andrewm@0: /*
andrewm@0:  * PRU.cpp
andrewm@0:  *
andrewm@0:  * Code for communicating with the Programmable Realtime Unit (PRU)
andrewm@0:  * on the BeagleBone AM335x series processors. The PRU loads and runs
andrewm@0:  * a separate code image compiled from an assembly file. Here it is
andrewm@0:  * used to handle audio and SPI ADC/DAC data.
andrewm@0:  *
andrewm@0:  * This code is specific to the PRU code in the assembly file; for example,
andrewm@0:  * it uses certain GPIO resources that correspond to that image.
andrewm@0:  *
andrewm@0:  *  Created on: May 27, 2014
andrewm@0:  *      Author: andrewm
andrewm@0:  */
andrewm@0: 
andrewm@0: #include "../include/PRU.h"
andrewm@0: #include "../include/prussdrv.h"
andrewm@0: #include "../include/pruss_intc_mapping.h"
andrewm@0: #include "../include/GPIOcontrol.h"
andrewm@0: #include "../include/render.h"
andrewm@0: 
andrewm@0: #include <iostream>
andrewm@0: #include <stdlib.h>
andrewm@0: #include <cstdio>
andrewm@0: #include <cerrno>
andrewm@0: #include <fcntl.h>
andrewm@0: #include <sys/mman.h>
andrewm@0: 
andrewm@0: // Xenomai-specific includes
andrewm@0: #include <sys/mman.h>
andrewm@0: #include <native/task.h>
andrewm@0: #include <native/timer.h>
andrewm@0: #include <rtdk.h>
andrewm@0: 
andrewm@0: using namespace std;
andrewm@0: 
andrewm@0: #define PRU_MEM_MCASP_OFFSET 0x2000  // Offset within PRU-SHARED RAM
andrewm@0: #define PRU_MEM_MCASP_LENGTH 0x2000  // Length of McASP memory, in bytes
andrewm@0: #define PRU_MEM_DAC_OFFSET 0x0     // Offset within PRU0 RAM
andrewm@0: #define PRU_MEM_DAC_LENGTH 0x2000  // Length of ADC+DAC memory, in bytes
andrewm@0: #define PRU_MEM_COMM_OFFSET 0x0    // Offset within PRU-SHARED RAM
andrewm@0: 
andrewm@0: #define PRU_SHOULD_STOP 	0
andrewm@0: #define PRU_CURRENT_BUFFER  1
andrewm@0: #define PRU_BUFFER_FRAMES   2
andrewm@0: #define PRU_SHOULD_SYNC     3
andrewm@0: #define PRU_SYNC_ADDRESS    4
andrewm@0: #define PRU_SYNC_PIN_MASK   5
andrewm@0: #define PRU_LED_ADDRESS		6
andrewm@0: #define PRU_LED_PIN_MASK	7
andrewm@0: #define PRU_FRAME_COUNT		8
andrewm@0: #define PRU_USE_SPI			9
andrewm@0: 
andrewm@0: #define PRU_SAMPLE_INTERVAL_NS 45351	// 22050Hz per SPI sample = 45.351us
andrewm@0: 
andrewm@0: #define GPIO0_ADDRESS 		0x44E07000
andrewm@0: #define GPIO1_ADDRESS 		0x4804C000
andrewm@0: #define GPIO_SIZE			0x198
andrewm@0: #define GPIO_CLEARDATAOUT 	(0x190 / 4)
andrewm@0: #define GPIO_SETDATAOUT 	(0x194 / 4)
andrewm@0: 
andrewm@0: #define TEST_PIN_GPIO_BASE	GPIO0_ADDRESS	// Use GPIO0(31) for debugging
andrewm@0: #define TEST_PIN_MASK		(1 << 31)
andrewm@0: #define TEST_PIN2_MASK		(1 << 26)
andrewm@0: 
andrewm@0: #define USERLED3_GPIO_BASE  GPIO1_ADDRESS // GPIO1(24) is user LED 3
andrewm@0: #define USERLED3_PIN_MASK   (1 << 24)
andrewm@0: 
andrewm@0: const unsigned int PRU::kPruGPIODACSyncPin = 5;	// GPIO0(5); P9-17
andrewm@0: const unsigned int PRU::kPruGPIOADCSyncPin = 48; // GPIO1(16); P9-15
andrewm@0: 
andrewm@0: const unsigned int PRU::kPruGPIOTestPin = 60;	// GPIO1(28); P9-12
andrewm@0: const unsigned int PRU::kPruGPIOTestPin2 = 31;	// GPIO0(31); P9-13
andrewm@0: const unsigned int PRU::kPruGPIOTestPin3 = 26;	// GPIO0(26); P8-14
andrewm@0: 
andrewm@0: extern int gShouldStop;
andrewm@0: extern int gRTAudioVerbose;
andrewm@0: 
andrewm@0: // Constructor: specify a PRU number (0 or 1)
andrewm@0: PRU::PRU()
andrewm@0: : pru_number(0), running(false), spi_enabled(false), gpio_enabled(false), led_enabled(false),
andrewm@0:   gpio_test_pin_enabled(false), xenomai_gpio_fd(-1), xenomai_gpio(0)
andrewm@0: {
andrewm@0: 
andrewm@0: }
andrewm@0: 
andrewm@0: // Destructor
andrewm@0: PRU::~PRU()
andrewm@0: {
