Linux/AM3358: PRU usage for implimenting PID loops

Preetam Reddy

Part Number: AM3358

Tool/software: Linux

Can the PRU's be used for implementing pid loops : Basically a control loop involving event counting at 2000 events per second and then controlling pwm's with a bit of math in between.

Is there an RTOS port to run on them and are those PRU's arm cortex cores?

what is the development environment for them ? Can I test it on the pocketbeagle ?

over 6 years ago

0 Nick Saulnier over 6 years ago

TI__Guru** 102350 points

The PRUs can be used to implement PID loops. We actually have a TI design for Simple PID Control Reference Design With PRU®-ICSS Through Web Interface. There may be other reference designs out there.

Basic getting started information about the PRU can be found at the PRU-ICSS / PRU_ICSSG Getting Starting Guide on Linux. Other resources include the PRU-ICSS Wiki and our Linux SDK PRU-ICSS / PRU_ICSSG documentation.

PRU cores run bare-metal code, so you do not run an operating system on the PRU. PRUs also do not allow interrupts to preempt currently running code. This allows the PRUs to be completely deterministic: For example, if you program a loop to take 50 ns, it will always take exactly 50 ns to execute.

You can develop PRU applications on any board with a Sitara processor. However, your desired I/O connections might not always be pinned out on the board. We specifically designed the Beaglebone PRU Cape for PRU development with the Beaglebone Black. Take a look at the PRU Hands-on Labs for more information on our suggested getting started setup.

Regards,

Nick

0 Garrett Ding over 6 years ago

TI__Mastermind 43296 points

Hi Preetam,

Please check this to see if it helps - software-dl.ti.com/.../PRU_ICSS_Industrial_Drives.html

"The Motor Control demo demonstrates a 3 phase sensored Field Oriented Control (FOC) of a single Permanent Magnet Synchronous motor (PMSM) using the onchip AM437x ADCs (default) or sigma delta decimation filtering and optionally the EnDat 2.2 master interface and a EnDat encoder attached to the motor."

Note there is no sigma delta module on AM335x and the RTOS application runs on AM437x IDK.

Regards,

Garrett

Processors

Processors forum

Linux/AM3358: PRU usage for implimenting PID loops