comparison core/PRU.cpp @ 19:c98863e63174 matrix_gpio

Renamed matrixGpio to digital and matrix to analog

  */
 
 #include "../include/PRU.h"
 #include "../include/prussdrv.h"
 #include "../include/pruss_intc_mapping.h"
-#include "../include/matrix_gpio_mapping.h"
+#include "../include/digital_gpio_mapping.h"
 #include "../include/GPIOcontrol.h"
 #include "../include/render.h"
 #include "../include/pru_rtaudio_bin.h"
 
 #include <iostream>

 #define PRU_MEM_MCASP_OFFSET 0x2000  // Offset within PRU-SHARED RAM
 #define PRU_MEM_MCASP_LENGTH 0x2000  // Length of McASP memory, in bytes
 #define PRU_MEM_DAC_OFFSET 0x0     // Offset within PRU0 RAM
 #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_MATRIX_GPIO_OFFSET 0x1000 //Offset within PRU-SHARED RAM
-#define MEM_MATRIX_GPIO_BUFFER1_OFFSET 0x400 //Start pointer to MATRIX_GPIO_BUFFER1, which is 256 words.
+#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
 #define PRU_SHOULD_STOP 	0
 #define PRU_CURRENT_BUFFER  1
 #define PRU_BUFFER_FRAMES   2
 #define PRU_SHOULD_SYNC     3

 #define PRU_LED_ADDRESS		6
 #define PRU_LED_PIN_MASK	7
 #define PRU_FRAME_COUNT		8
 #define PRU_USE_SPI			9
 #define PRU_SPI_NUM_CHANNELS 10
-#define PRU_USE_GPIO_MATRIX 11
-
-short int matrixGpioPins[NUM_MATRIX_GPIOS]={
+#define PRU_USE_GPIO_ANALOG 11
+
+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,

 // If include_test_pin is set, the GPIO output
 // is also prepared for an output which can be
 // viewed on a scope. If include_led is set,
 // user LED 3 on the BBB is taken over by the PRU
 // to indicate activity
-int PRU::prepareGPIO(int use_spi, int use_matrix_gpio, int include_test_pin, int include_led)
+int PRU::prepareGPIO(int use_spi, int use_digital, int include_test_pin, int include_led)
 {
 	if(use_spi) {
 		// Prepare DAC CS/ pin: output, high to begin
 		if(gpio_export(kPruGPIODACSyncPin)) {
 			if(gRTAudioVerbose)

 		}
 
 		spi_enabled = true;
 	}
 
-	if(use_matrix_gpio){
-		printf("gNumMatrixGpioChannels: %d;\n",gNumMatrixGpioChannels);
-		for(int i=0; i<gNumMatrixGpioChannels; i++){
-			if(gpio_export(matrixGpioPins[i])) {
+	if(use_digital){
+		printf("gNumDigitalChannels: %d;\n",gNumDigitalChannels);
+		for(int i=0; i<gNumDigitalChannels; i++){
+			if(gpio_export(digitalPins[i])) {
 				if(gRTAudioVerbose)
-					cout << "Warning: couldn't export matrix GPIO pin " << matrixGpioPins[i] << "\n";
+					cout << "Warning: couldn't export digital GPIO pin " << digitalPins[i] << "\n";
 			}
-			if(gpio_set_dir(matrixGpioPins[i], OUTPUT_PIN)) {
+			if(gpio_set_dir(digitalPins[i], OUTPUT_PIN)) {
 				if(gRTAudioVerbose)
-					cout << "Couldn't set direction on matrix GPIO pin " << matrixGpioPins[i] << "\n";
+					cout << "Couldn't set direction on digital GPIO pin " << digitalPins[i] << "\n";
 				return -1;
 			}
-			if(gpio_set_value(matrixGpioPins[i], HIGH)) {
+			if(gpio_set_value(digitalPins[i], HIGH)) {
 				if(gRTAudioVerbose)
-					cout << "Couldn't set value on matrix GPIO pin " << matrixGpioPins[i] << "\n";
+					cout << "Couldn't set value on digital GPIO pin " << digitalPins[i] << "\n";
 				return -1;
 			}
 		}
-		matrix_gpio_enabled=true;
+		digital_enabled=true;
 	}
 
