diff --git a/books/pru-cookbook/01case/case.rst b/books/pru-cookbook/01case/case.rst
index 1087ccc50645c842e36d7a37940351bed0bf337f..5f5cbd4427e75a72d89f3c8fc7c38beff29ad000 100644
--- a/books/pru-cookbook/01case/case.rst
+++ b/books/pru-cookbook/01case/case.rst
@@ -50,7 +50,9 @@ The following are resources used in this chapter.
* `Pocket Beagle System Reference Manual <https://docs.beagleboard.io/latest/boards/pocketbeagle/original/index.html>`_
* `BeagleBone Black P8 Header Table <https://docs.beagleboard.io/latest/boards/beaglebone/black/ch07.html#id2>`_
+ * `P8 Header Table from exploringBB <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf>`_
* `BeagleBone Black P9 Header Table <https://docs.beagleboard.io/latest/boards/beaglebone/black/ch07.html#id3>`_
+ * `P9 Header Table from exploringBB <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf>`_
* `BeagleBone AI System Reference Manual <https://docs.beagleboard.io/latest/boards/beaglebone/ai/index.html>`_
@@ -171,13 +173,9 @@ PRU register to pin table
You can find these details in the
-`P8 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP8HeaderTable.pdf>`_,
-`P9 Header Table <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf>`_,
-`Pocket Beagle System Reference Manual <https://github.com/beagleboard/pocketbeagle/wiki/System-Reference-Manual#673_PRUICSS_Pin_Access>`_
-(Here is a more usable version of the `table <https://docs.google.com/spreadsheets/d/1FRGvYOyW1RiNSEVprvstfJAVeapnASgDXHtxeDOjgqw/edit?usp=sharing>`_.)
-and
-`BeagleBone AI System Reference Manual <https://github.com/beagleboard/beaglebone-ai/wiki/System-Reference-Manual>`_.
-(Here is a more usable version of the `table <https://docs.google.com/spreadsheets/d/1dFSBVem86vAUD7MLXvqdS-N0Efi8_g_O1iTqzql8DAo/edit#gid=0>`_.)
+
+* `Pocket Beagle pinout <https://docs.google.com/spreadsheets/d/1FRGvYOyW1RiNSEVprvstfJAVeapnASgDXHtxeDOjgqw/edit?usp=sharing>`_
+* `BeagleBone AI PRU pins <https://docs.google.com/spreadsheets/d/1dFSBVem86vAUD7MLXvqdS-N0Efi8_g_O1iTqzql8DAo/edit#gid=0>`_
Be default the PRUs are already loaded with the code needed to run the
@@ -320,7 +318,7 @@ I need a 100Msps, 14-channel logic analyzer
Solution
---------
-`BeagleLogic <https://beaglelogic.readthedocs.io/en/latest/>`_ is a 100Msps,
+`BeagleLogic documentation <https://beaglelogic.readthedocs.io/en/latest/>`_ is a 100Msps,
14-channel logic analyzer that runs on the Beagle.
.. admonition:: information
@@ -381,7 +379,7 @@ logic analyzer on the Bone with no additional hardware needed.
.. tip::
If you need buffered inputs, consider
- http://standalone.beaglelogic.net/en/latest/[BeagleLogic Standalone],
+ `BeagleLogic Standalone <http://standalone.beaglelogic.net/en/latest/>`_,
a turnkey Logic Analyzer built on top of BeagleLogic.
diff --git a/books/pru-cookbook/02start/start.rst b/books/pru-cookbook/02start/start.rst
index 2e02a6f75d90e6f1506a7523b159be5f2420e5e5..80ee433d0fb94fda96f35a8d6101e3efacc6306e 100644
--- a/books/pru-cookbook/02start/start.rst
+++ b/books/pru-cookbook/02start/start.rst
@@ -87,7 +87,7 @@ But it also has:
* User interface: 11 user programmable LEDs, 2 user programmable buttons
In addition you can mount the Blue on the
-https://www.renaissancerobotics.com/eduMIP.html[EduMIP kit] as shown in
+`EduMIP kit <https://www.renaissancerobotics.com/eduMIP.html>`_ as shown in
:ref:`start_edumip` to get a balancing robot.
