comparison core/PRU.cpp @ 280:c55c6f6c233c prerelease

Added support for multiplexer capelet and command-line support for choosing PRU

 #define PRU_MEM_DAC_LENGTH 0x2000  // Length of ADC+DAC memory, in bytes
 #define PRU_MEM_COMM_OFFSET 0x0    // Offset within PRU-SHARED RAM
 #define PRU_MEM_DIGITAL_OFFSET 0x1000 //Offset within PRU-SHARED RAM
 #define MEM_DIGITAL_BUFFER1_OFFSET 0x400 //Start pointer to DIGITAL_BUFFER1, which is 256 words.
 											// 256 is the maximum number of frames allowed
+
+// Offsets within CPU <-> PRU communication memory (4 byte slots)
 #define PRU_SHOULD_STOP 	0
 #define PRU_CURRENT_BUFFER  1
 #define PRU_BUFFER_FRAMES   2
 #define PRU_SHOULD_SYNC     3
 #define PRU_SYNC_ADDRESS    4

 #define PRU_FRAME_COUNT      8
 #define PRU_USE_SPI          9
 #define PRU_SPI_NUM_CHANNELS 10
 #define PRU_USE_DIGITAL      11
 #define PRU_PRU_NUMBER       12
-
-short int digitalPins[NUM_DIGITALS]={
+#define PRU_MUX_CONFIG       13
+
+short int digitalPins[NUM_DIGITALS] = {
 		GPIO_NO_BIT_0,
 		GPIO_NO_BIT_1,
 		GPIO_NO_BIT_2,
 		GPIO_NO_BIT_3,
 		GPIO_NO_BIT_4,

 	}
 	gpio_enabled = gpio_test_pin_enabled = false;
 }
 
 // Initialise and open the PRU
-int PRU::initialise(int pru_num, int frames_per_buffer, int spi_channels, bool xenomai_test_pin)
+int PRU::initialise(int pru_num, int frames_per_buffer, int spi_channels, int mux_channels, bool xenomai_test_pin)
 {
 	uint32_t *pruMem = 0;
 
 	if(!gpio_enabled) {
 		rt_printf("initialise() called before GPIO enabled\n");

     pru_buffer_comm[PRU_BUFFER_FRAMES] = context->analogFrames;
     pru_buffer_comm[PRU_SHOULD_SYNC] = 0;
     pru_buffer_comm[PRU_SYNC_ADDRESS] = 0;
     pru_buffer_comm[PRU_SYNC_PIN_MASK] = 0;
     pru_buffer_comm[PRU_PRU_NUMBER] = pru_number;
+	
+	if(mux_channels == 2) 
+		pru_buffer_comm[PRU_MUX_CONFIG] = 1;
+	else if(mux_channels == 4)
+		pru_buffer_comm[PRU_MUX_CONFIG] = 2;
+	else if(mux_channels == 8)
+		pru_buffer_comm[PRU_MUX_CONFIG] = 3;
+	else
+		pru_buffer_comm[PRU_MUX_CONFIG] = 0;
+	
     if(led_enabled) {
     	pru_buffer_comm[PRU_LED_ADDRESS] = USERLED3_GPIO_BASE;
     	pru_buffer_comm[PRU_LED_PIN_MASK] = USERLED3_PIN_MASK;
     }
     else {