 	if(include_test_pin) {
 		// Prepare GPIO test output (for debugging), low to begin
 		if(gpio_export(kPruGPIOTestPin)) {

 		return;
 	if(spi_enabled) {
 		gpio_unexport(kPruGPIODACSyncPin);
 		gpio_unexport(kPruGPIOADCSyncPin);
 	}
-	if(matrix_gpio_enabled){
-		for(int i=0; i<gNumMatrixGpioChannels; i++){
-			gpio_unexport(matrixGpioPins[i]);
+	if(digital_enabled){
+		for(int i=0; i<gNumDigitalChannels; i++){
+			gpio_unexport(digitalPins[i]);
 		}
 	}
 	if(gpio_test_pin_enabled) {
 		gpio_unexport(kPruGPIOTestPin);
 		gpio_unexport(kPruGPIOTestPin2);

     /* Map PRU's INTC */
     prussdrv_pruintc_init(&pruss_intc_initdata);
 
     spi_buffer_frames = frames_per_buffer;
     audio_buffer_frames = spi_buffer_frames * spi_num_channels / 4;
-    matrix_gpio_buffer_frames = audio_buffer_frames;
+    digital_buffer_frames = audio_buffer_frames;
 
     /* Map PRU memory to pointers */
 	prussdrv_map_prumem (PRUSS0_SHARED_DATARAM, (void **)&pruMem);
     pru_buffer_comm = (uint32_t *)&pruMem[PRU_MEM_COMM_OFFSET/sizeof(uint32_t)];
 	pru_buffer_audio_dac = (int16_t *)&pruMem[PRU_MEM_MCASP_OFFSET/sizeof(uint32_t)];

 	}
 	else {
 		pru_buffer_spi_dac = pru_buffer_spi_adc = 0;
 	}
 
-	if(matrix_gpio_enabled) {
+	if(digital_enabled) {
 		prussdrv_map_prumem (PRUSS0_SHARED_DATARAM, (void **)&pruMem);
-		pru_buffer_matrix_gpio = (uint32_t *)&pruMem[PRU_MEM_MATRIX_GPIO_OFFSET/sizeof(uint32_t)];
+		pru_buffer_digital = (uint32_t *)&pruMem[PRU_MEM_DIGITAL_OFFSET/sizeof(uint32_t)];
 	}
 	else {
-		pru_buffer_matrix_gpio = 0;
+		pru_buffer_digital = 0;
 	}
     /* Set up flags */
     pru_buffer_comm[PRU_SHOULD_STOP] = 0;
     pru_buffer_comm[PRU_CURRENT_BUFFER] = 0;
     pru_buffer_comm[PRU_BUFFER_FRAMES] = spi_buffer_frames;

     }
     else {
     	pru_buffer_comm[PRU_USE_SPI] = 0;
     	pru_buffer_comm[PRU_SPI_NUM_CHANNELS] = 0;
     }
-    if(matrix_gpio_enabled) {
-    	pru_buffer_comm[PRU_USE_GPIO_MATRIX] = 1;
-    	pru_buffer_comm[NUM_MATRIX_GPIOS] = spi_num_channels;
+    if(digital_enabled) {
+    	pru_buffer_comm[PRU_USE_GPIO_ANALOG] = 1;
+    	pru_buffer_comm[NUM_DIGITALS] = spi_num_channels;
     }
     else {
-    	pru_buffer_comm[PRU_USE_GPIO_MATRIX] = 0;
-    	pru_buffer_comm[NUM_MATRIX_GPIOS] = 0;
+    	pru_buffer_comm[PRU_USE_GPIO_ANALOG] = 0;
+    	pru_buffer_comm[NUM_DIGITALS] = 0;
     }
 
