From 2bfc4f3800c925ea9a7ecae886053a7c7fde4d58 Mon Sep 17 00:00:00 2001
From: David Lechner <david@lechnology.com>
Date: Sat, 14 Jul 2018 14:37:46 -0500
Subject: [PATCH] evb-pru0: implement tachometer

copied from ev3-pru1 and modified for BeagleBone
---
 evb-pru0/.cproject              | 104 +++++++++-------
 evb-pru0/.project               |   1 +
 evb-pru0/main.c                 | 210 +++++++++++++++++++++++++++++++-
 evb-pru0/resource_table.h       | 147 ++++++++++++++++++++++
 evb-pru0/resource_table_empty.h |  74 -----------
 pru-software-support-package    |   2 +-
 6 files changed, 414 insertions(+), 124 deletions(-)
 create mode 100755 evb-pru0/resource_table.h
 delete mode 100755 evb-pru0/resource_table_empty.h

diff --git a/evb-pru0/.cproject b/evb-pru0/.cproject
index 96ba269..f7cb2e3 100644
--- a/evb-pru0/.cproject
+++ b/evb-pru0/.cproject
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-								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.1.linkerID.LIBRARY.1247724221" name="Include library file or command file as input (--library, -l)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.1.linkerID.LIBRARY" valueType="libs">
-									<listOptionValue builtIn="false" value="&quot;libc.a&quot;"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.LIBRARY.1589606207" name="Include library file or command file as input (--library, -l)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.LIBRARY" valueType="libs">
+									<listOptionValue builtIn="false" value="${INHERITED_LIBRARIES}"/>
+									<listOptionValue builtIn="false" value="rpmsg_lib.lib"/>
+									<listOptionValue builtIn="false" value="libc.a"/>
 								</option>
-								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.1.linkerID.INITIALIZATION_MODEL.905859198" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.1.linkerID.INITIALIZATION_MODEL" value="com.ti.ccstudio.buildDefinitions.PRU_2.1.linkerID.INITIALIZATION_MODEL.RAM_MODEL" valueType="enumerated"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.PRU_2.1.exeLinker.inputType__CMD_SRCS.176134339" name="Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.1.exeLinker.inputType__CMD_SRCS"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.PRU_2.1.exeLinker.inputType__CMD2_SRCS.604544594" name="Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.1.exeLinker.inputType__CMD2_SRCS"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.PRU_2.1.exeLinker.inputType__GEN_CMDS.1400592062" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.1.exeLinker.inputType__GEN_CMDS"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.STACK_SIZE.127364968" name="Set C system stack size (--stack_size, -stack)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.STACK_SIZE" value="0x100" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.HEAP_SIZE.1585861391" name="Heap size for C/C++ dynamic memory allocation (--heap_size, -heap)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.HEAP_SIZE" value="0x100" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.OUTPUT_FILE.1173457722" name="Specify output file name (--output_file, -o)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.OUTPUT_FILE" value="${ProjName}.out" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.MAP_FILE.766700531" name="Link information (map) listed into &lt;file&gt; (--map_file, -m)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.MAP_FILE" value="&quot;${ProjName}.map&quot;" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.DIAG_WRAP.767010748" name="Wrap