Migrate firmware examples to pru-gcc

The firmware examples have been moved to gnupru
(https://github.com/dinuxbg/gnupru). The modifications done are:
1. header files - The register declarations for CT_CFG, CT_MBX and
CT_INTC have been changed.
2. fimware : main - __R30 and __R31 are not available. Instead
write_r30(), read_r30(), write_r31() and read_r31() have been used.
3. firmware: resource tables - modified according to the pru-gcc way of
generating elf files.
4. Makefiles - Modified to use pru-gcc

examples/firmware_examples/blinky/Makefile

@@ -1,97 +1,86 @@
-# PRU_CGT environment variable must point to the TI PRU code gen tools directory. E.g.:
-#(Desktop Linux) export PRU_CGT=/path/to/pru/code/gen/tools/ti-cgt-pru_2.1.2
-#(Windows) set PRU_CGT=C:/path/to/pru/code/gen/tools/ti-cgt-pru_2.1.2
-#(ARM Linux*) export PRU_CGT=/usr/share/ti/cgt-pru
+# Copyright (c) 2015, Dimitar Dimitrov
+#   All rights reserved.
 #
-# *ARM Linux also needs to create a symbolic link to the /usr/bin/ directory in
-# order to use the same Makefile
-#(ARM Linux) ln -s /usr/bin/ /usr/share/ti/cgt-pru/bin
-
-ifndef PRU_CGT
-define ERROR_BODY
-
-*******************************************************************************
-PRU_CGT environment variable is not set. Examples given:
-(Desktop Linux) export PRU_CGT=/path/to/pru/code/gen/tools/ti-cgt-pru_2.1.2
-(Windows) set PRU_CGT=C:/path/to/pru/code/gen/tools/ti-cgt-pru_2.1.2
-(ARM Linux*) export PRU_CGT=/usr/share/ti/cgt-pru
-
-*ARM Linux also needs to create a symbolic link to the /usr/bin/ directory in
-order to use the same Makefile
-(ARM Linux) ln -s /usr/bin/ /usr/share/ti/cgt-pru/bin
-*******************************************************************************
-
-endef
-$(error $(ERROR_BODY))
-endif
-
-MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
-CURRENT_DIR := $(notdir $(patsubst %/,%,$(dir $(MKFILE_PATH))))
-PROJ_NAME=$(CURRENT_DIR)
-LINKER_COMMAND_FILE=./AM335x_PRU.cmd
-LIBS=--library=../../lib/rpmsg_lib.lib
-INCLUDE=--include_path=../../include --include_path=../../include/am335x
-STACK_SIZE=0x100
-HEAP_SIZE=0x100
-GEN_DIR=gen
-
-#Common compiler and linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
-CFLAGS=-v3 -O2 --display_error_number --endian=little --hardware_mac=on --obj_directory=$(GEN_DIR) --pp_directory=$(GEN_DIR) -ppd -ppa
-#Linker flags (Defined in 'PRU Optimizing C/C++ Compiler User's Guide)
-LFLAGS=--reread_libs --warn_sections --stack_size=$(STACK_SIZE) --heap_size=$(HEAP_SIZE)
-
-TARGET=$(GEN_DIR)/$(PROJ_NAME).out
-MAP=$(GEN_DIR)/$(PROJ_NAME).map
-SOURCES=$(wildcard *.c)
-#Using .object instead of .obj in order to not conflict with the CCS build process
-OBJECTS=$(patsubst %,$(GEN_DIR)/%,$(SOURCES:.c=.object))
-
-all: printStart $(TARGET) printEnd
-
-printStart:
-	@echo ''
-	@echo '************************************************************'
-	@echo 'Building project: $(PROJ_NAME)'
-
-printEnd:
-	@echo ''
-	@echo 'Output files can be found in the "$(GEN_DIR)" directory'
-	@echo ''
-	@echo 'Finished building project: $(PROJ_NAME)'
-	@echo '************************************************************'
-	@echo ''
-
-# Invokes the linker (-z flag) to make the .out file
-$(TARGET): $(OBJECTS) $(LINKER_COMMAND_FILE)
-	@echo ''
-	@echo 'Building target: $@'
-	@echo 'Invoking: PRU Linker'
-	$(PRU_CGT)/bin/clpru $(CFLAGS) -z -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $(TARGET) $(OBJECTS) -m$(MAP) $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS)
-	@echo 'Finished building target: $@'
-
-# Invokes the compiler on all c files in the directory to create the object files
-$(GEN_DIR)/%.object: %.c
-	@mkdir -p $(GEN_DIR)
-	@echo ''
-	@echo 'Building file: $<'
-	@echo 'Invoking: PRU Compiler'
-	$(PRU_CGT)/bin/clpru --include_path=$(PRU_CGT)/include $(INCLUDE) $(CFLAGS) -fe $@ $<
-
-.PHONY: all clean
-
-# Remove the $(GEN_DIR) directory
+#   Redistribution and use in source and binary forms, with or without
+#   modification, are permitted provided that the following conditions are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in
+#     the documentation and/or other materials provided with the
+#     distribution.
+#   * Neither the name of the copyright holders nor the names of
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+# Very simple makefile to cross-compile for PRU
+
+
+# Common flags
+CROSS_COMPILE ?= pru-
+CFLAGS += -g -Os
+CFLAGS += -Wall -Wextra
+
+# Headers needed by the TI rpmsg library.
+CFLAGS += -I../../include -I../../include/am335x
+
+# Define this to squeeze code size by removing atexit, exit, constructors
+# and destructors from CRT.
+CFLAGS += -minrt
+
+# Per-PRU core flags. The -mmcu option will select the correct linker
+# script and will predefine mcu-specific macros.
+CFLAGS0 += -mmcu=am335x.pru0
+CFLAGS1 += -mmcu=am335x.pru1
+
+# List of source files to compile for each PRU core.
+SRC0 :=
+SRC1 := PRU_gpioToggle.c
+
+# GCC's -MMD does not yield the needed C dependencies when compiling all
+# C source files at once. So manually list headers here.
+HEADERS := $(wildcard *.h) $(wildcard ../include/*.h ../include/am335x/*.h)
+
+# Where to output compiled objects
+OUT := gen
+
+# Final ELF image file names
+ELF0 :=
+ELF1 := $(OUT)/blinky.elf
+
+# ============================ DO NOT TOUCH BELOW ============================
+all: $(ELF0) $(ELF1)
+	@echo Success: $^
+
+%.s : %.elf
+	$(CROSS_COMPILE)objdump -S -d $< > $@
+
+$(OUT):
+	mkdir $(OUT)
+
+$(ELF0): $(SRC0) $(HEADERS) | $(OUT)
+	$(CROSS_COMPILE)gcc $(CFLAGS) $(CFLAGS0) $(SRC0) $(LDFLAGS) -o $@
+
+$(ELF1): $(SRC1) $(HEADERS) | $(OUT)
+	$(CROSS_COMPILE)gcc $(CFLAGS) $(CFLAGS1) $(SRC1) $(LDFLAGS) -o $@
+
 clean:
-	@echo ''
-	@echo '************************************************************'
-	@echo 'Cleaning project: $(PROJ_NAME)'
-	@echo ''
-	@echo 'Removing files in the "$(GEN_DIR)" directory'
-	@rm -rf $(GEN_DIR)
-	@echo ''
-	@echo 'Finished cleaning project: $(PROJ_NAME)'
-	@echo '************************************************************'
-	@echo ''
-
-# Includes the dependencies that the compiler creates (-ppd and -ppa flags)
--include $(OBJECTS:%.object=%.pp)
+	$(RM) -fr $(ELF0) $(ELF1) $(OUT)
+
+cscope:
+	cscope -bRk
 
