make the images different.  Maybe there is an Endian issue?

     

    BTW if you have CCSv6 connected, you can look at the code from the PRU side after loading from Linux as I did on the attached screenshot.

    Newly loaded PRU opcodes in red (I was following from the PRU dissassembly and Hex Editor in the bottom left. Beaglebone-White Linux window (Putty) on the bottom right.

    ). 

     

  • 0 in reply to Joe G.
    Expert 2630 points
    I will try to build ot on linux mint again tommorow, thanks. I dont have the ccs6 yet, I was only using the package from github.

    The .bin files are not the problem as I can compile them on bbb. The problem is building the userspace .c app on bbb vs on linux min with x compiller.
  • 0 in reply to Biser Gatchev-XID
    Intellectual 740 points

    Hi Biser;

        I too am having difficulties with the clpru installation. The install package comes off your website in aome sort of windows install file. There appear to be no directions for installation in the docs. Even the BiSS firmware docs assume you know what to do with it. What exactly is the process for using this file?

    Thanks,

    Aaron Kellner

  • 0 in reply to Aaron Kellner
    TI__Mastermind 25936 points
    Which SDK are you using? PRUSSDRV has been superseded by remoteproc. Please see quickstart and even lab examples here:
    e2e.ti.com/.../483778