diff include/PRU.h @ 45:579c86316008 newapi

Major API overhaul. Moved to a single data structure for handling render functions. Functionally, generally similar except for scheduling within PRU loop function, which now uses interrupts from the PRU rather than polling. This requires an updated kernel.

--- a/include/PRU.h	Wed May 13 12:23:37 2015 +0100
+++ b/include/PRU.h	Thu May 28 14:35:55 2015 -0400
@@ -9,6 +9,8 @@
 #define PRU_H_
 
 #include <stdint.h>
+#include <native/intr.h>
+#include "../include/BeagleRT.h"
 
 class PRU
 {
@@ -21,26 +23,26 @@
 
 public:
 	// Constructor
-	PRU();
+	PRU(BeagleRTContext *input_context);
 
 	// Destructor
 	~PRU();
 
 	// Prepare the GPIO pins needed for the PRU
-	int prepareGPIO(int use_spi, int use_digital, int include_test_pin, int include_led);
+	int prepareGPIO(int include_test_pin, int include_led);
 
 	// Clean up the GPIO at the end
 	void cleanupGPIO();
 
 	// Initialise and open the PRU
-	int initialise(int pru_num, int frames_per_buffer, int spi_channels,
-				   bool xenomai_test_pin = false);
+	int initialise(int pru_num, int frames_per_buffer,
+				   int spi_channels, bool xenomai_test_pin = false);
 
 	// Run the code image in pru_rtaudio_bin.h
 	int start(char * const filename);
 
 	// Loop: read and write data from the PRU
-	void loop();
+	void loop(RT_INTR *pru_interrupt, void *userData);
 
 	// Wait for an interrupt from the PRU indicate it is finished
 	void waitForFinish();
@@ -53,14 +55,15 @@
 	void clearGPIOTestPin();
 
 private:
+	BeagleRTContext *context;	// Overall settings
+
 	int pru_number;		// Which PRU we use
 	bool running;		// Whether the PRU is running
-	bool spi_enabled;	// Whether SPI ADC and DAC are used
+	bool analog_enabled;  // Whether SPI ADC and DAC are used
 	bool digital_enabled; // Whether digital is used
 	bool gpio_enabled;	// Whether GPIO has been prepared
 	bool led_enabled;	// Whether a user LED is enabled
 	bool gpio_test_pin_enabled; // Whether the test pin was also enabled
-	int spi_num_channels; // How many channels to use for SPI ADC/DAC
 
 	volatile uint32_t *pru_buffer_comm;
 	uint16_t *pru_buffer_spi_dac;
@@ -68,9 +71,6 @@
 	uint32_t *pru_buffer_digital;
 	int16_t *pru_buffer_audio_dac;
 	int16_t *pru_buffer_audio_adc;
-	unsigned int spi_buffer_frames;
-	unsigned int digital_buffer_frames;
-	unsigned int audio_buffer_frames;
 
 	int xenomai_gpio_fd;	// File descriptor for /dev/mem for fast GPIO
 	uint32_t *xenomai_gpio;	// Pointer to GPIO registers