andrewm@0: 	if(running)
andrewm@0: 		disable();
andrewm@0: 	if(gpio_enabled)
andrewm@0: 		cleanupGPIO();
andrewm@0: 	if(xenomai_gpio_fd >= 0)
andrewm@0: 		close(xenomai_gpio_fd);
andrewm@0: }
andrewm@0: 
andrewm@0: // Prepare the GPIO pins needed for the PRU
andrewm@0: // If include_test_pin is set, the GPIO output
andrewm@0: // is also prepared for an output which can be
andrewm@0: // viewed on a scope. If include_led is set,
andrewm@0: // user LED 3 on the BBB is taken over by the PRU
andrewm@0: // to indicate activity
andrewm@0: int PRU::prepareGPIO(int use_spi, int include_test_pin, int include_led)
andrewm@0: {
andrewm@0: 	if(use_spi) {
andrewm@0: 		// Prepare DAC CS/ pin: output, high to begin
andrewm@0: 		if(gpio_export(kPruGPIODACSyncPin)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Warning: couldn't export DAC sync pin\n";
andrewm@0: 		}
andrewm@0: 		if(gpio_set_dir(kPruGPIODACSyncPin, OUTPUT_PIN)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set direction on DAC sync pin\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 		if(gpio_set_value(kPruGPIODACSyncPin, HIGH)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set value on DAC sync pin\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		// Prepare ADC CS/ pin: output, high to begin
andrewm@0: 		if(gpio_export(kPruGPIOADCSyncPin)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Warning: couldn't export ADC sync pin\n";
andrewm@0: 		}
andrewm@0: 		if(gpio_set_dir(kPruGPIOADCSyncPin, OUTPUT_PIN)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set direction on ADC sync pin\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 		if(gpio_set_value(kPruGPIOADCSyncPin, HIGH)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set value on ADC sync pin\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		spi_enabled = true;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	if(include_test_pin) {
andrewm@0: 		// Prepare GPIO test output (for debugging), low to begin
andrewm@0: 		if(gpio_export(kPruGPIOTestPin)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Warning: couldn't export GPIO test pin\n";
andrewm@0: 		}
andrewm@0: 		if(gpio_set_dir(kPruGPIOTestPin, OUTPUT_PIN)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set direction on GPIO test pin\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 		if(gpio_set_value(kPruGPIOTestPin, LOW)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set value on GPIO test pin\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		if(gpio_export(kPruGPIOTestPin2)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Warning: couldn't export GPIO test pin 2\n";
andrewm@0: 		}
andrewm@0: 		if(gpio_set_dir(kPruGPIOTestPin2, OUTPUT_PIN)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set direction on GPIO test pin 2\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 		if(gpio_set_value(kPruGPIOTestPin2, LOW)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set value on GPIO test pin 2\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		if(gpio_export(kPruGPIOTestPin3)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Warning: couldn't export GPIO test pin 3\n";
andrewm@0: 		}
andrewm@0: 		if(gpio_set_dir(kPruGPIOTestPin3, OUTPUT_PIN)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set direction on GPIO test pin 3\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 		if(gpio_set_value(kPruGPIOTestPin3, LOW)) {
andrewm@0: 			if(gRTAudioVerbose)
andrewm@0: 				cout << "Couldn't set value on GPIO test pin 3\n";
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 		gpio_test_pin_enabled = true;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	if(include_led) {
