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annotate core/PRU.cpp @ 0:8a575ba3ab52

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Initial commit.
author andrewm
date Fri, 31 Oct 2014 19:10:17 +0100
parents
children a6beeba3a648
rev   line source
andrewm@0 1 /*
andrewm@0 2 * PRU.cpp
andrewm@0 3 *
andrewm@0 4 * Code for communicating with the Programmable Realtime Unit (PRU)
andrewm@0 5 * on the BeagleBone AM335x series processors. The PRU loads and runs
andrewm@0 6 * a separate code image compiled from an assembly file. Here it is
andrewm@0 7 * used to handle audio and SPI ADC/DAC data.
andrewm@0 8 *
andrewm@0 9 * This code is specific to the PRU code in the assembly file; for example,
andrewm@0 10 * it uses certain GPIO resources that correspond to that image.
andrewm@0 11 *
andrewm@0 12 * Created on: May 27, 2014
andrewm@0 13 * Author: andrewm
andrewm@0 14 */
andrewm@0 15
andrewm@0 16 #include "../include/PRU.h"
andrewm@0 17 #include "../include/prussdrv.h"
andrewm@0 18 #include "../include/pruss_intc_mapping.h"
andrewm@0 19 #include "../include/GPIOcontrol.h"
andrewm@0 20 #include "../include/render.h"
andrewm@0 21
andrewm@0 22 #include <iostream>
andrewm@0 23 #include <stdlib.h>
andrewm@0 24 #include <cstdio>
andrewm@0 25 #include <cerrno>
andrewm@0 26 #include <fcntl.h>
andrewm@0 27 #include <sys/mman.h>
andrewm@0 28
andrewm@0 29 // Xenomai-specific includes
andrewm@0 30 #include <sys/mman.h>
andrewm@0 31 #include <native/task.h>
andrewm@0 32 #include <native/timer.h>
andrewm@0 33 #include <rtdk.h>
andrewm@0 34
andrewm@0 35 using namespace std;
andrewm@0 36
andrewm@0 37 #define PRU_MEM_MCASP_OFFSET 0x2000 // Offset within PRU-SHARED RAM
andrewm@0 38 #define PRU_MEM_MCASP_LENGTH 0x2000 // Length of McASP memory, in bytes
andrewm@0 39 #define PRU_MEM_DAC_OFFSET 0x0 // Offset within PRU0 RAM
andrewm@0 40 #define PRU_MEM_DAC_LENGTH 0x2000 // Length of ADC+DAC memory, in bytes
andrewm@0 41 #define PRU_MEM_COMM_OFFSET 0x0 // Offset within PRU-SHARED RAM
andrewm@0 42
andrewm@0 43 #define PRU_SHOULD_STOP 0
andrewm@0 44 #define PRU_CURRENT_BUFFER 1
andrewm@0 45 #define PRU_BUFFER_FRAMES 2
andrewm@0 46 #define PRU_SHOULD_SYNC 3
andrewm@0 47 #define PRU_SYNC_ADDRESS 4
andrewm@0 48 #define PRU_SYNC_PIN_MASK 5
andrewm@0 49 #define PRU_LED_ADDRESS 6
andrewm@0 50 #define PRU_LED_PIN_MASK 7
andrewm@0 51 #define PRU_FRAME_COUNT 8
andrewm@0 52 #define PRU_USE_SPI 9
andrewm@0 53
andrewm@0 54 #define PRU_SAMPLE_INTERVAL_NS 45351 // 22050Hz per SPI sample = 45.351us
andrewm@0 55
andrewm@0 56 #define GPIO0_ADDRESS 0x44E07000
andrewm@0 57 #define GPIO1_ADDRESS 0x4804C000
andrewm@0 58 #define GPIO_SIZE 0x198
andrewm@0 59 #define GPIO_CLEARDATAOUT (0x190 / 4)
andrewm@0 60 #define GPIO_SETDATAOUT (0x194 / 4)
