3.6.2.3. Lab 2: How to Write PRU Firmware

• 3.6.2.3.1. Writing C Code
  • 3.6.2.3.1.1. Writing C Code in CCS
  • 3.6.2.3.1.2. Writing C Code in Linux
• 3.6.2.3.2. Writing Assembly Code
  • 3.6.2.3.2.1. Writing Assembly Code in CCS
  • 3.6.2.3.2.2. Writing Assembly Code in Linux
• 3.6.2.3.3. Writing Mixed C and Assembly Code
  • 3.6.2.3.3.1. Write the Main Function in C
  • 3.6.2.3.3.2. Write the External Function in Assembly
  • 3.6.2.3.3.3. More Resources for Writing Mixed C and Assembly Code
• 3.6.2.3.4. Writing Mixed C and Inline Assembly Code
  • 3.6.2.3.4.1. Write the Main Function in C
  • 3.6.2.3.4.2. Write the Inline Function in Assembly
  • 3.6.2.3.4.3. More Resources for Writing Mixed C and Inline Assembly Code

This lab will explain how to write firmware for a simple PRU program. The example PRU program will continuously add two numbers and save the result.

PRU cores run bare metal software (i.e., TI does not support running an operating system on the PRU cores). PRU firmware may be written in C code, or in assembly code.

• C code is compiled into machine language by the TI PRU C/C++ Compiler. C code provides the benefits of a high level language. For example, C code is typically easier to read and write than Assembly code.

• Each assembly instruction directly correlates to a machine language instruction. That means that assembly code precisely controls the PRU core and the timing of the PRU core. For example, if the PRU implements a custom communication protocol, assembly code allows the PRU to always read input signals and write output signals at the exact correct time.

• C code and assembly code can be combined to provide the benefits of both forms of programming.

See also

More information about the TI PRU Code Generation Tools (including the TI PRU C/C++ Compiler and Assembly Language Tool) can be found at:

TI PRU Code Generation Tools

Note

The C compiler can be used to generate assembly code from C code. Generated assembly code may be a helpful starting point for assembly code development. See Lab 3: How to Compile PRU Firmware

Start this lab with either Writing C Code, or with Writing Assembly Code.

If interested in writing mixed C and assembly programs, go through the “Writing C Code” and “Writing Assembly Code” sections first. Then, go through Writing Mixed C and Assembly Code and Writing Mixed C and Inline Assembly Code.