diff include/PRU.h @ 0:8a575ba3ab52

Initial commit.

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/PRU.h	Fri Oct 31 19:10:17 2014 +0100
@@ -0,0 +1,75 @@
+/*
+ * PRU.h
+ *
+ *  Created on: May 27, 2014
+ *      Author: andrewm
+ */
+
+#ifndef PRU_H_
+#define PRU_H_
+
+#include <stdint.h>
+
+class PRU
+{
+private:
+	static const unsigned int kPruGPIODACSyncPin;
+	static const unsigned int kPruGPIOADCSyncPin;
+	static const unsigned int kPruGPIOTestPin;
+	static const unsigned int kPruGPIOTestPin2;
+	static const unsigned int kPruGPIOTestPin3;
+
+public:
+	// Constructor
+	PRU();
+
+	// Destructor
+	~PRU();
+
+	// Prepare the GPIO pins needed for the PRU
+	int prepareGPIO(int use_spi, 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, bool xenomai_test_pin = false);
+
+	// Run the code image in the specified file
+	int start(char * const filename);
+
+	// Loop: read and write data from the PRU
+	void loop();
+
+	// Wait for an interrupt from the PRU indicate it is finished
+	void waitForFinish();
+
+	// Turn off the PRU when done
+	void disable();
+
+	// For debugging:
+	void setGPIOTestPin();
+	void clearGPIOTestPin();
+
+private:
+	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 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
+
+	volatile uint32_t *pru_buffer_comm;
+	uint16_t *pru_buffer_spi_dac;
+	uint16_t *pru_buffer_spi_adc;
+	int16_t *pru_buffer_audio_dac;
+	int16_t *pru_buffer_audio_adc;
+	unsigned int spi_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
+};
+
+
+#endif /* PRU_H_ */