comparison core/PRU.cpp @ 15:901d205d1a3c

Updated to latest PRU library; external PRU file no longer needed. Also catch SIGTERM as well as SIGINT to clean up gracefully.

 #include "../include/PRU.h"
 #include "../include/prussdrv.h"
 #include "../include/pruss_intc_mapping.h"
 #include "../include/GPIOcontrol.h"
 #include "../include/render.h"
+#include "../include/pru_rtaudio_bin.h"
 
 #include <iostream>
 #include <stdlib.h>
 #include <cstdio>
 #include <cerrno>

     /* PRUSS_INTC_INITDATA is found in pruss_intc_mapping.h */
     tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
 
     /* Allocate and initialize memory */
     prussdrv_init();
-    if(prussdrv_open(PRU_EVTOUT_0)) {
+    if(prussdrv_open(pru_number == 0 ? PRU_EVTOUT_0 : PRU_EVTOUT_1)) {
     	rt_printf("Failed to open PRU driver\n");
     	return 1;
     }
 
     /* Map PRU's INTC */

 
 	return 0;
 }
 
 // Run the code image in the specified file
-int PRU::start(char * const filename)
+int PRU::start()
 {
 	/* Clear any old interrupt */
-	prussdrv_pru_clear_event(pru_number == 0 ? PRU0_ARM_INTERRUPT : PRU1_ARM_INTERRUPT);
+	if(pru_number == 0)
+		prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
+	else
+		prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
 
     /* Load and execute binary on PRU */
-    if(prussdrv_exec_program(pru_number, filename)) {
-    	rt_printf("Failed to execute PRU code from %s\n", filename);
+	if(prussdrv_exec_code(pru_number, PRUcode, sizeof(PRUcode))) {
+    	rt_printf("Failed to execute PRU code\n");
     	return 1;
     }
 
     running = true;
     return 0;

 // Wait for an interrupt from the PRU indicate it is finished
 void PRU::waitForFinish()
 {
 	if(!running)
 		return;
-    prussdrv_pru_wait_event (PRU_EVTOUT_0);
-    prussdrv_pru_clear_event(pru_number == 0 ? PRU0_ARM_INTERRUPT : PRU1_ARM_INTERRUPT);
+    prussdrv_pru_wait_event (pru_number == 0 ? PRU_EVTOUT_0 : PRU_EVTOUT_1);
+	if(pru_number == 0)
+		prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
+	else
+		prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
 }
 
 // Turn off the PRU when done
 void PRU::disable()
 {