linux - Beaglebone黑色-Debian 4.1-PRU-prussdrv_open()失败为-1

我将示例作为roothttp://mythopoeic.org/BBB-PRU/pru-helloworld/example.c运行
我收到错误：

"prussdrv_open() failed with -1" during the execution

BBB已Debian 4.1
以下是使用的命令：

sudo cp EBB-PRU-Example‐00A0.dtbo /lib/firmware
echo EBB-PRU-Example > /sys/devices/platform/bone_capemgr/slots
cat /sys/devices/platform/bone_capemgr/slots
 0: PF----  -1
 1: PF----  -1
 2: PF----  -1
 3: PF----  -1
 4: P-O-L-   0 Override Board Name,00A0,Override Manuf,EBB-PRU-Example
modprobe uio_pruss
dmesg
[  195.985512] bone_capemgr bone_capemgr: part_number 'EBB-PRU-Example', version 'N/A'
[  195.994182] bone_capemgr bone_capemgr: slot #4: override
[  195.999703] bone_capemgr bone_capemgr: Using override eeprom data at slot 4
[  196.006752] bone_capemgr bone_capemgr: slot #4: 'Override Board Name,00A0,Override Manuf,EBB-PRU-Example'
[  196.039095] pruss_uio 4a300000.pruss: No children
[  196.057144] gpio-of-helper ocp:gpio_helper: ready
[  196.070956] bone_capemgr bone_capemgr: slot #4: dtbo 'EBB-PRU-Example-00A0.dtbo' loaded; overlay id #0

和
/boot/uEnv.txt已禁用HDMI
ebb-pru-example.dts公司

/* Device Tree Overlay for enabling the pins that are used in Chapter 13
* This overlay is based on the BB-PRU-01 overlay
* Written by Derek Molloy for the book "Exploring BeagleBone: Tools and
* Techniques for Building with Embedded Linux" by John Wiley & Sons, 2014
* ISBN 9781118935125. Please see the file README.md in the repository root
* directory for copyright and GNU GPLv3 license information.
*/
/dts-v1/;
/plugin/;

/ {
   compatible = "ti,beaglebone", "ti,beaglebone-black";

   part-number = "EBB-PRU-Example";
   version = "00A0";

   /* This overlay uses the following resources */
   exclusive-use =
         "P9.11", "P9.13", "P9.27", "P9.28", "pru0";

   fragment@0 {
      target = <&am33xx_pinmux>;
      __overlay__ {

         gpio_pins: pinmux_gpio_pins {         // The GPIO pins
            pinctrl-single,pins = <
               0x070 0x07  // P9_11 MODE7 | OUTPUT | GPIO pull-down
               0x074 0x27  // P9_13 MODE7 | INPUT | GPIO pull-down
            >;
         };

         pru_pru_pins: pinmux_pru_pru_pins {   // The PRU pin modes
            pinctrl-single,pins = <
               0x1a4 0x05  // P9_27 pr1_pru0_pru_r30_5, MODE5 | OUTPUT | PRU
               0x19c 0x26  // P9_28 pr1_pru0_pru_r31_3, MODE6 | INPUT | PRU
            >;
         };
      };
   };

   fragment@1 {         // Enable the PRUSS
      target = <&pruss>;
      __overlay__ {
         status = "okay";
         pinctrl-names = "default";
         pinctrl-0 = <&pru_pru_pins>;
      };
   };

   fragment@2 {         // Enable the GPIOs
      target = <&ocp>;
      __overlay__ {
         gpio_helper {
            compatible = "gpio-of-helper";
            status = "okay";
            pinctrl-names = "default";
            pinctrl-0 = <&gpio_pins>;
         };
      };
   };
};

最佳答案

在repos中，bbb的4.1内核有两个预编译版本：“ti”版本和“bone”版本。ti版本使用较新的api来控制pru，而bone版本的api与3.8内核相同，prussdrv_open（）函数应该可以正常工作。
要安装4.1“bone”内核，可以执行以下操作：

cd /opt/scrripts/tools
./update_kernel.sh --bone-rt-kernel --lts-4_1