diagnostic messages (--diag_wrap)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.DIAG_WRAP" value="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.DIAG_WRAP.off" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.DISPLAY_ERROR_NUMBER.1892199351" name="Emit diagnostic identifier numbers (--display_error_number)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.XML_LINK_INFO.1116666834" name="Detailed link information data-base into &lt;file&gt; (--xml_link_info, -xml_link_info)" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.XML_LINK_INFO" value="&quot;${ProjName}_linkInfo.xml&quot;" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.INITIALIZATION_MODEL.1703900049" name="Initialization model" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.INITIALIZATION_MODEL" value="com.ti.ccstudio.buildDefinitions.PRU_2.2.linkerID.INITIALIZATION_MODEL.RAM_MODEL" valueType="enumerated"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.PRU_2.2.exeLinker.inputType__CMD_SRCS.336898897" name="Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.exeLinker.inputType__CMD_SRCS"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.PRU_2.2.exeLinker.inputType__CMD2_SRCS.1300161839" name="Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.exeLinker.inputType__CMD2_SRCS"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.PRU_2.2.exeLinker.inputType__GEN_CMDS.1443744638" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.exeLinker.inputType__GEN_CMDS"/>
 							</tool>
-							<tool id="com.ti.ccstudio.buildDefinitions.PRU_2.1.hex.1629956737" name="PRU Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.1.hex"/>
+							<tool id="com.ti.ccstudio.buildDefinitions.PRU_2.2.hex.631677358" name="PRU Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.PRU_2.2.hex"/>
 						</toolChain>
 					</folderInfo>
 				</configuration>
 			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings">
+				<externalSettings containerId="rpmsg_lib;com.ti.ccstudio.buildDefinitions.PRU.Release.1233953350" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier"/>
+			</storageModule>
 		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
@@ -171,4 +182,5 @@
 		</project-mappings>
 	</storageModule>
 	<storageModule moduleId="refreshScope"/>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
 </cproject>
diff --git a/evb-pru0/.project b/evb-pru0/.project
index 0b4cdbf..4ea5a3c 100644
--- a/evb-pru0/.project
+++ b/evb-pru0/.project
@@ -3,6 +3,7 @@
 	<name>evb-pru0</name>
 	<comment></comment>
 	<projects>
+		<project>rpmsg_lib</project>
 	</projects>
 	<buildSpec>
 		<buildCommand>
diff --git a/evb-pru0/main.c b/evb-pru0/main.c
index ed38c2a..7a7d741 100644
--- a/evb-pru0/main.c
+++ b/evb-pru0/main.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/ 
+ * Copyright (C) 2018 David Lechner <david@lechnology.com>
  *  
  *  
  * Redistribution and use in source and binary forms, with or without 
@@ -31,9 +31,213 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <stdbool.h>
 #include <stdint.h>
-#include "resource_table_empty.h"
+#include <stdio.h>
+
+#include <rsc_types.h>
+
+#include <pru_cfg.h>
+#include <pru_ctrl.h>
+#include <pru_intc.h>
+#include <pru_rpmsg.h>
+
+#include <sys_gpio.h>
+#include <sys_timer_1ms.h>
+
+#include "resource_table.h"
+
+/* from Linux */
+
+#define EV3_PRU_TACHO_RING_BUF_SIZE 256 /* must be power of 2! */
+
+enum ev3_pru_tacho_msg_type {
+	/* Host >< PRU: request memory map address of ring buffer data */
+	EV3_PRU_TACHO_MSG_DATA_ADDR,
