comparison include/prussdrv.h @ 15:901d205d1a3c

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

 /*
  * prussdrv.h
- * 
+ *
  * Describes PRUSS userspace driver for Industrial Communications
  *
- * Copyright (C) 2010 Texas Instruments Incorporated - http://www.ti.com/ 
- * 
- * 
- *  Redistribution and use in source and binary forms, with or without 
- *  modification, are permitted provided that the following conditions 
+ * Copyright (C) 2010 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
  *  are met:
  *
- *    Redistributions of source code must retain the above copyright 
+ *    Redistributions of source code must retain the above copyright
  *    notice, this list of conditions and the following disclaimer.
  *
  *    Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the 
- *    documentation and/or other materials provided with the   
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
  *    distribution.
  *
  *    Neither the name of Texas Instruments Incorporated nor the names of
  *    its contributors may be used to endorse or promote products derived
  *    from this software without specific prior written permission.
  *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
- *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
- *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
- *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
 */
 
 /*

 
 #ifndef _PRUSSDRV_H
 #define _PRUSSDRV_H
 
 #include <sys/types.h>
-#include <pthread.h>
 
 #if defined (__cplusplus)
 extern "C" {
 #endif
 

 
 #define PRUSS0_PRU0_DATARAM     0
 #define PRUSS0_PRU1_DATARAM     1
 #define PRUSS0_PRU0_IRAM        2
 #define PRUSS0_PRU1_IRAM        3
+
+#define PRUSS_V1                1 // AM18XX
+#define PRUSS_V2                2 // AM33XX
 
 //Available in AM33xx series - begin
 #define PRUSS0_SHARED_DATARAM   4
 #define	PRUSS0_CFG              5
 #define	PRUSS0_UART             6

 #define PRU_EVTOUT_4            4
 #define PRU_EVTOUT_5            5
 #define PRU_EVTOUT_6            6
 #define PRU_EVTOUT_7            7
 
-    typedef void *(*prussdrv_function_handler) (void *);
     typedef struct __sysevt_to_channel_map {
         short sysevt;
         short channel;
     } tsysevt_to_channel_map;
     typedef struct __channel_to_host_map {

         //{-1, -1} indicates end of list
         tsysevt_to_channel_map sysevt_to_channel_map[NUM_PRU_SYS_EVTS];
         //Channel to Host map.Channels -Range: 0..9  HOSTs - Range:0..9
         //{-1, -1} indicates end of list
         tchannel_to_host_map channel_to_host_map[NUM_PRU_CHANNELS];
-        //10-bit mask - Enable Host0-Host9 {Host0/1:PRU0/1, Host2..9 : PRUEVT_OUT0..7)
+        //10-bit mask - Enable Host0-Host9 {Host0/1:PRU0/1, Host2..9 : PRUEVT_OUT0..7}
         unsigned int host_enable_bitmask;
     } tpruss_intc_initdata;
 
     int prussdrv_init(void);
 
-    int prussdrv_open(unsigned int pru_evtout_num);
+    int prussdrv_open(unsigned int host_interrupt);
+
+    /** Return version of PRU.  This must be called after prussdrv_open. */
+    int prussdrv_version();
+
+    /** Return string description of PRU version. */
+    const char* prussdrv_strversion(int version);
 
     int prussdrv_pru_reset(unsigned int prunum);
 
     int prussdrv_pru_disable(unsigned int prunum);
 
     int prussdrv_pru_enable(unsigned int prunum);
+    int prussdrv_pru_enable_at(unsigned int prunum, size_t addr);
 
     int prussdrv_pru_write_memory(unsigned int pru_ram_id,
                                   unsigned int wordoffset,
-                                  unsigned int *memarea,
+                                  const unsigned int *memarea,
                                   unsigned int bytelength);
 
-    int prussdrv_pruintc_init(tpruss_intc_initdata * prussintc_init_data);
+    int prussdrv_pruintc_init(const tpruss_intc_initdata *prussintc_init_data);
+
+    /** Find and return the channel a specified event is mapped to.
+     * Note that this only searches for the first channel mapped and will not
+     * detect error cases where an event is mapped erroneously to multiple
+     * channels.
+     * @return channel-number to which a system event is mapped.
+     * @return -1 for no mapping found
+     */
+    short prussdrv_get_event_to_channel_map( unsigned int eventnum );
+
+    /** Find and return the host interrupt line a specified channel is mapped
+     * to.  Note that this only searches for the first host interrupt line
+     * mapped and will not detect error cases where a channel is mapped
+     * erroneously to multiple host interrupt lines.
+     * @return host-interrupt-line to which a channel is mapped.
+     * @return -1 for no mapping found
+     */
+    short prussdrv_get_channel_to_host_map( unsigned int channel );
+
+    /** Find and return the host interrupt line a specified event is mapped
+     * to.  This first finds the intermediate channel and then the host.
+     * @return host-interrupt-line to which a system event is mapped.
+     * @return -1 for no mapping found
+     */
+    short prussdrv_get_event_to_host_map( unsigned int eventnum );
 
     int prussdrv_map_l3mem(void **address);
 
     int prussdrv_map_extmem(void **address);
 
+    unsigned int prussdrv_extmem_size(void);
+
     int prussdrv_map_prumem(unsigned int pru_ram_id, void **address);
 
     int prussdrv_map_peripheral_io(unsigned int per_id, void **address);
 
-    unsigned int prussdrv_get_phys_addr(void *address);
+    unsigned int prussdrv_get_phys_addr(const void *address);
 
     void *prussdrv_get_virt_addr(unsigned int phyaddr);
 
-    int prussdrv_pru_wait_event(unsigned int pru_evtout_num);
+    /** Wait for the specified host interrupt.
+     * @return the number of times the event has happened. */
+    unsigned int prussdrv_pru_wait_event(unsigned int host_interrupt);
+
+    int prussdrv_pru_event_fd(unsigned int host_interrupt);
 
     int prussdrv_pru_send_event(unsigned int eventnum);
 
-    int prussdrv_pru_clear_event(unsigned int eventnum);
+    /** Clear the specified event and re-enable the host interrupt. */
+    int prussdrv_pru_clear_event(unsigned int host_interrupt,
+                                 unsigned int sysevent);
 
     int prussdrv_pru_send_wait_clear_event(unsigned int send_eventnum,
-                                           unsigned int pru_evtout_num,
+                                           unsigned int host_interrupt,
                                            unsigned int ack_eventnum);
 
     int prussdrv_exit(void);
 
-    int prussdrv_exec_program(int prunum, char *filename);
-
-    int prussdrv_start_irqthread(unsigned int pru_evtout_num, int priority,
-                                 prussdrv_function_handler irqhandler);
-
+    int prussdrv_exec_program(int prunum, const char *filename);
+    int prussdrv_exec_program_at(int prunum, const char *filename, size_t addr);
+
+    int prussdrv_exec_code(int prunum, const unsigned int *code, int codelen);
+    int prussdrv_exec_code_at(int prunum, const unsigned int *code, int codelen, size_t addr);
+    int prussdrv_load_data(int prunum, const unsigned int *code, int codelen);
+    int prussdrv_load_datafile(int prunum, const char *filename);
 
 #if defined (__cplusplus)
 }
 #endif
 #endif