+.PHONY: all clean cscope

examples/firmware_examples/blinky/PRU_gpioToggle.c

@@ -1,4 +1,6 @@
 /*
+ * Source Modified by Mohammed Muneeb
+ * 
  * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
  *
  *
@@ -32,15 +34,15 @@
  */
 
 #include <stdint.h>
+#include <pru/io.h>
 #include <pru_cfg.h>
 #include "resource_table_empty.h"
 
-volatile register uint32_t __R30;
-volatile register uint32_t __R31;
 
-void main(void)
+int main(void)
 {
 	volatile uint32_t gpio;
+	volatile uint32_t R30 = read_r30();
 
 	/* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
 	CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
@@ -50,7 +52,8 @@ void main(void)
 
 	/* TODO: Create stop condition, else it will toggle indefinitely */
 	while (1) {
-		__R30 ^= gpio;
+		R30 ^= gpio;
+		write_r30(R30);
 		__delay_cycles(100000000);
 	}
 }

examples/firmware_examples/blinky/resource_table_empty.h

@@ -58,14 +58,21 @@ struct my_resource_table {
 
 	uint32_t offset[1]; /* Should match 'num' in actual definition */
 };
+#if !defined(__GNUC__)
+	#pragma DATA_SECTION(resourceTable, ".resource_table")
+	#pragma RETAIN(resourceTable)
+	#define __resource_table
+#else
+	#define __resource_table __attribute__((section(".resource_table")))
+#endif
 
-#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
-#pragma RETAIN(pru_remoteproc_ResourceTable)
-struct my_resource_table pru_remoteproc_ResourceTable = {
-	1,	/* we're the first version that implements this */
-	0,	/* number of entries in the table */
-	0, 0,	/* reserved, must be zero */
-	0,	/* offset[0] */
+struct my_resource_table pru_remoteproc_ResourceTable __resource_table = {
+	{
+		1,	/* we're the first version that implements this */
+		0,	/* number of entries in the table */
+		{ 0, 0 },	/* reserved, must be zero */
+	},
+	{ 0 },	/* offset[0] */
 };
 
 #endif /* _RSC_TABLE_PRU_H_ */