.. _start_edumip:
diff --git a/books/pru-cookbook/05blocks/blocks.rst b/books/pru-cookbook/05blocks/blocks.rst
index d774655ff2f715db64e6e41c05ca1a699c8e9bc7..1b62a966b494ee426a8889a35a6dc55f7a4723ce 100644
--- a/books/pru-cookbook/05blocks/blocks.rst
+++ b/books/pru-cookbook/05blocks/blocks.rst
@@ -458,21 +458,21 @@ Here's what's in ``resource_table_empty.h``
+-----+-----------------------------------------------------------------------------------------------------------------+
|Line | Explanation |
+=====+=================================================================================================================+
- |6-7 | `pass:[__]R30` and `pass:[__]R31` are two variables that refer to the |
- | | PRU output (`pass:[__]R30`) and input (`pass:[__]R31`) registers. |
- | | When you write something to `pass:[__]R30` it will show up on the |
- | | corresponding output pins. When you read from `pass:[__]R31` |
+ |6-7 | ``__R30`` and ``__R31`` are two variables that refer to the |
+ | | PRU output (``__R30``) and input (``__R31``) registers. |
+ | | When you write something to ``__R30`` it will show up on the |
+ | | corresponding output pins. When you read from ``__R31`` |
| | you read the data on the input pins. |
| | NOTE: Both names begin with two underscore's. Section 5.7.2 of the |
- | | http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf[PRU Optimizing C/C++ Compiler, v2.2, User's Guide] |
+ | | `PRU Optimizing C/C++ Compiler, v2.2, User's Guide <http://www.ti.com/lit/ug/spruhv7b/spruhv7b.pdf>`_ |
| | gives more details. |
+-----+-----------------------------------------------------------------------------------------------------------------+
- |11 | This line selects which GPIO pin to toggle. The table below shows which bits in `pass:[__]R30` |
+ |11 | This line selects which GPIO pin to toggle. The table below shows which bits in ``__R30`` |
| | map to which pins |
+-----+-----------------------------------------------------------------------------------------------------------------+
|14 | `CT_CFG.SYSCFG_bit.STANDBY_INIT` is set to `0` to enable the OCP master port. More details on this |
| | and thousands of other regesters see the |
- | | https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf[AM335x Technical Reference Manual]. Section 4 is on the PRU |
+ | | `TI AM335x TRM <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_. Section 4 is on the PRU |
| | and section 4.5 gives details for all the registers. |
+-----+-----------------------------------------------------------------------------------------------------------------+
@@ -558,20 +558,20 @@ that is bit 0, we'll be toggling ``P9_31``.
+-----+-----------------------------------------------------------------------+
|Line | Explanation |
+=====+=======================================================================+
- |17 | Here is where the action is. This line reads ``pass:[__]R30`` and |
+ |17 | Here is where the action is. This line reads ``__R30`` and |
| | then ORs it with ``gpio``, setting the bits where there is |
| | a 1 in ``gpio`` and leaving the bits where there is a 0. |
| | Thus we are setting the bit we selected. Finally the new |
- | | value is written back to ``pass:[__]R30``. |
+ | | value is written back to ``__R30``. |
+-----+-----------------------------------------------------------------------+
- |18 | ``pass:[__]delay_cycles`` is an ((instrinsic function)) that delays |
+ |18 | ``__delay_cycles`` is an ((instrinsic function)) that delays |
| | with number of cycles passed to it. Each cycle is 5ns, |
| | and we are delaying 100,000,000 cycles which is |
| | 500,000,000ns, or 0.5 seconds. |
+-----+-----------------------------------------------------------------------+
|19 | This is like line 17, but ``~gpio`` inverts all the bits in ``gpio`` |
| | so that where we had a 1, there is now a 0. This 0 |
- | | is then ANDed with ``pass:[__]R30`` setting the corresponding |
+ | | is then ANDed with ``__R30`` setting the corresponding |
| | bit to 0. Thus we are clearing the bit we selected. |
+-----+-----------------------------------------------------------------------+
@@ -596,7 +596,7 @@ The off time is 498ms, which is only 2ms off from our prediction.
The standard deviation is 0, or only 380as, which is 380 * 10^-18^!.
You can see how fast the PRU can run by setting both of the
-``pass:[__]delay_cycles`` to 0. This results in the next figure.
+``__delay_cycles`` to 0. This results in the next figure.
.. figure:: figures/pwm2.png
:align: center
@@ -606,8 +606,8 @@ You can see how fast the PRU can run by setting both of the
Notice the period is 15ns which gives us a frequency of about 67MHz. At this high
frequency the breadboard that I'm using distorts the waveform so it's no longer a squarewave.
-The **on** time is 5.3ns and the **off** time is 9.8ns. That means **pass:[__]R30 |= gpio**
-took only one 5ns cycle and ``pass:[__]R30 &= ~gpio`` also only took one cycle, but there
+The **on** time is 5.3ns and the **off** time is 9.8ns. That means **__R30 |= gpio**
+took only one 5ns cycle and ``__R30 &= ~gpio`` also only took one cycle, but there
is also an extra cycle needed for the loop. This means the compiler was able to implement
the ``while`` loop in just three 5ns instructions! Not bad.
@@ -629,7 +629,7 @@ The output now looks like:
Output of pwm2.pru0.c corrected delay
-It's not hard to adjust the two ``pass:[__]delay_cycles``
+It's not hard to adjust the two ``__delay_cycles``
to get the desired frequency and duty cycle.
