add PRU-CGT to include-dir

CHANGELOG

@@ -8,6 +8,7 @@
 - project template in /usr/share/roboticscape
 - calibration files moved to /var/lib/roboticscape
 - startup log moved to /var/log/roboticscape
+- PRU bins compile with pru-software-support-package
 
 
 0.1.5

debian/changelog

@@ -8,6 +8,7 @@ roboticscape (0.2.0) unstable; urgency=low
     * project template in /usr/share/roboticscape
     * calibration files moved to /var/lib/roboticscape
     * startup log moved to /var/log/roboticscape
+    * PRU bins compile with pru-software-support-package
 
- -- James Strawson <[email protected]>  Wed, 23 Oct 2016 21:11:00 +0000
+ -- James Strawson <[email protected]>  Fri, 18 Nov 2016 02:56:00 +0000
 

debian/files

@@ -1 +1 @@
-roboticscape_0.1.4_armhf.deb utils optional
+roboticscape_0.2.0_armhf.deb utils optional

pru_firmware/Makefile

@@ -24,16 +24,18 @@ PRU_CGT=/usr/share/ti/cgt-pru
 LNKPRU=/usr/bin/lnkpru
 CLPRU=/usr/bin/clpru
 
-# use the location of pru libraries as included with the BBB images if they exist
-# otherwise use the pru-software-support-package location
+# if the pru-software-support-package is installed to /opt/ use that
+# otherwise look in /usr/lib/ti/ which is where the BBB images puts it
 ifneq ("$(wildcard /opt/source/pru-software-support-package/lib/rpmsg_lib.lib)","")
 LIBS=--library=/opt/source/pru-software-support-package/lib/rpmsg_lib.lib
 INCLUDE=--include_path=/opt/source/pru-software-support-package/include \
---include_path=/opt/source/pru-software-support-package/include/am335x
+--include_path=/opt/source/pru-software-support-package/include/am335x \
+--include_path=$(PRU_CGT)/include
 else
 LIBS=--library=/usr/lib/ti/pru-software-support-package/lib/rpmsg_lib.lib
 INCLUDE=--include_path=/usr/lib/ti/pru-software-support-package/include \
---include_path=/usr/lib/ti/pru-software-support-package/include/am335x
+--include_path=/usr/lib/ti/pru-software-support-package/include/am335x \
+--include_path=$(PRU_CGT)/include
 endif
 
 

pru_firmware/main_pru0.c

@@ -33,7 +33,7 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
-				  
+
 #include <stdint.h>
 #include <pru_cfg.h>
 #include <pru_ctrl.h>
@@ -46,7 +46,7 @@ extern void start(void);
 
 void main(void)
 {
-    /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+	/* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
 	CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
 
 	// Access PRU Shared RAM using Constant Table                    */

pru_firmware/main_pru1.c

@@ -33,7 +33,7 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
-				  
+
 #include <stdint.h>
 #include <pru_cfg.h>
 #include "resource_table_pru1.h"

roboticscape_service/Makefile

@@ -16,6 +16,7 @@ install: $(all)
 	@$(MAKE) -C robot_startup_routine -s install
 	@$(INSTALLDIR) $(DESTDIR)/lib/systemd/system
 	@$(INSTALLNONEXEC) $(SERVICE).service $(DESTDIR)/lib/systemd/system/
+	@$(INSTALLDIR) $(DESTDIR)/etc/modules-load.d/
 	@$(INSTALLNONEXEC) roboticscape_modules.conf $(DESTDIR)/etc/modules-load.d/
 	@echo "roboticscape Service Install Complete"