andrewm@0 61
andrewm@0 62 #define TEST_PIN_GPIO_BASE GPIO0_ADDRESS // Use GPIO0(31) for debugging
andrewm@0 63 #define TEST_PIN_MASK (1 << 31)
andrewm@0 64 #define TEST_PIN2_MASK (1 << 26)
andrewm@0 65
andrewm@0 66 #define USERLED3_GPIO_BASE GPIO1_ADDRESS // GPIO1(24) is user LED 3
andrewm@0 67 #define USERLED3_PIN_MASK (1 << 24)
andrewm@0 68
andrewm@0 69 const unsigned int PRU::kPruGPIODACSyncPin = 5; // GPIO0(5); P9-17
andrewm@0 70 const unsigned int PRU::kPruGPIOADCSyncPin = 48; // GPIO1(16); P9-15
andrewm@0 71
andrewm@0 72 const unsigned int PRU::kPruGPIOTestPin = 60; // GPIO1(28); P9-12
andrewm@0 73 const unsigned int PRU::kPruGPIOTestPin2 = 31; // GPIO0(31); P9-13
andrewm@0 74 const unsigned int PRU::kPruGPIOTestPin3 = 26; // GPIO0(26); P8-14
andrewm@0 75
andrewm@0 76 extern int gShouldStop;
andrewm@0 77 extern int gRTAudioVerbose;
andrewm@0 78
andrewm@0 79 // Constructor: specify a PRU number (0 or 1)
andrewm@0 80 PRU::PRU()
andrewm@0 81 : pru_number(0), running(false), spi_enabled(false), gpio_enabled(false), led_enabled(false),
andrewm@0 82 gpio_test_pin_enabled(false), xenomai_gpio_fd(-1), xenomai_gpio(0)
andrewm@0 83 {
andrewm@0 84
andrewm@0 85 }
andrewm@0 86
andrewm@0 87 // Destructor
andrewm@0 88 PRU::~PRU()
andrewm@0 89 {
andrewm@0 90 if(running)
andrewm@0 91 disable();
andrewm@0 92 if(gpio_enabled)
andrewm@0 93 cleanupGPIO();
andrewm@0 94 if(xenomai_gpio_fd >= 0)
andrewm@0 95 close(xenomai_gpio_fd);
andrewm@0 96 }
andrewm@0 97
andrewm@0 98 // Prepare the GPIO pins needed for the PRU
andrewm@0 99 // If include_test_pin is set, the GPIO output
andrewm@0 100 // is also prepared for an output which can be
andrewm@0 101 // viewed on a scope. If include_led is set,
andrewm@0 102 // user LED 3 on the BBB is taken over by the PRU
andrewm@0 103 // to indicate activity
andrewm@0 104 int PRU::prepareGPIO(int use_spi, int include_test_pin, int include_led)
andrewm@0 105 {
andrewm@0 106 if(use_spi) {
andrewm@0 107 // Prepare DAC CS/ pin: output, high to begin
andrewm@0 108 if(gpio_export(kPruGPIODACSyncPin)) {
andrewm@0 109 if(gRTAudioVerbose)
andrewm@0 110 cout << "Warning: couldn't export DAC sync pin\n";
andrewm@0 111 }
andrewm@0 112 if(gpio_set_dir(kPruGPIODACSyncPin, OUTPUT_PIN)) {
andrewm@0 113 if(gRTAudioVerbose)
andrewm@0 114 cout << "Couldn't set direction on DAC sync pin\n";
andrewm@0 115 return -1;
andrewm@0 116 }
andrewm@0 117 if(gpio_set_value(kPruGPIODACSyncPin, HIGH)) {
andrewm@0 118 if(gRTAudioVerbose)
andrewm@0 119 cout << "Couldn't set value on DAC sync pin\n";
andrewm@0 120 return -1;
andrewm@0 121 }
andrewm@0 122
andrewm@0 123 // Prepare ADC CS/ pin: output, high to begin
andrewm@0 124 if(gpio_export(kPruGPIOADCSyncPin)) {
andrewm@0 125 if(gRTAudioVerbose)