andrewm@0: 		// Turn off system function for LED3 so it can be reused by PRU
andrewm@0: 		led_set_trigger(3, "none");
andrewm@0: 		led_enabled = true;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	gpio_enabled = true;
andrewm@0: 
andrewm@0: 	return 0;
andrewm@0: }
andrewm@0: 
andrewm@0: // Clean up the GPIO at the end
andrewm@0: void PRU::cleanupGPIO()
andrewm@0: {
andrewm@0: 	if(!gpio_enabled)
andrewm@0: 		return;
andrewm@0: 	if(spi_enabled) {
andrewm@0: 		gpio_unexport(kPruGPIODACSyncPin);
andrewm@0: 		gpio_unexport(kPruGPIOADCSyncPin);
andrewm@0: 	}
andrewm@0: 	if(gpio_test_pin_enabled) {
andrewm@0: 		gpio_unexport(kPruGPIOTestPin);
andrewm@0: 		gpio_unexport(kPruGPIOTestPin2);
andrewm@0: 		gpio_unexport(kPruGPIOTestPin3);
andrewm@0: 	}
andrewm@0: 	if(led_enabled) {
andrewm@0: 		// Set LED back to default eMMC status
andrewm@0: 		// TODO: make it go back to its actual value before this program,
andrewm@0: 		// rather than the system default
andrewm@0: 		led_set_trigger(3, "mmc1");
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	gpio_enabled = gpio_test_pin_enabled = false;
andrewm@0: }
andrewm@0: 
andrewm@0: // Initialise and open the PRU
andrewm@0: int PRU::initialise(int pru_num, int frames_per_buffer, bool xenomai_test_pin)
andrewm@0: {
andrewm@0: 	uint32_t *pruMem = 0;
andrewm@0: 
andrewm@0: 	if(!gpio_enabled) {
andrewm@0: 		rt_printf("initialise() called before GPIO enabled\n");
andrewm@0: 		return 1;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	pru_number = pru_num;
andrewm@0: 
andrewm@0:     /* Initialize structure used by prussdrv_pruintc_intc   */
andrewm@0:     /* PRUSS_INTC_INITDATA is found in pruss_intc_mapping.h */
andrewm@0:     tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
andrewm@0: 
andrewm@0:     /* Allocate and initialize memory */
andrewm@0:     prussdrv_init();
andrewm@0:     if(prussdrv_open(PRU_EVTOUT_0)) {
andrewm@0:     	rt_printf("Failed to open PRU driver\n");
andrewm@0:     	return 1;
andrewm@0:     }
andrewm@0: 
andrewm@0:     /* Map PRU's INTC */
andrewm@0:     prussdrv_pruintc_init(&pruss_intc_initdata);
andrewm@0: 
andrewm@0:     spi_buffer_frames = frames_per_buffer;
andrewm@0:     audio_buffer_frames = spi_buffer_frames * 2;
andrewm@0: 
andrewm@0:     /* Map PRU memory to pointers */
andrewm@0: 	prussdrv_map_prumem (PRUSS0_SHARED_DATARAM, (void **)&pruMem);
andrewm@0:     pru_buffer_comm = (uint32_t *)&pruMem[PRU_MEM_COMM_OFFSET/sizeof(uint32_t)];
andrewm@0: 	pru_buffer_audio_dac = (int16_t *)&pruMem[PRU_MEM_MCASP_OFFSET/sizeof(uint32_t)];
andrewm@0: 
andrewm@0: 	/* ADC memory starts 2(ch)*2(buffers)*2(samples/spi)*bufsize samples later */
andrewm@0: 	pru_buffer_audio_adc = &pru_buffer_audio_dac[8 * spi_buffer_frames];
andrewm@0: 
andrewm@0: 	if(spi_enabled) {
andrewm@0: 		prussdrv_map_prumem (pru_number == 0 ? PRUSS0_PRU0_DATARAM : PRUSS0_PRU1_DATARAM, (void **)&pruMem);
andrewm@0: 		pru_buffer_spi_dac = (uint16_t *)&pruMem[PRU_MEM_DAC_OFFSET/sizeof(uint32_t)];
andrewm@0: 
andrewm@0: 		/* ADC memory starts after 8(ch)*2(buffers)*bufsize samples */
andrewm@0: 		pru_buffer_spi_adc = &pru_buffer_spi_dac[16 * spi_buffer_frames];
andrewm@0: 	}
andrewm@0: 	else {
andrewm@0: 		pru_buffer_spi_dac = pru_buffer_spi_adc = 0;
andrewm@0: 	}
andrewm@0: 
andrewm@0:     /* Set up flags */
andrewm@0:     pru_buffer_comm[PRU_SHOULD_STOP] = 0;
andrewm@0:     pru_buffer_comm[PRU_CURRENT_BUFFER] = 0;
andrewm@0:     pru_buffer_comm[PRU_BUFFER_FRAMES] = spi_buffer_frames;
andrewm@0:     pru_buffer_comm[PRU_SHOULD_SYNC] = 0;
andrewm@0:     pru_buffer_comm[PRU_SYNC_ADDRESS] = 0;
andrewm@0:     pru_buffer_comm[PRU_SYNC_PIN_MASK] = 0;
