AM64x MCU+ SDK  09.02.01
Empty Project

Table of Contents

Introduction

This example acts as a getting started point for PRU firmware development in assembly. It is a demo that shows how to access local memory locations of PRU.

Supported Combinations

Parameter Value
ICSSG ICSSG0 - PRU0, PRU1, RTU0, RTU1, TX_PRU0,TX_PRU1
Toolchain pru-cgt
Board am64x-evm
Example folder examples/pru_io/empty/

Steps to Run the Example

  • When using CCS projects to build, import the CCS project from the above mentioned Example folder path for R5F and PRU, After this main.asm, linker.cmd files gets copied to ccs workspace of PRU project. The main.asm contains sample code for accessing Local PRU memories available: DMEM0 (64kB), DMEM1 (64kB) and Shared Ram (64kB).
  • Build the PRU project using the CCS project menu (see Using SDK with CCS Projects).
    • Build Flow: Once you click on build in PRU project, firmware header file which is generated in release or debug folder of ccs workspace, is moved to <sdk-install-dir/examples/pru_io/empty/firmware/device/>

  • Build the R5F project using the CCS project menu (see Using SDK with CCS Projects).

    • Firmware header file path is included in R5F project include options by default, Instructions in Firmware header file can be written into PRU IRAM memory using PRUICSS_loadFirmware API call
    • Build Flow: Once you click on build in R5F project, SysConfig files are generated, Finally the R5F project will be generated using both the generated SysConfig and PRU project binaries.
    • Note: The PRU project won't run independently as it is dependent on SysConfig files generated by the R5F project to intialize pru.
    Note
    Prerequisite: PRU-CGT-2-3 (ti-pru-cgt) should be installed at: C:/ti/
  • Launch a CCS debug session and run the executable, see CCS Launch, Load and Run

Writing PRU code

  • You can modify this example to write your own firmware. <sdk-install-dir/examples/pru_io/adc/> contains some PRU projects which can act as reference. PRU sources are usually separated out in a firmware/ subfolder in all these example project folders.
  • You can change the core in project properties to develop firmware for other PRU cores.