Controlling the PWM Frequency
@@ -653,8 +653,7 @@ The DRAM 0 address is 0x0000 for PRU 0. The same DRAM appears at address
.. tip::
- See page
- 184 of the https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf[AM335x Technical Reference Manual].
+ See page 184 of the `AM335x TRM (184) <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_.
We take the previous PRU code and add the lines
@@ -804,7 +803,7 @@ in each channel starts about 15ns later than the channel above it.
pwm5.pru0 Zoomed In
-The solution is to declare ``Rtmp`` (line 35) which holds the value for ``pass:[__]R30``.
+The solution is to declare ``Rtmp`` (line 35) which holds the value for ``__R30``.
.. literalinclude:: code/pwm6.pru0.c
:caption: pwm6.pru0.c Sync'ed Version of pwm5.pru0.c
@@ -813,7 +812,7 @@ The solution is to declare ``Rtmp`` (line 35) which holds the value for ``pass:[
:download:`pwm6.pru0.c Sync'ed Version of pwm5.pru0.c <code/pwm6.pru0.c>`
Each channel writes it's value to ``Rtmp`` (lines 17 and 20) and then after
-each channel has updated, ``Rtmp`` is copied to ``pass:[__]R30`` (line 54).
+each channel has updated, ``Rtmp`` is copied to ``__R30`` (line 54).
Discussion
-----------
@@ -956,7 +955,7 @@ Solution
-----------
Use the Interrupt Controller (INTC). It allows one PRU to signal the other.
-Page 225 of the `AM335x Technical Reference Manual <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_
+Page 225 of the `AM335x TRM 225 <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_
has details of how it works. Here's the code for PRU 0, which at the end of the
``while`` loop signals PRU 1 to start(``pwm8.pru0.c``).
@@ -1001,12 +1000,12 @@ This isn't much different from the previous examples.
+=====+=======+=======================================================================================+
|0 |37-45 |For PRU 0 these define ``configInitc()`` which initializes the interupts. |
| | |See page 226 of the |
- | | |`AM335x Technical Reference Manual <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_ |
+ | | |`AM335x TRM <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_ |
| | |for a diagram explaining events, channels, hosts, etc. |
+-----+-------+---------------------------------------------------------------------------------------+
|0 |55-56 |Set a configuration register and call `configInitc`. |
+-----+-------+---------------------------------------------------------------------------------------+
- |1 |59-61 |PRU 1 then waits for PRU 0 to signal it. Bit 31 of ``pass:[__]R31`` corresponds |
+ |1 |59-61 |PRU 1 then waits for PRU 0 to signal it. Bit 31 of ``__R31`` corresponds |
| | |to the Host-1 channel which ``configInitc()`` set up. We also clear event 16 so |
| | |PRU 0 can set it again. |
+-----+-------+---------------------------------------------------------------------------------------+
@@ -1028,8 +1027,7 @@ You have an input pin that needs to be read at regular intervals.
Solution
-----------
-You can use the ``pass:[__]R31`` register to read an input pin. Let's use the following
-pins.
+You can use the ``__R31`` register to read an input pin. Let's use the following pins.
.. _blocks_io_pins:
@@ -1064,7 +1062,7 @@ The following code reads the input pin and writes its value to the output pin.
Discussion
-----------
-Just remember that ``pass:[__]R30`` is for outputs and ``pass:[__]R31`` is for inputs.
+Just remember that ``__R30`` is for outputs and ``__R31`` is for inputs.
Analog Wave Generator
**********************
diff --git a/books/pru-cookbook/06io/io.rst b/books/pru-cookbook/06io/io.rst
index a252c44cf31f1d811f8b794703fa35390498e92e..2d019de052e72f85e56e46de66aabefa90d3393f 100644
--- a/books/pru-cookbook/06io/io.rst
+++ b/books/pru-cookbook/06io/io.rst
@@ -140,8 +140,8 @@ the code line-by-line to see what's happening.
+-------+-----------------------------------------------------------------------------------------------------------------------------------------------+
|5 | The AM335x has four 32-bit GPIO ports. Lines 55-58 of `prugpio.h` define the addresses |
| | for each of the ports. You can find these in Table 2-2 page 180 of the |
- | | https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf[AM335x Technical Reference Manual]. |
- | | Look up `P9_11` in the https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf[P9 Header Table]. |
+ | | `AM335x TRM 180 <https://www.ti.com/lit/ug/spruh73p/spruh73p.pdf>`_. |
+ | | Look up `P9_11` in the `P9 header <https://github.com/derekmolloy/exploringBB/blob/master/chp06/docs/BeagleboneBlackP9HeaderTable.pdf>`_. |
| | Under the _Mode7_ column you see `gpio0[30]`. This means `P9_11` is bit 30 |
| | on GPIO port 0. Therefore we will use `GPIO0` in this code. You can also run ``gpioinfo`` and look for P9_11. |
+-------+-----------------------------------------------------------------------------------------------------------------------------------------------+