andrewm@0 126 cout << "Warning: couldn't export ADC sync pin\n";
andrewm@0 127 }
andrewm@0 128 if(gpio_set_dir(kPruGPIOADCSyncPin, OUTPUT_PIN)) {
andrewm@0 129 if(gRTAudioVerbose)
andrewm@0 130 cout << "Couldn't set direction on ADC sync pin\n";
andrewm@0 131 return -1;
andrewm@0 132 }
andrewm@0 133 if(gpio_set_value(kPruGPIOADCSyncPin, HIGH)) {
andrewm@0 134 if(gRTAudioVerbose)
andrewm@0 135 cout << "Couldn't set value on ADC sync pin\n";
andrewm@0 136 return -1;
andrewm@0 137 }
andrewm@0 138
andrewm@0 139 spi_enabled = true;
andrewm@0 140 }
andrewm@0 141
andrewm@0 142 if(include_test_pin) {
andrewm@0 143 // Prepare GPIO test output (for debugging), low to begin
andrewm@0 144 if(gpio_export(kPruGPIOTestPin)) {
andrewm@0 145 if(gRTAudioVerbose)
andrewm@0 146 cout << "Warning: couldn't export GPIO test pin\n";
andrewm@0 147 }
andrewm@0 148 if(gpio_set_dir(kPruGPIOTestPin, OUTPUT_PIN)) {
andrewm@0 149 if(gRTAudioVerbose)
andrewm@0 150 cout << "Couldn't set direction on GPIO test pin\n";
andrewm@0 151 return -1;
andrewm@0 152 }
andrewm@0 153 if(gpio_set_value(kPruGPIOTestPin, LOW)) {
andrewm@0 154 if(gRTAudioVerbose)
andrewm@0 155 cout << "Couldn't set value on GPIO test pin\n";
andrewm@0 156 return -1;
andrewm@0 157 }
andrewm@0 158
andrewm@0 159 if(gpio_export(kPruGPIOTestPin2)) {
andrewm@0 160 if(gRTAudioVerbose)
andrewm@0 161 cout << "Warning: couldn't export GPIO test pin 2\n";
andrewm@0 162 }
andrewm@0 163 if(gpio_set_dir(kPruGPIOTestPin2, OUTPUT_PIN)) {
andrewm@0 164 if(gRTAudioVerbose)
andrewm@0 165 cout << "Couldn't set direction on GPIO test pin 2\n";
andrewm@0 166 return -1;
andrewm@0 167 }
andrewm@0 168 if(gpio_set_value(kPruGPIOTestPin2, LOW)) {
andrewm@0 169 if(gRTAudioVerbose)
andrewm@0 170 cout << "Couldn't set value on GPIO test pin 2\n";
andrewm@0 171 return -1;
andrewm@0 172 }
andrewm@0 173
andrewm@0 174 if(gpio_export(kPruGPIOTestPin3)) {
andrewm@0 175 if(gRTAudioVerbose)
andrewm@0 176 cout << "Warning: couldn't export GPIO test pin 3\n";
andrewm@0 177 }
andrewm@0 178 if(gpio_set_dir(kPruGPIOTestPin3, OUTPUT_PIN)) {
andrewm@0 179 if(gRTAudioVerbose)
andrewm@0 180 cout << "Couldn't set direction on GPIO test pin 3\n";
andrewm@0 181 return -1;
andrewm@0 182 }
andrewm@0 183 if(gpio_set_value(kPruGPIOTestPin3, LOW)) {
andrewm@0 184 if(gRTAudioVerbose)
andrewm@0 185 cout << "Couldn't set value on GPIO test pin 3\n";
andrewm@0 186 return -1;
andrewm@0 187 }
andrewm@0 188 gpio_test_pin_enabled = true;
andrewm@0 189 }
andrewm@0 190
andrewm@0 191 if(include_led) {
andrewm@0 192 // Turn off system function for LED3 so it can be reused by PRU
andrewm@0 193 led_set_trigger(3, "none");
andrewm@0 194 led_enabled = true;
andrewm@0 195 }
andrewm@0 196
andrewm@0 197 gpio_enabled = true;
