pbio/drv/rproc/rproc_ev3.c: Move PRU0 initialization into rproc driver

As a future goal, there are plans to clearly document PRU interrupt controller
config (as it is shared between the two PRU cores). This will be easier if
initialization is centralized.

Author: ArcaneNibble

lib/pbio/drv/rproc/rproc_ev3.c

@@ -16,16 +16,22 @@
 #include <tiam1808/timer.h>
 
 #include "rproc_ev3.h"
+#include "../uart/uart_ev3_pru.h"
 
 volatile pbdrv_ev3_pru1_shared_ram_t pbdrv_ev3_pru1_shared_ram __attribute__((section(".shared1")));
 
-extern char _pru1_start;
-extern char _pru1_end;
-
 void pbdrv_rproc_init(void) {
     // Enable PRU subsystem
     PSCModuleControl(SOC_PSC_0_REGS, HW_PSC_PRU, PSC_POWERDOMAIN_ALWAYS_ON, PSC_MDCTL_NEXT_ENABLE);
 
+    // PRU0 initialization
+
+    extern uint8_t _pru0_start;
+    extern uint8_t _pru0_end;
+    uint32_t fw_size = &_pru0_end - &_pru0_start;
+    uint8_t *fw_data = &_pru0_start;
+    pbdrv_uart_ev3_pru_load_firmware(fw_data, fw_size);
+
     // PRU1 initialization
 
     // Enable Timer0 "34" half to count up to 256 * 256
@@ -38,6 +44,8 @@ void pbdrv_rproc_init(void) {
     memset((void *)&pbdrv_ev3_pru1_shared_ram, 0, sizeof(pbdrv_ev3_pru1_shared_ram));
 
     // Enable PRU1 and load its firmware
+    extern uint8_t _pru1_start;
+    extern uint8_t _pru1_end;
     PRUSSDRVPruDisable(1);
     PRUSSDRVPruReset(1);
     unsigned int *fw_start = (unsigned int *)&_pru1_start;

lib/pbio/drv/uart/uart_ev3.c

@@ -385,17 +385,9 @@ void pbdrv_uart_init_pru(pbdrv_uart_dev_t *uart) {
 }
 
 void pbdrv_uart_init(void) {
-
     // Enabling the PSC for all UARTs
     PSCModuleControl(SOC_PSC_0_REGS, HW_PSC_UART0, PSC_POWERDOMAIN_ALWAYS_ON, PSC_MDCTL_NEXT_ENABLE);
     PSCModuleControl(SOC_PSC_1_REGS, HW_PSC_UART1, PSC_POWERDOMAIN_ALWAYS_ON, PSC_MDCTL_NEXT_ENABLE);
-    PSCModuleControl(SOC_PSC_0_REGS, HW_PSC_PRU, PSC_POWERDOMAIN_ALWAYS_ON, PSC_MDCTL_NEXT_ENABLE);
-
-    extern uint8_t _pru0_start;
-    extern uint8_t _pru0_end;
-    uint32_t fw_size = &_pru0_end - &_pru0_start;
-    uint8_t *fw_data = &_pru0_start;
-    pbdrv_uart_ev3_pru_load_firmware(fw_data, fw_size);
 
     for (int i = 0; i < PBDRV_CONFIG_UART_EV3_NUM_UART; i++) {
         const pbdrv_uart_ev3_platform_data_t *pdata = &pbdrv_uart_ev3_platform_data[i];

lib/pbio/drv/uart/uart_ev3_pru.h

@@ -1,6 +1,7 @@
 #ifndef _INTERNAL_PBDRV_UART_EV3_PRU_H_
 #define _INTERNAL_PBDRV_UART_EV3_PRU_H_
 
+#include <stdbool.h>
 #include <stdint.h>
 
 int pbdrv_uart_ev3_pru_load_firmware(uint8_t *firmware_data, uint32_t firmware_size);