Mercurial > hg > beaglert
changeset 108:3068421c0737 ultra-staging
Merged default into ultra-staging
| author | Giulio Moro <giuliomoro@yahoo.it> |
|---|---|
| date | Tue, 18 Aug 2015 00:35:15 +0100 |
| parents | d3f869b98147 (current diff) 836052c86e1e (diff) |
| children | 7b351b7d8770 |
| files | .cproject core/PRU.cpp core/RTAudio.cpp core/UdpClient.cpp include/PRU.h include/RTAudio.h include/RTAudioSettings.h include/UdpClient.h include/render.h projects/basic_network/render.cpp projects/basic_sensor/main.cpp projects/basic_sensor/render.cpp pru_rtaudio.bin |
| diffstat | 77 files changed, 7402 insertions(+), 1612 deletions(-) [+] |
line wrap: on
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--- a/.cproject Mon Jun 08 01:07:48 2015 +0100 +++ b/.cproject Tue Aug 18 00:35:15 2015 +0100 @@ -26,32 +26,34 @@ </builder> <tool command="arm-linux-gnueabihf-g++ " id="cdt.managedbuild.tool.gnu.archiver.base.1542380883" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/> <tool command="arm-linux-gnueabihf-g++ " id="cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug.2030825480" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug"> - <option id="gnu.cpp.compiler.exe.debug.option.optimization.level.2006448218" name="Optimization Level" superClass="gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/> - <option id="gnu.cpp.compiler.exe.debug.option.debugging.level.1267706246" name="Debug Level" superClass="gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/> - 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This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the +# itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man +# pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +SYMBOL_CACHE_SIZE = 0 + +# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be +# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given +# their name and scope. Since this can be an expensive process and often the +# same symbol appear multiple times in the code, doxygen keeps a cache of +# pre-resolved symbols. If the cache is too small doxygen will become slower. +# If the cache is too large, memory is wasted. The cache size is given by this +# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command <command> <input-file>, where <command> is the value of +# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = include/BeagleRT.h include/Utilities.h include/digital_gpio_mapping.h + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = Debug Release + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command <filter> <input-file>, where <filter> +# is the value of the INPUT_FILTER tag, and <input-file> is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# style sheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters"> +# Qt Help Project / Custom Filters</a>. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes"> +# Qt Help Project / Filter Attributes</a>. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. 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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Makefile Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,147 @@ +#Â BeagleRT +# Low-latency, real-time audio and sensor processing on BeagleBone Black +#Â (c) 2015 Andrew McPherson, Victor Zappi, Giulio Moro +# Centre for Digital Music, Queen Mary University of London + +# This Makefile is intended for use on the BeagleBone Black itself +# and not for cross-compiling + +RM := rm -rf +STATIC_LIBS := ./libprussdrv.a ./libNE10.a +LIBS := -lrt -lnative -lxenomai + +INCLUDES := -I/usr/include/ne10 -I/usr/xenomai/include -I/usr/arm-linux-gnueabihf/include/xenomai/include -I/usr/arm-linux-gnueabihf/include/ne10 + + +ASM_SRCS := $(wildcard source/*.S) +ASM_OBJS := $(addprefix build/source/,$(notdir $(ASM_SRCS:.S=.o))) +ASM_DEPS := $(addprefix build/source/,$(notdir $(ASM_SRCS:.S=.d))) + +C_SRCS := $(wildcard source/*.c) +C_OBJS := $(addprefix build/source/,$(notdir $(C_SRCS:.c=.o))) +C_DEPS := $(addprefix build/source/,$(notdir $(C_SRCS:.c=.d))) + +CPP_SRCS := $(wildcard source/*.cpp) +CPP_OBJS := $(addprefix build/source/,$(notdir $(CPP_SRCS:.cpp=.o))) +CPP_DEPS := $(addprefix build/source/,$(notdir $(CPP_SRCS:.cpp=.d))) + +# Core BeagleRT sources +CORE_CPP_SRCS := \ +./core/GPIOcontrol.cpp \ +./core/I2c_Codec.cpp \ +./core/PRU.cpp \ +./core/RTAudio.cpp \ +./core/RTAudioCommandLine.cpp \ +./core/Utilities.cpp \ +./core/UdpClient.cpp + +CORE_OBJS := \ +./build/core/GPIOcontrol.o \ +./build/core/I2c_Codec.o \ +./build/core/PRU.o \ +./build/core/RTAudio.o \ +./build/core/RTAudioCommandLine.o \ +./build/core/Utilities.o \ +./build/core/UdpClient.o + +CORE_CPP_DEPS := \ +./build/core/GPIOcontrol.d \ +./build/core/I2c_Codec.d \ +./build/core/PRU.d \ +./build/core/RTAudio.d \ +./build/core/RTAudioCommandLine.d \ +./build/core/Utilities.d \ +./build/core/UdpClient.d + +# Objects for a system-supplied default main() file, if the user +#Â only wants to provide the render functions. +DEFAULT_MAIN_CPP_SRCS := ./core/default_main.cpp +DEFAULT_MAIN_OBJS := ./build/core/default_main.o +DEFAULT_MAIN_CPP_DEPS := ./build/core/default_main.d + +# All = build BeagleRT +all: SYNTAX_FLAG := +all: BeagleRT + +# syntax = check syntax +syntax: SYNTAX_FLAG := -fsyntax-only +syntax: BeagleRT + +# Rule for BeagleRT core C++ files +build/core/%.o: ./core/%.cpp + @echo 'Building file: $<' + @echo 'Invoking: GCC C++ Compiler' + g++ $(SYNTAX_FLAG) $(INCLUDES) -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + @echo 'Finished building: $<' + @echo ' ' + +# Rule for user-supplied C++ files +build/source/%.o: ./source/%.cpp + @echo 'Building file: $<' + @echo 'Invoking: GCC C++ Compiler' + g++ $(SYNTAX_FLAG) -I./include $(INCLUDES) -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + @echo 'Finished building: $<' + @echo ' ' + +# Rule for user-supplied C files +build/source/%.o: ./source/%.c + @echo 'Building file: $<' + @echo 'Invoking: GCC C Compiler' + gcc $(SYNTAX_FLAG) -I./include $(INCLUDES) -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + @echo 'Finished building: $<' + @echo ' ' + +# Rule for user-supplied assembly files +build/source/%.o: ./source/%.S + @echo 'Building file: $<' + @echo 'Invoking: GCC Assembler' + as -o "$@" "$<" + @echo 'Finished building: $<' + @echo ' ' + +# This is a nasty kludge: we want to be able to optionally link in a default +# main file if the user hasn't supplied one. We check for the presence of the main() +# function, and conditionally call one of two recursive make targets depending on whether +# we want to link in the default main file or not. The kludge is the mess of a shell script +# line below. Surely there's a better way to do this? +BeagleRT: $(CORE_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) + $(eval NEXT_TARGET := $(shell bash -c 'if [ `nm build/source/*.o | grep -w T | grep -w main | wc -l` == '0' ]; then echo "BeagleRT_with_main"; else echo "BeagleRT_without_main"; fi')) + $(MAKE) $(NEXT_TARGET) + @echo 'Finished building target: $@' + @echo ' ' +# $(MAKE) --no-print-directory post-build + +# Rule for building BeagleRT including the default main file (no user-supplied main()) +BeagleRT_with_main: $(CORE_OBJS) $(DEFAULT_MAIN_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) + @echo 'Building target: $@' + @echo 'Invoking: GCC C++ Linker' + g++ $(SYNTAX_FLAG) -L/usr/xenomai/lib -L/usr/arm-linux-gnueabihf/lib -L/usr/arm-linux-gnueabihf/lib/xenomai -L/usr/lib/arm-linux-gnueabihf -pthread -Wpointer-arith -o "BeagleRT" $(CORE_OBJS) $(DEFAULT_MAIN_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) $(LIBS) + +#Â Rule for building BeagleRT without the default main file (user-supplied main()) +BeagleRT_without_main: $(CORE_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) + @echo 'Building target: $@' + @echo 'Invoking: GCC C++ Linker' + g++ $(SYNTAX_FLAG) -L/usr/xenomai/lib -L/usr/arm-linux-gnueabihf/lib -L/usr/arm-linux-gnueabihf/lib/xenomai -L/usr/lib/arm-linux-gnueabihf -pthread -Wpointer-arith -o "BeagleRT" $(CORE_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) $(LIBS) + +# Other Targets: + +# Remove the temporary user-supplied source, plus the objects built from them +sourceclean: + -$(RM) source/* build/source/* BeagleRT + -@echo ' ' + +# Remove all the built objects, including the core BeagleRT objects +distclean: + -$(RM) build/source/* $(CORE_OBJS) $(CORE_CPP_DEPS) $(DEFAULT_MAIN_OBJS) $(DEFAULT_MAIN_CPP_DEPS) BeagleRT + -@echo ' ' + +# Remove only the user-generated objects +clean: + -$(RM) build/source/* BeagleRT + -@echo ' ' + +post-build: +# Nothing to do here (for now) + +.PHONY: all clean distclean sourceclean dependents +.SECONDARY: post-build
--- a/core/I2c_Codec.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/core/I2c_Codec.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -117,6 +117,44 @@ return 0; } +//set the numerator multiplier for the PLL +int I2c_Codec::setPllK(float k){ + short unsigned int j=(int)k; + unsigned int d=(k-j+0.5)*10000; //fractionary part, between 0 and 9999 + if(setPllJ(j)>0) + return 1; + if(setPllD(d)>0) + return 2; + return 0; +} + + +//set integer part of the numerator mutliplier of the PLL +int I2c_Codec::setPllJ(short unsigned int j){ + if(j>=64 || j<1){ + return 1; + } + if(writeRegister(0x04, j<<2)){ // PLL register B: j<<2 + printf("I2C error while writing PLL j: %d", j); + return 1; + } + return 0; +} + +//set fractional part(between 0 and 9999) of the numerator mutliplier of the PLL +int I2c_Codec::setPllD(unsigned int d){ + if(d<0 || d>9999) + return 1; + if(writeRegister(0x05, (d>>6)&255)){ // PLL register C: part 1 : 8 most significant bytes of a 14bit integer + printf("I2C error while writing PLL d part 1 : %d", d); + return 1; + } + if(writeRegister(0x06, (d<<2)&255)){ // PLL register D: D=5264, part 2 + printf("I2C error while writing PLL d part 2 : %d", d); + return 1; + } + return 0; +} // Set the volume of the DAC output int I2c_Codec::setDACVolume(int halfDbSteps) {
--- a/core/PRU.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/core/PRU.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -18,9 +18,8 @@ #include "../include/pruss_intc_mapping.h" #include "../include/digital_gpio_mapping.h" #include "../include/GPIOcontrol.h" -#include "../include/render.h" +#include "../include/BeagleRT.h" #include "../include/pru_rtaudio_bin.h" -#include "../include/intervals.h" #include <iostream> #include <stdlib.h> @@ -100,15 +99,17 @@ const unsigned int PRU::kPruGPIOTestPin2 = 31; // GPIO0(31); P9-13 const unsigned int PRU::kPruGPIOTestPin3 = 26; // GPIO0(26); P8-14 -//extern int gShouldStop; +extern bool gShouldStop; extern int gRTAudioVerbose; -extern PRU *gPRU; // Constructor: specify a PRU number (0 or 1) -PRU::PRU() -: renderTimer(100,0,44100.0,"renderTimer"), sleepTimer(100,0,44100.0,"sleepTimer"), - pru_number(0), running(false), spi_enabled(false), gpio_enabled(false), led_enabled(false), - gpio_test_pin_enabled(false), spi_num_channels(0), xenomai_gpio_fd(-1), xenomai_gpio(0) +PRU::PRU(BeagleRTContext *input_context) +: context(input_context), pru_number(0), running(false), analog_enabled(false), + digital_enabled(false), gpio_enabled(false), led_enabled(false), + gpio_test_pin_enabled(false), + pru_buffer_comm(0), pru_buffer_spi_dac(0), pru_buffer_spi_adc(0), + pru_buffer_digital(0), pru_buffer_audio_dac(0), pru_buffer_audio_adc(0), + xenomai_gpio_fd(-1), xenomai_gpio(0) { } @@ -130,9 +131,9 @@ // viewed on a scope. If include_led is set, // user LED 3 on the BBB is taken over by the PRU // to indicate activity -int PRU::prepareGPIO(int use_spi, int use_digital, int include_test_pin, int include_led) +int PRU::prepareGPIO(int include_test_pin, int include_led) { - if(use_spi) { + if(context->analogFrames != 0) { // Prepare DAC CS/ pin: output, high to begin if(gpio_export(kPruGPIODACSyncPin)) { if(gRTAudioVerbose) @@ -165,12 +166,11 @@ return -1; } - spi_enabled = true; + analog_enabled = true; } - if(use_digital){ - printf("gNumDigitalChannels: %d;\n",gNumDigitalChannels); - for(int i=0; i<gNumDigitalChannels; i++){ + if(context->digitalFrames != 0){ + for(unsigned int i = 0; i < context->digitalChannels; i++){ if(gpio_export(digitalPins[i])) { if(gRTAudioVerbose) cerr << "Warning: couldn't export digital GPIO pin " << digitalPins[i] << "\n"; // this is left as a warning because if the pin has been exported by somebody else, can still be used @@ -181,7 +181,7 @@ return -1; } } - digital_enabled=true; + digital_enabled = true; } if(include_test_pin) { @@ -249,12 +249,12 @@ { if(!gpio_enabled) return; - if(spi_enabled) { + if(analog_enabled) { gpio_unexport(kPruGPIODACSyncPin); gpio_unexport(kPruGPIOADCSyncPin); } if(digital_enabled){ - for(int i=0; i<gNumDigitalChannels; i++){ + for(unsigned int i = 0; i < context->digitalChannels; i++){ gpio_unexport(digitalPins[i]); } } @@ -284,20 +284,13 @@ pru_number = pru_num; - /* Set number of SPI ADC / DAC channels to use. This implicitly - * also determines the sample rate relative to the audio clock - * (half audio clock for 8 channels, full audio clock for 4, - * double audio clock for 2) - */ - spi_num_channels = spi_channels; - /* Initialize structure used by prussdrv_pruintc_intc */ /* PRUSS_INTC_INITDATA is found in pruss_intc_mapping.h */ tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; /* Allocate and initialize memory */ prussdrv_init(); - if(prussdrv_open(pru_number == 0 ? PRU_EVTOUT_0 : PRU_EVTOUT_1)) { + if(prussdrv_open(PRU_EVTOUT_0)) { rt_printf("Failed to open PRU driver\n"); return 1; } @@ -305,24 +298,20 @@ /* Map PRU's INTC */ prussdrv_pruintc_init(&pruss_intc_initdata); - spi_buffer_frames = frames_per_buffer; - audio_buffer_frames = spi_buffer_frames * spi_num_channels / 4; - digital_buffer_frames = audio_buffer_frames; - /* Map PRU memory to pointers */ prussdrv_map_prumem (PRUSS0_SHARED_DATARAM, (void **)&pruMem); pru_buffer_comm = (uint32_t *)&pruMem[PRU_MEM_COMM_OFFSET/sizeof(uint32_t)]; pru_buffer_audio_dac = (int16_t *)&pruMem[PRU_MEM_MCASP_OFFSET/sizeof(uint32_t)]; /* ADC memory starts 2(ch)*2(buffers)*bufsize samples later */ - pru_buffer_audio_adc = &pru_buffer_audio_dac[4 * audio_buffer_frames]; + pru_buffer_audio_adc = &pru_buffer_audio_dac[4 * context->audioFrames]; - if(spi_enabled) { + if(analog_enabled) { prussdrv_map_prumem (pru_number == 0 ? PRUSS0_PRU0_DATARAM : PRUSS0_PRU1_DATARAM, (void **)&pruMem); pru_buffer_spi_dac = (uint16_t *)&pruMem[PRU_MEM_DAC_OFFSET/sizeof(uint32_t)]; /* ADC memory starts after N(ch)*2(buffers)*bufsize samples */ - pru_buffer_spi_adc = &pru_buffer_spi_dac[2 * spi_num_channels * spi_buffer_frames]; + pru_buffer_spi_adc = &pru_buffer_spi_dac[2 * context->analogChannels * context->analogFrames]; } else { pru_buffer_spi_dac = pru_buffer_spi_adc = 0; @@ -335,10 +324,11 @@ else { pru_buffer_digital = 0; } + /* Set up flags */ pru_buffer_comm[PRU_SHOULD_STOP] = 0; pru_buffer_comm[PRU_CURRENT_BUFFER] = 0; - pru_buffer_comm[PRU_BUFFER_FRAMES] = spi_buffer_frames; + pru_buffer_comm[PRU_BUFFER_FRAMES] = context->analogFrames; pru_buffer_comm[PRU_SHOULD_SYNC] = 0; pru_buffer_comm[PRU_SYNC_ADDRESS] = 0; pru_buffer_comm[PRU_SYNC_PIN_MASK] = 0; @@ -350,9 +340,9 @@ pru_buffer_comm[PRU_LED_ADDRESS] = 0; pru_buffer_comm[PRU_LED_PIN_MASK] = 0; } - if(spi_enabled) { + if(analog_enabled) { pru_buffer_comm[PRU_USE_SPI] = 1; - pru_buffer_comm[PRU_SPI_NUM_CHANNELS] = spi_num_channels; + pru_buffer_comm[PRU_SPI_NUM_CHANNELS] = context->analogChannels; } else { pru_buffer_comm[PRU_USE_SPI] = 0; @@ -370,7 +360,7 @@ /* Clear ADC and DAC memory.*/ //TODO: this initialisation should only address the memory effectively used by these buffers, i.e.:depend on the number of frames // (otherwise might cause issues if we move memory locations later on) - if(spi_enabled) { + if(analog_enabled) { for(int i = 0; i < PRU_MEM_DAC_LENGTH / 2; i++) pru_buffer_spi_dac[i] = 0; if(digital_enabled){ @@ -380,7 +370,7 @@ } for(int i = 0; i < PRU_MEM_MCASP_LENGTH / 2; i++) pru_buffer_audio_dac[i] = 0; -//TODO: maybe the lines below are to be deleted, as we removed the test code from pru_rtaudio.p ? + /* If using GPIO test pin for Xenomai (for debugging), initialise the pointer now */ if(xenomai_test_pin && xenomai_gpio_fd < 0) { xenomai_gpio_fd = open("/dev/mem", O_RDWR); @@ -397,6 +387,46 @@ } } + // Allocate audio buffers + context->audioIn = (float *)malloc(2 * context->audioFrames * sizeof(float)); + context->audioOut = (float *)malloc(2 * context->audioFrames * sizeof(float)); + if(context->audioIn == 0 || context->audioOut == 0) { + rt_printf("Error: couldn't allocate audio buffers\n"); + return 1; + } + + // Allocate analog buffers + if(analog_enabled) { + context->analogIn = (float *)malloc(context->analogChannels * context->analogFrames * sizeof(float)); + context->analogOut = (float *)malloc(context->analogChannels * context->analogFrames * sizeof(float)); + last_analog_out_frame = (float *)malloc(context->analogChannels * sizeof(float)); + + if(context->analogIn == 0 || context->analogOut == 0 || last_analog_out_frame == 0) { + rt_printf("Error: couldn't allocate analog buffers\n"); + return 1; + } + + memset(last_analog_out_frame, 0, context->analogChannels * sizeof(float)); + } + + // Allocate digital buffers + digital_buffer0 = pru_buffer_digital; + digital_buffer1 = pru_buffer_digital + MEM_DIGITAL_BUFFER1_OFFSET / sizeof(uint32_t); + if(digital_enabled) { + last_digital_buffer = (uint32_t *)malloc(context->digitalFrames * sizeof(uint32_t)); //temp buffer to hold previous states + if(last_digital_buffer == 0) { + rt_printf("Error: couldn't allocate digital buffers\n"); + return 1; + } + + for(unsigned int n = 0; n < context->digitalFrames; n++){ + // Initialize lastDigitalFrames to all inputs + last_digital_buffer[n] = 0x0000ffff; + } + } + + context->digital = digital_buffer0; + return 0; } @@ -404,10 +434,8 @@ int PRU::start(char * const filename) { /* Clear any old interrupt */ - if(pru_number == 0) - prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); - else - prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT); + prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); + /* Load and execute binary on PRU */ if(filename[0] == '\0') { //if the string is empty, load the embedded code if(gRTAudioVerbose) @@ -428,219 +456,232 @@ running = true; return 0; } -uint32_t empty[1024]={0x0}; // Main loop to read and write data from/to PRU -void PRU::loop() +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 * (spi_num_channels / 2) * spi_buffer_frames / 4; - float *audioInBuffer, *audioOutBuffer; - float *analogInBuffer, *analogOutBuffer, *lastAnalogOutFrame; - uint32_t *digitalBuffer0, *digitalBuffer1, *lastDigitalBuffer; - audioInBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float)); - audioOutBuffer = (float *)malloc(2 * audio_buffer_frames * sizeof(float)); - analogInBuffer = (float *)malloc(spi_num_channels * spi_buffer_frames * sizeof(float)); - analogOutBuffer = (float *)malloc(spi_num_channels * spi_buffer_frames * sizeof(float)); - lastAnalogOutFrame = (float *)malloc(spi_num_channels * sizeof(float)); - digitalBuffer0 = pru_buffer_digital; - digitalBuffer1 = pru_buffer_digital+MEM_DIGITAL_BUFFER1_OFFSET/sizeof(uint32_t); - digital_buffer_frames = digital_enabled ? audio_buffer_frames : 0; //TODO: find a more elegant solution for when the digital is disabled e.g.: - // - embed in the digitalWrite/Read macros a check whether digital is enabled - // - allocate some memory in ARM just to allow render() to run regardless. - // in this case it can be digitalBuffer0 == digitalBuffer1 - lastDigitalBuffer = (uint32_t *)malloc(digital_buffer_frames*sizeof(uint32_t)); //temp buffer to hold previous states - if(audioInBuffer == 0 || audioOutBuffer == 0) { - rt_printf("Error: couldn't allocate audio buffers\n"); - return; - } - if(analogInBuffer == 0 || analogOutBuffer == 0 || lastAnalogOutFrame == 0) { - rt_printf("Error: couldn't allocate analog buffers\n"); - return; - } - if(lastDigitalBuffer == 0) { - rt_printf("Error: couldn't allocate digital buffers\n"); - return; + RTIME sleepTime = PRU_SAMPLE_INTERVAL_NS * (context->analogChannels / 2) * context->analogFrames / 4; +#endif + + uint32_t pru_audio_offset, pru_spi_offset; + + // Before starting, look at the last state of the analog and digital outputs which might + // have been changed by the user during the setup() function. This lets us start with pin + // directions and output values at something other than defaults. + + if(analog_enabled) { + if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) { + // Remember the content of the last_analog_out_frame + for(unsigned int ch = 0; ch < context->analogChannels; ch++){ + last_analog_out_frame[ch] = context->analogOut[context->analogChannels * (context->analogFrames - 1) + ch]; + } + } } - if(digital_enabled){ - for(unsigned int n=0; n<digital_buffer_frames; n++){ //initialize lastDigitalFrames to all inputs - lastDigitalBuffer[n]= 0x0000ffff; + if(digital_enabled) { + for(unsigned int n = 0; n < context->digitalFrames; n++){ + last_digital_buffer[n] = context->digital[n]; } - } - int count=0; - sleepTimer.setNumFrames(audio_buffer_frames); - renderTimer.setNumFrames(audio_buffer_frames); + } + + // TESTING + // uint32_t testCount = 0; + // RTIME startTime = rt_timer_read(); + +#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS + int result; +#else + // Which buffer the PRU was last processing + uint32_t lastPRUBuffer = 0; +#endif + while(!gShouldStop) { - // Wait for PRU to move to buffer 1 - sleepTimer.start(); - while(pru_buffer_comm[PRU_CURRENT_BUFFER] == 0 && !