andrewm@0 198
andrewm@0 199 return 0;
andrewm@0 200 }
andrewm@0 201
andrewm@0 202 // Clean up the GPIO at the end
andrewm@0 203 void PRU::cleanupGPIO()
andrewm@0 204 {
andrewm@0 205 if(!gpio_enabled)
andrewm@0 206 return;
andrewm@0 207 if(spi_enabled) {
andrewm@0 208 gpio_unexport(kPruGPIODACSyncPin);
andrewm@0 209 gpio_unexport(kPruGPIOADCSyncPin);
andrewm@0 210 }
andrewm@0 211 if(gpio_test_pin_enabled) {
andrewm@0 212 gpio_unexport(kPruGPIOTestPin);
andrewm@0 213 gpio_unexport(kPruGPIOTestPin2);
andrewm@0 214 gpio_unexport(kPruGPIOTestPin3);
andrewm@0 215 }
andrewm@0 216 if(led_enabled) {
andrewm@0 217 // Set LED back to default eMMC status
andrewm@0 218 // TODO: make it go back to its actual value before this program,
andrewm@0 219 // rather than the system default
andrewm@0 220 led_set_trigger(3, "mmc1");
andrewm@0 221 }
andrewm@0 222
andrewm@0 223 gpio_enabled = gpio_test_pin_enabled = false;
andrewm@0 224 }
andrewm@0 225
andrewm@0 226 // Initialise and open the PRU
andrewm@0 227 int PRU::initialise(int pru_num, int frames_per_buffer, bool xenomai_test_pin)
andrewm@0 228 {
andrewm@0 229 uint32_t *pruMem = 0;
andrewm@0 230
andrewm@0 231 if(!gpio_enabled) {
andrewm@0 232 rt_printf("initialise() called before GPIO enabled\n");
andrewm@0 233 return 1;
andrewm@0 234 }
andrewm@0 235
andrewm@0 236 pru_number = pru_num;
andrewm@0 237
andrewm@0 238 /* Initialize structure used by prussdrv_pruintc_intc */
andrewm@0 239 /* PRUSS_INTC_INITDATA is found in pruss_intc_mapping.h */
andrewm@0 240 tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
andrewm@0 241
andrewm@0 242 /* Allocate and initialize memory */
andrewm@0 243 prussdrv_init();
andrewm@0 244 if(prussdrv_open(PRU_EVTOUT_0)) {
andrewm@0 245 rt_printf("Failed to open PRU driver\n");
andrewm@0 246 return 1;
andrewm@0 247 }
andrewm@0 248
andrewm@0 249 /* Map PRU's INTC */
andrewm@0 250 prussdrv_pruintc_init(&pruss_intc_initdata);
andrewm@0 251
andrewm@0 252 spi_buffer_frames = frames_per_buffer;
andrewm@0 253 audio_buffer_frames = spi_buffer_frames * 2;
andrewm@0 254
andrewm@0 255 /* Map PRU memory to pointers */
andrewm@0 256 prussdrv_map_prumem (PRUSS0_SHARED_DATARAM, (void **)&pruMem);
andrewm@0 257 pru_buffer_comm = (uint32_t *)&pruMem[PRU_MEM_COMM_OFFSET/sizeof(uint32_t)];
andrewm@0 258 pru_buffer_audio_dac = (int16_t *)&pruMem[PRU_MEM_MCASP_OFFSET/sizeof(uint32_t)];
andrewm@0 259
andrewm@0 260 /* ADC memory starts 2(ch)*2(buffers)*2(samples/spi)*bufsize samples later */
andrewm@0 261 pru_buffer_audio_adc = &pru_buffer_audio_dac[8 * spi_buffer_frames];
andrewm@0 262
andrewm@0 263 if(spi_enabled) {
andrewm@0 264 prussdrv_map_prumem (pru_number == 0 ? PRUSS0_PRU0_DATARAM : PRUSS0_PRU1_DATARAM, (void **)&pruMem);
