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1 /*
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2 * PRU.h
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3 *
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4 * Created on: May 27, 2014
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5 * Author: andrewm
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6 */
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7
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8 #ifndef PRU_H_
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9 #define PRU_H_
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10
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11 #include <stdint.h>
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12 #include <native/intr.h>
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13 #include "../include/BeagleRT.h"
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14
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15 class PRU
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16 {
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17 private:
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18 static const unsigned int kPruGPIODACSyncPin;
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19 static const unsigned int kPruGPIOADCSyncPin;
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20 static const unsigned int kPruGPIOTestPin;
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21 static const unsigned int kPruGPIOTestPin2;
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22 static const unsigned int kPruGPIOTestPin3;
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23
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24 public:
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25 // Constructor
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26 PRU(BeagleRTContext *input_context);
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27
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28 // Destructor
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29 ~PRU();
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30
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31 // Prepare the GPIO pins needed for the PRU
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32 int prepareGPIO(int include_test_pin, int include_led);
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33
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34 // Clean up the GPIO at the end
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35 void cleanupGPIO();
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36
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37 // Initialise and open the PRU
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38 int initialise(int pru_num, int frames_per_buffer,
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39 int spi_channels, bool xenomai_test_pin = false);
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40
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41 // Run the code image in pru_rtaudio_bin.h
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42 int start(char * const filename);
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43
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44 // Loop: read and write data from the PRU
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45 void loop(RT_INTR *pru_interrupt, void *userData);
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46
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47 // Wait for an interrupt from the PRU indicate it is finished
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48 void waitForFinish();
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49
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50 // Turn off the PRU when done
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51 void disable();
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52
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53 // For debugging:
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54 void setGPIOTestPin();
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55 void clearGPIOTestPin();
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56
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57 private:
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58 BeagleRTContext *context; // Overall settings
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59
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60 int pru_number; // Which PRU we use
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61 bool running; // Whether the PRU is running
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62 bool analog_enabled; // Whether SPI ADC and DAC are used
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63 bool digital_enabled; // Whether digital is used
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64 bool gpio_enabled; // Whether GPIO has been prepared
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65 bool led_enabled; // Whether a user LED is enabled
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66 bool gpio_test_pin_enabled; // Whether the test pin was also enabled
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67
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68 volatile uint32_t *pru_buffer_comm;
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69 uint16_t *pru_buffer_spi_dac;
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70 uint16_t *pru_buffer_spi_adc;
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71 uint32_t *pru_buffer_digital;
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72 int16_t *pru_buffer_audio_dac;
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73 int16_t *pru_buffer_audio_adc;
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74
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75 int xenomai_gpio_fd; // File descriptor for /dev/mem for fast GPIO
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76 uint32_t *xenomai_gpio; // Pointer to GPIO registers
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77 };
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78
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79
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80 #endif /* PRU_H_ */
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