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); + while(!gShouldStop) { + result = rt_intr_wait(pru_interrupt, irqTimeout); + if(result >= 0) + break; + else if(result == -ETIMEDOUT) + rt_printf("Warning: PRU timeout!\n"); + else { + rt_printf("Error: wait for interrupt failed (%d)\n", result); + gShouldStop = 1; + } + } + + // 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); } - sleepTimer.split(); + + lastPRUBuffer = pru_buffer_comm[PRU_CURRENT_BUFFER]; +#endif if(gShouldStop) break; - renderTimer.start(); + + // Check which buffer we're on-- will have been set right + // before the interrupt was asserted + if(pru_buffer_comm[PRU_CURRENT_BUFFER] == 1) { + // PRU is on buffer 1. We read and write to buffer 0 + pru_audio_offset = 0; + pru_spi_offset = 0; + if(digital_enabled) + context->digital = digital_buffer0; + } + else { + // PRU is on buffer 0. We read and write to buffer 1 + pru_audio_offset = context->audioFrames * 2; + pru_spi_offset = context->analogFrames * context->analogChannels; + if(digital_enabled) + context->digital = digital_buffer1; + } + + // FIXME: some sort of margin is needed here to prevent the audio + // code from completely eating the Linux system + // testCount++; + //rt_task_sleep(sleepTime*4); + //rt_task_sleep(sleepTime/4); + if(xenomai_gpio != 0) { // Set the test pin high xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN_MASK; } - // Render from/to buffer 0 + // Convert short (16-bit) samples to float + // TODO: NEON + for(unsigned int n = 0; n < 2 * context->audioFrames; n++) + context->audioIn[n] = (float)pru_buffer_audio_adc[n + pru_audio_offset] / 32768.0; - // Convert short (16-bit) samples to float - for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) - audioInBuffer[n] = (float)pru_buffer_audio_adc[n] / 32768.0; - if(spi_enabled) { - for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++) - analogInBuffer[n] = (float)pru_buffer_spi_adc[n] / 65536.0; - //initialize the output buffer with the values that were in the last frame of the previous output - for(int n = 0; n < spi_num_channels; n++){ - for(unsigned int j = 0; j < spi_buffer_frames; j++){ - analogOutBuffer[j*spi_num_channels + n] = lastAnalogOutFrame[n]; + if(analog_enabled) { + // TODO: NEON + for(unsigned int n = 0; n < context->analogChannels * context->analogFrames; n++) + context->analogIn[n] = (float)pru_buffer_spi_adc[n + pru_spi_offset] / 65536.0; + + if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) { + // Initialize the output buffer with the values that were in the last frame of the previous output + for(unsigned int ch = 0; ch < context->analogChannels; ch++){ + for(unsigned int n = 0; n < context->analogFrames; n++){ + context->analogOut[n * context->analogChannels + ch] = last_analog_out_frame[ch]; + } + } + } + else { + // Outputs are 0 unless set otherwise + memset(context->analogOut, 0, context->analogChannels * context->analogFrames * sizeof(float)); + } + } + + if(digital_enabled){ + // Use past digital values to initialize the array properly. + // For each frame: + // - pins previously set as outputs will keep the output value they had in the last frame of the previous buffer, + // - pins previously set as inputs will carry the newly read input value + + for(unsigned int n = 0; n < context->digitalFrames; n++){ + uint16_t inputs = last_digital_buffer[n] & 0xffff; // half-word, has 1 for inputs and 0 for outputs + + uint16_t outputs = ~inputs; // half-word has 1 for outputs and 0 for inputs; + context->digital[n] = (last_digital_buffer[context->digitalFrames - 1] & (outputs << 16)) | // keep output values set in the last frame of the previous buffer + (context->digital[n] & (inputs << 16)) | // inputs from current context->digital[n]; + (last_digital_buffer[n] & (inputs)); // keep pin configuration from previous context->digital[n] +// context->digital[n]=digitalBufferTemp[n]; //ignores inputs + } + } + + // Call user render function + // *********************** + render(context, userData); + // *********************** + + if(analog_enabled) { + if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) { + // Remember the content of the last_analog_out_frame + for(unsigned int ch = 0; ch < context->analogChannels; ch++){ + last_analog_out_frame[ch] = context->analogOut[context->analogChannels * (context->analogFrames - 1) + ch]; } } - //use past digital values to initialize the array properly. - //For each frame: - //- pins previously set as outputs will keep the output value they had in the last frame of the previous buffer, - //- pins previously set as inputs will carry the newly read input value - if(digital_enabled){ - for(unsigned int n = 0; n < digital_buffer_frames; n++){ - uint16_t inputs=lastDigitalBuffer[n]&0xffff;//half-word, has 1 for inputs and 0 for outputs -// printf("inputs: 0x%x\n",inputs); - uint16_t outputs=~inputs; //half-word has 1 for outputs and 0 for inputs; - digitalBuffer0[n]=(lastDigitalBuffer[digital_buffer_frames-1]&(outputs<<16))| //keep output values set in the last frame of the previous buffer - (digitalBuffer0[n]&(inputs<<16)) | //inputs from current digitalBuffer0[n]; - (lastDigitalBuffer[n]&(inputs)); //keep pin configuration from previous digitalBuffer1[n] -// digitalBuffer0[n]=digitalBufferTemp[n]; //ignores inputs - } - } - render(spi_buffer_frames, digital_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer, - analogInBuffer, analogOutBuffer, digitalBuffer0); - //remember the content of the lastAnalogOutFrame - for(int n = 0; n < spi_num_channels; n++){ - lastAnalogOutFrame[n] = analogOutBuffer[spi_buffer_frames*(spi_buffer_frames-1) + n]; - } - for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++) { - int out = analogOutBuffer[n] * 65536.0; + // Convert float back to short for SPI output + for(unsigned int n = 0; n < context->analogChannels * context->analogFrames; n++) { + int out = context->analogOut[n] * 65536.0; if(out < 0) out = 0; else if(out > 65535) out = 65535; - pru_buffer_spi_dac[n] = (uint16_t)out; + pru_buffer_spi_dac[n + pru_spi_offset] = (uint16_t)out; } - if(digital_enabled){ // keep track of past digital values - for(unsigned int n = 0; n < digital_buffer_frames; n++){ - lastDigitalBuffer[n]=digitalBuffer0[n]; - } - } } - else - render(0, 0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0, 0); // we still pass digitalBuffer, just it is unused - // Convert float back to short - for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) { - int out = audioOutBuffer[n] * 32768.0; + + if(digital_enabled) { // keep track of past digital values + for(unsigned int n = 0; n < context->digitalFrames; n++){ + last_digital_buffer[n] = context->digital[n]; + } + } + + // Convert float back to short for audio + // TODO: NEON + for(unsigned int n = 0; n < 2 * context->audioFrames; n++) { + int out = context->audioOut[n] * 32768.0; if(out < -32768) out = -32768; else if(out > 32767) out = 32767; - pru_buffer_audio_dac[n] = (int16_t)out; + pru_buffer_audio_dac[n + pru_audio_offset] = (int16_t)out; } + // Increment total number of samples that have elapsed + context->audioSampleCount += context->audioFrames; + if(xenomai_gpio != 0) { // Set the test pin high xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK; } - renderTimer.split(); - // Wait for PRU to move to buffer 0 - sleepTimer.start(); - while(pru_buffer_comm[PRU_CURRENT_BUFFER] != 0 && !gShouldStop) { - rt_task_sleep(sleepTime); - } - sleepTimer.split(); - if(gShouldStop) - break; - renderTimer.start(); - if(xenomai_gpio != 0) { - // Set the test pin high - xenomai_gpio[GPIO_SETDATAOUT] = TEST_PIN_MASK; - } + // FIXME: TESTING!! + // if(testCount > 100000) + // break; + } - // Render from/to buffer 1 +#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS + // Turn off the interrupt for the PRU if it isn't already off + rt_intr_disable(pru_interrupt); +#endif - // Convert short (16-bit) samples to float - for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) - audioInBuffer[n] = (float)pru_buffer_audio_adc[n + audio_buffer_frames * 2] / 32768.0; - - if(spi_enabled) { - //convert input values TODO: move to PRU - for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++){ - analogInBuffer[n] = (float)pru_buffer_spi_adc[n + spi_buffer_frames * spi_num_channels] / 65536.0; - } - //initialize the output buffer with the values that were in the last frame of the previous output - for(int n = 0; n < spi_num_channels; n++){ - for(unsigned int j = 0; j < spi_buffer_frames; j++){ - analogOutBuffer[j*spi_num_channels + n] = lastAnalogOutFrame[n]; - } - } - if(digital_enabled){ - for(unsigned int n = 0; n < digital_buffer_frames; n++){ - uint16_t inputs=lastDigitalBuffer[n]&0xffff;//half-word, has 1 for inputs and 0 for outputs - uint16_t outputs=~inputs; //half-word has 1 for outputs and one for inputs; - digitalBuffer1[n]=(lastDigitalBuffer[digital_buffer_frames-1]&(outputs<<16))| //keep output values set in the last frame of the previous buffer - (digitalBuffer1[n]&(inputs<<16)) | //inputs from current digitalBuffer1[n]; - (lastDigitalBuffer[n]&(inputs)); //keep pin configuration from previous digitalBuffer1[n] -// digitalBuffer1[n]=digitalBufferTemp[n]; //ignores inputs - } - } - render(spi_buffer_frames, digital_buffer_frames, audio_buffer_frames, audioInBuffer, audioOutBuffer, - analogInBuffer, analogOutBuffer, digitalBuffer1); - //remember the content of the lastAnalogOutFrame - for(int n = 0; n < spi_num_channels; n++){ - lastAnalogOutFrame[n] = analogOutBuffer[spi_buffer_frames*(spi_buffer_frames-1) + n]; - } - - for(unsigned int n = 0; n < spi_num_channels * spi_buffer_frames; n++) { - int out = analogOutBuffer[n] * 65536.0; - if(out < 0) out = 0; - else if(out > 65535) out = 65535; - pru_buffer_spi_dac[n + spi_buffer_frames * spi_num_channels] = (uint16_t)out; - } - if(digital_enabled){ // keep track of past digital values - for(unsigned int n = 0; n < digital_buffer_frames; n++){ - lastDigitalBuffer[n]=digitalBuffer1[n]; - } - } - } - else - render(0, 0, audio_buffer_frames, audioInBuffer, audioOutBuffer, 0, 0, 0); // we still pass digitalBuffer, just it is unused - - // Convert float back to short - for(unsigned int n = 0; n < 2 * audio_buffer_frames; n++) { - int out = audioOutBuffer[n] * 32768.0; - if(out < -32768) out = -32768; - else if(out > 32767) out = 32767; - pru_buffer_audio_dac[n + audio_buffer_frames * 2] = (int16_t)out; - } - - if(xenomai_gpio != 0) { - // Set the test pin high - xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK; - } - renderTimer.split(); - count+=audio_buffer_frames; - if((count&32767)==0){ - scheduleAuxiliaryTask(gPRU->printIntervalsTask); - } - } + // FIXME: TESTING + // RTIME endTime = rt_timer_read(); + // RTIME diffTime = endTime - startTime; + // rt_printf("%d blocks elapsed in %f seconds, %f Hz block rate\n", testCount, ((float)diffTime / 1.0e9), (float)testCount / ((float)diffTime / 1.0e9)); // Tell PRU to stop pru_buffer_comm[PRU_SHOULD_STOP] = 1; - free(analogOutBuffer); - free(analogInBuffer); - free(audioOutBuffer); - free(audioInBuffer); - free(lastAnalogOutFrame); - free(lastDigitalBuffer); + + // Wait two buffer lengths for the PRU to finish + rt_task_sleep(PRU_SAMPLE_INTERVAL_NS * context->analogFrames * 4 * 2); + + // Clean up after ourselves + free(context->audioIn); + free(context->audioOut); + + if(analog_enabled) { + free(context->analogIn); + free(context->analogOut); + free(last_analog_out_frame); + } + + if(digital_enabled) { + free(last_digital_buffer); + } + + context->audioIn = context->audioOut = 0; + context->analogIn = context->analogOut = 0; + context->digital = 0; } // Wait for an interrupt from the PRU indicate it is finished @@ -648,11 +689,8 @@ { if(!running) return; - prussdrv_pru_wait_event (pru_number == 0 ? PRU_EVTOUT_0 : PRU_EVTOUT_1); - if(pru_number == 0) - prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); - else - prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT); + prussdrv_pru_wait_event (PRU_EVTOUT_0); + prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); } // Turn off the PRU when done
--- a/core/RTAudio.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/core/RTAudio.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -24,14 +24,16 @@ #include <sys/mman.h> #include <native/task.h> #include <native/timer.h> +#include <native/intr.h> #include <rtdk.h> -#include "../include/RTAudio.h" +#include "../include/BeagleRT.h" #include "../include/PRU.h" #include "../include/I2c_Codec.h" -#include "../include/render.h" #include "../include/GPIOcontrol.h" -#include "../include/client.h" + +// ARM interrupt number for PRU event EVTOUT7 +#define PRU_RTAUDIO_IRQ 21 using namespace std; @@ -45,9 +47,13 @@ } InternalAuxiliaryTask; const char gRTAudioThreadName[] = "beaglert-audio"; +const char gRTAudioInterruptName[] = "beaglert-pru-irq"; // Real-time tasks and objects RT_TASK gRTAudioThread; +#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS +RT_INTR gRTAudioInterrupt; +#endif PRU *gPRU = 0; I2c_Codec *gAudioCodec = 0; @@ -57,25 +63,16 @@ bool gShouldStop = false; // general settings -char *gPRUFilename;//[256] = "pru_rtaudio.bin"; // path to PRU binary file +char gPRUFilename[MAX_PRU_FILENAME_LENGTH]; // Path to PRU binary file (internal code if empty)_ int gRTAudioVerbose = 0; // Verbosity level for debugging int gAmplifierMutePin = -1; int gAmplifierShouldBeginMuted = 0; -// Number of audio and analog channels, globally accessible -// At least gNumAnalogChannels and gNumDigitalChannels need to be global to be used -// by the AnalogRead() and AnalogWrite() and the digital macros without creating -// extra confusion in their use cases by passing this argument -int gNumAudioChannels = 0; -int gNumAnalogChannels = 0; -int gNumDigitalChannels = 0; +// Context which holds all the audio/sensor data passed to the render routines +BeagleRTContext gContext; - -void printIntervals(){ - rt_printf("\n"); - gPRU->renderTimer.print(); - gPRU->sleepTimer.print(); -} +// User data passed in from main() +void *gUserData; // initAudio() prepares the infrastructure for running PRU-based real-time // audio, but does not actually start the calculations. @@ -84,19 +81,21 @@ // plus any latency inherent in the ADCs and DACs themselves. // useAnalog indicates whether to enable the ADC and DAC or just use the audio codec. // numAnalogChannels indicates how many ADC and DAC channels to use. -// userData is an opaque pointer which will be passed through to the initialise_render() +// userData is an opaque pointer which will be passed through to the setup() // function for application-specific use // // Returns 0 on success. - -int BeagleRT_initAudio(RTAudioSettings *settings, void *userData) +int BeagleRT_initAudio(BeagleRTInitSettings *settings, void *userData) { rt_print_auto_init(1); - setVerboseLevel(settings->verbose); - gPRUFilename=settings->pruFilename; - if(gRTAudioVerbose == 1) - rt_printf("Running with Xenomai\n"); + + BeagleRT_setVerboseLevel(settings->verbose); + strncpy(gPRUFilename, settings->pruFilename, MAX_PRU_FILENAME_LENGTH); + gUserData = userData; + + // Initialise context data structure + memset(&gContext, 0, sizeof(BeagleRTContext)); if(gRTAudioVerbose) { cout << "Starting with period size " << settings->periodSize << "; "; @@ -149,19 +148,60 @@ return 1; } + // Initialise the rendering environment: sample rates, frame counts, numbers of channels + gContext.audioSampleRate = 44100.0; + gContext.audioChannels = 2; + + if(settings->useAnalog) { + gContext.audioFrames = settings->periodSize * settings->numAnalogChannels / 4; + + gContext.analogFrames = settings->periodSize; + gContext.analogChannels = settings->numAnalogChannels; + gContext.analogSampleRate = gContext.audioSampleRate * 4.0 / (float)settings->numAnalogChannels; + } + else { + gContext.audioFrames = settings->periodSize * 2; + + gContext.analogFrames = 0; + gContext.analogChannels = 0; + gContext.analogSampleRate = 0; + } + + // For now, digital frame rate is equal to audio frame rate + if(settings->useDigital) { + gContext.digitalFrames = gContext.audioFrames; + gContext.digitalSampleRate = gContext.audioSampleRate; + gContext.digitalChannels = settings->numDigitalChannels; + } + else { + gContext.digitalFrames = 0; + gContext.digitalSampleRate = 0; + gContext.digitalChannels = 0; + } + + // Set flags based on init settings + if(settings->interleave) + gContext.flags |= BEAGLERT_FLAG_INTERLEAVED; + if(settings->analogOutputsPersist) + gContext.flags |= BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST; + // Use PRU for audio - gPRU = new PRU(); + gPRU = new PRU(&gContext); gAudioCodec = new I2c_Codec(); - gNumDigitalChannels = settings->useDigital ? settings->numDigitalChannels : 0; //this is called here to make sure prepareGPIO initializes the appropriate GPIO pins - if(gPRU->prepareGPIO(settings->useAnalog, settings->useDigital, 1, 1)) { + // Initialise the GPIO pins, including possibly the digital pins in the render routines + if(gPRU->prepareGPIO(1, 1)) { cout << "Error: unable to prepare GPIO for PRU audio\n"; return 1; } + + // Get the PRU memory buffers ready to go if(gPRU->initialise(0, settings->periodSize, settings->numAnalogChannels, true)) { cout << "Error: unable to initialise PRU\n"; return 1; } + + // Prepare the audio codec, which clocks the whole system if(gAudioCodec->initI2C_RW(2, settings->codecI2CAddress, -1)) { cout << "Unable to open codec I2C\n"; return 1; @@ -176,28 +216,12 @@ BeagleRT_setADCLevel(settings->adcLevel); BeagleRT_setHeadphoneLevel(settings->headphoneLevel); - // Initialise the rendering environment: pass the number of audio and analog - // channels, the period size for analog and audio, and the sample rates - - int audioPeriodSize = settings->periodSize * 2; - float audioSampleRate = 44100.0; - float analogSampleRate = 22050.0; - if(settings->useAnalog) { - audioPeriodSize = settings->periodSize * settings->numAnalogChannels / 4; - analogSampleRate = audioSampleRate * 4.0 / (float)settings->numAnalogChannels; - } - - gNumAudioChannels = 2; - gNumAnalogChannels = settings->useAnalog ? settings->numAnalogChannels : 0; - if(!initialise_render(gNumAnalogChannels, gNumDigitalChannels, gNumAudioChannels, - settings->useAnalog ? settings->periodSize : 0, /* analog period size */ - audioPeriodSize, - analogSampleRate, audioSampleRate, - userData, settings)) { + // Call the user-defined initialisation function + if(!setup(&gContext, userData)) { cout << "Couldn't initialise audio rendering\n"; return 1; } - gPRU->printIntervalsTask=createAuxiliaryTaskLoop(*printIntervals, 10, "transmit-receive-data"); + return 0; } @@ -220,7 +244,7 @@ } else { if(gPRU->start(gPRUFilename)) { - rt_printf("Error: unable to start PRU %s\n", gPRUFilename); + rt_printf("Error: unable to start PRU from file %s\n", gPRUFilename); gShouldStop = 1; } else { @@ -234,8 +258,11 @@ } } - gPRU->loop(); - +#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS + gPRU->loop(&gRTAudioInterrupt, gUserData); +#else + gPRU->loop(0, gUserData); +#endif // Now clean up // gPRU->waitForFinish(); gPRU->disable(); @@ -249,9 +276,10 @@ } // Create a calculation loop which can run independently of the audio, at a different -// (equal or lower) priority. Audio priority is 99; priority should be generally be less than this. +// (equal or lower) priority. Audio priority is defined in BEAGLERT_AUDIO_PRIORITY; +// priority should be generally be less than this. // Returns an (opaque) pointer to the created task on success; 0 on failure -AuxiliaryTask createAuxiliaryTaskLoop(void (*functionToCall)(void), int priority, const char *name) +AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void), int priority, const char *name) { InternalAuxiliaryTask *newTask = (InternalAuxiliaryTask*)malloc(sizeof(InternalAuxiliaryTask)); @@ -274,7 +302,7 @@ // Schedule a previously created auxiliary task. It will run when the priority rules next // allow it to be scheduled. -void scheduleAuxiliaryTask(AuxiliaryTask task) +void BeagleRT_scheduleAuxiliaryTask(AuxiliaryTask task) { InternalAuxiliaryTask *taskToSchedule = (InternalAuxiliaryTask *)task; @@ -311,12 +339,21 @@ int BeagleRT_startAudio() { - // Create audio thread with the highest priority - if(rt_task_create(&gRTAudioThread, gRTAudioThreadName, 0, 99, T_JOINABLE | T_FPU)) { + // Create audio thread with high Xenomai priority + if(rt_task_create(&gRTAudioThread, gRTAudioThreadName, 0, BEAGLERT_AUDIO_PRIORITY, T_JOINABLE | T_FPU)) { cout << "Error: unable to create Xenomai audio thread" << endl; return -1; } +#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS + // Create an interrupt which the audio thread receives from the PRU + int result = 0; + if((result = rt_intr_create(&gRTAudioInterrupt, gRTAudioInterruptName, PRU_RTAUDIO_IRQ, I_NOAUTOENA)) != 0) { + cout << "Error: unable to create Xenomai interrupt for PRU (error " << result << ")" << endl; + return -1; + } +#endif + // Start all RT threads if(rt_task_start(&gRTAudioThread, &audioLoop, 0)) { cout << "Error: unable to start Xenomai audio thread" << endl; @@ -365,19 +402,28 @@ // Free any resources associated with PRU real-time audio void BeagleRT_cleanupAudio() { - cleanup_render(); + cleanup(&gContext, gUserData); // Clean up the auxiliary tasks vector<InternalAuxiliaryTask*>::iterator it; for(it = gAuxTasks.begin(); it != gAuxTasks.end(); it++) { InternalAuxiliaryTask *taskStruct = *it; + // Delete the task + rt_task_delete(&taskStruct->task); + // Free the name string and the struct itself free(taskStruct->name); free(taskStruct); } gAuxTasks.clear(); + // Delete the audio task and its interrupt +#ifdef BEAGLERT_USE_XENOMAI_INTERRUPTS + rt_intr_delete(&gRTAudioInterrupt); +#endif + rt_task_delete(&gRTAudioThread); + if(gPRU != 0) delete gPRU; if(gAudioCodec != 0) @@ -431,7 +477,7 @@ } // Set the verbosity level -void setVerboseLevel(int level) +void BeagleRT_setVerboseLevel(int level) { gRTAudioVerbose = level; }