+};
+
+struct ev3_pru_tacho_msg {
+	uint32_t type;
+	uint32_t value;
+};
+
+enum ev3_pru_tacho {
+	EV3_PRU_TACHO_A,
+	EV3_PRU_TACHO_B,
+	EV3_PRU_TACHO_C,
+	EV3_PRU_TACHO_D,
+	NUM_EV3_PRU_TACHO
+};
+
+struct ev3_pru_tacho_remote_data {
+	uint32_t position[NUM_EV3_PRU_TACHO][EV3_PRU_TACHO_RING_BUF_SIZE];
+	uint32_t timestamp[NUM_EV3_PRU_TACHO][EV3_PRU_TACHO_RING_BUF_SIZE];
+	uint32_t head[NUM_EV3_PRU_TACHO];
+};
+
+/* end Linux */
+
+enum direction {
+	REVERSE = -1,
+	UNKNOWN = 0,
+	FORWARD = 1
+};
+
+/* Host-0 Interrupt sets bit 30 in register R31 */
+#define HOST_INT			((uint32_t) 1 << 30)
+
+/* The PRU-ICSS system events used for RPMsg are defined in the Linux device tree
+ * PRU0 uses system event 16 (To ARM) and 17 (From ARM)
+ * PRU1 uses system event 18 (To ARM) and 19 (From ARM)
+ */
+#define TO_ARM_HOST			16
+#define FROM_ARM_HOST			17
+
+#define PRU_GLOBAL_BASE_ADDR		0x4a300000
+#define PRU_SRAM __far __attribute__((cregister("PRU_SHAREDMEM", far)))
+
+/*
+ * Used to make sure the Linux drivers are ready for RPMsg communication
+ * Found at linux-x.y.z/include/uapi/linux/virtio_config.h
+ */
+#define VIRTIO_CONFIG_S_DRIVER_OK	4
+
+volatile register uint32_t __R31;
+
+#if defined(PLAT_EVB)
+
+#define INTA GPIO2.GPIO_DATAIN_bit.DATAIN4
+#define INTB GPIO0.GPIO_DATAIN_bit.DATAIN26
+#define INTC GPIO0.GPIO_DATAIN_bit.DATAIN27
+#define INTD GPIO2.GPIO_DATAIN_bit.DATAIN11
+
+#define DIRA GPIO2.GPIO_DATAIN_bit.DATAIN3
+#define DIRB GPIO1.GPIO_DATAIN_bit.DATAIN12
+#define DIRC GPIO1.GPIO_DATAIN_bit.DATAIN31
+#define DIRD GPIO2.GPIO_DATAIN_bit.DATAIN9
+
+#elif defined(PLAT_QUEST)
+
+#define INTA GPIO2.GPIO_DATAIN_bit.DATAIN4
+#define INTB GPIO0.GPIO_DATAIN_bit.DATAIN26
+#define INTC GPIO0.GPIO_DATAIN_bit.DATAIN27
+#define INTD GPIO2.GPIO_DATAIN_bit.DATAIN12
+
+#define DIRA GPIO2.GPIO_DATAIN_bit.DATAIN3
+#define DIRB GPIO1.GPIO_DATAIN_bit.DATAIN12
+#define DIRC GPIO1.GPIO_DATAIN_bit.DATAIN31
+#define DIRD GPIO2.GPIO_DATAIN_bit.DATAIN13
+
+#else
+#error Must define PLAT_xyz
+#endif
+
+#define TACHO_STATE(x) ((INT##x << 1) | DIR##x)
+
+static uint8_t tacho_state[NUM_EV3_PRU_TACHO];
+static uint32_t tacho_prev_timestamp[NUM_EV3_PRU_TACHO];
+static uint32_t tacho_counts[NUM_EV3_PRU_TACHO];
+
+static uint8_t payload[RPMSG_BUF_SIZE];
+static PRU_SRAM struct ev3_pru_tacho_remote_data remote_data;
+
+static void update_tacho_state(enum ev3_pru_tacho idx, uint8_t new_state)
+{
+	uint8_t current_state = tacho_state[idx] & 0x3;
+	enum direction new_dir = UNKNOWN;
+	uint32_t now, elapsed;
+
+	switch (current_state) {
+		case 0x0:
+			if (new_state == 0x1) {
+				new_dir = FORWARD;
+			} else if (new_state == 0x2) {
+				new_dir = REVERSE;
+			}
+			break;
+
+		case 0x1:
+			if (new_state == 0x3) {
+				new_dir = FORWARD;
+			} else if (new_state == 0x0) {
+				new_dir = REVERSE;
+			}
+			break;
+
+		case 0x3:
+			if (new_state == 0x2) {
+				new_dir = FORWARD;
+			} else if (new_state == 0x1) {
+				new_dir = REVERSE;
+			}
+			break;
+
+		case 0x2:
+			if (new_state == 0x0) {
+				new_dir = FORWARD;
+			} else if (new_state == 0x3) {
+				new_dir = REVERSE;
+			}
+			break;
+	}
+
+	tacho_state[idx] = new_state;
+	tacho_counts[idx] += new_dir;
+
+	now = DMTIMER1_1MS.TCRR;
+	elapsed = now - tacho_prev_timestamp[idx];
+
+	// if there was a change in count or if count hasn't changed for 50ms
+	if (new_dir || elapsed > (50 * 1000000 * 3 / 125)) {
+		uint32_t new_head = (remote_data.head[idx] + 1) & (EV3_PRU_TACHO_RING_BUF_SIZE - 1);
+
+		tacho_prev_timestamp[idx] = now;
+