andrewm@0 265 pru_buffer_spi_dac = (uint16_t *)&pruMem[PRU_MEM_DAC_OFFSET/sizeof(uint32_t)];
andrewm@0 266
andrewm@0 267 /* ADC memory starts after 8(ch)*2(buffers)*bufsize samples */
andrewm@0 268 pru_buffer_spi_adc = &pru_buffer_spi_dac[16 * spi_buffer_frames];
andrewm@0 269 }
andrewm@0 270 else {
andrewm@0 271 pru_buffer_spi_dac = pru_buffer_spi_adc = 0;
andrewm@0 272 }
andrewm@0 273
andrewm@0 274 /* Set up flags */
andrewm@0 275 pru_buffer_comm[PRU_SHOULD_STOP] = 0;
andrewm@0 276 pru_buffer_comm[PRU_CURRENT_BUFFER] = 0;
andrewm@0 277 pru_buffer_comm[PRU_BUFFER_FRAMES] = spi_buffer_frames;
andrewm@0 278 pru_buffer_comm[PRU_SHOULD_SYNC] = 0;
andrewm@0 279 pru_buffer_comm[PRU_SYNC_ADDRESS] = 0;
andrewm@0 280 pru_buffer_comm[PRU_SYNC_PIN_MASK] = 0;
andrewm@0 281 if(led_enabled) {
andrewm@0 282 pru_buffer_comm[PRU_LED_ADDRESS] = USERLED3_GPIO_BASE;
andrewm@0 283 pru_buffer_comm[PRU_LED_PIN_MASK] = USERLED3_PIN_MASK;
andrewm@0 284 }
andrewm@0 285 else {
andrewm@0 286 pru_buffer_comm[PRU_LED_ADDRESS] = 0;
andrewm@0 287 pru_buffer_comm[PRU_LED_PIN_MASK] = 0;
andrewm@0 288 }
andrewm@0 289 if(spi_enabled) {
andrewm@0 290 pru_buffer_comm[PRU_USE_SPI] = 1;
andrewm@0 291 }
andrewm@0 292 else {
andrewm@0 293 pru_buffer_comm[PRU_USE_SPI] = 0;
andrewm@0 294 }
andrewm@0 295
andrewm@0 296 /* Clear ADC and DAC memory */
andrewm@0 297 if(spi_enabled) {
andrewm@0 298 for(int i = 0; i < PRU_MEM_DAC_LENGTH / 2; i++)
andrewm@0 299 pru_buffer_spi_dac[i] = 0;
andrewm@0 300 }
andrewm@0 301 for(int i = 0; i < PRU_MEM_MCASP_LENGTH / 2; i++)
andrewm@0 302 pru_buffer_audio_dac[i] = 0;
andrewm@0 303
andrewm@0 304 /* If using GPIO test pin for Xenomai (for debugging), initialise the pointer now */
andrewm@0 305 if(xenomai_test_pin && xenomai_gpio_fd < 0) {
andrewm@0 306 xenomai_gpio_fd = open("/dev/mem", O_RDWR);
andrewm@0 307 if(xenomai_gpio_fd < 0)
andrewm@0 308 rt_printf("Unable to open /dev/mem for GPIO test pin\n");
andrewm@0 309 else {
andrewm@0 310 xenomai_gpio = (uint32_t *)mmap(0, GPIO_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, xenomai_gpio_fd, TEST_PIN_GPIO_BASE);
andrewm@0 311 if(xenomai_gpio == MAP_FAILED) {
andrewm@0 312 rt_printf("Unable to map GPIO address for test pin\n");
andrewm@0 313 xenomai_gpio = 0;
andrewm@0 314 close(xenomai_gpio_fd);
andrewm@0 315 xenomai_gpio_fd = -1;
andrewm@0 316 }
andrewm@0 317 }
andrewm@0 318 }
andrewm@0 319
andrewm@0 320 return 0;
andrewm@0 321 }
andrewm@0 322
andrewm@0 323 // Run the code image in the specified file
andrewm@0 324 int PRU::start(char * const filename)
andrewm@0 325 {
andrewm@0 326 /* Clear any old interrupt */
andrewm@0 327 prussdrv_pru_clear_event(pru_number == 0 ? PRU0_ARM_INTERRUPT : PRU1_ARM_INTERRUPT);
andrewm@0 328
andrewm@0 329 /* Load and execute binary on PRU */