--- a/core/RTAudioCommandLine.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/core/RTAudioCommandLine.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -9,52 +9,65 @@ #include <cstdlib> #include <cstring> #include <getopt.h> -#include "../include/RTAudio.h" +#include "../include/BeagleRT.h" #ifndef OPT_PRU_FILE -#define OPT_PRU_FILE 176 // this is an extended ascii code +#define OPT_PRU_FILE 176 // this is an extended ASCII code #endif +enum { + kAmplifierMutePin = 61 // P8-26 controls amplifier mute +}; + // Default command-line options for RTAudio struct option gDefaultLongOptions[] = { {"period", 1, NULL, 'p'}, {"verbose", 0, NULL, 'v'}, - {"use-analog", 1, NULL, 'm'}, - {"use-digital-gpio", 1, NULL, 'g'}, + {"use-analog", 1, NULL, 'N'}, + {"use-digital", 1, NULL, 'G'}, {"analog-channels", 1, NULL, 'C'}, - {"digital-channels", 1, NULL, 'G'}, + {"digital-channels", 1, NULL, 'B'}, {"mute-speaker", 1, NULL, 'M'}, {"dac-level", 1, NULL, 'D'}, {"adc-level", 1, NULL, 'A'}, {"hp-level", 1, NULL, 'H'}, - {"receive-port", 1, NULL, 'r'}, - {"transmit-port", 1, NULL, 't'}, - {"server-name",1,NULL,'s'}, - {"pru-file",1,NULL,OPT_PRU_FILE}, + {"receive-port", 1, NULL, 'R'}, + {"transmit-port", 1, NULL, 'T'}, + {"server-name", 1, NULL, 'S'}, + {"pru-file", 1, NULL, OPT_PRU_FILE}, {NULL, 0, NULL, 0} }; -const char gDefaultShortOptions[] = "p:vm:M:C:D:A:H:g:G:r:t:s:"; +const char gDefaultShortOptions[] = "p:vN:M:C:D:A:H:G:B:R:T:S:"; -// This function sets the default settings for the RTAudioSettings structure -void BeagleRT_defaultSettings(RTAudioSettings *settings) +// This function sets the default settings for the BeagleRTInitSettings structure +void BeagleRT_defaultSettings(BeagleRTInitSettings *settings) { // Set default values for settings settings->periodSize = 8; + settings->useAnalog = 1; + settings->useDigital = 1; + settings->numAnalogChannels = 8; + settings->numDigitalChannels = 16; + settings->beginMuted = 0; settings->dacLevel = DEFAULT_DAC_LEVEL; settings->adcLevel = DEFAULT_ADC_LEVEL; settings->headphoneLevel = DEFAULT_HP_LEVEL; - settings->useAnalog = 1; - settings->useDigital = 1; - settings->numAnalogChannels = 8; - settings->numDigitalChannels = 16; + settings->verbose = 0; - settings->pruFilename[0]='\0'; + settings->pruFilename[0] = '\0'; + + // These two deliberately have no command-line flags by default. + // A given program might prefer one mode or another, but it's unlikely + // the user would want to switch at runtime + settings->interleave = 1; + settings->analogOutputsPersist = 1; + settings->codecI2CAddress = CODEC_I2C_ADDRESS; - settings->receivePort=9998; - settings->transmitPort=9999; + settings->receivePort = 9998; + settings->transmitPort = 9999; strcpy(settings->serverName, "127.0.0.1"); settings->ampMutePin = kAmplifierMutePin; } @@ -65,7 +78,7 @@ // be stored in settings, otherwise arguments will be returned // as getopt() normally does. -int BeagleRT_getopt_long(int argc, char *argv[], const char *customShortOptions, const struct option *customLongOptions, RTAudioSettings *settings) +int BeagleRT_getopt_long(int argc, char *argv[], const char *customShortOptions, const struct option *customLongOptions, BeagleRTInitSettings *settings) { static int firstRun = 1; static char totalShortOptions[256]; @@ -137,10 +150,10 @@ case 'v': settings->verbose = 1; break; - case 'm': + case 'N': settings->useAnalog = atoi(optarg); break; - case 'g': + case 'G': settings->useDigital = atoi(optarg); settings->numDigitalChannels = 0; break; @@ -153,7 +166,7 @@ else settings->numAnalogChannels = 2; break; - case 'G': + case 'B': settings->numDigitalChannels = atoi(optarg); if(settings->numDigitalChannels >= 16) settings->numDigitalChannels = 16; @@ -175,13 +188,13 @@ case 'H': settings->headphoneLevel = atof(optarg); break; - case 'r': + case 'R': settings->receivePort = atoi(optarg); break; - case 't': + case 'T': settings->transmitPort = atoi(optarg); break; - case 's': + case 'S': if(strlen(optarg)<MAX_SERVERNAME_LENGTH) strcpy(settings->serverName, optarg); else @@ -189,7 +202,7 @@ " Using default severName Instead ( " << settings->serverName << " ).\n"; break; case OPT_PRU_FILE: - if(strlen(optarg)<MAX_PRU_FILENAME_LENGTH) + if(strlen(optarg) < MAX_PRU_FILENAME_LENGTH) strcpy(settings->pruFilename, optarg); else std::cerr << "Warning: filename for the PRU code is too long (>" << MAX_PRU_FILENAME_LENGTH << " characters). Using embedded PRU code instead\n"; @@ -210,14 +223,13 @@ std::cerr << " --adc-level [-A] dBs: Set the ADC input level (0dB max; -12dB min)\n"; std::cerr << " --hp-level [-H] dBs: Set the headphone output level (0dB max; -63.5dB min)\n"; std::cerr << " --mute-speaker [-M] val: Set whether to mute the speaker initially (default: no)\n"; - std::cerr << " --use-analog [-m] val: Set whether to use ADC/DAC analog (default: yes)\n"; - std::cerr << " --use-digital [-g] val: Set whether to use digital GPIO channels (default: yes)\n"; + std::cerr << " --use-analog [-N] val: Set whether to use ADC/DAC analog (default: yes)\n"; + std::cerr << " --use-digital [-G] val: Set whether to use digital GPIO channels (default: yes)\n"; std::cerr << " --analog-channels [-C] val: Set the number of ADC/DAC channels (default: 8)\n"; - std::cerr << " --digital-channels [-G] val: Set the number of GPIO channels (default: 16)\n"; - std::cerr << " --digital-channels [-G] val: Set the number of digital GPIO channels (default: 16)\n"; - std::cerr << " --receive-port [-r] val: Set the receive port (default: 9998)\n"; - std::cerr << " --transmit-port [-t] val: Set the transmit port (default: 9999)\n"; - std::cerr << " --server-name [-s] val: Set the destination server name (default: '127.0.0.1')\n"; + std::cerr << " --digital-channels [-B] val: Set the number of GPIO channels (default: 16)\n"; + std::cerr << " --receive-port [-R] val: Set the receive port (default: 9998)\n"; + std::cerr << " --transmit-port [-T] val: Set the transmit port (default: 9999)\n"; + std::cerr << " --server-name [-S] val: Set the destination server name (default: '127.0.0.1')\n"; std::cerr << " --pru-file val: Set an optional external file to use for the PRU binary code\n"; std::cerr << " --verbose [-v]: Enable verbose logging information\n"; }
--- a/core/Utilities.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/core/Utilities.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -7,6 +7,84 @@ #include "../include/Utilities.h" +// analogReadFrame() +// +// Returns the value of the given analog input at the given frame number. +float analogReadFrame(BeagleRTContext *context, int frame, int channel) { + return context->analogIn[frame * context->analogChannels + channel]; +} + +// analogWriteFrame() +// +// Sets a given channel to a value for the current frame and, if persistent outputs are +// enabled, for all subsequent frames +void analogWriteFrame(BeagleRTContext *context, int frame, int channel, float value) { + if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) { + for(unsigned int f = frame; f < context->analogFrames; f++) + context->analogOut[frame * context->analogChannels + channel] = value; + } + else + context->analogOut[frame * context->analogChannels + channel] = value; +} + +// analogWriteFrameOnce() +// +// Sets a given channel to a value for only the current frame +void analogWriteFrameOnce(BeagleRTContext *context, int frame, int channel, float value) { + context->analogOut[frame * context->analogChannels + channel] = value; +} + +// digitalReadFrame() +// +// Returns the value of a given digital input at the given frame number +int digitalReadFrame(BeagleRTContext *context, int frame, int channel) { + return getBit(context->digital[frame], channel + 16); +} + +// digitalWriteFrame() +// +// Sets a given digital output channel to a value for the current frame and all subsequent frames +void digitalWriteFrame(BeagleRTContext *context, int frame, int channel, int value) { + for(unsigned int f = frame; f < context->digitalFrames; f++) { + if(value) + context->digital[f] |= 1 << (channel + 16); + else + context->digital[f] &= ~(1 << (channel + 16)); + } +} + +// digitalWriteFrameOnce() +// +// Sets a given digital output channel to a value for the current frame only +void digitalWriteFrameOnce(BeagleRTContext *context, int frame, int channel, int value) { + if(value) + context->digital[frame] |= 1 << (channel + 16); + else + context->digital[frame] &= ~(1 << (channel + 16)); +} + +// pinModeFrame() +// +// Sets the direction of a digital pin for the current frame and all subsequent frames +void pinModeFrame(BeagleRTContext *context, int frame, int channel, int mode) { + for(unsigned int f = frame; f < context->digitalFrames; f++) { + if(mode == INPUT) + context->digital[f] |= (1 << channel); + else + context->digital[f] &= ~(1 << channel); + } +} + +// pinModeFrameOnce() +// +// Sets the direction of a digital pin for the current frame only +void pinModeFrameOnce(BeagleRTContext *context, int frame, int channel, int mode) { + if(mode == INPUT) + context->digital[frame] |= (1 << channel); + else + context->digital[frame] &= ~(1 << channel); +} + // map() // // Scale an input value from one range to another. Works like its Wiring language equivalent.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/core/default_main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,91 @@ +/* + * default_main.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ +#include <unistd.h> +#include <iostream> +#include <cstdlib> +#include <libgen.h> +#include <signal.h> +#include <getopt.h> +#include "../include/BeagleRT.h" + +using namespace std; + +// Handle Ctrl-C by requesting that the audio rendering stop +void interrupt_handler(int var) +{ + gShouldStop = true; +} + +// Print usage information +void usage(const char * processName) +{ + cerr << "Usage: " << processName << " [options]" << endl; + + BeagleRT_usage(); + + cerr << " --help [-h]: Print this menu\n"; +} + +int main(int argc, char *argv[]) +{ + BeagleRTInitSettings settings; // Standard audio settings + + struct option customOptions[] = + { + {"help", 0, NULL, 'h'}, + {NULL, 0, NULL, 0} + }; + + // Set default settings + BeagleRT_defaultSettings(&settings); + + // Parse command-line arguments + while (1) { + int c; + if ((c = BeagleRT_getopt_long(argc, argv, "h", customOptions, &settings)) < 0) + break; + switch (c) { + case 'h': + usage(basename(argv[0])); + exit(0); + case '?': + default: + usage(basename(argv[0])); + exit(1); + } + } + + // Initialise the PRU audio device + if(BeagleRT_initAudio(&settings, 0) != 0) { + cout << "Error: unable to initialise audio" << endl; + return -1; + } + + // Start the audio device running + if(BeagleRT_startAudio()) { + cout << "Error: unable to start real-time audio" << endl; + return -1; + } + + // Set up interrupt handler to catch Control-C and SIGTERM + signal(SIGINT, interrupt_handler); + signal(SIGTERM, interrupt_handler); + + // Run until told to stop + while(!gShouldStop) { + usleep(100000); + } + + // Stop the audio device + BeagleRT_stopAudio(); + + // Clean up any resources allocated for audio + BeagleRT_cleanupAudio(); + + // All done! + return 0; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/include/BeagleRT.h Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,569 @@ +/** + * @file + * @brief Main BeagleRT public API + * + * Central control code for hard real-time audio on BeagleBone Black + * using PRU and Xenomai Linux extensions. This code began as part + * of the Hackable Instruments project (EPSRC) at Queen Mary University + * of London, 2013-14. + * + * (c) 2014-15 Andrew McPherson, Victor Zappi and Giulio Moro, + * Queen Mary University of London + */ + +/** + * \mainpage + * + * BeagleRT is a hard-real-time, ultra-low latency audio and sensor environment for + * BeagleBone Black, which works with the BeagleBone Audio Cape or a custom "BeagleRT Cape" + * which incorporates stereo audio with 8x, 16-bit analog inputs and outputs. + * + * BeagleRT is based on the Xenomai real-time Linux extensions (http://xenomai.org) and + * uses the BeagleBone %PRU subsystem to address the audio and sensor hardware. + * + * Further information can be found at http://beaglert.cc + */ + + +#ifndef BEAGLERT_H_ +#define BEAGLERT_H_ + +#include <stdint.h> +#include <rtdk.h> +#include "digital_gpio_mapping.h" + +// Useful constants + +/** \cond PRIVATE */ +#define DBOX_CAPE // New custom cape +#ifdef DBOX_CAPE +#define CODEC_I2C_ADDRESS 0x18 // Address of TLV320AIC3104 codec +#else +#define CODEC_I2C_ADDRESS 0x1B // Address of TLV320AIC3106 codec +#endif + +#define MAX_PRU_FILENAME_LENGTH 256 +#define MAX_SERVERNAME_LENGTH 256 +/** \endcond */ + +/** + * \ingroup auxtask + * + * Xenomai priority level for audio processing. Maximum possible priority is 99. + * In general, all auxiliary tasks should have a level lower than this unless for\ + * special purposes where the task needs to interrupt audio processing. + */ +#define BEAGLERT_AUDIO_PRIORITY 95 + +// Default volume levels + +/** + * \addtogroup levels + * + * @{ + */ + +/** + * Default level of the audio DAC in decibels. See BeagleRT_setDACLevel(). + */ +#define DEFAULT_DAC_LEVEL 0.0 + +/** + * Default level of the audio ADC in decibels. See BeagleRT_setADCLevel(). + */ +#define DEFAULT_ADC_LEVEL -6.0 + +/** + * Default level of the headphone output in decibels. See BeagleRT_setHeadphoneLevel(). + */ +#define DEFAULT_HP_LEVEL -6.0 +/** @} */ + +/** + * Flag for BeagleRTContext. If set, indicates the audio and analog buffers are interleaved. + */ +#define BEAGLERT_FLAG_INTERLEAVED (1 << 0) // Set if buffers are interleaved +/** + * Flag for BeagleRTContext. If set, indicates analog outputs persist for future frames. + */ +#define BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST (1 << 1) // Set if analog/digital outputs persist for future buffers + +/** + * \ingroup control + * \brief Structure containing initialisation parameters for the real-time + * audio control system. + * + * This structure is initialised using BeagleRT_defaultSettings(). Its contents + * are used up through the point of calling + * BeagleRT_initAudio() at which point it is no longer needed. + */ +typedef struct { + // These items might be adjusted by the user: + + /// \brief Number of (analog) frames per period. + /// + /// Number of audio frames depends on relative sample rates of the two. By default, + /// audio is twice the sample rate, so has twice the period size. + int periodSize; + /// Whether to use the analog input and output + int useAnalog; + /// Whether to use the 16 programmable GPIOs + int useDigital; + /// How many channels for the ADC and DAC + int numAnalogChannels; + /// How many channels for the GPIOs + int numDigitalChannels; + + /// Whether to begin with the speakers muted + int beginMuted; + /// Level for the audio DAC output + float dacLevel; + /// Level for the audio ADC input + float adcLevel; + /// Level for the headphone output + float headphoneLevel; + + /// The external .bin file to load. If empty will use PRU code from pru_rtaudio_bin.h + char pruFilename[MAX_PRU_FILENAME_LENGTH]; + /// Whether to use verbose logging + int verbose; + + // These items are application-dependent but should probably be + // determined by the programmer rather than the user + + /// Whether audio/analog data should be interleaved + int interleave; + /// \brief Whether analog outputs should persist to future frames. + /// + /// n.b. digital pins always persist, audio never does + int analogOutputsPersist; + + // These items are hardware-dependent and should only be changed + // to run on different hardware + + /// Where the codec can be found on the I2C bus + int codecI2CAddress; + /// Pin where amplifier mute can be found + int ampMutePin; + /// Port where the UDP server will listen + int receivePort; + /// Port where the UDP client will transmit + int transmitPort; + char serverName[MAX_SERVERNAME_LENGTH]; +} BeagleRTInitSettings; + + +/** + * \ingroup render + * \brief Structure holding current audio and sensor settings and pointers to data buffers. + * + * This structure is passed to setup(), render() and cleanup(). It is + * initialised in BeagleRT_initAudio() based on the contents of the BeagleRTInitSettings + * structure. + */ +typedef struct { + /// \brief Buffer holding audio input samples + /// + /// This buffer may be in either interleaved or non-interleaved format, + /// depending on the contents of the BeagleRTInitSettings structure. + /// \b Note: this element is available in render() only. + float *audioIn; + + /// \brief Buffer holding audio output samples + /// + /// This buffer may be in either interleaved or non-interleaved format, + /// depending on the contents of the BeagleRTInitSettings structure. + /// \b Note: this element is available in render() only. + float *audioOut; + + /// \brief Buffer holding analog input samples + /// + /// This buffer may be in either interleaved or non-interleaved format, + /// depending on the contents of the BeagleRTInitSettings structure. + /// \b Note: this element is available in render() only. + float *analogIn; + + /// \brief Buffer holding analog output samples + /// + /// This buffer may be in either interleaved or non-interleaved format, + /// depending on the contents of the BeagleRTInitSettings structure. + /// \b Note: this element is available in render() only. + float *analogOut; + + /// \brief Buffer holding digital input/output samples + /// + /// \b Note: this element is available in render() only. + uint32_t *digital; + + /// Number of audio frames per period + uint32_t audioFrames; + /// Number of audio channels (currently always 2) + uint32_t audioChannels; + /// Audio sample rate in Hz (currently always 44100.0) + float audioSampleRate; + + /// \brief Number of analog frames per period + /// + /// This will be 0 if analog I/O is