andrewm@0: /*
andrewm@0:  * PRU.h
andrewm@0:  *
andrewm@0:  *  Created on: May 27, 2014
andrewm@0:  *      Author: andrewm
andrewm@0:  */
andrewm@0: 
andrewm@0: #ifndef PRU_H_
andrewm@0: #define PRU_H_
andrewm@0: 
andrewm@0: #include <stdint.h>
andrewm@0: 
andrewm@0: class PRU
andrewm@0: {
andrewm@0: private:
andrewm@0: 	static const unsigned int kPruGPIODACSyncPin;
andrewm@0: 	static const unsigned int kPruGPIOADCSyncPin;
andrewm@0: 	static const unsigned int kPruGPIOTestPin;
andrewm@0: 	static const unsigned int kPruGPIOTestPin2;
andrewm@0: 	static const unsigned int kPruGPIOTestPin3;
andrewm@0: 
andrewm@0: public:
andrewm@0: 	// Constructor
andrewm@0: 	PRU();
andrewm@0: 
andrewm@0: 	// Destructor
andrewm@0: 	~PRU();
andrewm@0: 
andrewm@0: 	// Prepare the GPIO pins needed for the PRU
andrewm@0: 	int prepareGPIO(int use_spi, int include_test_pin, int include_led);
andrewm@0: 
andrewm@0: 	// Clean up the GPIO at the end
andrewm@0: 	void cleanupGPIO();
andrewm@0: 
andrewm@0: 	// Initialise and open the PRU
andrewm@12: 	int initialise(int pru_num, int frames_per_buffer, int spi_channels,
andrewm@12: 				   bool xenomai_test_pin = false);
andrewm@0: 
andrewm@15: 	// Run the code image in pru_rtaudio_bin.h
andrewm@15: 	int start();
andrewm@0: 
andrewm@0: 	// Loop: read and write data from the PRU
andrewm@0: 	void loop();
andrewm@0: 
andrewm@0: 	// Wait for an interrupt from the PRU indicate it is finished
andrewm@0: 	void waitForFinish();
andrewm@0: 
andrewm@0: 	// Turn off the PRU when done
andrewm@0: 	void disable();
andrewm@0: 
andrewm@0: 	// For debugging:
andrewm@0: 	void setGPIOTestPin();
andrewm@0: 	void clearGPIOTestPin();
andrewm@0: 
andrewm@0: private:
andrewm@0: 	int pru_number;		// Which PRU we use
andrewm@0: 	bool running;		// Whether the PRU is running
andrewm@0: 	bool spi_enabled;	// Whether SPI ADC and DAC are used
andrewm@0: 	bool gpio_enabled;	// Whether GPIO has been prepared
andrewm@0: 	bool led_enabled;	// Whether a user LED is enabled
andrewm@0: 	bool gpio_test_pin_enabled; // Whether the test pin was also enabled
andrewm@12: 	int spi_num_channels; // How many channels to use for SPI ADC/DAC
andrewm@0: 
andrewm@0: 	volatile uint32_t *pru_buffer_comm;
andrewm@0: 	uint16_t *pru_buffer_spi_dac;
andrewm@0: 	uint16_t *pru_buffer_spi_adc;
andrewm@0: 	int16_t *pru_buffer_audio_dac;
andrewm@0: 	int16_t *pru_buffer_audio_adc;
andrewm@0: 	unsigned int spi_buffer_frames;
andrewm@0: 	unsigned int audio_buffer_frames;
andrewm@0: 
andrewm@0: 	int xenomai_gpio_fd;	// File descriptor for /dev/mem for fast GPIO
andrewm@0: 	uint32_t *xenomai_gpio;	// Pointer to GPIO registers
andrewm@0: };
andrewm@0: 
andrewm@0: 
andrewm@0: #endif /* PRU_H_ */