andrewm@0 330 if(prussdrv_exec_program(pru_number, filename)) {
andrewm@0 331 rt_printf("Failed to execute PRU code from %s\n", filename);
andrewm@0 332 return 1;
andrewm@0 333 }
andrewm@0 334
andrewm@0 335 running = true;
andrewm@0 336 return 0;
andrewm@0 337 }
andrewm@0 338
andrewm@0 339 // Main loop to read and write data from/to PRU
andrewm@0 340 void PRU::loop()
andrewm@0 341 {
andrewm@0 342 // Polling interval is 1/4 of the period
andrewm@0 343 RTIME sleepTime = PRU_SAMPLE_INTERVAL_NS * spi_buffer_frames / 4;
andrewm@0 344 float *audioInBuffer, *audioOutBuffer;
andrewm@0 345
andrewm@0 346 audioInBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float));
andrewm@0 347 audioOutBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float));
andrewm@0 348
andrewm@0 349 if(audioInBuffer == 0 || audioOutBuffer == 0) {
andrewm@0 350 rt_printf("Error: couldn't allocated audio buffers\n");
andrewm@0 351 return;
andrewm@0 352 }
andrewm@0 353
andrewm@0 354 while(!gShouldStop) {
andrewm@0 355 // Wait for PRU to move to buffer 1
andrewm@0 356 while(pru_buffer_comm[PRU_CURRENT_BUFFER] == 0 && !gShouldStop) {
andrewm@0 357 rt_task_sleep(sleepTime);
andrewm@0 358 }
andrewm@0 359 if(gShouldStop)
andrewm@0 360 break;
andrewm@0 361
andrewm@0 362 if(xenomai_gpio != 0) {
andrewm@0 363 // Set the test pin high
andrewm@0 364 xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN_MASK;
andrewm@0 365 }
andrewm@0 366
andrewm@0 367 // Render from/to buffer 0
andrewm@0 368
andrewm@0 369 // Convert short (16-bit) samples to float
andrewm@0 370 for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++)
andrewm@0 371 audioInBuffer[n] = (float)pru_buffer_audio_adc[n] / 32768.0;
andrewm@0 372
andrewm@0 373 if(spi_enabled)
andrewm@0 374 render(spi_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
andrewm@0 375 pru_buffer_spi_adc, pru_buffer_spi_dac);
andrewm@0 376 else
andrewm@0 377 render(0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0);
andrewm@0 378
andrewm@0 379 // Convert float back to short
andrewm@0 380 for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) {
andrewm@0 381 int out = audioOutBuffer[n] * 32768.0;
andrewm@0 382 if(out < -32768) out = -32768;
andrewm@0 383 else if(out > 32767) out = 32767;
andrewm@0 384 pru_buffer_audio_dac[n] = (int16_t)out;
andrewm@0 385 }
andrewm@0 386
andrewm@0 387 if(xenomai_gpio != 0) {
andrewm@0 388 // Set the test pin high
andrewm@0 389 xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK;
andrewm@0 390 }
andrewm@0 391
andrewm@0 392 // Wait for PRU to move to buffer 0
andrewm@0 393 while(pru_buffer_comm[PRU_CURRENT_BUFFER] != 0 && !gShouldStop) {
andrewm@0 394 rt_task_sleep(sleepTime);
andrewm@0 395 }
andrewm@0 396