+		remote_data.position[idx][new_head] = tacho_counts[idx];
+		remote_data.timestamp[idx][new_head] = now;
+		remote_data.head[idx] = new_head;
+	}
+}
 
 int main(void) {
-	__halt();
+	volatile uint8_t *status;
+	struct pru_rpmsg_transport transport;
+	uint16_t src, dst, len;
+
+	// Clear the status of the PRU-system event that the ARM will use to 'kick' us
+	CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
+
+	// Wait until Linux gives us the OK that the driver is loaded
+	status = &resource_table.rpmsg_vdev.status;
+	while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK));
+
+	pru_virtqueue_init(&transport.virtqueue0, &resource_table.rpmsg_vring0, TO_ARM_HOST, FROM_ARM_HOST);
+	pru_virtqueue_init(&transport.virtqueue1, &resource_table.rpmsg_vring1, TO_ARM_HOST, FROM_ARM_HOST);
+
+	while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, "ev3-tacho-rpmsg", "", 0) != PRU_RPMSG_SUCCESS);
+
+	while (true) {
+		// wait for the ARM to kick us
+		while (!(__R31 & HOST_INT)) {
+			update_tacho_state(EV3_PRU_TACHO_A, TACHO_STATE(A));
+			update_tacho_state(EV3_PRU_TACHO_B, TACHO_STATE(B));
+			update_tacho_state(EV3_PRU_TACHO_C, TACHO_STATE(C));
+			update_tacho_state(EV3_PRU_TACHO_D, TACHO_STATE(D));
+		}
+
+		// clear the interrupt
+		CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
+
+		// Receive all available messages, multiple messages can be sent per kick
+		while (pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS) {
+			struct ev3_pru_tacho_msg *msg = (void *)payload;
+
+			switch (msg->type) {
+			case EV3_PRU_TACHO_MSG_DATA_ADDR:
+				msg->value = PRU_GLOBAL_BASE_ADDR + (uint32_t)&remote_data;
+				pru_rpmsg_send(&transport, dst, src, msg, sizeof(*msg));
+				break;
+			}
+		}
+	}
 }
diff --git a/evb-pru0/resource_table.h b/evb-pru0/resource_table.h
new file mode 100755
index 0000000..1bb752b
--- /dev/null
+++ b/evb-pru0/resource_table.h
@@ -0,0 +1,147 @@
+/*
+ * Copyright (C) 2016 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ * 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 Texas Instruments Incorporated nor the names of
+ *	  its 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.
+ */
+
+#ifndef _RSC_TABLE_PRU_H_
+#define _RSC_TABLE_PRU_H_
+
+#include <stddef.h>
+#include <rsc_types.h>
+#include "pru_virtio_ids.h"
+
+/*
+ * Sizes of the virtqueues (expressed in number of buffers supported,
+ * and must be power of 2)
+ */
+#define PRU_RPMSG_VQ0_SIZE	16
+#define PRU_RPMSG_VQ1_SIZE	16
+
+/*
+ * The feature bitmap for virtio rpmsg
+ */
+#define VIRTIO_RPMSG_F_NS	0		//name service notifications
+
+/* This firmware supports name service notifications as one of its features */
+#define RPMSG_PRU_C0_FEATURES	(1 << VIRTIO_RPMSG_F_NS)
+
+/* Definition for unused interrupts */
+#define HOST_UNUSED		255
+
+/* Number of entries in the table */
+#define NUM_RESORUCES	2
+
+/* Mapping sysevts to a channel. Each pair contains a sysevt, channel. */
+struct ch_map pru_intc_map[] = {
+	{ .evt = 16, .ch = 2 },
+	{ .evt = 17, .ch = 0 },
+};
+
+struct pru0_resource_table {
+	struct resource_table base;
+
+	uint32_t offset[NUM_RESORUCES];
+
+	/* rpmsg vdev entry */
+	struct fw_rsc_vdev rpmsg_vdev;
+	struct fw_rsc_vdev_vring rpmsg_vring0;
+	struct fw_rsc_vdev_vring rpmsg_vring1;
+
+	/* intc definition */
+	struct fw_rsc_custom pru_ints;
+};
+
+#pragma DATA_SECTION(resource_table, ".resource_table")
+#pragma RETAIN(resource_table)
+struct pru0_resource_table resource_table = {
+	.base = {
+		.ver = 1,	/* only version 1 is supported by the current driver */