disabled. + uint32_t analogFrames; + + /// \brief Number of analog channels + /// + /// This could take a value of 8, 4 or 2. This will be 0 if analog I/O is disabled. + uint32_t analogChannels; + + /// \brief Analog sample rate in Hz + /// + /// The analog sample rate depends on the number of analog channels used. If + /// 8 channels are used, the sample rate is 22050. If 4 channels are used, the sample + /// rate is 44100. If 2 channels are used, the sample rate is 88200. If analog I/O + /// is disabled, the sample rate is 0. + float analogSampleRate; + + /// Number of digital frames per period + uint32_t digitalFrames; + /// \brief Number of digital channels + /// + /// Currently this will always be 16, unless digital I/O is disabled, in which case it will be 0. + uint32_t digitalChannels; + /// Digital sample rate in Hz (currently always 44100.0) + float digitalSampleRate; + + /// \brief Number of elapsed audio samples since the start of rendering. + /// + /// This holds the total number of audio samples as of the beginning of the current period. To + /// find the current number of analog or digital samples elapsed, multiply by the ratio of the + /// sample rates (e.g. half the number of analog samples will have elapsed if the analog sample + /// rate is 22050). + uint64_t audioSampleCount; + + /// \brief Other audio/sensor settings + /// + /// Binary combination of flags including: + /// + /// BEAGLERT_FLAG_INTERLEAVED: indicates the audio and analog buffers are interleaved + /// + /// BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST: indicates that writes to the analog outputs will + /// persist for future frames. If not set, writes affect one frame only. + uint32_t flags; +} BeagleRTContext; + +/** \ingroup auxtask + * + * Auxiliary task variable. Auxiliary tasks are created using createAuxiliaryTask() and + * automatically cleaned up after cleanup() finishes. + */ +typedef void* AuxiliaryTask; // Opaque data type to keep track of aux tasks + +/** \ingroup render + * + * Flag that indicates when the audio will stop. Threads can poll this variable to indicate when + * they should stop. Additionally, a program can set this to \c true + * to indicate that audio processing should terminate. Calling BeagleRT_stopAudio() + * has the effect of setting this to \c true. + */ +extern bool gShouldStop; + +// *** User-defined render functions *** + +/** + * \defgroup render User-defined render functions + * + * These three functions must be implemented by the developer in every BeagleRT program. + * Typically they appear in their own .cpp source file. + * + * @{ + */ + +/** + * \brief User-defined initialisation function which runs before audio rendering begins. + * + * This function runs once at the beginning of the program, after most of the system + * initialisation has begun but before audio rendering starts. Use it to prepare any + * memory or resources that will be needed in render(). + * + * \param context Data structure holding information on sample rates, numbers of channels, + * frame sizes and other state. Note: the buffers for audio, analog and digital data will + * \b not yet be available to use. Do not attempt to read or write audio or sensor data + * in setup(). + * \param userData An opaque pointer to an optional user-defined data structure. Whatever + * is passed as the second argument to BeagleRT_initAudio() will appear here. + * + * \return true on success, or false if an error occurred. If no initialisation is + * required, setup() should return true. + */ +bool setup(BeagleRTContext *context, void *userData); + +/** + * \brief User-defined callback function to process audio and sensor data. + * + * This function is called regularly by the system every time there is a new block of + * audio and/or sensor data to process. Your code should process the requested samples + * of data, store the results within \c context, and return. + * + * \param context Data structure holding buffers for audio, analog and digital data. The + * structure also holds information on numbers of channels, frame sizes and sample rates, + * which are guaranteed to remain the same throughout the program and to match what was + * passed to setup(). + * \param userData An opaque pointer to an optional user-defined data structure. Will + * be the same as the \c userData parameter passed to setup(). + */ +void render(BeagleRTContext *context, void *userData); + +/** + * \brief User-defined cleanup function which runs when the program finishes. + * + * This function is called by the system once after audio rendering has finished, before the + * program quits. Use it to release any memory allocated in setup() and to perform + * any other required cleanup. If no initialisation is performed in setup(), then + * this function will usually be empty. + * + * \param context Data structure holding information on sample rates, numbers of channels, + * frame sizes and other state. Note: the buffers for audio, analog and digital data will + * no longer be available to use. Do not attempt to read or write audio or sensor data + * in cleanup(). + * \param userData An opaque pointer to an optional user-defined data structure. Will + * be the same as the \c userData parameter passed to setup() and render(). + */ +void cleanup(BeagleRTContext *context, void *userData); + +/** @} */ + +/** + * \defgroup control Control and command line functions + * + * These functions are used to initialise the BeagleRT settings, process arguments + * from the command line, and start/stop the audio and sensor system. + * + * @{ + */ + +// *** Command-line settings *** + +/** + * \brief Initialise the data structure containing settings for BeagleRT. + * + * This function should be called in main() before parsing any command-line arguments. It + * sets default values in the data structure which specifies the BeagleRT settings, including + * frame sizes, numbers of channels, volume levels and other parameters. + * + * \param settings Structure holding initialisation data for BeagleRT. + */ +void BeagleRT_defaultSettings(BeagleRTInitSettings *settings); + +/** + * \brief Get long options from command line argument list, including BeagleRT standard options + * + * This function should be used in main() to process command line options, in place of the + * standard library getopt_long(). Internally, it parses standard BeagleRT command-line options, + * storing the results in the settings data structure. Any options which are not part of the + * BeagleRT standard options will be returned, as they would normally be in getopt_long(). + * + * \param argc Number of command line options, as passed to main(). + * \param argv Array of command line options, as passed to main(). + * \param customShortOptions List of short options to be parsed, analogous to getopt_long(). This + * list should not include any characters already parsed as part of the BeagleRT standard options. + * \param customLongOptions List of long options to parsed, analogous to getopt_long(). This + * list should not include any long options already parsed as part of the BeagleRT standard options. + * \param settings Data structure holding initialisation settings for BeagleRT. Any standard options + * parsed will automatically update this data structure. + * + * \return Value of the next option parsed which is not a BeagleRT standard option, or -1 when the + * argument list has been exhausted. Similar to the return value of getopt_long() except that BeagleRT + * standard options are handled internally and not returned. + */ +int BeagleRT_getopt_long(int argc, char *argv[], const char *customShortOptions, + const struct option *customLongOptions, BeagleRTInitSettings *settings); + +/** + * \brief Print usage information for BeagleRT standard options. + * + * This function should be called from your code wherever you wish to print usage information for the + * user. It will print usage information on BeagleRT standard options, after which you can print usage + * information for your own custom options. + */ +void BeagleRT_usage(); + +/** + * \brief Set level of verbose (debugging) printing. + * + * \param level Verbosity level of the internal BeagleRT system. 0 by default; higher values will + * print more information. Presently all positive numbers produce the same level of printing. + */ +void BeagleRT_setVerboseLevel(int level); + + +// *** Audio control functions *** + +/** + * \brief Initialise audio and sensor rendering environment. + * + * This function prepares audio rendering in BeagleRT. It should be called from main() sometime + * after command line option parsing has finished. It will initialise the rendering system, which + * in the process will result in a call to the user-defined setup() function. + * + * \param settings Data structure holding system settings, including numbers of channels, frame sizes, + * volume levels and other information. + * \param userData An opaque pointer to a user-defined data structure which will be passed to + * setup(), render() and cleanup(). You can use this to pass custom information + * to the rendering functions, as an alternative to using global variables. + * + * \return 0 on success, or nonzero if an error occurred. + */ +int BeagleRT_initAudio(BeagleRTInitSettings *settings, void *userData); + +/** + * \brief Begin processing audio and sensor data. + * + * This function will start the BeagleRT audio/sensor system. After this function is called, the + * system will make periodic calls to render() until BeagleRT_stopAudio() is called. + * + * \return 0 on success, or nonzero if an error occurred. + */ +int BeagleRT_startAudio(); + +/** + * \brief Stop processing audio and sensor data. + * + * This function will stop the BeagleRT audio/sensor system. After this function returns, no further + * calls to render() will be issued. + */ +void BeagleRT_stopAudio(); + +/** + * \brief Clean up resources from audio and sensor processing. + * + * This function should only be called after BeagleRT_stopAudio(). It will release any + * internal resources for audio and sensor processing. In the process, it will call the + * user-defined cleanup() function. + */ +void BeagleRT_cleanupAudio(); + +/** @} */ + +/** + * \defgroup levels Audio level controls + * + * These functions control the input and output levels for the audio codec. If a BeagleRT program + * does not call these functions, sensible default levels will be used. + * + * @{ + */ + +// *** Volume and level controls *** + +/** + * \brief Set the level of the audio DAC. + * + * This function sets the level of all audio outputs (headphone, line, speaker). It does + * not affect the level of the (non-audio) analog outputs. + * + * \b Important: do not call this function from within render(), as it does not make + * any guarantees on real-time performance. + * + * \param decibels Level of the DAC output. Valid levels range from -63.5 (lowest) to + * 0 (highest) in steps of 0.5dB. Levels between increments of 0.5 will be rounded down. + * + * \return 0 on success, or nonzero if an error occurred. + */ +int BeagleRT_setDACLevel(float decibels); + +/** + * \brief Set the level of the audio ADC. + * + * This function sets the level of the audio input. It does not affect the level of the + * (non-audio) analog inputs. + * + * \b Important: do not call this function from within render(), as it does not make + * any guarantees on real-time performance. + * + * \param decibels Level of the ADC input. Valid levels range from -12 (lowest) to + * 0 (highest) in steps of 1.5dB. Levels between increments of 1.5 will be rounded down. + * + * \return 0 on success, or nonzero if an error occurred. + */ +int BeagleRT_setADCLevel(float decibels); + +/** + * \brief Set the level of the onboard headphone amplifier. + * + * This function sets the level of the headphone output only (3-pin connector on the BeagleRT + * cape or the output jack on the BeagleBone Audio Cape). It does not affect the level of the + * speakers or the line out pads on the cape. + * + * \b Important: do not call this function from within render(), as it does not make + * any guarantees on real-time performance. + * + * \param decibels Level of the DAC output. Valid levels range from -63.5 (lowest) to + * 0 (highest) in steps of 0.5dB. Levels between increments of 0.5 will be rounded down. + * + * \return 0 on success, or nonzero if an error occurred. + */ +int BeagleRT_setHeadphoneLevel(float decibels); + +/** + * \brief Mute or unmute the onboard speaker amplifiers. + * + * This function mutes or unmutes the amplifiers on the BeagleRT cape. Whether the speakers begin + * muted or unmuted depends on the BeagleRTInitSettings structure passed to BeagleRT_initAudio(). + * + * \b Important: do not call this function from within render(), as it does not make + * any guarantees on real-time performance. + * + * \param mute 0 to enable the speakers, nonzero to mute the speakers. + * + * \return 0 on success, or nonzero if an error occurred. + */ +int BeagleRT_muteSpeakers(int mute); + +/** @} */ + +/** + * \defgroup auxtask Auxiliary task support + * + * These functions are used to create separate real-time tasks (threads) which run at lower + * priority than the audio processing. They can be used, for example, for large time-consuming + * calculations which would take more than one audio frame length to process, or they could be + * used to communicate with external hardware when that communication might block or be delayed. + * + * All auxiliary tasks used by the program should be created in setup(). The tasks + * can then be scheduled at will within the render() function. + * + * @{ + */ + +// *** Functions for creating auxiliary tasks *** + +/** + * \brief Create a new auxiliary task. + * + * This function creates a new auxiliary task which, when scheduled, runs the function specified + * in the first argument. Note that the task does not run until scheduleAuxiliaryTask() is called. + * Auxiliary tasks should be created in setup() and never in render() itself. + * + * The second argument specifies the real-time priority. Valid values are between 0 + * and 99, and usually should be lower than \ref BEAGLERT_AUDIO_PRIORITY. Tasks with higher priority always + * preempt tasks with lower priority. + * + * \param functionToCall Function which will run each time the auxiliary task is scheduled. + * \param priority Xenomai priority level at which the task should run. + * \param name Name for this task, which should be unique system-wide (no other running program should use this name). + */ +AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void), int priority, const char *name); + +/** + * \brief Run an auxiliary task which has previously been created. + * + * This function will schedule an auxiliary task to run. When the task runs, the function in the first + * argument of createAuxiliaryTaskLoop() will be called. + * + * scheduleAuxiliaryTask() is typically called from render() to start a lower-priority task. The function + * will not run immediately, but only once any active higher priority tasks have finished. + * + * \param task Task to schedule for running. + */ +void BeagleRT_scheduleAuxiliaryTask(AuxiliaryTask task); + +/** @} */ + +#endif /* BEAGLERT_H_ */
--- a/include/I2c_Codec.h Mon Jun 08 01:07:48 2015 +0100 +++ b/include/I2c_Codec.h Tue Aug 18 00:35:15 2015 +0100 @@ -28,6 +28,9 @@ int startAudio(int dual_rate); int stopAudio(); + int setPllJ(short unsigned int j); + int setPllD(unsigned int d); + int setPllK(float k); int setDACVolume(int halfDbSteps); int writeDACVolumeRegisters(bool mute); int setADCVolume(int halfDbSteps);
--- a/include/PRU.h Mon Jun 08 01:07:48 2015 +0100 +++ b/include/PRU.h Tue Aug 18 00:35:15 2015 +0100 @@ -9,8 +9,9 @@ #define PRU_H_ #include <stdint.h> -#include "../include/RTAudio.h" // to schedule lower prio parallel process -#include "../include/intervals.h" +#include <native/intr.h> +#include "../include/BeagleRT.h" + class PRU { private: @@ -22,26 +23,26 @@ public: // Constructor - PRU(); + PRU(BeagleRTContext *input_context); // Destructor ~PRU(); // Prepare the GPIO pins needed for the PRU - int prepareGPIO(int use_spi, int use_digital, int include_test_pin, int include_led); + 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); + 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(); + void loop(RT_INTR *pru_interrupt, void *userData); // Wait for an interrupt from the PRU indicate it is finished void waitForFinish(); @@ -52,19 +53,17 @@ // For debugging: void setGPIOTestPin(); void clearGPIOTestPin(); - Interval renderTimer; - Interval sleepTimer; - AuxiliaryTask printIntervalsTask; private: + BeagleRTContext *context; // Overall settings + 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 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 - int spi_num_channels; // How many channels to use for SPI ADC/DAC volatile uint32_t *pru_buffer_comm; uint16_t *pru_buffer_spi_dac; @@ -72,13 +71,12 @@ uint32_t *pru_buffer_digital; int16_t *pru_buffer_audio_dac; int16_t *pru_buffer_audio_adc; - unsigned int spi_buffer_frames; - unsigned int digital_buffer_frames; - unsigned int audio_buffer_frames; + + float *last_analog_out_frame; + uint32_t *digital_buffer0, *digital_buffer1, *last_digital_buffer; int xenomai_gpio_fd; // File descriptor for /dev/mem for fast GPIO uint32_t *xenomai_gpio; // Pointer to GPIO registers - };
--- a/include/RTAudio.h Mon Jun 08 01:07:48 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,82 +0,0 @@ -/* - * RTAudio.h - * - * Central control code for hard real-time audio on BeagleBone Black - * using PRU and Xenomai Linux extensions. This code began as part - * of the Hackable Instruments project (EPSRC) at Queen Mary University - * of London, 2013-14. - * - * (c) 2014 Victor Zappi and Andrew McPherson - * Queen Mary University of London - */ - - -#ifndef RTAUDIO_H_ -#define RTAUDIO_H_ -#include "RTAudioSettings.h" -#include "render.h" - -// Useful constants -#define DBOX_CAPE // New custom cape - -#ifdef DBOX_CAPE -#define CODEC_I2C_ADDRESS 0x18 // Address of TLV320AIC3104 codec -#else -#define CODEC_I2C_ADDRESS 0x1B // Address of TLV320AIC3106 codec -#endif - -// Default volume levels -#define DEFAULT_DAC_LEVEL 0.0 -#define DEFAULT_ADC_LEVEL -6.0 -#define DEFAULT_HP_LEVEL -6.0 - -enum { - kAmplifierMutePin = 61 // P8-26 controls amplifier mute -}; - -typedef void* AuxiliaryTask; // Opaque data type to keep track of aux tasks - -// Flag that indicates when the audio will stop; can be read or -// set by other components which should end at the same time as the audio -extern bool gShouldStop; - -// Command-line settings -void BeagleRT_defaultSettings(RTAudioSettings *settings); -int BeagleRT_getopt_long(int argc, char *argv[], const char *customShortOptions, - const struct option *customLongOptions, RTAudioSettings *settings); -void BeagleRT_usage(); - -// Basic audio control functions: init, start, stop and clean up -int BeagleRT_initAudio(RTAudioSettings *settings, void *userData); -int BeagleRT_startAudio(); -void BeagleRT_stopAudio(); -void BeagleRT_cleanupAudio(); - -// Volume/level controls -// These return 0 on success - -// Set the level of the DAC; affects all outputs (headphone, line, speaker) -// 0dB is the maximum, -63.5dB is the minimum; 0.5dB steps -int BeagleRT_setDACLevel(float decibels); - -// Set the level of the ADC -// 0dB is the maximum, -12dB is the minimum; 1.5dB steps -int BeagleRT_setADCLevel(float decibels); - -// Set the level of the onboard headphone amplifier; affects headphone -// output only (not line out or speaker) -// 0dB is the maximum, -63.5dB is the minimum; 0.5dB steps -int BeagleRT_setHeadphoneLevel(float decibels); - -// Mute or unmute the onboard speaker amplifiers -// mute == 0 means unmute; otherwise mute -// Returns 0 on success -int BeagleRT_muteSpeakers(int mute); - -// Functions for creating auxiliary tasks -AuxiliaryTask createAuxiliaryTaskLoop(void (*functionToCall)(void), int priority, const char *name); -void scheduleAuxiliaryTask(AuxiliaryTask task); - -void setVerboseLevel(int level); - -#endif /* RTAUDIO_H_ */