andrewm@0 397 if(gShouldStop)
andrewm@0 398 break;
andrewm@0 399
andrewm@0 400 if(xenomai_gpio != 0) {
andrewm@0 401 // Set the test pin high
andrewm@0 402 xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN_MASK;
andrewm@0 403 }
andrewm@0 404
andrewm@0 405 // Render from/to buffer 1
andrewm@0 406
andrewm@0 407 // Convert short (16-bit) samples to float
andrewm@0 408 for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++)
andrewm@0 409 audioInBuffer[n] = (float)pru_buffer_audio_adc[n + audio_buffer_frames * 2] / 32768.0;
andrewm@0 410
andrewm@0 411 if(spi_enabled)
andrewm@0 412 render(spi_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
andrewm@0 413 &pru_buffer_spi_adc[spi_buffer_frames * 8], &pru_buffer_spi_dac[spi_buffer_frames * 8]);
andrewm@0 414 else
andrewm@0 415 render(0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0);
andrewm@0 416
andrewm@0 417 // Convert float back to short
andrewm@0 418 for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) {
andrewm@0 419 int out = audioOutBuffer[n] * 32768.0;
andrewm@0 420 if(out < -32768) out = -32768;
andrewm@0 421 else if(out > 32767) out = 32767;
andrewm@0 422 pru_buffer_audio_dac[n + audio_buffer_frames * 2] = (int16_t)out;
andrewm@0 423 }
andrewm@0 424
andrewm@0 425 if(xenomai_gpio != 0) {
andrewm@0 426 // Set the test pin high
andrewm@0 427 xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK;
andrewm@0 428 }
andrewm@0 429 }
andrewm@0 430
andrewm@0 431 // Tell PRU to stop
andrewm@0 432 pru_buffer_comm[PRU_SHOULD_STOP] = 1;
andrewm@0 433
andrewm@0 434 free(audioInBuffer);
andrewm@0 435 free(audioOutBuffer);
andrewm@0 436 }
andrewm@0 437
andrewm@0 438 // Wait for an interrupt from the PRU indicate it is finished
andrewm@0 439 void PRU::waitForFinish()
andrewm@0 440 {
andrewm@0 441 if(!running)
andrewm@0 442 return;
andrewm@0 443 prussdrv_pru_wait_event (PRU_EVTOUT_0);
andrewm@0 444 prussdrv_pru_clear_event(pru_number == 0 ? PRU0_ARM_INTERRUPT : PRU1_ARM_INTERRUPT);
andrewm@0 445 }
andrewm@0 446
andrewm@0 447 // Turn off the PRU when done
andrewm@0 448 void PRU::disable()
andrewm@0 449 {
andrewm@0 450 /* Disable PRU and close memory mapping*/
andrewm@0 451 prussdrv_pru_disable(pru_number);
andrewm@0 452 prussdrv_exit();
andrewm@0 453 running = false;
andrewm@0 454 }
andrewm@0 455
andrewm@0 456 // Debugging
andrewm@0 457 void PRU::setGPIOTestPin()
andrewm@0 458 {
andrewm@0 459 if(!xenomai_gpio)
andrewm@0 460 return;
andrewm@0 461 xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN2_MASK;
andrewm@0 462 }
andrewm@0 463
andrewm@0 464 void PRU::clearGPIOTestPin()
andrewm@0 465 {
andrewm@0 466 if(!xenomai_gpio)
andrewm@0 467 return;
andrewm@0 468 xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN2_MASK;
andrewm@0 469 }