     /* Clear ADC and DAC memory */
     if(spi_enabled) {
 		for(int i = 0; i < PRU_MEM_DAC_LENGTH / 2; i++)

 void PRU::loop()
 {
 	// Polling interval is 1/4 of the period
 	RTIME sleepTime = PRU_SAMPLE_INTERVAL_NS * (spi_num_channels / 2) * spi_buffer_frames / 4;
 	float *audioInBuffer, *audioOutBuffer;
-	float *matrixInBuffer, *matrixOutBuffer;
-	uint32_t *matrixGpioBuffer0, *matrixGpioBuffer1, *matrixGpioBufferTemp;
+	float *analogInBuffer, *analogOutBuffer;
+	uint32_t *digitalBuffer0, *digitalBuffer1, *digitalBufferTemp;
 
 	audioInBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float));
 	audioOutBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float));
-	matrixInBuffer = (float *)malloc(spi_num_channels * spi_buffer_frames * sizeof(float));
-	matrixOutBuffer = (float *)malloc(spi_num_channels * spi_buffer_frames * sizeof(float));
-	matrixGpioBuffer0 = pru_buffer_matrix_gpio; 
-	matrixGpioBuffer1 = pru_buffer_matrix_gpio+MEM_MATRIX_GPIO_BUFFER1_OFFSET/sizeof(uint32_t);
-   matrix_gpio_buffer_frames = matrix_gpio_enabled ? audio_buffer_frames : 0; //TODO: find a more elegant solution for when the matrix_gpio is disabled e.g.:
-    																	// - embed in the digitalWrite/Read macros a check whether matrix_gpio is enabled
+	analogInBuffer = (float *)malloc(spi_num_channels * spi_buffer_frames * sizeof(float));
+	analogOutBuffer = (float *)malloc(spi_num_channels * spi_buffer_frames * sizeof(float));
+	digitalBuffer0 = pru_buffer_digital; 
+	digitalBuffer1 = pru_buffer_digital+MEM_DIGITAL_BUFFER1_OFFSET/sizeof(uint32_t);
+   digital_buffer_frames = digital_enabled ? audio_buffer_frames : 0; //TODO: find a more elegant solution for when the digital is disabled e.g.:
+    																	// - embed in the digitalWrite/Read macros a check whether digital is enabled
     																	// - allocate some memory in ARM just to allow render() to run regardless.
-    																	//     in this case it can be matrixGpioBuffer0 == matrixGpioBuffer1
-	printf("matrix_gpio_buffer_frames: %d;\n",matrix_gpio_buffer_frames);
-    matrixGpioBufferTemp = (uint32_t *)malloc(matrix_gpio_buffer_frames*sizeof(uint32_t)); //temp buffer to hold previous states
+    																	//     in this case it can be digitalBuffer0 == digitalBuffer1
+	printf("digital_buffer_frames: %d;\n",digital_buffer_frames);
+    digitalBufferTemp = (uint32_t *)malloc(digital_buffer_frames*sizeof(uint32_t)); //temp buffer to hold previous states
 	if(audioInBuffer == 0 || audioOutBuffer == 0) {
 		rt_printf("Error: couldn't allocate audio buffers\n");
 		return;
 	}
-	if(matrixInBuffer == 0 || matrixOutBuffer == 0) {
-		rt_printf("Error: couldn't allocate matrix buffers\n");
+	if(analogInBuffer == 0 || analogOutBuffer == 0) {
+		rt_printf("Error: couldn't allocate analog buffers\n");
 		return;
 	}
-	if(matrixGpioBufferTemp == 0) {
-		rt_printf("Error: couldn't allocate matrix GPIO buffers\n");
+	if(digitalBufferTemp == 0) {
+		rt_printf("Error: couldn't allocate digital buffers\n");
 		return;
 	} 
 	