andrewm@0:     if(led_enabled) {
andrewm@0:     	pru_buffer_comm[PRU_LED_ADDRESS] = USERLED3_GPIO_BASE;
andrewm@0:     	pru_buffer_comm[PRU_LED_PIN_MASK] = USERLED3_PIN_MASK;
andrewm@0:     }
andrewm@0:     else {
andrewm@0:     	pru_buffer_comm[PRU_LED_ADDRESS] = 0;
andrewm@0:     	pru_buffer_comm[PRU_LED_PIN_MASK] = 0;
andrewm@0:     }
andrewm@0:     if(spi_enabled) {
andrewm@0:     	pru_buffer_comm[PRU_USE_SPI] = 1;
andrewm@0:     }
andrewm@0:     else {
andrewm@0:     	pru_buffer_comm[PRU_USE_SPI] = 0;
andrewm@0:     }
andrewm@0: 
andrewm@0:     /* Clear ADC and DAC memory */
andrewm@0:     if(spi_enabled) {
andrewm@0: 		for(int i = 0; i < PRU_MEM_DAC_LENGTH / 2; i++)
andrewm@0: 			pru_buffer_spi_dac[i] = 0;
andrewm@0:     }
andrewm@0: 	for(int i = 0; i < PRU_MEM_MCASP_LENGTH / 2; i++)
andrewm@0: 		pru_buffer_audio_dac[i] = 0;
andrewm@0: 
andrewm@0: 	/* If using GPIO test pin for Xenomai (for debugging), initialise the pointer now */
andrewm@0: 	if(xenomai_test_pin && xenomai_gpio_fd < 0) {
andrewm@0: 		xenomai_gpio_fd = open("/dev/mem", O_RDWR);
andrewm@0: 		if(xenomai_gpio_fd < 0)
andrewm@0: 			rt_printf("Unable to open /dev/mem for GPIO test pin\n");
andrewm@0: 		else {
andrewm@0: 			xenomai_gpio = (uint32_t *)mmap(0, GPIO_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, xenomai_gpio_fd, TEST_PIN_GPIO_BASE);
andrewm@0: 			if(xenomai_gpio == MAP_FAILED) {
andrewm@0: 				rt_printf("Unable to map GPIO address for test pin\n");
andrewm@0: 				xenomai_gpio = 0;
andrewm@0: 				close(xenomai_gpio_fd);
andrewm@0: 				xenomai_gpio_fd = -1;
andrewm@0: 			}
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	return 0;
andrewm@0: }
andrewm@0: 
andrewm@0: // Run the code image in the specified file
andrewm@0: int PRU::start(char * const filename)
andrewm@0: {
andrewm@0: 	/* Clear any old interrupt */
andrewm@0: 	prussdrv_pru_clear_event(pru_number == 0 ? PRU0_ARM_INTERRUPT : PRU1_ARM_INTERRUPT);
andrewm@0: 
andrewm@0:     /* Load and execute binary on PRU */
andrewm@0:     if(prussdrv_exec_program(pru_number, filename)) {
andrewm@0:     	rt_printf("Failed to execute PRU code from %s\n", filename);
andrewm@0:     	return 1;
andrewm@0:     }
andrewm@0: 
andrewm@0:     running = true;
andrewm@0:     return 0;
andrewm@0: }
andrewm@0: 
andrewm@0: // Main loop to read and write data from/to PRU
andrewm@0: void PRU::loop()
andrewm@0: {
andrewm@0: 	// Polling interval is 1/4 of the period
andrewm@0: 	RTIME sleepTime = PRU_SAMPLE_INTERVAL_NS * spi_buffer_frames / 4;
andrewm@0: 	float *audioInBuffer, *audioOutBuffer;
andrewm@0: 
andrewm@0: 	audioInBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float));
andrewm@0: 	audioOutBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float));
andrewm@0: 
andrewm@0: 	if(audioInBuffer == 0 || audioOutBuffer == 0) {
andrewm@0: 		rt_printf("Error: couldn't allocated audio buffers\n");
andrewm@0: 		return;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	while(!gShouldStop) {
andrewm@0: 		// Wait for PRU to move to buffer 1
andrewm@0: 		while(pru_buffer_comm[PRU_CURRENT_BUFFER] == 0 && !gShouldStop) {
andrewm@0: 			rt_task_sleep(sleepTime);
andrewm@0: 		}
andrewm@0: 		if(gShouldStop)
andrewm@0: 			break;
andrewm@0: 
andrewm@0: 		if(xenomai_gpio != 0) {
andrewm@0: 			// Set the test pin high
andrewm@0: 			xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN_MASK;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		// Render from/to buffer 0
andrewm@0: 
andrewm@0: 		// Convert short (16-bit) samples to float
andrewm@0: 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++)
andrewm@0: 			audioInBuffer[n] = (float)pru_buffer_audio_adc[n] / 32768.0;