--- a/include/RTAudioSettings.h Mon Jun 08 01:07:48 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,40 +0,0 @@ -/* - * RTaudioSettings.h - * - * Created on: 6 May 2015 - * Author: unmanaged - */ - -#ifndef RTAUDIOSETTINGS_H_ -#define RTAUDIOSETTINGS_H_ - -#define MAX_PRU_FILENAME_LENGTH 256 -#define MAX_SERVERNAME_LENGTH 256 -// Structure which contains initialisation parameters for the -// real-time audio system -typedef struct { - // These items might be adjusted by the user: - int periodSize; // Number of (analog) frames per period; audio is twice this - int beginMuted; // Whether to begin with the speakers muted - float dacLevel; // Level for the audio DAC output - float adcLevel; // Level for the audio ADC input - float headphoneLevel; // Level for the headphone output - int useAnalog; // Whether to use the analog - int useDigital; // Whether to use the 16 programmable GPIOs - int numAnalogChannels; // How many channels for the ADC and DAC - int numDigitalChannels; // How many channels for the GPIOs - int verbose; // Whether to use verbose logging - char pruFilename[MAX_PRU_FILENAME_LENGTH]; //the external .bin file to load. If empty will use PRU code from pru_rtaudio_bin.h - // These items are hardware-dependent and should only be changed - // to run on different hardware - int codecI2CAddress; // Where the codec can be found on the I2C bus - int ampMutePin; // Pin where amplifier mute can be found - int receivePort; //port where the UDP server will listen - int transmitPort; //port where the UDP client will transmit - char serverName[MAX_SERVERNAME_LENGTH]; -} RTAudioSettings; - - - - -#endif /* RTAUDIOSETTINGS_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/include/Scope.h Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,103 @@ +//scope.cpp +#include <BeagleRT.h> +#include <rtdk.h> +#include <cmath> +#include <UdpClient.h> + +#define BUILD_FOR_UDPRECEIVE_PLUGIN +#define NETWORK_AUDIO_BUFFER_SIZE 302 +struct networkAudio{ + int timestamp; + int currentBuffer; + int index; + float buffers[2][NETWORK_AUDIO_BUFFER_SIZE]; + int doneOnTime; + bool toBeSent; + UdpClient udpClient; +}; + +#define NUM_SCOPE_CHANNELS 6 + +static void SendScopeData(); + +class Scope { + int sampleCount; + float sampleRate; + AuxiliaryTask scopeTask; + public: + int numChannels; + networkAudio channel[NUM_SCOPE_CHANNELS]; + Scope(){ + numChannels = NUM_SCOPE_CHANNELS; + sampleCount = 0; +#ifdef BUILD_FOR_UDPRECEIVE_PLUGIN + char server[]="192.168.7.1"; +#else + char server[]="127.0.0.1"; +#endif /* BUILD_FOR_UDPRECEIVE_PLUGIN */ + printf("Sending messages to : %s\n", server); + for(int n=0; n<numChannels; n++){ + channel[n].doneOnTime=1; + channel[n].index=2; //leave space for the heading message (channel, timestamp) + channel[n].timestamp=0; + channel[n].currentBuffer=0; + channel[n].toBeSent=false; + channel[n].udpClient.setServer(server); +#ifdef BUILD_FOR_UDPRECEIVE_PLUGIN + channel[n].udpClient.setPort(9999+n); +#else + channel[n].udpClient.setPort(9999); +#endif /* BUILD_FOR_UDPRECEIVE_PLUGIN */ + } + } + void setup(float _sampleRate); + void log(float channel1=0.0, float channel2=0.0, float channel3=0.0, float channel4=0.0, float channel5=0.0, float channel6=0.0){ + + for(int j=0; j<numChannels; j++){ + if(channel[j].index==(NETWORK_AUDIO_BUFFER_SIZE)){ // when the buffer is ready ... + channel[j].buffers[channel[j].currentBuffer][0] = (float)j; + channel[j].buffers[channel[j].currentBuffer][1] = (float)channel[j].timestamp; + channel[j].toBeSent=true; + channel[j].index=2; //reset the counter + if(channel[j].doneOnTime==0) + rt_printf("Network buffer underrun :-{\n"); + channel[j].timestamp=sampleCount; + channel[j].currentBuffer=!channel[j].currentBuffer; //switch buffer + channel[j].doneOnTime=0; + BeagleRT_scheduleAuxiliaryTask(scopeTask); //send the buffer + } + } + + channel[0].buffers[channel[0].currentBuffer][channel[0].index++]=channel1; + channel[1].buffers[channel[1].currentBuffer][channel[1].index++]=channel2; + channel[2].buffers[channel[2].currentBuffer][channel[2].index++]=channel3; + channel[3].buffers[channel[3].currentBuffer][channel[3].index++]=channel4; + channel[4].buffers[channel[4].currentBuffer][channel[4].index++]=channel5; + channel[5].buffers[channel[5].currentBuffer][channel[5].index++]=channel6; + + sampleCount++; + } +}; + +Scope* gOscilloscopeInstance; + +void Scope::setup(float _sampleRate){ + sampleRate = _sampleRate; + gOscilloscopeInstance = this; + scopeTask = BeagleRT_createAuxiliaryTask(*SendScopeData, 98, "transmit-receive-audio"); +} + +//Scope scope; + +static void SendScopeData(){ + for(int n=0; n<gOscilloscopeInstance->numChannels; n++){ + if(gOscilloscopeInstance->channel[n].toBeSent){ + gOscilloscopeInstance->channel[n].toBeSent=false; + gOscilloscopeInstance->channel[n].udpClient.send( + gOscilloscopeInstance->channel[n].buffers[!gOscilloscopeInstance->channel[n].currentBuffer], + NETWORK_AUDIO_BUFFER_SIZE*sizeof(float) + ); + gOscilloscopeInstance->channel[n].doneOnTime=1; + } + } +}
--- a/include/Utilities.h Mon Jun 08 01:07:48 2015 +0100 +++ b/include/Utilities.h Tue Aug 18 00:35:15 2015 +0100 @@ -1,15 +1,222 @@ -/* - * Utilities.h +/** + * @file + * @brief Wiring-inspired utility functions and macros * - * Created on: Oct 27, 2014 - * Author: parallels + * Macros and functions for I/O and data processing taking after the Wiring + * (Arduino) language. This code began as part of the Hackable Instruments + * project (EPSRC) at Queen Mary University of London, 2013-14. + * + * (c) 2014-15 Andrew McPherson, Victor Zappi and Giulio Moro, + * Queen Mary University of London */ #ifndef UTILITIES_H_ #define UTILITIES_H_ -extern int gNumAudioChannels; // How many audio channels are present -extern int gNumAnalogChannels; // How many analog channels are present +#include "BeagleRT.h" + +/** + * \defgroup iofunctions I/O functions and constants + * + * These functions and macros are used for audio, analog and digital I/O. All the + * I/O functions require the BeagleRTContext data structure from render() to be passed + * in. This means that these functions are, by design, \b only usable from within + * the rendering thread. + * + * The naming conventions are loosely derived from the Arduino environment, and the + * syntax is similar. Unlike Arduino, the I/O functions require the frame number at which + * the read or write should take place, since all I/O happens synchronously with the + * audio clock. + * + * @{ + */ + +#define HIGH 0x1 +#define LOW 0x0 + +#define INPUT 0x0 +#define OUTPUT 0x1 + +/** @} */ + +/** + * \ingroup wiring + * + * @{ + */ + +/// Set the given bit in \c word to 1. +#define setBit(word,bit) ((word) | (1 << (bit))) + +/// Clear the given bit in \c word to 0. +#define clearBit(word,bit) ((word) &~ (1 << (bit))) + +/// Check if the given bit in \c word is 1 (returns nonzero) or 0 (returns zero). +#define getBit(word,bit) (((word) >> (bit)) & 1) + +/// Set/clear the given bit in \c word to \c value. +#define changeBit(word,bit,value) ((clearBit((word),(bit))) | ((value) << (bit))) + +/** @} */ + +/** + * \ingroup iofunctions + * + * @{ + */ + +#if 1 +// Note: pinMode(), analogWrite() and digitalWrite() should be able to be called from setup() +// Likewise, thread launch should be able to be called from setup() +// Also, make volume change functions callable from render() thread -- as an aux task? + +/** + * \brief Read an analog input, specifying the frame number (when to read) and the channel. + * + * This function returns the value of an analog input, at the time indicated by \c frame. + * The returned value ranges from 0 to 1, corresponding to a voltage range of 0 to 4.096V. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to read the analog input. Valid values range + * from 0 to (context->analogFrames - 1). + * \param channel Which analog input to read. Valid values are between 0 and + * (context->analogChannels - 1), typically 0 to 7 by default. + * \return Value of the analog input, range 0 to 1. + */ +float analogReadFrame(BeagleRTContext *context, int frame, int channel); + +/** + * \brief Write an analog output, specifying the frame number (when to write) and the channel. + * + * This function sets the value of an analog output, at the time indicated by \c frame. Valid + * values are between 0 and 1, corresponding to the range 0 to 5V. + * + * The value written will persist for all future frames if BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST + * is set in context->flags. This is the default behaviour. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to write the analog output. Valid values range + * from 0 to (context->analogFrames - 1). + * \param channel Which analog output to write. Valid values are between 0 and + * (context->analogChannels - 1), typically 0 to 7 by default. + * \param value Value to write to the output, range 0 to 1. + */ +void analogWriteFrame(BeagleRTContext *context, int frame, int channel, float value); + +/** + * \brief Write an analog output, specifying the frame number (when to write) and the channel. + * + * This function sets the value of an analog output, at the time indicated by \c frame. Valid + * values are between 0 and 1, corresponding to the range 0 to 5V. + * + * Unlike analogWriteFrame(), the value written will affect \b only the frame specified, with + * future values unchanged. This is faster than analogWriteFrame() so is better suited + * to applications where every frame will be written to a different value. If + * BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST is not set within context->flags, then + * analogWriteFrameOnce() and analogWriteFrame() are equivalent. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to write the analog output. Valid values range + * from 0 to (context->analogFrames - 1). + * \param channel Which analog output to write. Valid values are between 0 and + * (context->analogChannels - 1), typically 0 to 7 by default. + * \param value Value to write to the output, range 0 to 1. + */ +void analogWriteFrameOnce(BeagleRTContext *context, int frame, int channel, float value); + +/** + * \brief Read a digital input, specifying the frame number (when to read) and the pin. + * + * This function returns the value of a digital input, at the time indicated by \c frame. + * The value is 0 if the pin is low, and nonzero if the pin is high (3.3V). + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to read the digital input. Valid values range + * from 0 to (context->digitalFrames - 1). + * \param channel Which digital pin to read. 16 pins across the P8 and P9 headers of the + * BeagleBone Black are available. See the constants P8_xx and P9_xx defined in + * digital_gpio_mapping.h. + * \return Value of the digital input. + */ +int digitalReadFrame(BeagleRTContext *context, int frame, int channel); + +/** + * \brief Write a digital output, specifying the frame number (when to write) and the pin. + * + * This function sets the value of a digital output, at the time indicated by \c frame. + * A value of 0 sets the pin low; any other value sets the pin high (3.3V). + * + * The value written will persist for all future frames. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to write the digital output. Valid values range + * from 0 to (context->digitalFrames - 1). + * \param channel Which digital output to write. 16 pins across the P8 and P9 headers of the + * BeagleBone Black are available. See the constants P8_xx and P9_xx defined in + * digital_gpio_mapping.h. + * \param value Value to write to the output. + */ +void digitalWriteFrame(BeagleRTContext *context, int frame, int channel, int value); + +/** + * \brief Write a digital output, specifying the frame number (when to write) and the pin. + * + * This function sets the value of a digital output, at the time indicated by \c frame. + * A value of 0 sets the pin low; any other value sets the pin high (3.3V). + * + * Unlike digitalWriteFrame(), the value written will affect \b only the frame specified, with + * future values unchanged. This is faster than digitalWriteFrame() so is better suited + * to applications where every frame will be written to a different value. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to write the digital output. Valid values range + * from 0 to (context->digitalFrames - 1). + * \param channel Which digital output to write. 16 pins across the P8 and P9 headers of the + * BeagleBone Black are available. See the constants P8_xx and P9_xx defined in + * digital_gpio_mapping.h. + * \param value Value to write to the output. + */ +void digitalWriteFrameOnce(BeagleRTContext *context, int frame, int channel, int value); + +/** + * \brief Set the direction of a digital pin to input or output. + * + * This function sets the direction of a digital pin, at the time indicated by \c frame. + * Valid values are \c INPUT and \c OUTPUT. All pins begin as inputs by default. + * + * The value written will persist for all future frames. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to set the pin direction. Valid values range + * from 0 to (context->digitalFrames - 1). + * \param channel Which digital output to write. 16 pins across the P8 and P9 headers of the + * BeagleBone Black are available. See the constants P8_xx and P9_xx defined in + * digital_gpio_mapping.h. + * \param value Direction of the pin (\c INPUT or \c OUTPUT). + */ +void pinModeFrame(BeagleRTContext *context, int frame, int channel, int mode); + +/** + * \brief Set the direction of a digital pin to input or output. + * + * This function sets the direction of a digital pin, at the time indicated by \c frame. + * Valid values are \c INPUT and \c OUTPUT. All pins begin as inputs by default. + * + * The value written will affect only the specified frame. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to set the pin direction. Valid values range + * from 0 to (context->digitalFrames - 1). + * \param channel Which digital output to write. 16 pins across the P8 and P9 headers of the + * BeagleBone Black are available. See the constants P8_xx and P9_xx defined in + * digital_gpio_mapping.h. + * \param value Direction of the pin (\c INPUT or \c OUTPUT). + */ +void pinModeFrameOnce(BeagleRTContext *context, int frame, int channel, int mode); + +/** @} */ + +#else // Macros for accessing the analog values: usable _only_ within render() @@ -24,10 +231,7 @@ }\ } while (0);}),(void)0)\ -#define setBit(word,bit) ((word)|(1<<(bit))) -#define clearBit(word,bit) ((word)&~(1<<(bit))) -#define getBit(word,bit) (((word)>>(bit))&1) -#define changeBit(word,bit,value) ((clearBit((word),(bit))) | ((value)<<(bit))) + //digital API: #define setDigitalDirectionFrame(pin,frame,direction) digital[(frame)]=changeBit(digital[(frame)],(pin),(direction)),void(0) #define setDigitalDirection(pin,frame,direction)\ @@ -46,7 +250,55 @@ #define digitalRead(pin, frame) ( getBit(digital[(frame)], pin+16) ) +#endif + +/** + * \defgroup wiring Wiring language support + * + * These are functions found in the Wiring (Arduino) language which are not directly + * related to I/O but are provided as a convenience. + * + * @{ + */ + +/** + * \brief Linearly rescale a number from one range of values to another. + * + * This function linearly scales values of \c x such that the range in_min to + * in_max at the input corresponds to the range out_min to out_max + * at the output. Values outside this range are extrapolated. + * + * This function behaves identically to the function of the same name in Processing. It + * is also similar to the corresponding function in Arduino, except that it supports floating + * point values. + * + * \param x Input value to be mapped. + * \param in_min Lower bound of the input range. + * \param in_max Upper bound of the input range. + * \param out_min Lower bound of the output range. + * \param out_max Upper bound of the output range. + * \return Rescaled value. + */ float map(float x, float in_min, float in_max, float out_min, float out_max); + +/** + * \brief Constrain a number to stay within a given range. + * + * This function constrains \c x to remain within the range min_val to + * max_val. Values of \c x outside this range are clipped to the edges + * of the range. + * + * This function behaves identically to the function of the same name in Processing. It + * is also similar to the corresponding function in Arduino, except that it supports floating + * point values. + * + * \param x Input value to be constrained. + * \param min_val Minimum possible value. + * \param max_val Maximum possible value. + * \return Constrained value. + */ float constrain(float x, float min_val, float max_val); +/** @} */ + #endif /* UTILITIES_H_ */
--- a/include/pru_rtaudio_bin.h Mon Jun 08 01:07:48 2015 +0100 +++ b/include/pru_rtaudio_bin.h Tue Aug 18 00:35:15 2015 +0100 @@ -630,7 +630,8 @@ 0x79000002, 0x0b10eee7, 0xf1c03d82, - 0xcf05e2ff, + 0xd500e29d, + 0xcf05e2fe, 0x10e7e7fb, 0x240208fc, 0x00fcfdfc, @@ -751,13 +752,13 @@ 0x0104f3f3, 0x1504f8f8, 0x0101e1e1, - 0x6ee9e178, + 0x6ee9e177, 0x79000004, 0x1504f8f8, 0x0102e1e1, - 0x6ee9e174, + 0x6ee9e173, 0x0101eaea, - 0x6eebea71, + 0x6eebea70, 0x10f0f0e2, 0x10f1f1f0, 0x10e2e2f1, @@ -767,6 +768,7 @@ 0x1501f8f8, 0x1101f8e2, 0xe1043982, + 0x2400241f, 0xf1203982, 0x00ebe2e2, 0xe1203982, @@ -785,7 +787,7 @@ 0x00e1e3e3, 0xe1002382, 0xf1003982, - 0x5700e245, + 0x5700e243, 0x240000fb, 0xe1443d9b, 0xc901f80c,
--- a/include/render.h Mon Jun 08 01:07:48 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,60 +0,0 @@ -/* - * render.h - * - * Created on: May 28, 2014 - * Author: Victor Zappi - */ - -#ifndef RENDER_H_ -#define RENDER_H_ - -// uint types -#include <stdint.h> -#include "Utilities.h" -#include "digital_gpio_mapping.h" -#include "RTAudioSettings.h" - -// Mappings from pin numbers on PCB to actual DAC channels -// This gives the DAC and ADC connectors the same effective pinout -#define DAC_PIN0 6 -#define DAC_PIN1 4 -#define DAC_PIN2 2 -#define DAC_PIN3 0 -#define DAC_PIN4 1 -#define DAC_PIN5 3 -#define DAC_PIN6 5 -#define DAC_PIN7 7 - -#define ADC_PIN0 0 -#define ADC_PIN1 1 -#define ADC_PIN2 2 -#define ADC_PIN3 3 -#define ADC_PIN4 4 -#define ADC_PIN5 5 -#define ADC_PIN6 6 -#define ADC_PIN7 7 - -#define ANALOG_MAX 65535.0 - -extern int gNumAudioChannels; // How many audio channels are present -extern int gNumAnalogChannels; // How many analog channels are present -extern int gNumDigitalChannels; -bool initialise_render(int numAnalogChannels, int numDigitalChannels, int numAudioChannels, - int numAnalogFramesPerPeriod, - int numAudioFramesPerPeriod, - float analogSampleRate, float audioSampleRate, - void *userData, RTAudioSettings *settings); - -void render(int numAnalogFrames, int numAudioFrames, int numDigitalFrames, float *audioIn, float *audioOut, - float *analogIn, float *analogOut, uint32_t *digital); - -void render_medium_prio(); -void render_low_prio(); - -void schedule_render_medium_prio(); -void schedule_render_low_prio(); - - -void cleanup_render(); - -#endif /* RENDER_H_ */
--- a/projects/analogDigitalDemo/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/analogDigitalDemo/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -14,11 +14,12 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" #include <unistd.h> #include <stdlib.h> #include <fcntl.h> +#include <BeagleRT.h> + using namespace std; // Handle Ctrl-C by requesting that the audio rendering stop @@ -39,7 +40,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings float frequency = 1000.0; // Frequency of crossover struct option customOptions[] =
