view 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.

/*
 * PRU.h
 *
 *  Created on: May 27, 2014
 *      Author: andrewm
 */

#ifndef PRU_H_
#define PRU_H_

#include <stdint.h>
#include <native/intr.h>
#include "../include/BeagleRT.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(BeagleRTContext *input_context);

	// Destructor
	~PRU();

	// Prepare the GPIO pins needed for the PRU
	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);

	// Run the code image in pru_rtaudio_bin.h
	int start(char * const filename);

	// Loop: read and write data from the PRU
	void loop(RT_INTR *pru_interrupt, void *userData);

	// 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:
	BeagleRTContext *context;	// Overall settings

	int pru_number;		// Which PRU we use
	bool running;		// Whether the PRU is running
	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

	volatile uint32_t *pru_buffer_comm;
	uint16_t *pru_buffer_spi_dac;
	uint16_t *pru_buffer_spi_adc;
	uint32_t *pru_buffer_digital;
	int16_t *pru_buffer_audio_dac;
	int16_t *pru_buffer_audio_adc;

	int xenomai_gpio_fd;	// File descriptor for /dev/mem for fast GPIO
	uint32_t *xenomai_gpio;	// Pointer to GPIO registers
};


#endif /* PRU_H_ */