andrewm@0: 
andrewm@0: 		if(spi_enabled)
andrewm@0: 			render(spi_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
andrewm@0: 					pru_buffer_spi_adc, pru_buffer_spi_dac);
andrewm@0: 		else
andrewm@0: 			render(0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0);
andrewm@0: 
andrewm@0: 		// Convert float back to short
andrewm@0: 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) {
andrewm@0: 			int out = audioOutBuffer[n] * 32768.0;
andrewm@0: 			if(out < -32768) out = -32768;
andrewm@0: 			else if(out > 32767) out = 32767;
andrewm@0: 			pru_buffer_audio_dac[n] = (int16_t)out;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		if(xenomai_gpio != 0) {
andrewm@0: 			// Set the test pin high
andrewm@0: 			xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		// Wait for PRU to move to buffer 0
andrewm@0: 		while(pru_buffer_comm[PRU_CURRENT_BUFFER] != 0 && !gShouldStop) {
andrewm@0: 			rt_task_sleep(sleepTime);
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		if(gShouldStop)
andrewm@0: 			break;
andrewm@0: 
andrewm@0: 		if(xenomai_gpio != 0) {
andrewm@0: 			// Set the test pin high
andrewm@0: 			xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN_MASK;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		// Render from/to buffer 1
andrewm@0: 
andrewm@0: 		// Convert short (16-bit) samples to float
andrewm@0: 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++)
andrewm@0: 			audioInBuffer[n] = (float)pru_buffer_audio_adc[n + audio_buffer_frames * 2] / 32768.0;
andrewm@0: 
andrewm@0: 		if(spi_enabled)
andrewm@0: 			render(spi_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer,
andrewm@0: 					&pru_buffer_spi_adc[spi_buffer_frames * 8], &pru_buffer_spi_dac[spi_buffer_frames * 8]);
andrewm@0: 		else
andrewm@0: 			render(0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0);
andrewm@0: 
andrewm@0: 		// Convert float back to short
andrewm@0: 		for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) {
andrewm@0: 			int out = audioOutBuffer[n] * 32768.0;
andrewm@0: 			if(out < -32768) out = -32768;
andrewm@0: 			else if(out > 32767) out = 32767;
andrewm@0: 			pru_buffer_audio_dac[n + audio_buffer_frames * 2] = (int16_t)out;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		if(xenomai_gpio != 0) {
andrewm@0: 			// Set the test pin high
andrewm@0: 			xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK;
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	// Tell PRU to stop
andrewm@0: 	pru_buffer_comm[PRU_SHOULD_STOP] = 1;
andrewm@0: 
andrewm@0: 	free(audioInBuffer);
andrewm@0: 	free(audioOutBuffer);
andrewm@0: }
andrewm@0: 
andrewm@0: // Wait for an interrupt from the PRU indicate it is finished
andrewm@0: void PRU::waitForFinish()
andrewm@0: {
andrewm@0: 	if(!running)
andrewm@0: 		return;
andrewm@0:     prussdrv_pru_wait_event (PRU_EVTOUT_0);
andrewm@0:     prussdrv_pru_clear_event(pru_number == 0 ? PRU0_ARM_INTERRUPT : PRU1_ARM_INTERRUPT);
andrewm@0: }
andrewm@0: 
andrewm@0: // Turn off the PRU when done
andrewm@0: void PRU::disable()
andrewm@0: {
andrewm@0:     /* Disable PRU and close memory mapping*/
andrewm@0:     prussdrv_pru_disable(pru_number);
andrewm@0:     prussdrv_exit();
andrewm@0: 	running = false;
andrewm@0: }
andrewm@0: 
andrewm@0: // Debugging
andrewm@0: void PRU::setGPIOTestPin()
andrewm@0: {
andrewm@0: 	if(!xenomai_gpio)
andrewm@0: 		return;
andrewm@0: 	xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN2_MASK;
andrewm@0: }
andrewm@0: 
andrewm@0: void PRU::clearGPIOTestPin()
andrewm@0: {
andrewm@0: 	if(!xenomai_gpio)
andrewm@0: 		return;
andrewm@0: 	xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN2_MASK;
andrewm@0: }