--- a/projects/analogDigitalDemo/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/analogDigitalDemo/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -1,19 +1,15 @@ /* * - * First assignment for ECS732 RTDSP, to implement a 2-way audio crossover - * using the BeagleBone Black. - * * Andrew McPherson and Victor Zappi * Queen Mary, University of London */ -#include "../../include/render.h" +#include <BeagleRT.h> +#include <Utilities.h> #include <cmath> #include <rtdk.h> -/* TASK: declare any global variables you need here */ - -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -21,15 +17,9 @@ // in from the call to initAudio(). // // Return true on success; returning false halts the program. -int gNumDigitalFrames=0; -bool initialise_render(int numAnalogChannels, int numDigitalChannels, int numAudioChannels, - int numAnalogFramesPerPeriod, - int numAudioFramesPerPeriod, - float analogSampleRate, float audioSampleRate, - void *userData, RTAudioSettings* settings) + +bool setup(BeagleRTContext *context, void *userData) { - gNumAnalogChannels=numAnalogChannels; - gNumDigitalChannels=numDigitalChannels; return true; } @@ -38,53 +28,54 @@ // ADCs and DACs (if available). If only audio is available, numAnalogFrames // will be 0. -long int gCountFrames=0; -void render(int numAnalogFrames, int numDigitalFrames, int numAudioFrames, float *audioIn, float *audioOut, - float *analogIn, float *analogOut, uint32_t *digital) +void render(BeagleRTContext *context, void *userData) /* we assume that gNumAnalogChannels=8, numAnalogFrames==8 and numDigitalFrames==numAudioFrames * */ { - if((gCountFrames&31)==0){ //every 32 frames... + /* + * TODO: as an exercise, you will need to set the pin mode before writing or reading the digital pins. + */ + if((context->audioSampleCount&31)==0){ //every 32 frames... //ANALOG channels - analogWrite(0, 0, analogRead(0,0)); // read the input0 at frame0 and write it to output0 frame0. Using analogWrite will fill the rest of the buffer with the same value + analogWriteFrame(context, 0, 0, analogReadFrame(context, 0,0)); + // read the input0 at frame0 and write it to output0 frame0. Using analogWrite will fill the rest of the buffer with the same value // The value at the last frame will persist through the successive buffers until is set again. // This effectively is a pass-through with downsampling by 32 times - analogWrite(3, 0, 1.0); // write 1.0 to channel3 from frame0 to the end of the buffer - analogWrite(3, 4, 0.1); // write 0.1 to channel3 from frame4 to the end of the buffer - analogWriteFrame(3,6,0.2); //write 0.2 to channel3 only on frame 6 + analogWriteFrame(context, 0, 3, 1.0); // write 1.0 to channel3 from frame0 to the end of the buffer + analogWriteFrame(context, 4, 3, 0.1); // write 0.1 to channel3 from frame4 to the end of the buffer + analogWriteFrameOnce(context, 6, 3, 0.2); //write 0.2 to channel3 only on frame 6 //this buffer for channel 3 will look like this: 1 1 1 1 0.1 0.1 0.2 0.1 //the next buffers for channel 3 will be filled up with 0.1 .... //DIGITAL channels - digitalWrite(P8_07,0,GPIO_HIGH); //sets all the frames to HIGH for channel 0 - digitalWriteFrame(P8_07,4,GPIO_LOW); //only frame 4 will be LOW for channel 0 + digitalWriteFrame(context, 0, P8_07, GPIO_HIGH); //sets all the frames to HIGH for channel 0 + digitalWriteFrameOnce(context, 4, P8_07, GPIO_LOW); //only frame 4 will be LOW for channel 0 // in this buffer the frames of channel 0 will look like this: 1 1 1 1 0 1 1 1 ...... 1 // in the next buffer each frame of channel 0 will be initialized to 1 (the last value of this buffer) - digitalWrite(P8_08,0,GPIO_HIGH); - digitalWrite(P8_08,2,GPIO_LOW); - digitalWrite(P8_08,4,GPIO_HIGH); - digitalWrite(P8_08,5,GPIO_LOW); - setDigitalDirection(P9_16,0,GPIO_INPUT); // set channel 10 to input + digitalWriteFrame(context, 0, P8_08, GPIO_HIGH); + digitalWriteFrame(context, 2, P8_08, GPIO_LOW); + digitalWriteFrame(context, 4, P8_08, GPIO_HIGH); + digitalWriteFrame(context, 5, P8_08, GPIO_LOW); + pinModeFrame(context, 0, P9_16, GPIO_INPUT); // set channel 10 to input // in this buffer the frames of channel 1 will look like this: 1 1 0 0 1 0 0 0 .... 0 // in the next buffer each frame of channel 1 will be initialized to 0 (the last value of this buffer) } - for(int n=0; n<numAudioFrames; n++){ - for(int c=0; c<gNumAudioChannels; c++){ - audioOut[n*gNumAudioChannels + c]=audioIn[n*gNumAudioChannels + c]; + for(unsigned int n=0; n<context->audioFrames; n++){ + for(unsigned int c=0; c<context->audioChannels; c++){ + context->audioOut[n*context->audioChannels + c]=context->audioIn[n*context->audioChannels + c]; } //use digital channels 2-8 to create a 7 bit binary counter - digital[n]=digital[n] & (~0b111111100); // set to zero (GPIO_OUTPUT) the bits in the lower word - digital[n]=digital[n] & ((~0b111111100<<16) | 0xffff ); //initialize to zero the bits in the higher word (output value) - digital[n]=digital[n] | ( ((gCountFrames&0b1111111)<<(16+2)) ) ; // set the bits in the higher word to the desired output value, keeping the lower word unchanged - digitalWriteFrame(P8_29,n,digitalRead(P8_30,n)); // echo the input from from channel 15 to channel 14 - digitalWriteFrame(P8_28,n,digitalRead(P9_16,n)); // echo the input from from channel 10 to channel 13 - setDigitalDirection(P8_30,0,GPIO_INPUT); //set channel 15 to input - gCountFrames++; + context->digital[n]=context->digital[n] & (~0b111111100); // set to zero (GPIO_OUTPUT) the bits in the lower word + context->digital[n]=context->digital[n] & ((~0b111111100<<16) | 0xffff ); //initialize to zero the bits in the higher word (output value) + context->digital[n]=context->digital[n] | ( ((context->audioSampleCount&0b1111111)<<(16+2)) ) ; // set the bits in the higher word to the desired output value, keeping the lower word unchanged + digitalWriteFrame(context, n, P8_29, digitalReadFrame(context, n, P8_30)); // echo the input from from channel 15 to channel 14 + digitalWriteFrame(context, n, P8_28, digitalReadFrame(context, n, P9_16)); // echo the input from from channel 10 to channel 13 + pinModeFrame(context, 0, P8_30, 0); //set channel 15 to input } - for(int n=0; n<numAnalogFrames; n++){ - analogWriteFrame(1,n,(gCountFrames&8191)/8192.0); // writes a single frame. channel 1 is a ramp that follows gCountFrames - analogWriteFrame(2,n,analogRead(2,n)); // writes a single frame. channel2 is just a passthrough + for(unsigned int n=0; n<context->analogFrames; n++){ + analogWriteFrame(context, n, 1, (context->audioSampleCount&8191)/8192.0); // writes a single frame. channel 1 is a ramp that follows gCountFrames + analogWriteFrame(context, n, 2, analogReadFrame(context, n, 2)); // writes a single frame. channel2 is just a passthrough // rt_printf("Analog out frame %d :",n); // for(int c=0; c<gNumAnalogChannels; c++) // rt_printf("%.1f ",analogOut[n*gNumAnalogChannels + c]); @@ -93,14 +84,11 @@ return; } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). -void cleanup_render() +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) { - /* TASK: - * If you allocate any memory, be sure to release it here. - * You may or may not need anything in this function, depending - * on your implementation. - */ + // Nothing to do here }
--- a/projects/audio_in_FFT/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/audio_in_FFT/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -10,7 +10,7 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> using namespace std; @@ -33,7 +33,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings int fftSize = 64; // Size of the FFT, in samples struct option customOptions[] = @@ -46,7 +46,7 @@ // Set default settings BeagleRT_defaultSettings(&settings); - settings.useMatrix = 0; // No matrix usage by default + settings.useAnalog = 0; // No matrix usage by default // Parse command-line arguments while (1) {
--- a/projects/audio_in_FFT/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/audio_in_FFT/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,7 +6,7 @@ */ -#include "../../include/render.h" +#include <BeagleRT.h> #include <rtdk.h> #include <NE10.h> // neon library #include <cmath> @@ -23,7 +23,7 @@ ne10_fft_cpx_float32_t* frequencyDomain; ne10_fft_cfg_float32_t cfg; -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -32,11 +32,7 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call gFFTSize = *(int *)userData; @@ -57,11 +53,11 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { - for(int n = 0; n < numAudioFrames; n++) { - timeDomainIn[gReadPointer].r = (ne10_float32_t) ((audioIn[n*gNumAudioChannels] + audioIn[n*gNumAudioChannels+1]) * 0.5); + for(unsigned int n = 0; n < context->audioFrames; n++) { + timeDomainIn[gReadPointer].r = (ne10_float32_t) ((context->audioIn[n*context->audioChannels] + + context->audioIn[n*context->audioChannels+1]) * 0.5); timeDomainIn[gReadPointer].i = 0; if(++gReadPointer >= gFFTSize) @@ -78,16 +74,16 @@ gWritePointer = 0; } - for(int channel = 0; channel < gNumAudioChannels; channel++) - audioOut[n * gNumAudioChannels + channel] = (float) timeDomainOut[gWritePointer].r * gFFTScaleFactor; + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = (float) timeDomainOut[gWritePointer].r * gFFTScaleFactor; gWritePointer++; } } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { NE10_FREE(timeDomainIn); NE10_FREE(timeDomainOut);
--- a/projects/basic/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -10,7 +10,7 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> using namespace std; @@ -33,7 +33,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings float frequency = 440.0; // Frequency of oscillator struct option customOptions[] =
--- a/projects/basic/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,14 +6,14 @@ */ -#include "../../include/render.h" +#include <BeagleRT.h> #include <cmath> -float gFrequency; +float gFrequency = 440.0; float gPhase; float gInverseSampleRate; -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -22,16 +22,13 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numDigitalChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData, RTAudioSettings* settings) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call - gFrequency = *(float *)userData; + if(userData != 0) + gFrequency = *(float *)userData; - gInverseSampleRate = 1.0 / audioSampleRate; + gInverseSampleRate = 1.0 / context->audioSampleRate; gPhase = 0.0; return true; @@ -42,24 +39,23 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numAnalogFrames, int numAudioFrames, int numDigitalFrames, float *audioIn, float *audioOut, - float *analogIn, float *analogOut, uint32_t *digital) +void render(BeagleRTContext *context, void *userData) { - for(int n = 0; n < numAudioFrames; n++) { + for(unsigned int n = 0; n < context->audioFrames; n++) { float out = 0.8f * sinf(gPhase); gPhase += 2.0 * M_PI * gFrequency * gInverseSampleRate; if(gPhase > 2.0 * M_PI) gPhase -= 2.0 * M_PI; - for(int channel = 0; channel < gNumAudioChannels; channel++) - audioOut[n * gNumAudioChannels + channel] = out; + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = out; } } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/basic_analog_input/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,117 @@ +/* + * main.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ + +#include <iostream> +#include <cstdlib> +#include <libgen.h> +#include <signal.h> +#include <getopt.h> +#include <BeagleRT.h> + +using namespace std; + +int gSensorInputFrequency = 0; +int gSensorInputAmplitude = 1; + +// Handle Ctrl-C by requesting that the audio rendering stop +void interrupt_handler(int var) +{ + gShouldStop = true; +} + +// Print usage information +void usage(const char * processName) +{ + cerr << "Usage: " << processName << " [options]" << endl; + + BeagleRT_usage(); + + cerr << " --frequency [-f] input: Choose the analog input controlling frequency (0-7; default 0)\n"; + cerr << " --amplitude [-a] input: Choose the analog input controlling amplitude (0-7; default 1)\n"; + cerr << " --help [-h]: Print this menu\n"; +} + +int main(int argc, char *argv[]) +{ + BeagleRTInitSettings settings; // Standard audio settings + + struct option customOptions[] = + { + {"help", 0, NULL, 'h'}, + {"frequency", 1, NULL, 'f'}, + {"amplitude", 1, NULL, 'a'}, + {NULL, 0, NULL, 0} + }; + + // Set default settings + BeagleRT_defaultSettings(&settings); + + // Parse command-line arguments + while (1) { + int c; + if ((c = BeagleRT_getopt_long(argc, argv, "hf:a:", customOptions, &settings)) < 0) + break; + switch (c) { + case 'h': + usage(basename(argv[0])); + exit(0); + case 'f': + gSensorInputFrequency = atoi(optarg); + if(gSensorInputFrequency < 0 || gSensorInputFrequency > 7) { + usage(basename(argv[0])); + exit(0); + } + break; + case 'a': + gSensorInputAmplitude = atoi(optarg); + if(gSensorInputAmplitude < 0 || gSensorInputAmplitude > 7) { + usage(basename(argv[0])); + exit(0); + } + break; + case '?': + default: + usage(basename(argv[0])); + exit(1); + } + } + + // Initialise the PRU audio device + if(BeagleRT_initAudio(&settings, 0) != 0) { + cout << "Error: unable to initialise audio" << endl; + return -1; + } + + if(settings.verbose) { + cout << "--> Frequency on input " << gSensorInputFrequency << endl; + cout << "--> Amplitude on input " << gSensorInputAmplitude << endl; + } + + // Start the audio device running + if(BeagleRT_startAudio()) { + cout << "Error: unable to start real-time audio" << endl; + return -1; + } + + // Set up interrupt handler to catch Control-C and SIGTERM + signal(SIGINT, interrupt_handler); + signal(SIGTERM, interrupt_handler); + + // Run until told to stop + while(!gShouldStop) { + usleep(100000); + } + + // Stop the audio device + BeagleRT_stopAudio(); + + // Clean up any resources allocated for audio + BeagleRT_cleanupAudio(); + + // All done! + return 0; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/basic_analog_input/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,85 @@ +/* + * render.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ + + +#include <BeagleRT.h> +#include <Utilities.h> +#include <rtdk.h> +#include <cmath> + +float gPhase; +float gInverseSampleRate; +int gAudioFramesPerAnalogFrame; + +// These settings are carried over from main.cpp +// Setting global variables is an alternative approach +// to passing a structure to userData in setup() + +extern int gSensorInputFrequency; +extern int gSensorInputAmplitude; + +// setup() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. + +bool setup(BeagleRTContext *context, void *userData) +{ + if(context->analogFrames == 0 || context->analogFrames > context->audioFrames) { + rt_printf("Error: this example needs analog enabled, with 4 or 8 channels\n"); + return false; + } + + gAudioFramesPerAnalogFrame = context->audioFrames / context->analogFrames; + gInverseSampleRate = 1.0 / context->audioSampleRate; + gPhase = 0.0; + + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numMatrixFrames +// will be 0. + +void render(BeagleRTContext *context, void *userData) +{ + float frequency = 440.0; + float amplitude = 0.8; + + // There are twice as many audio frames as matrix frames since audio sample rate + // is twice as high + + for(unsigned int n = 0; n < context->audioFrames; n++) { + if(!(n % gAudioFramesPerAnalogFrame)) { + // Even audio samples: update frequency and amplitude from the matrix + frequency = map(analogReadFrame(context, n/gAudioFramesPerAnalogFrame, gSensorInputFrequency), 0, 1, 100, 1000); + amplitude = analogReadFrame(context, n/gAudioFramesPerAnalogFrame, gSensorInputAmplitude); + } + + float out = amplitude * sinf(gPhase); + + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = out; + + gPhase += 2.0 * M_PI * frequency * gInverseSampleRate; + if(gPhase > 2.0 * M_PI) + gPhase -= 2.0 * M_PI; + } +} + +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + +}
--- a/projects/basic_analog_output/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic_analog_output/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -10,7 +10,7 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> using namespace std; @@ -33,7 +33,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings float frequency = 1.0; // Frequency of LED fades struct option customOptions[] =
--- a/projects/basic_analog_output/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic_analog_output/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,20 +6,20 @@ */ -#include "../../include/render.h" -#include "../../include/Utilities.h" +#include <BeagleRT.h> +#include <Utilities.h> #include <rtdk.h> #include <cmath> // Set range for analog outputs designed for driving LEDs -const float kMinimumAmplitude = (1.5 / 5.0) * MATRIX_MAX; -const float kAmplitudeRange = MATRIX_MAX - kMinimumAmplitude; +const float kMinimumAmplitude = (1.5 / 5.0); +const float kAmplitudeRange = 1.0 - kMinimumAmplitude; float gFrequency; float gPhase; float gInverseSampleRate; -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -28,21 +28,17 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call gFrequency = *(float *)userData; - if(numMatrixFramesPerPeriod == 0) { + if(context->analogFrames == 0) { rt_printf("Error: this example needs the matrix enabled\n"); return false; } - gInverseSampleRate = 1.0 / matrixSampleRate; + gInverseSampleRate = 1.0 / context->analogSampleRate; gPhase = 0.0; return true; @@ -53,18 +49,15 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { - for(int n = 0; n < numMatrixFrames; n++) { + for(unsigned int n = 0; n < context->analogFrames; n++) { // Set LED to different phase for each matrix channel float relativePhase = 0.0; - for(int channel = 0; channel < gNumMatrixChannels; channel++) { + for(unsigned int channel = 0; channel < context->analogChannels; channel++) { float out = kMinimumAmplitude + kAmplitudeRange * 0.5f * (1.0f + sinf(gPhase + relativePhase)); - if(out > MATRIX_MAX) - out = MATRIX_MAX; - analogWrite(channel, n, out); + analogWriteFrame(context, n, channel, out); // Advance by pi/4 (1/8 of a full rotation) for each channel relativePhase += M_PI * 0.25; @@ -76,10 +69,10 @@ } } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/basic_blink/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,59 @@ +#include <BeagleRT.h> +#include <Utilities.h> +#include <cmath> +#include <rtdk.h> + +// setup() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. + +bool setup(BeagleRTContext *context, void *userData) +{ + pinModeFrame(context, 0, P8_07, OUTPUT); + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numAnalogFrames +// will be 0. + +/* basic_blink +* Connect an LED in series with a 470ohm resistor between P8_07 and ground. +* The LED will blink every @interval seconds. +*/ + +void render(BeagleRTContext *context, void *userData) +{ + static int count=0; //counts elapsed samples + float interval=0.5; //how often to toggle the LED (in seconds) + static int status=GPIO_LOW; + for(unsigned int n=0; n<context->digitalFrames; n++){ + if(count==context->digitalSampleRate*interval){ //if enough samples have elapsed + count=0; //reset the counter + // status=digitalReadFrame(context, 0, P8_07); + if(status==GPIO_LOW) { //toggle the status + digitalWriteFrame(context, n, P8_07, status); //write the status to the LED + status=GPIO_HIGH; + } + else { + digitalWriteFrame(context, n, P8_07, status); //write the status to the LED + status=GPIO_LOW; + } + } + count++; + } +} + +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + // Nothing to do here +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/basic_button/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,55 @@ + /* + * + * Andrew McPherson and Victor Zappi + * Queen Mary, University of London + */ + +#include <BeagleRT.h> +#include <Utilities.h> +#include <cmath> +#include <rtdk.h> + +// setup() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. + +bool setup(BeagleRTContext *context, void *userData) +{ + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numAnalogFrames +// will be 0. + +/* basic_button +* - connect an LED in series with a 470ohm resistor between P8_07 and ground. +* - connect a 1k resistor to P9_03 (+3.3V), +* - connect the other end of the resistor to both a button and P8_08 +* - connect the other end of the button to ground. +* The program will read the button and make the LED blink when the button is pressed. +*/ + +void render(BeagleRTContext *context, void *userData) +{ + for(unsigned int n=0; n<context->digitalFrames; n++){ + pinModeFrame(context, 0, P8_08, INPUT); + int status=digitalReadFrame(context, 0, P8_08); //read the value of the button + pinModeFrame(context, 0, P8_07, OUTPUT); + digitalWriteFrame(context, n, P8_07, status); //write the status to the LED + } +} + +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + // Nothing to do here +}
--- a/projects/basic_network/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic_network/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -10,8 +10,8 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" #include <unistd.h> +#include <BeagleRT.h> using namespace std; @@ -34,8 +34,8 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings - float frequency = 440.0; // Frequency of oscillator + BeagleRTInitSettings settings; // Standard audio settings + float frequency = 440.0; // Frequency of oscillator struct option customOptions[] = {
