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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
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13 class PRU
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14 {
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15 private:
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16 static const unsigned int kPruGPIODACSyncPin;
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17 static const unsigned int kPruGPIOADCSyncPin;
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18 static const unsigned int kPruGPIOTestPin;
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19 static const unsigned int kPruGPIOTestPin2;
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20 static const unsigned int kPruGPIOTestPin3;
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21
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22 public:
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23 // Constructor
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24 PRU();
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25
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26 // Destructor
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27 ~PRU();
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28
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29 // Prepare the GPIO pins needed for the PRU
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30 int prepareGPIO(int use_spi, int include_test_pin, int include_led);
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31
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32 // Clean up the GPIO at the end
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33 void cleanupGPIO();
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34
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35 // Initialise and open the PRU
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36 int initialise(int pru_num, int frames_per_buffer, int spi_channels,
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37 bool xenomai_test_pin = false);
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38
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39 // Run the code image in the specified file
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40 int start(char * const filename);
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41
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42 // Loop: read and write data from the PRU
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43 void loop();
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44
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45 // Wait for an interrupt from the PRU indicate it is finished
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46 void waitForFinish();
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47
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48 // Turn off the PRU when done
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49 void disable();
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50
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51 // For debugging:
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52 void setGPIOTestPin();
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53 void clearGPIOTestPin();
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54
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55 private:
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56 int pru_number; // Which PRU we use
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57 bool running; // Whether the PRU is running
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58 bool spi_enabled; // Whether SPI ADC and DAC are used
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59 bool gpio_enabled; // Whether GPIO has been prepared
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60 bool led_enabled; // Whether a user LED is enabled
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61 bool gpio_test_pin_enabled; // Whether the test pin was also enabled
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62 int spi_num_channels; // How many channels to use for SPI ADC/DAC
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63
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64 volatile uint32_t *pru_buffer_comm;
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65 uint16_t *pru_buffer_spi_dac;
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66 uint16_t *pru_buffer_spi_adc;
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67 int16_t *pru_buffer_audio_dac;
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68 int16_t *pru_buffer_audio_adc;
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69 unsigned int spi_buffer_frames;
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70 unsigned int audio_buffer_frames;
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71
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72 int xenomai_gpio_fd; // File descriptor for /dev/mem for fast GPIO
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73 uint32_t *xenomai_gpio; // Pointer to GPIO registers
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74 };
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75
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76
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77 #endif /* PRU_H_ */
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