diff 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)

--- a/core/PRU.cpp	Thu May 28 17:48:42 2015 -0400
+++ b/core/PRU.cpp	Sat May 30 12:34:32 2015 -0500
@@ -420,10 +420,13 @@
 // 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 sleepTime = PRU_SAMPLE_INTERVAL_NS * (context->analogChannels / 2) * context->analogFrames / 4;
+#endif
 
-	RTIME irqTimeout = PRU_SAMPLE_INTERVAL_NS * 1024;	// Timeout for PRU interrupt: about 10ms, much longer than any expected period
 	float *lastAnalogOutFrame;
 	uint32_t *digitalBuffer0, *digitalBuffer1, *lastDigitalBuffer;
 	uint32_t pru_audio_offset, pru_spi_offset;
@@ -468,10 +471,16 @@
 	}
 
 	// 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);
@@ -489,6 +498,14 @@
 
 		// 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;
@@ -512,7 +529,7 @@
 
 		// 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);
 
@@ -605,12 +622,14 @@
 		}
 
 		// 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();