--- a/projects/basic_network/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic_network/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -5,15 +5,13 @@ * Author: parallels */ -#include "../../include/RTAudioSettings.h" -#include "../../include/render.h" +#include <BeagleRT.h> +//#include <rtdk.h> #include <cmath> -//#include "../../include/client.h" -#include "../../include/RTAudio.h" // to schedule lower prio parallel process -#include <rtdk.h> -#include <native/timer.h> -#include "../../include/PRU.h" -#include "../../include/UdpClient.h" +#include <UdpClient.h> +#include <Utilities.h> + +AuxiliaryTask transmitReceiveDataTask; #define NETWORK_AUDIO_BUFFER_SIZE 400 //1400/4 //maximum payload for a UDP datagram over ethernet is 1472 bytes, I leave some headroom and divide by 4 to get the number of floats struct networkAudio{ @@ -33,18 +31,8 @@ //networkData networkObject; #define numNetAudio 3 networkAudio netAudio[numNetAudio]; -extern PRU *gPRU; AuxiliaryTask printIntervalTask; AuxiliaryTask transmitReceiveAudioTask; -void transmitReceiveData(){ //transmit and receive asynchronous messages -// printf("transmitReceiveData auxiliary task has started\n"); -// while(!gShouldStop){ -// sendMessage(&networkObject); -// receiveMessage(networkObject); -// usleep(1000); -// } -// closeSockets(); -} void transmitReceiveAudio(){ //transmit and receive audio buffers for(int n=0;n<numNetAudio; n++){ @@ -56,8 +44,7 @@ } } - -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -65,16 +52,12 @@ // in from the call to initAudio(). // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numDigitalChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData, RTAudioSettings *settings) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call gFrequency = *(float *)userData; - gInverseSampleRate = 1.0 / audioSampleRate; + gInverseSampleRate = 1.0 / context->audioSampleRate; gPhase = 0.0; // networkObject.counter=&gCount; @@ -86,14 +69,16 @@ netAudio[n].index=0; netAudio[n].currentBuffer=0; netAudio[n].toBeSent=false; - netAudio[n].udpClient.setPort(settings->transmitPort+n); - netAudio[n].udpClient.setServer(settings->serverName); +// netAudio[n].udpClient.setPort(settings->transmitPort+n); +// netAudio[n].udpClient.setServer(settings->serverName); + netAudio[n].udpClient.setPort(9999+n); + netAudio[n].udpClient.setServer("192.168.7.1"); } // setupSockets(settings->receivePort, settings->transmitPort, settings->serverName); -// transmitReceiveDataTask=createAuxiliaryTaskLoop(*transmitReceiveData, 10, "transmit-receive-data"); +// transmitReceiveDataTask=createAuxiliaryTask(*transmitReceiveData, 10, "transmit-receive-data"); // scheduleAuxiliaryTask(transmitReceiveDataTask); //here it does not work - transmitReceiveAudioTask=createAuxiliaryTaskLoop(*transmitReceiveAudio, 98, "transmit-receive-audio"); + transmitReceiveAudioTask=BeagleRT_createAuxiliaryTask(*transmitReceiveAudio, 98, "transmit-receive-audio"); return true; } @@ -102,19 +87,35 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numAnalogFrames, int numAudioFrames, int numDigitalFrames, float *audioIn, float *audioOut, - float *analogIn, float *analogOut, uint32_t *digital) -{ - for(int n = 0; n < numAudioFrames; n++) { +void render(BeagleRTContext *context, void *userData) +{/* + for(unsigned int n = 0; n < context->audioFrames; n++) { float out = 0.7f * sinf(gPhase); gPhase += 2.0 * M_PI * gFrequency * gInverseSampleRate; if(gPhase > 2.0 * M_PI) gPhase -= 2.0 * M_PI; -// for(int channel = 0; channel < gNumAudioChannels; channel++) -// audioOut[n * gNumAudioChannels + channel] = audioIn[n * gNumAudioChannels + 0]+audioIn[n * gNumAudioChannels + 1]; - audioOut[n * gNumAudioChannels] = audioIn[n*gNumAudioChannels+0]; - audioOut[n * gNumAudioChannels+1]=out; + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = out; + + if(gCount == 0){ + BeagleRT_scheduleAuxiliaryTask(transmitReceiveDataTask); + } + gCount++; + } + + +*/ + for(int n = 0; n < context->audioFrames; n++) { + float out = 0.7f * sinf(gPhase); + gPhase += 2.0 * M_PI * gFrequency * gInverseSampleRate; + if(gPhase > 2.0 * M_PI) + gPhase -= 2.0 * M_PI; + +// for(int channel = 0; channel < context->audioChannels; channel++) +// context->audioOut[n * context->audioChannels + channel] = context->audioIn[n * context->audioChannels + 0]+context->audioIn[n * context->audioChannels + 1]; + context->audioOut[n * context->audioChannels] = context->audioIn[n*context->audioChannels+0]; + context->audioOut[n * context->audioChannels+1]=out; if(0==gCount){ // scheduleAuxiliaryTask(transmitReceiveDataTask); } @@ -127,24 +128,23 @@ netAudio[j].timestamp=gCount; netAudio[j].currentBuffer=!netAudio[j].currentBuffer; //switch buffer netAudio[j].doneOnTime=0; - scheduleAuxiliaryTask(transmitReceiveAudioTask); //send the buffer + BeagleRT_scheduleAuxiliaryTask(transmitReceiveAudioTask); //send the buffer } } if((gCount&1)==0){ - netAudio[1].buffers[netAudio[1].currentBuffer][netAudio[1].index++]=analogRead(0,n/2)+audioOut[n*gNumAudioChannels + 0]; - netAudio[2].buffers[netAudio[2].currentBuffer][netAudio[2].index++]=analogRead(1,n/2)+audioOut[n*gNumAudioChannels + 0]; + netAudio[1].buffers[netAudio[1].currentBuffer][netAudio[1].index++]=analogReadFrame(context,n/2,0)+context->audioOut[n*context->audioChannels + 0]; + netAudio[2].buffers[netAudio[2].currentBuffer][netAudio[2].index++]=analogReadFrame(context,n/2,1)+context->audioOut[n*context->audioChannels + 0]; } - netAudio[0].buffers[netAudio[0].currentBuffer][netAudio[0].index++]=0.5*(out+audioOut[n*gNumAudioChannels + 0]);//copy channel 0 to the buffer -// netAudio[1].buffers[netAudio[1].currentBuffer][netAudio[1].index++]=0.5*(out+audioOut[n*gNumAudioChannels + 0]); -// netAudio[2].buffers[netAudio[2].currentBuffer][netAudio[2].index++]=0.5*(out+audioOut[n*gNumAudioChannels + 0]); + netAudio[0].buffers[netAudio[0].currentBuffer][netAudio[0].index++]=0.5*(out+context->audioOut[n*context->audioChannels + 0]);//copy channel 0 to the buffer +// netAudio[1].buffers[netAudio[1].currentBuffer][netAudio[1].index++]=0.5*(out+context->audioOut[n*context->audioChannels + 0]); +// netAudio[2].buffers[netAudio[2].currentBuffer][netAudio[2].index++]=0.5*(out+context->audioOut[n*context->audioChannels + 0]); gCount++; } } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { -// closeSockets(); }
--- a/projects/basic_passthru/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic_passthru/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -10,7 +10,7 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> using namespace std; @@ -32,7 +32,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings struct option customOptions[] = {
--- a/projects/basic_passthru/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/basic_passthru/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,11 +6,11 @@ */ -#include "../../include/render.h" -#include "../../include/Utilities.h" +#include <BeagleRT.h> +#include <Utilities.h> #include <rtdk.h> -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -19,11 +19,7 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { // Nothing to do here... @@ -35,34 +31,33 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { // Simplest possible case: pass inputs through to outputs - for(int n = 0; n < numAudioFrames; n++) { - for(int ch = 0; ch < gNumAudioChannels; ch++) - audioOut[n * gNumAudioChannels + ch] = audioIn[n * gNumAudioChannels + ch]; + for(unsigned int n = 0; n < context->audioFrames; n++) { + for(unsigned int ch = 0; ch < context->audioChannels; ch++) + context->audioOut[n * context->audioChannels + ch] = context->audioIn[n * context->audioChannels + ch]; } // Same with matrix, only if matrix is enabled - if(numMatrixFrames != 0) { - for(int n = 0; n < numMatrixFrames; n++) { - for(int ch = 0; ch < gNumMatrixChannels; ch++) { + if(context->analogFrames != 0) { + for(unsigned int n = 0; n < context->analogFrames; n++) { + for(unsigned int ch = 0; ch < context->analogChannels; ch++) { // Two equivalent ways to write this code // The long way, using the buffers directly: - // matrixOut[n * gNumMatrixChannels + ch] = matrixIn[n * gNumMatrixChannels + ch]; + // context->analogOut[n * context->analogChannels + ch] = context->analogIn[n * context->analogChannels + ch]; // Or using the macros: - analogWrite(ch, n, analogRead(ch, n)); + analogWriteFrame(context, n, ch, analogReadFrame(context, n, ch)); } } } } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { }
--- a/projects/basic_sensor/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,117 +0,0 @@ -/* - * main.cpp - * - * Created on: Oct 24, 2014 - * Author: parallels - */ - -#include <iostream> -#include <cstdlib> -#include <libgen.h> -#include <signal.h> -#include <getopt.h> -#include "../../include/RTAudio.h" - -using namespace std; - -int gSensorInputFrequency = 0; -int gSensorInputAmplitude = 1; - -// Handle Ctrl-C by requesting that the audio rendering stop -void interrupt_handler(int var) -{ - gShouldStop = true; -} - -// Print usage information -void usage(const char * processName) -{ - cerr << "Usage: " << processName << " [options]" << endl; - - BeagleRT_usage(); - - cerr << " --frequency [-f] input: Choose the analog input controlling frequency (0-7; default 0)\n"; - cerr << " --amplitude [-a] input: Choose the analog input controlling amplitude (0-7; default 1)\n"; - cerr << " --help [-h]: Print this menu\n"; -} - -int main(int argc, char *argv[]) -{ - RTAudioSettings settings; // Standard audio settings - - struct option customOptions[] = - { - {"help", 0, NULL, 'h'}, - {"frequency", 1, NULL, 'f'}, - {"amplitude", 1, NULL, 'a'}, - {NULL, 0, NULL, 0} - }; - - // Set default settings - BeagleRT_defaultSettings(&settings); - - // Parse command-line arguments - while (1) { - int c; - if ((c = BeagleRT_getopt_long(argc, argv, "hf:a:", customOptions, &settings)) < 0) - break; - switch (c) { - case 'h': - usage(basename(argv[0])); - exit(0); - case 'f': - gSensorInputFrequency = atoi(optarg); - if(gSensorInputFrequency < 0 || gSensorInputFrequency > 7) { - usage(basename(argv[0])); - exit(0); - } - break; - case 'a': - gSensorInputAmplitude = atoi(optarg); - if(gSensorInputAmplitude < 0 || gSensorInputAmplitude > 7) { - usage(basename(argv[0])); - exit(0); - } - break; - case '?': - default: - usage(basename(argv[0])); - exit(1); - } - } - - // Initialise the PRU audio device - if(BeagleRT_initAudio(&settings, 0) != 0) { - cout << "Error: unable to initialise audio" << endl; - return -1; - } - - if(settings.verbose) { - cout << "--> Frequency on input " << gSensorInputFrequency << endl; - cout << "--> Amplitude on input " << gSensorInputAmplitude << endl; - } - - // Start the audio device running - if(BeagleRT_startAudio()) { - cout << "Error: unable to start real-time audio" << endl; - return -1; - } - - // Set up interrupt handler to catch Control-C and SIGTERM - signal(SIGINT, interrupt_handler); - signal(SIGTERM, interrupt_handler); - - // Run until told to stop - while(!gShouldStop) { - usleep(100000); - } - - // Stop the audio device - BeagleRT_stopAudio(); - - // Clean up any resources allocated for audio - BeagleRT_cleanupAudio(); - - // All done! - return 0; -}
--- a/projects/basic_sensor/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,90 +0,0 @@ -/* - * render.cpp - * - * Created on: Oct 24, 2014 - * Author: parallels - */ - - -#include "../../include/render.h" -#include "../../include/Utilities.h" -#include <rtdk.h> -#include <cmath> - -float gPhase; -float gInverseSampleRate; -int gMatrixFramesPerAudioFrame; - -// These settings are carried over from main.cpp -// Setting global variables is an alternative approach -// to passing a structure to userData in initialise_render() - -extern int gSensorInputFrequency; -extern int gSensorInputAmplitude; - -// initialise_render() is called once before the audio rendering starts. -// Use it to perform any initialisation and allocation which is dependent -// on the period size or sample rate. -// -// userData holds an opaque pointer to a data structure that was passed -// in from the call to initAudio(). -// -// Return true on success; returning false halts the program. - -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) -{ - if(numMatrixFramesPerPeriod == 0 || numMatrixFramesPerPeriod > numAudioFramesPerPeriod) { - rt_printf("Error: this example needs the matrix enabled, with 4 or 8 channels\n"); - return false; - } - - gMatrixFramesPerAudioFrame = numAudioFramesPerPeriod / numMatrixFramesPerPeriod; - gInverseSampleRate = 1.0 / audioSampleRate; - gPhase = 0.0; - - return true; -} - -// render() is called regularly at the highest priority by the audio engine. -// Input and output are given from the audio hardware and the other -// ADCs and DACs (if available). If only audio is available, numMatrixFrames -// will be 0. - -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) -{ - float frequency = 0; - float amplitude = 0; - - // There are twice as many audio frames as matrix frames since audio sample rate - // is twice as high - - for(int n = 0; n < numAudioFrames; n++) { - if(!(n % gMatrixFramesPerAudioFrame)) { - // Even audio samples: update frequency and amplitude from the matrix - frequency = map(analogRead(gSensorInputFrequency, n/gMatrixFramesPerAudioFrame), 0, MATRIX_MAX, 100, 1000); - amplitude = (float)analogRead(gSensorInputAmplitude, n/gMatrixFramesPerAudioFrame) / MATRIX_MAX; - } - - float out = amplitude * sinf(gPhase); - - for(int channel = 0; channel < gNumAudioChannels; channel++) - audioOut[n * gNumAudioChannels + channel] = out; - - gPhase += 2.0 * M_PI * frequency * gInverseSampleRate; - if(gPhase > 2.0 * M_PI) - gPhase -= 2.0 * M_PI; - } -} - -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). - -void cleanup_render() -{ - -}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/bucket_brigade_chorus/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,112 @@ +#include <BeagleRT.h> +#include <Scope.h> +#include <cmath> +#include <Utilities.h> + +float gPhase1, gPhase2; +float gFrequency1, gFrequency2; +float gInverseSampleRate; + +Scope scope; //create a scope object + +// initialise_render() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. +#include <I2c_Codec.h> +#include <PRU.h> +extern I2c_Codec *gAudioCodec; +extern PRU *gPRU; +float D=5264; +#define delayLength 512 +float delay[delayLength]; +int writePointer=0; +int readPointer=writePointer+1; +AuxiliaryTask updatePll; + +void updatePllFunction(){ +// rt_printf("now\n"); + gPRU->setGPIOTestPin(); + gAudioCodec->setPllD(D); + gPRU->clearGPIOTestPin(); +} + +bool setup(BeagleRTContext *context, void *userData) +{ + scope.setup(context->audioSampleRate); //call this once in setup to initialise the scope + + gInverseSampleRate = 1.0/context->audioSampleRate; + + gPhase1 = 0.0; + gPhase2 = 0.0; + + gFrequency1 = 200.0; + gFrequency2 = 201.0; + updatePll=BeagleRT_createAuxiliaryTask(&updatePllFunction, 98, "update PLL"); + for(int n=0; n<delayLength; n++){ + delay[n]=0; + } + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numMatrixFrames +// will be 0. + +void render(BeagleRTContext *context, void *userData) +{ + static int count=0; + static float lfoPhase=0; + static float feedback=0; + int updateRate=8; + if((count&(updateRate-1))==0 && digitalReadFrame(context,0,P8_07)==GPIO_HIGH){ + float amplitude=context->analogIn[0]/0.84*4990; + float rate=context->analogIn[1]*20+0.1; + lfoPhase+=rate*2*M_PI*updateRate*context->analogFrames/context->audioSampleRate; + D=amplitude+amplitude*sinf(lfoPhase); + BeagleRT_scheduleAuxiliaryTask(updatePll); + if((count&255)==0){ + rt_printf("gpio: %d\n",digitalReadFrame(context,0,P8_07)); + rt_printf("D: %.0f\n", D); + rt_printf("rate: %f\n", rate/2); + rt_printf("amplitude: %.3f\n", amplitude); + rt_printf("feedback: %.3f\n\n", feedback); + } + } + count++; + + for(unsigned int n = 0; n < context->audioFrames; n++) { + feedback=context->analogIn[n/2*context->analogChannels+2]/0.84*1.2; + if(digitalReadFrame(context,n,P8_08)==GPIO_LOW) + feedback=0; + delay[writePointer++]=context->audioIn[n*context->audioChannels+0] + delay[readPointer]*feedback; + context->audioOut[n*context->audioChannels+0]=context->audioIn[n*context->audioChannels+0]+delay[readPointer++]; +// context->audioOut[n*context->audioChannels+1]=sinf(gPhase1); + context->analogOut[n/2*context->analogChannels+0]=D/10000; + if(writePointer>=delayLength) + writePointer-=delayLength; + if(readPointer>=delayLength) + readPointer-=delayLength; + + gPhase1 += 2.0 * M_PI * gFrequency1 * gInverseSampleRate; + gPhase2 += 2.0 * M_PI * gFrequency2 * gInverseSampleRate; + if(gPhase1 > 2.0 * M_PI) + gPhase1 -= 2.0 * M_PI; + if(gPhase2 > 2.0 * M_PI) + gPhase2 -= 2.0 * M_PI; + + } +} + +// cleanup_render() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in initialise_render(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/cape_test/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,97 @@ +/* + * main.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ +#include <unistd.h> +#include <iostream> +#include <cstdlib> +#include <libgen.h> +#include <signal.h> +#include <getopt.h> +#include <BeagleRT.h> + +using namespace std; + +// Handle Ctrl-C by requesting that the audio rendering stop +void interrupt_handler(int var) +{ + gShouldStop = true; +} + +// Print usage information +void usage(const char * processName) +{ + cerr << "Usage: " << processName << " [options]" << endl; + + BeagleRT_usage(); + + cerr << " --frequency [-f] frequency: Set the frequency of the oscillator\n"; + cerr << " --help [-h]: Print this menu\n"; +} + +int main(int argc, char *argv[]) +{ + BeagleRTInitSettings settings; // Standard audio settings + float frequency = 440.0; // Frequency of oscillator + + struct option customOptions[] = + { + {"help", 0, NULL, 'h'}, + {"frequency", 1, NULL, 'f'}, + {NULL, 0, NULL, 0} + }; + + // Set default settings + BeagleRT_defaultSettings(&settings); + + // Parse command-line arguments + while (1) { + int c; + if ((c = BeagleRT_getopt_long(argc, argv, "hf:", customOptions, &settings)) < 0) + break; + switch (c) { + case 'h': + usage(basename(argv[0])); + exit(0); + case 'f': + frequency = atof(optarg); + break; + case '?': + default: + usage(basename(argv[0])); + exit(1); + } + } + + // Initialise the PRU audio device + if(BeagleRT_initAudio(&settings, &frequency) != 0) { + cout << "Error: unable to initialise audio" << endl; + return -1; + } + + // Start the audio device running + if(BeagleRT_startAudio()) { + cout << "Error: unable to start real-time audio" << endl; + return -1; + } + + // Set up interrupt handler to catch Control-C and SIGTERM + signal(SIGINT, interrupt_handler); + signal(SIGTERM, interrupt_handler); + + // Run until told to stop + while(!gShouldStop) { + usleep(100000); + } + + // Stop the audio device + BeagleRT_stopAudio(); + + // Clean up any resources allocated for audio + BeagleRT_cleanupAudio(); + + // All done! + return 0; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/cape_test/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,141 @@ +/* + * render.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ + + +#include <BeagleRT.h> +#include <cmath> + +#define ANALOG_LOW (2048.0 / 65536.0) +#define ANALOG_HIGH (50000.0 / 65536.0) + +const int gDACPinOrder[] = {6, 4, 2, 0, 1, 3, 5, 7}; + +uint64_t gLastErrorFrame = 0; +uint32_t gEnvelopeSampleCount = 0; +float gEnvelopeValue = 0.5; +float gEnvelopeDecayRate = 0.9995; + +// setup() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. + +bool setup(BeagleRTContext *context, void *userData) +{ + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numMatrixFrames +// will be 0. + +void render(BeagleRTContext *context, void *userData) +{ + static float phase = 0.0; + static int sampleCounter = 0; + static int invertChannel = 0; + float frequency = 0; + + // Play a sine wave on the audio output + for(unsigned int n = 0; n < context->audioFrames; n++) { + context->audioOut[2*n] = context->audioOut[2*n + 1] = gEnvelopeValue * sinf(phase); + + // If one second has gone by with no error, play one sound, else + // play another + if(context->audioSampleCount + n - gLastErrorFrame > 44100) { + gEnvelopeValue *= gEnvelopeDecayRate; + gEnvelopeSampleCount++; + if(gEnvelopeSampleCount > 22050) { + gEnvelopeValue = 0.5; + gEnvelopeSampleCount = 0; + } + frequency = 880.0; + } + else { + gEnvelopeValue = 0.5; + frequency = 220.0; + } + + phase += 2.0 * M_PI * frequency / 44100.0; + if(phase >= 2.0 * M_PI) + phase -= 2.0 * M_PI; + } + + for(unsigned int n = 0; n < context->analogFrames; n++) { + // Change outputs every 512 samples + if(sampleCounter < 512) { + for(int k = 0; k < 8; k++) { + if(k == invertChannel) + context->analogOut[n*8 + gDACPinOrder[k]] = ANALOG_HIGH; + else + context->analogOut[n*8 + gDACPinOrder[k]] = 0; + } + } + else { + for(int k = 0; k < 8; k++) { + if(k == invertChannel) + context->analogOut[n*8 + gDACPinOrder[k]] = 0; + else + context->analogOut[n*8 + gDACPinOrder[k]] = ANALOG_HIGH; + } + } + + // Read after 256 samples: input should be low + if(sampleCounter == 256) { + for(int k = 0; k < 8; k++) { + if(k == invertChannel) { + if(context->analogIn[n*8 + k] < ANALOG_HIGH) { + rt_printf("FAIL [output %d, input %d] -- output HIGH input %f (inverted)\n", gDACPinOrder[k], k, context->analogIn[n*8 + k]); + gLastErrorFrame = context->audioSampleCount + n; + } + } + else { + if(context->analogIn[n*8 + k] > ANALOG_LOW) { + rt_printf("FAIL [output %d, input %d] -- output LOW --> input %f\n", gDACPinOrder[k], k, context->analogIn[n*8 + k]); + gLastErrorFrame = context->audioSampleCount + n; + } + } + } + } + else if(sampleCounter == 768) { + for(int k = 0; k < 8; k++) { + if(k == invertChannel) { + if(context->analogIn[n*8 + k] > ANALOG_LOW) { + rt_printf("FAIL [output %d, input %d] -- output LOW input %f (inverted)\n", gDACPinOrder[k], k, context->analogIn[n*8 + k]); + gLastErrorFrame = context->audioSampleCount + n; + } + } + else { + if(context->analogIn[n*8 + k] < ANALOG_HIGH) { + rt_printf("FAIL [output %d, input %d] -- output HIGH input %f\n", gDACPinOrder[k], k, context->analogIn[n*8 + k]); + gLastErrorFrame = context->audioSampleCount + n; + } + } + } + } + + if(++sampleCounter >= 1024) { + sampleCounter = 0; + invertChannel++; + if(invertChannel >= 8) + invertChannel = 0; + } + } +} + +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + +}