 	while(!gShouldStop) {
 		// Wait for PRU to move to buffer 1

 		// Convert short (16-bit) samples to float
 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++)
 			audioInBuffer[n] = (float)pru_buffer_audio_adc[n] / 32768.0;
 		if(spi_enabled) {
 			for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++)
-				matrixInBuffer[n] = (float)pru_buffer_spi_adc[n] / 65536.0;
-        //use past matrix_gpio values to initialize the array properly:
+				analogInBuffer[n] = (float)pru_buffer_spi_adc[n] / 65536.0;
+        //use past digital values to initialize the array properly:
         //- pins previously set as outputs will keep their previously set output value,
         //- pins previously set as inputs will carry the newly read input value
-            if(matrix_gpio_enabled){
-                for(unsigned int n = 0; n < matrix_gpio_buffer_frames; n++){ 
-                    uint16_t inputs=matrixGpioBufferTemp[n]&0xffff;//half-word, has 1 for inputs and 0 for outputs
+            if(digital_enabled){
+                for(unsigned int n = 0; n < digital_buffer_frames; n++){ 
+                    uint16_t inputs=digitalBufferTemp[n]&0xffff;//half-word, has 1 for inputs and 0 for outputs
 //                    printf("inputs: 0x%x\n",inputs);
                     uint16_t outputs=~inputs; //half-word has 1 for outputs and 0 for inputs;
-                    matrixGpioBuffer0[n]=(matrixGpioBufferTemp[n]&(outputs<<16))| //keep output values set in previous matrixGpioBuffer1[n]
-                                         (matrixGpioBuffer0[n]&(inputs<<16))   | //inputs from current matrixGpioBuffer0[n];
-                                         (matrixGpioBufferTemp[n]&(inputs));     //keep pin configuration from previous matrixGpioBuffer1[n]
-//                    matrixGpioBuffer0[n]=matrixGpioBufferTemp[n]; //ignores inputs
+                    digitalBuffer0[n]=(digitalBufferTemp[n]&(outputs<<16))| //keep output values set in previous digitalBuffer1[n]
+                                         (digitalBuffer0[n]&(inputs<<16))   | //inputs from current digitalBuffer0[n];
+                                         (digitalBufferTemp[n]&(inputs));     //keep pin configuration from previous digitalBuffer1[n]
+//                    digitalBuffer0[n]=digitalBufferTemp[n]; //ignores inputs
                 }
             }
-			render(spi_buffer_frames, matrix_gpio_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
-					matrixInBuffer, matrixOutBuffer, matrixGpioBuffer0);
+			render(spi_buffer_frames, digital_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
+					analogInBuffer, analogOutBuffer, digitalBuffer0);
 			for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++) {
-				int out = matrixOutBuffer[n] * 65536.0;
+				int out = analogOutBuffer[n] * 65536.0;
 				if(out < 0) out = 0;
 				else if(out > 65535) out = 65535;
 				pru_buffer_spi_dac[n] = (uint16_t)out;
 			}
-            if(matrix_gpio_enabled){ // keep track of past matrix_gpio values
-                for(unsigned int n = 0; n < matrix_gpio_buffer_frames; n++){ 
-                    matrixGpioBufferTemp[n]=matrixGpioBuffer0[n];
+            if(digital_enabled){ // keep track of past digital values
+                for(unsigned int n = 0; n < digital_buffer_frames; n++){ 
+                    digitalBufferTemp[n]=digitalBuffer0[n];
                 }
             }
 		}
 		else
-			render(0, 0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0, 0); // we still pass matrixGpioBuffer, just it is unused
+			render(0, 0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0, 0); // we still pass digitalBuffer, just it is unused
         // Convert float back to short
 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) {
 			int out = audioOutBuffer[n] * 32768.0;
 			if(out < -32768) out = -32768;
 			else if(out > 32767) out = 32767;