+		.num = NUM_RESORUCES,
+		.reserved = { 0, 0 },	/* must be zero */
+	},
+	/* offsets to entries */
+	.offset = {
+		offsetof(struct pru0_resource_table, rpmsg_vdev),
+		offsetof(struct pru0_resource_table, pru_ints),
+	},
+
+	/* rpmsg vdev entry */
+	.rpmsg_vdev = {
+		.type          = TYPE_VDEV,
+		.id            = VIRTIO_ID_RPMSG,
+		.notifyid      = 0,
+		.dfeatures     = RPMSG_PRU_C0_FEATURES,
+		.gfeatures     = 0,
+		.config_len    = 0,
+		.status        = 0,
+		.num_of_vrings = 2, // only two is supported
+		.reserved      = { 0, 0 },
+	},
+	/* the two vrings */
+	.rpmsg_vring0 = {
+		.da       = 0,                      //will be populated by host, can't pass it in
+		.align    = 16,                     //(bytes),
+		.num      = PRU_RPMSG_VQ0_SIZE,     //num of descriptors
+		.notifyid = 0,                      //will be populated, can't pass right now
+		.reserved = 0,
+	},
+	.rpmsg_vring1 = {
+		.da       = 0,                      //will be populated by host, can't pass it in
+		.align    = 16,                     //(bytes),
+		.num      = PRU_RPMSG_VQ1_SIZE,     //num of descriptors
+		.notifyid = 0,                      //will be populated, can't pass right now
+		.reserved = 0,
+	},
+
+	.pru_ints = {
+		.type = TYPE_POSTLOAD_VENDOR,
+		.sub_type = TYPE_PRU_INTS,
+		.rsc_size = sizeof(struct fw_rsc_custom_ints),
+		.rsc.pru_ints = {
+			.version = 0x0000,
+			.channel_host = {
+				0,
+				HOST_UNUSED,
+				2,
+				HOST_UNUSED,
+				HOST_UNUSED,
+				HOST_UNUSED,
+				HOST_UNUSED,
+				HOST_UNUSED,
+				HOST_UNUSED,
+				HOST_UNUSED,
+			},
+			.num_evts = (sizeof(pru_intc_map) / sizeof(struct ch_map)),
+			.event_channel = pru_intc_map,
+		},
+	},
+};
+
+#endif /* _RSC_TABLE_PRU_H_ */
diff --git a/evb-pru0/resource_table_empty.h b/evb-pru0/resource_table_empty.h
deleted file mode 100755
index fa71af3..0000000
--- a/evb-pru0/resource_table_empty.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/ 
- *  
- *  
- * 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 Texas Instruments Incorporated nor the names of
- * 	  its 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.
- */
-
-/*
- *  ======== resource_table_empty.h ========
- *
- *  Define the resource table entries for all PRU cores. This will be
- *  incorporated into corresponding base images, and used by the remoteproc
- *  on the host-side to allocated/reserve resources.  Note the remoteproc
- *  driver requires that all PRU firmware be built with a resource table.
- *
- *  This file contains an empty resource table.  It can be used either as:
- *
- *        1) A template, or
- *        2) As-is if a PRU application does not need to configure PRU_INTC
- *                  or interact with the rpmsg driver
- *
- */
-
-#ifndef _RSC_TABLE_PRU_H_
-#define _RSC_TABLE_PRU_H_
-
-#include <stddef.h>
-#include <rsc_types.h>
-
-struct empty_resource_table {
-	struct resource_table base;
-
-	uint32_t offset[1];
-};
-
-#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
-#pragma RETAIN(pru_remoteproc_ResourceTable)
-struct empty_resource_table pru_remoteproc_ResourceTable = {
-	.base = {
-		.ver = 1,
-		.num = 0,
-		.reserved = { 0, 0 },
-	},
-	.offset = { 0 },
-};
-
-#endif /* _RSC_TABLE_PRU_H_ */
-
diff --git a/pru-software-support-package b/pru-software-support-package
index a460359..49a18c0 160000
--- a/pru-software-support-package
+++ b/pru-software-support-package
@@ -1 +1 @@
-Subproject commit a4603595f5903c5e8e54f712d8a2c5ca8a350ebf
+Subproject commit 49a18c0767592a9a7a8b8521e125646717aa2999