gopru

Pure go implementation of pru app loader for beaglebone black. C source of Pruss app loader (the inspiration for this)

The quality of this code is hacked at best (at the moment). See prussdrv_test.go for usage.

gopru is licensed under the two-clause BSD license. See LICENSE.txt.

example usage

package main

import (
	"github.com/mikelikespie/gopru"
	"log"
)

func main() {

	drv, err := pruss.InitDrv()
	if err != nil {
		log.Panicln("Error initializing:", err)
	}

	defer func() {
		err := drv.Close()
		if err != nil {
			log.Panicln("Error closing:", err)
		}
	}()

	// Open the interrupt.  One needs the listener to wait on them later
	listener, err := drv.OpenInterrupt(pruss.PRU_EVTOUT_0); 
	if err != nil {
		log.Panicln("Error opening interrupt:", err)
	}

	if err = drv.InitInterrupts(); err != nil {
		log.Panicln("Error initializing interrupts:", err)
	}

	pru := drv.Pru(0)
	if err = pru.ExecProgram("my_program.bin"); err != nil {
		log.Panicln("Error executing image:", err)
	}
	defer pru.Disable()


	// Wait for the program to send an interrupt
	listener.Wait()
	drv.ClearEvent(pruss.PRU0_ARM_INTERRUPT)
}

pasm wrapper

the pasm directory contains a port of the pasm assembler (from https://github.com/beagleboard/am335x_pru_package/tree/master/pru_sw/utils/pasm_source). It is modified to be callable via cgo. This allows for testing to be much easier for gopru. (see prussdrv_test.go for example)

pasm's license can be found in pasm/LICENSE.txt