 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++)
 			audioInBuffer[n] = (float)pru_buffer_audio_adc[n + audio_buffer_frames * 2] / 32768.0;
 
 		if(spi_enabled) {
 			for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++)
-				matrixInBuffer[n] = (float)pru_buffer_spi_adc[n + spi_buffer_frames * spi_num_channels] / 65536.0;
-
-            //use past matrix_gpio values to initialize the array properly:
+				analogInBuffer[n] = (float)pru_buffer_spi_adc[n + spi_buffer_frames * spi_num_channels] / 65536.0;
+
+            //use past digital values to initialize the array properly:
             //- pins previously set as outputs will keep their previously set output value,
             //- pins previously set as inputs will carry the newly read input value
-            if(matrix_gpio_enabled){
-                for(unsigned int n = 0; n < matrix_gpio_buffer_frames; n++){ 
-                    uint16_t inputs=matrixGpioBufferTemp[n]&0xffff;//half-word, has 1 for inputs and 0 for outputs
+            if(digital_enabled){
+                for(unsigned int n = 0; n < digital_buffer_frames; n++){ 
+                    uint16_t inputs=digitalBufferTemp[n]&0xffff;//half-word, has 1 for inputs and 0 for outputs
                     uint16_t outputs=~inputs; //half-word has 1 for outputs and one for inputs;
-                    matrixGpioBuffer1[n]=(matrixGpioBufferTemp[n]&(outputs<<16))| //keep output values set in previous matrixGpioBuffer1[n]
-                                         (matrixGpioBuffer1[n]&(inputs<<16))   | //inputs from current matrixGpioBuffer1[n];
-                                         (matrixGpioBufferTemp[n]&(inputs));     //keep pin configuration from previous matrixGpioBuffer1[n]
-//                    matrixGpioBuffer1[n]=matrixGpioBufferTemp[n]; //ignores inputs
+                    digitalBuffer1[n]=(digitalBufferTemp[n]&(outputs<<16))| //keep output values set in previous digitalBuffer1[n]
+                                         (digitalBuffer1[n]&(inputs<<16))   | //inputs from current digitalBuffer1[n];
+                                         (digitalBufferTemp[n]&(inputs));     //keep pin configuration from previous digitalBuffer1[n]
+//                    digitalBuffer1[n]=digitalBufferTemp[n]; //ignores inputs
                 }
             }
-			render(spi_buffer_frames, matrix_gpio_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
-					matrixInBuffer, matrixOutBuffer, matrixGpioBuffer1);
+			render(spi_buffer_frames, digital_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
+					analogInBuffer, analogOutBuffer, digitalBuffer1);
 			for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++) {
-				int out = matrixOutBuffer[n] * 65536.0;
+				int out = analogOutBuffer[n] * 65536.0;
 				if(out < 0) out = 0;
 				else if(out > 65535) out = 65535;
 				pru_buffer_spi_dac[n + spi_buffer_frames * spi_num_channels] = (uint16_t)out;
 			}
-            if(matrix_gpio_enabled){ // keep track of past matrix_gpio values
-                for(unsigned int n = 0; n < matrix_gpio_buffer_frames; n++){ 
-                    matrixGpioBufferTemp[n]=matrixGpioBuffer1[n];
+            if(digital_enabled){ // keep track of past digital values
+                for(unsigned int n = 0; n < digital_buffer_frames; n++){ 
+                    digitalBufferTemp[n]=digitalBuffer1[n];
                 }
             }
 		}
 		else
-			render(0, 0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0, 0); // we still pass matrixGpioBuffer, just it is unused
+			render(0, 0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0, 0); // we still pass digitalBuffer, just it is unused
 
 		// Convert float back to short
 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) {
 			int out = audioOutBuffer[n] * 32768.0;
 			if(out < -32768) out = -32768;

 	}
 
 	// Tell PRU to stop
 	pru_buffer_comm[PRU_SHOULD_STOP] = 1;
 
-	free(matrixOutBuffer);
+	free(analogOutBuffer);
 	free(audioInBuffer);
 	free(audioOutBuffer);
-	free(matrixInBuffer);
-    free(matrixGpioBufferTemp);
+	free(analogInBuffer);
+    free(digitalBufferTemp);
 }
 
 // Wait for an interrupt from the PRU indicate it is finished
 void PRU::waitForFinish()
 {