comparison core/PRU.cpp @ 50:be427da6fb9c newapi

Removed old testing code that stopped audio after 10 seconds; command line parameter updates; D-Box updates (not fully working yet)

 }
 
 // Main loop to read and write data from/to PRU
 void PRU::loop(RT_INTR *pru_interrupt, void *userData)
 {
+#ifdef BEAGLERT_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;
-
-	RTIME irqTimeout = PRU_SAMPLE_INTERVAL_NS * 1024;	// Timeout for PRU interrupt: about 10ms, much longer than any expected period
+	RTIME sleepTime = PRU_SAMPLE_INTERVAL_NS * (context->analogChannels / 2) * context->analogFrames / 4;
+#endif
+
 	float *lastAnalogOutFrame;
 	uint32_t *digitalBuffer0, *digitalBuffer1, *lastDigitalBuffer;
 	uint32_t pru_audio_offset, pru_spi_offset;
 	int result;
 

 			lastDigitalBuffer[n] = 0x0000ffff;
 		}
 	}
 
 	// TESTING
-	uint32_t testCount = 0;
+	// uint32_t testCount = 0;
 	// RTIME startTime = rt_timer_read();
 
+#ifndef BEAGLERT_USE_XENOMAI_INTERRUPTS
+	// Which buffer the PRU was last processing
+	uint32_t lastPRUBuffer = 0;
+#endif
+
 	while(!gShouldStop) {
+#ifdef BEAGLERT_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);

 			}
 		}
 
 		// Clear pending PRU interrupt
 		prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
+#else
+		// Poll
+		while(pru_buffer_comm[PRU_CURRENT_BUFFER] == lastPRUBuffer && !gShouldStop) {
+			rt_task_sleep(sleepTime);
+		}
+
+		lastPRUBuffer = pru_buffer_comm[PRU_CURRENT_BUFFER];
+#endif
 
 		if(gShouldStop)
 			break;
 
 		// Check which buffer we're on-- will have been set right

 				context->digital = digitalBuffer1;
 		}
 
 		// FIXME: some sort of margin is needed here to prevent the audio
 		// code from completely eating the Linux system
-		testCount++;
+		// testCount++;
 		//rt_task_sleep(sleepTime*4);
 		//rt_task_sleep(sleepTime/4);
 
 		if(xenomai_gpio != 0) {
 			// Set the test pin high

 			// Set the test pin high
 			xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK;
 		}
 
 		// FIXME: TESTING!!
-		if(testCount > 100000)
-			break;
-	}
-
+		// if(testCount > 100000)
+		//	break;
+	}
+
+#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS
 	// Turn off the interrupt for the PRU if it isn't already off
 	rt_intr_disable(pru_interrupt);
+#endif
 
 	// FIXME: TESTING
 	// RTIME endTime = rt_timer_read();
 	// RTIME diffTime = endTime - startTime;
 	// rt_printf("%d blocks elapsed in %f seconds, %f Hz block rate\n", testCount, ((float)diffTime / 1.0e9), (float)testCount / ((float)diffTime / 1.0e9));