comparison core/PRU.cpp @ 303:421a69d42943 prerelease

Changed BeagleRT -> Bela in defines and thread names; some preliminary mux capelet stuff

 #define PRU_USE_SPI          9
 #define PRU_SPI_NUM_CHANNELS 10
 #define PRU_USE_DIGITAL      11
 #define PRU_PRU_NUMBER       12
 #define PRU_MUX_CONFIG       13
+#define PRU_MUX_END_CHANNEL  14
 
 short int digitalPins[NUM_DIGITALS] = {
 		GPIO_NO_BIT_0,
 		GPIO_NO_BIT_1,
 		GPIO_NO_BIT_2,

 
 // Constructor: specify a PRU number (0 or 1)
 PRU::PRU(BelaContext *input_context)
 : context(input_context), pru_number(0), running(false), analog_enabled(false),
   digital_enabled(false), gpio_enabled(false), led_enabled(false),
+  mux_channels(0),
   gpio_test_pin_enabled(false),
   pru_buffer_comm(0), pru_buffer_spi_dac(0), pru_buffer_spi_adc(0),
   pru_buffer_digital(0), pru_buffer_audio_dac(0), pru_buffer_audio_adc(0),
   xenomai_gpio_fd(-1), xenomai_gpio(0)
 {

 		rt_printf("initialise() called before GPIO enabled\n");
 		return 1;
 	}
 
 	pru_number = pru_num;
+	this->mux_channels = mux_channels;
 
     /* Initialize structure used by prussdrv_pruintc_intc   */
     /* PRUSS_INTC_INITDATA is found in pruss_intc_mapping.h */
     tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
 

 }
 
 // Main loop to read and write data from/to PRU
 void PRU::loop(RT_INTR *pru_interrupt, void *userData)
 {
-#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS
+#ifdef BELA_USE_XENOMAI_INTERRUPTS
 	RTIME irqTimeout = PRU_SAMPLE_INTERVAL_NS * 1024;	// Timeout for PRU interrupt: about 10ms, much longer than any expected period
 #else
 	// Polling interval is 1/4 of the period
 	RTIME sleepTime = PRU_SAMPLE_INTERVAL_NS * (context->analogChannels / 2) * context->analogFrames / 4;
 #endif

 	// Before starting, look at the last state of the analog and digital outputs which might
 	// have been changed by the user during the setup() function. This lets us start with pin
 	// directions and output values at something other than defaults.
 
 	if(analog_enabled) {
-		if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) {
+		if(context->flags & BELA_FLAG_ANALOG_OUTPUTS_PERSIST) {
 			// Remember the content of the last_analog_out_frame
 			for(unsigned int ch = 0; ch < context->analogChannels; ch++){
 				last_analog_out_frame[ch] = context->analogOut[context->analogChannels * (context->analogFrames - 1) + ch];
 			}
 		}

 
 	// TESTING
 	// uint32_t testCount = 0;
 	// RTIME startTime = rt_timer_read();
 
-#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS
+#ifdef BELA_USE_XENOMAI_INTERRUPTS
 	int result;
 #else
 	// Which buffer the PRU was last processing
 	uint32_t lastPRUBuffer = 0;
 #endif
 
 	while(!gShouldStop) {
-#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS
+#ifdef BELA_USE_XENOMAI_INTERRUPTS
 		// Wait for PRU to move to change buffers;
 		// PRU will send an interrupts which we wait for
 		rt_intr_enable(pru_interrupt);
 		while(!gShouldStop) {
 			result = rt_intr_wait(pru_interrupt, irqTimeout);

 		// TODO: NEON
 		for(unsigned int n = 0; n < 2 * context->audioFrames; n++)
 			context->audioIn[n] = (float)pru_buffer_audio_adc[n + pru_audio_offset] / 32768.0f;
 
 		if(analog_enabled) {
+			if(mux_channels != 0) {
+				// If multiplexer is enabled, find out which channels we have by pulling out
+				// the place that it ended. 
+				// int lastMuxChannel = pru_buffer_comm[PRU_MUX_END_CHANNEL];
+				
+				// TODO
+			}
+			
 			// TODO: NEON
 			for(unsigned int n = 0; n < context->analogChannels * context->analogFrames; n++)
 				context->analogIn[n] = (float)pru_buffer_spi_adc[n + pru_spi_offset] / 65536.0f;
 
-			if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) {
+			if(context->flags & BELA_FLAG_ANALOG_OUTPUTS_PERSIST) {
 				// Initialize the output buffer with the values that were in the last frame of the previous output
 				for(unsigned int ch = 0; ch < context->analogChannels; ch++){
 					for(unsigned int n = 0; n < context->analogFrames; n++){
 						context->analogOut[n * context->analogChannels + ch] = last_analog_out_frame[ch];
 					}

         // ***********************
 		render(context, userData);
 		// ***********************
 
 		if(analog_enabled) {
-			if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) {
+			if(context->flags & BELA_FLAG_ANALOG_OUTPUTS_PERSIST) {
 				// Remember the content of the last_analog_out_frame
 				for(unsigned int ch = 0; ch < context->analogChannels; ch++){
 					last_analog_out_frame[ch] = context->analogOut[context->analogChannels * (context->analogFrames - 1) + ch];
 				}
 			}

 		// FIXME: TESTING!!
 		// if(testCount > 100000)
 		//	break;
 	}
 
-#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS
+#ifdef BELA_USE_XENOMAI_INTERRUPTS
 	// Turn off the interrupt for the PRU if it isn't already off
 	rt_intr_disable(pru_interrupt);
 #endif
 
 	// FIXME: TESTING