--- a/projects/d-box/DboxSensors.h Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/DboxSensors.h Tue Aug 18 00:35:15 2015 +0100 @@ -21,7 +21,7 @@ #include "I2c_TouchKey.h" #include "AnalogInput.h" -#include "../../include/GPIOcontrol.h" // TODO wrap this into a class +#include <GPIOcontrol.h> // TODO wrap this into a class /*--------------------------------------------------------------------------------------------------------------------------------------------------- * This class retrieves data from all the connected sensors,
--- a/projects/d-box/FeedbackOscillator.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/FeedbackOscillator.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -58,23 +58,16 @@ // Process one sample and store the output value // Returns true if the wavetable needs rendering -int FeedbackOscillator::process(uint16_t input, uint16_t *output) { - float inFloat = input / 65536.0; - float outFloat = coeffs[COEFF_B0] * inFloat + coeffs[COEFF_B1] * lastInput - coeffs[COEFF_A1] * lastOutput; +int FeedbackOscillator::process(float input, float *output) { + float outFloat = coeffs[COEFF_B0] * input + coeffs[COEFF_B1] * lastInput - coeffs[COEFF_A1] * lastOutput; int requestRenderLength = 0; - //outFloat *= 2.0; - - int intOut = outFloat * 65536.0 + 32768; - if(intOut > 65535) - intOut = 65535; - if(intOut < 0) - intOut = 0; - //intOut = (intOut & 0xFF) << 8; - //if(intOut > 65535) - // intOut = 65535; - - *output = (uint16_t)intOut; + if(outFloat < -0.5) + *output = 0; + else if(outFloat > 0.5) + *output = 1; + else + *output = outFloat + 0.5; if(canTrigger && outFloat > 0 && lastOutput <= 0) { triggered = true; @@ -106,7 +99,7 @@ sampleCount++; lastOutput = outFloat; - lastInput = inFloat; + lastInput = input; return requestRenderLength; }
--- a/projects/d-box/FeedbackOscillator.h Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/FeedbackOscillator.h Tue Aug 18 00:35:15 2015 +0100 @@ -8,8 +8,6 @@ #ifndef FEEDBACKOSCILLATOR_H #define FEEDBACKOSCILLATOR_H -#include <stdint.h> - class FeedbackOscillator { public: @@ -21,7 +19,7 @@ // Process one sample and store the output value // Returns the length of table to interpolate; or 0 if nothing to process further - int process(uint16_t input, uint16_t *output); + int process(float input, float *output); float *wavetable() { return wavetableRead; }
--- a/projects/d-box/I2c_TouchKey.h Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/I2c_TouchKey.h Tue Aug 18 00:35:15 2015 +0100 @@ -8,7 +8,7 @@ #ifndef I2CTK_H_ #define I2CTK_H_ -#include "../../include/I2c.h" +#include <I2c.h> // #define NUM_BYTES_OLD 9 // #define NUM_BYTES_NEW 13
--- a/projects/d-box/StatusLED.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/StatusLED.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -9,7 +9,7 @@ #include <iostream> #include "StatusLED.h" -#include "../../include/GPIOcontrol.h" +#include <GPIOcontrol.h> extern int gShouldStop; extern int gVerbose;
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/d-box/how_to_build_dbox.txt Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,35 @@ +The D-Box code can be built on the board using the scripts included with +BeagleRT. To build the code, do the following from the scripts/ directory: + +./setup_board.sh # Only if BeagleRT is not already copied to the board +./build_project.sh -n ../projects/d-box # -n means don't run yet + +You will now need to copy the .dbx sound files to the box. These need to +be in a directory: /root/d-box/sounds + +Log into the board via ssh to create the d-box directory, or run: + +ssh root@192.168.7.2 "mkdir /root/d-box" + +Now copy the .dbx files from a source of your choice to the board. Assuming +they are in a directory called "sounds": + +scp -r sounds root@192.168.7.2:/root/d-box/ + +Now you can run the D-Box program to make sure it plays. You will need the +sensors and matrix connected to the box (i.e. a complete hardware D-Box). +From the scripts/ directory: + +./run_project.sh -f -c "-q 24 -r 25 -t 2 -s -p 2 -l 0 -u 0 -i 1 -n f -g 3 -v" + +If this plays properly, the D-Box can then be set to run automatically on boot: + +./set_startup.sh -l -c "-q 24 -r 25 -t 2 -s -p 2 -l 0 -u 0 -i 1 -n f -g 3 -v" + +If at any time you want to stop the D-Box program running, you can run: + +./stop_running.sh + +To turn off further autoboot, run: + +./set_startup.sh -n
--- a/projects/d-box/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -33,7 +33,7 @@ // get_opt_long #include <getopt.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> #include "config.h" #include "sensors.h" #include "OscillatorBank.h" @@ -76,7 +76,7 @@ char sdPath[256] = "/dev/mmcblk0p2"; // system path of the SD, partition 2 char mountPath[256] = "/root/d-box/usersounds"; // mount point of SD partition 2 [where user files are] char gUserDirName[256] = "usersounds"; // Directory in which user analysis files can be found [dir of mountPath] -char gDefaultDirName[256] = "sounds"; // Directory in which built in analysis files can be found +char gDefaultDirName[256] = "/root/d-box/sounds"; // Directory in which built in analysis files can be found char *gDirName; bool gIsLoading = false; int fileCnt = 0; @@ -262,11 +262,13 @@ } -void parseArguments(arg_data args, RTAudioSettings *settings) +void parseArguments(arg_data args, BeagleRTInitSettings *settings) { // Default filename; gPartialFilename = strdup("D-Box_sound_250_60_40_h88_2.txt"); + const int kOptionAudioTest = 1000; + // TODO: complete this struct option long_option[] = { @@ -274,10 +276,10 @@ {"audioin", 1, NULL, 'i'}, {"file", 1, NULL, 'f'}, {"keyboard", 1, NULL, 'k'}, - {"audio-test", 0, NULL, 'T'}, - {"sensor-type", 1, NULL, 'S'}, - {"sensor0", 1, NULL, 'Q'}, - {"sensor1", 1, NULL, 'R'}, + {"audio-test", 0, NULL, kOptionAudioTest}, + {"sensor-type", 1, NULL, 't'}, + {"sensor0", 1, NULL, 'q'}, + {"sensor1", 1, NULL, 'r'}, {"log", 1, NULL, 'l'}, {"usesd", 1, NULL, 'u'}, {"oversamp", 1, NULL, 'o'}, @@ -293,7 +295,7 @@ while (1) { int c; - if ((c = BeagleRT_getopt_long(args.argc, args.argv, "hf:ki:sTQ:R:S:l:u:o:n:g:", long_option, settings)) < 0) + if ((c = BeagleRT_getopt_long(args.argc, args.argv, "hf:ki:sq:r:t:l:u:o:n:g:", long_option, settings)) < 0) break; switch (c) { @@ -313,16 +315,16 @@ case 's': forceSensors = true; break; - case 'T': + case kOptionAudioTest: useAudioTest = true; break; - case 'S': + case 't': sensorType = atoi(optarg); break; - case 'Q': + case 'q': touchSensor0Address = atoi(optarg); break; - case 'R': + case 'r': touchSensor1Address = atoi(optarg); break; case 'l': @@ -361,7 +363,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings RT_TASK rtSensorThread; const char rtSensorThreadName[] = "dbox-sensor"; int oscBankHopSize; @@ -371,7 +373,7 @@ args.argv = argv; parseArguments(args, &settings); - setVerboseLevel(gVerbose); + BeagleRT_setVerboseLevel(gVerbose); if(gVerbose == 1 && useAudioTest) cout << "main() : running in audio test mode" << endl; @@ -415,7 +417,7 @@ if(gVerbose==1) cout << "main() : creating control thread" << endl; - if(rt_task_create(&rtSensorThread, rtSensorThreadName, 0, 95, T_JOINABLE | T_FPU)) { + if(rt_task_create(&rtSensorThread, rtSensorThreadName, 0, BEAGLERT_AUDIO_PRIORITY - 5, T_JOINABLE | T_FPU)) { cout << "Error:unable to create Xenomai control thread" << endl; return -1; }
--- a/projects/d-box/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/d-box/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -5,8 +5,9 @@ * Author: Victor Zappi */ -#include "../../include/RTAudio.h" -#include "../../include/PRU.h" +#include <BeagleRT.h> +#include <PRU.h> + #include "StatusLED.h" #include "config.h" #include "OscillatorBank.h" @@ -19,6 +20,26 @@ #undef DBOX_CAPE_TEST +// Mappings from pin numbers on PCB to actual DAC channels +// This gives the DAC and ADC connectors the same effective pinout +#define DAC_PIN0 6 +#define DAC_PIN1 4 +#define DAC_PIN2 2 +#define DAC_PIN3 0 +#define DAC_PIN4 1 +#define DAC_PIN5 3 +#define DAC_PIN6 5 +#define DAC_PIN7 7 + +#define ADC_PIN0 0 +#define ADC_PIN1 1 +#define ADC_PIN2 2 +#define ADC_PIN3 3 +#define ADC_PIN4 4 +#define ADC_PIN5 5 +#define ADC_PIN6 6 +#define ADC_PIN7 7 + #define N_OCT 4.0 // maximum number of octaves on sensor 1 extern vector<OscillatorBank*> gOscBanks; @@ -28,7 +49,6 @@ extern StatusLED gStatusLED; extern bool gIsLoading; extern bool gAudioIn; -extern int gPeriodSize; float *gOscillatorBuffer1, *gOscillatorBuffer2; float *gOscillatorBufferRead, *gOscillatorBufferWrite; @@ -57,7 +77,7 @@ // sensor 0. extern float gSensor0LatestTouchPos; extern int gSensor0LatestTouchNum; -uint16_t gPitchLatestInput = 0; +float gPitchLatestInput = 0; extern float gSensor1LatestTouchPos[]; //extern float gSensor1LatestTouchSizes[]; @@ -73,9 +93,9 @@ // Loop points from matrix input 4 const int gLoopPointsInputBufferSize = 256; -uint16_t gLoopPointsInputBuffer[gLoopPointsInputBufferSize]; +float gLoopPointsInputBuffer[gLoopPointsInputBufferSize]; int gLoopPointsInputBufferPointer = 0; -int gLoopPointMin = 0, gLoopPointMax = 0; +float gLoopPointMin = 0, gLoopPointMax = 0; // multiplier to activate or mute audio in int audioInStatus = 0; @@ -85,10 +105,10 @@ // pitch vars float octaveSplitter; -u_int16_t semitones[((int)N_OCT*12)+1]; +float semitones[((int)N_OCT*12)+1]; float deltaTouch = 0; -float deltaWeightP = 0.5; -float deltaWeightI = 0.0005; +float deltaWeightP = 0.5 / 65536.0; +float deltaWeightI = 0.0005 / 65536.0; // filter vars ne10_fir_instance_f32_t filter[2]; @@ -122,22 +142,21 @@ float *tableIn, float *tableOut, float *sineTable, float sineMix); -inline uint16_t hysteresis_oscillator(uint16_t input, uint16_t risingThreshold, - uint16_t fallingThreshold, bool *rising); +inline float hysteresis_oscillator(float input, float risingThreshold, + float fallingThreshold, bool *rising); + +void render_medium_prio(); +void render_low_prio(); #ifdef DBOX_CAPE_TEST void render_capetest(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, uint16_t *matrixIn, uint16_t *matrixOut); #endif -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) { +bool setup(BeagleRTContext *context, void *userData) { int oscBankHopSize = *(int *)userData; - if(numMatrixChannels != 8) { + if(context->analogChannels != 8) { printf("Error: D-Box needs matrix enabled with 8 channels.\n"); return false; } @@ -145,19 +164,19 @@ // Allocate two buffers for rendering oscillator bank samples // One will be used for writing in the background while the other is used for reading // on the audio thread. 8-byte alignment needed for the NEON code. - if(posix_memalign((void **)&gOscillatorBuffer1, 8, oscBankHopSize * gNumAudioChannels * sizeof(float))) { + if(posix_memalign((void **)&gOscillatorBuffer1, 8, oscBankHopSize * context->audioChannels * sizeof(float))) { printf("Error allocating render buffers\n"); return false; } - if(posix_memalign((void **)&gOscillatorBuffer2, 8, oscBankHopSize * gNumAudioChannels * sizeof(float))) { + if(posix_memalign((void **)&gOscillatorBuffer2, 8, oscBankHopSize * context->audioChannels * sizeof(float))) { printf("Error allocating render buffers\n"); return false; } gOscillatorBufferWrite = gOscillatorBuffer1; gOscillatorBufferRead = gOscillatorBuffer2; - memset(gOscillatorBuffer1, 0, oscBankHopSize * gNumAudioChannels * sizeof(float)); - memset(gOscillatorBuffer2, 0, oscBankHopSize * gNumAudioChannels * sizeof(float)); + memset(gOscillatorBuffer1, 0, oscBankHopSize * context->audioChannels * sizeof(float)); + memset(gOscillatorBuffer2, 0, oscBankHopSize * context->audioChannels * sizeof(float)); // Initialise the dynamic wavetable used by the oscillator bank // It should match the size of the static one already allocated in the OscillatorBank object @@ -168,18 +187,18 @@ return false; } - gFeedbackOscillator.initialise(8192, 10.0, matrixSampleRate); + gFeedbackOscillator.initialise(8192, 10.0, context->analogSampleRate); for(int n = 0; n < gDynamicWavetableLength + 1; n++) gDynamicWavetable[n] = 0; // pitch - float midPos = (float)65535/2.0; - octaveSplitter = round((float)65535/(N_OCT)); + float midPos = 0.5; + octaveSplitter = 1.0 / N_OCT; int numOfSemi = 12*N_OCT; int middleSemitone = 12*N_OCT/2; int lastSemitone = middleSemitone+numOfSemi/2; - float inc = (float)65535/(N_OCT*12.0); + float inc = 1.0 / (N_OCT*12.0); int i = -1; for(int semi=middleSemitone; semi<=lastSemitone; semi++) semitones[semi] = ( midPos + (++i)*inc) + 0.5; @@ -191,7 +210,7 @@ audioInStatus = 1; // filter - blockSize = 2*gPeriodSize; + blockSize = context->audioFrames; filterState[0] = (ne10_float32_t *) NE10_MALLOC ((FILTER_TAP_NUM+blockSize-1) * sizeof (ne10_float32_t)); filterState[1] = (ne10_float32_t *) NE10_MALLOC ((FILTER_TAP_NUM+blockSize-1) * sizeof (ne10_float32_t)); filterIn[0] = (ne10_float32_t *) NE10_MALLOC (blockSize * sizeof (ne10_float32_t)); @@ -202,24 +221,23 @@ ne10_fir_init_float(&filter[1], FILTER_TAP_NUM, filterTaps, filterState[1], blockSize); // peak outputs - PeakBurst[0].setAttackRate(.00001 * matrixSampleRate); - PeakBurst[1].setAttackRate(.00001 * matrixSampleRate); - PeakBurst[0].setDecayRate(.5 * matrixSampleRate); - PeakBurst[1].setDecayRate(.5 * matrixSampleRate); + PeakBurst[0].setAttackRate(.00001 * context->analogSampleRate); + PeakBurst[1].setAttackRate(.00001 * context->analogSampleRate); + PeakBurst[0].setDecayRate(.5 * context->analogSampleRate); + PeakBurst[1].setDecayRate(.5 * context->analogSampleRate); PeakBurst[0].setSustainLevel(0.0); PeakBurst[1].setSustainLevel(0.0); // Initialise auxiliary tasks - if((gMediumPriorityRender = createAuxiliaryTaskLoop(&render_medium_prio, 90, "dbox-calculation-medium")) == 0) + if((gMediumPriorityRender = BeagleRT_createAuxiliaryTask(&render_medium_prio, BEAGLERT_AUDIO_PRIORITY - 10, "dbox-calculation-medium")) == 0) return false; - if((gLowPriorityRender = createAuxiliaryTaskLoop(&render_low_prio, 85, "dbox-calculation-low")) == 0) + if((gLowPriorityRender = BeagleRT_createAuxiliaryTask(&render_low_prio, BEAGLERT_AUDIO_PRIORITY - 15, "dbox-calculation-low")) == 0) return false; return true; } -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { #ifdef DBOX_CAPE_TEST render_capetest(numMatrixFrames, numAudioFrames, audioIn, audioOut, matrixIn, matrixOut); @@ -229,10 +247,10 @@ if(gOscBanks[gCurrentOscBank]->state==bank_playing) { - assert(gNumAudioChannels == 2); + assert(context->audioChannels == 2); #ifdef OLD_OSCBANK - memset(audioOut, 0, numAudioFrames * gNumAudioChannels * sizeof(float)); + memset(audioOut, 0, numAudioFrames * * sizeof(float)); /* Render the oscillator bank. The oscillator bank function is written in NEON assembly * and it strips out all extra checks, so find out in advance whether we can render a whole @@ -269,18 +287,18 @@ gOscBanks[gCurrentOscBank]->oscillatorAmplitudeDerivatives, gDynamicWavetable/*gOscBanks[gCurrentOscBank]->lookupTable*/); framesRemaining -= gOscBanks[gCurrentOscBank]->hopCounter; - audioOutWithOffset += gNumAudioChannels * gOscBanks[gCurrentOscBank]->hopCounter; + audioOutWithOffset += * gOscBanks[gCurrentOscBank]->hopCounter; gOscBanks[gCurrentOscBank]->sampleCount += gOscBanks[gCurrentOscBank]->hopCounter; gOscBanks[gCurrentOscBank]->nextHop(); } } #else - for(int n = 0; n < numAudioFrames; n++) { - audioOut[2*n] = gOscillatorBufferRead[gOscillatorBufferReadPointer++]+audioIn[2*n]*audioInStatus; - audioOut[2*n + 1] = gOscillatorBufferRead[gOscillatorBufferReadPointer++]+audioIn[2*n+1]*audioInStatus; + for(unsigned int n = 0; n < context->audioFrames; n++) { + context->audioOut[2*n] = gOscillatorBufferRead[gOscillatorBufferReadPointer++]+context->audioIn[2*n]*audioInStatus; + context->audioOut[2*n + 1] = gOscillatorBufferRead[gOscillatorBufferReadPointer++]+context->audioIn[2*n+1]*audioInStatus; - filterIn[0][n] = fabs(audioIn[2*n]); // rectify for peak detection in 1 - filterIn[1][n] = fabs(audioIn[2*n+1]); // rectify for peak detection in 2 + filterIn[0][n] = fabs(context->audioIn[2*n]); // rectify for peak detection in 1 + filterIn[1][n] = fabs(context->audioIn[2*n+1]); // rectify for peak detection in 2 /* FIXME why doesn't this work? */ /* @@ -305,19 +323,19 @@ gOscillatorBufferReadPointer = 0; gOscillatorNeedsRender = true; - scheduleAuxiliaryTask(gMediumPriorityRender); + BeagleRT_scheduleAuxiliaryTask(gMediumPriorityRender); } } #endif } else { - for(int n = 0; n < numAudioFrames; n++) { - audioOut[2*n] = audioIn[2*n]*audioInStatus; - audioOut[2*n + 1] = audioIn[2*n+1]*audioInStatus; + for(unsigned int n = 0; n < context->audioFrames; n++) { + context->audioOut[2*n] = context->audioIn[2*n]*audioInStatus; + context->audioOut[2*n + 1] = context->audioIn[2*n+1]*audioInStatus; - filterIn[0][n] = fabs(audioIn[2*n]); // rectify for peak detection in 1 - filterIn[1][n] = fabs(audioIn[2*n+1]); // rectify for peak detection in 2 + filterIn[0][n] = fabs(context->audioIn[2*n]); // rectify for peak detection in 1 + filterIn[1][n] = fabs(context->audioIn[2*n+1]); // rectify for peak detection in 2 } } @@ -325,7 +343,7 @@ ne10_fir_float_neon(&filter[0], filterIn[0], filterOut[0], blockSize); ne10_fir_float_neon(&filter[1], filterIn[1], filterOut[1], blockSize); - for(int n = 0; n < numMatrixFrames; n++) { + for(unsigned int n = 0; n < context->analogFrames; n++) { /* Matrix Out 0, In 0 @@ -333,12 +351,12 @@ * CV loop * Controls pitch of sound */ - int touchPosInt = gSensor0LatestTouchPos * 65536.0; + float touchPosInt = gSensor0LatestTouchPos; if(touchPosInt < 0) touchPosInt = 0; - if(touchPosInt > 65535) touchPosInt = 65535; - matrixOut[n*8 + DAC_PIN0] = touchPosInt; + if(touchPosInt > 1.0) touchPosInt = 1.0; + context->analogOut[n*8 + DAC_PIN0] = touchPosInt; - gPitchLatestInput = matrixIn[n*8 + ADC_PIN0]; + gPitchLatestInput = context->analogIn[n*8 + ADC_PIN0]; /* Matrix Out 7 @@ -351,17 +369,17 @@ if(gSensor0LatestTouchNum>0) { // current pitch is gPitchLatestInput, already retrieved - semitoneIndex = ( ( (float)gPitchLatestInput / 65535)*12*N_OCT )+0.5; // closest semitone + semitoneIndex = ( gPitchLatestInput * 12 * N_OCT )+0.5; // closest semitone deltaTarget = (semitones[semitoneIndex]-gPitchLatestInput); // delta between pitch and target - deltaTouch += deltaTarget*deltaWeightI; // update feedback [previous + current] + deltaTouch += deltaTarget*(deltaWeightI); // update feedback [previous + current] } else deltaTouch = 0; - int nextOut = touchPosInt + deltaTarget*deltaWeightP + deltaTouch; // add feedback to touch -> next out + float nextOut = touchPosInt + deltaTarget*deltaWeightP + deltaTouch; // add feedback to touch -> next out if(nextOut < 0) nextOut = 0; // clamp - if(nextOut > 65535) nextOut = 65535; // clamp - matrixOut[n*8 + DAC_PIN7] = nextOut; // send next nextOut + if(nextOut > 1.0) nextOut = 1.0; // clamp + context->analogOut[n*8 + DAC_PIN7] = nextOut; // send next nextOut /* @@ -371,7 +389,8 @@ * Controls speed of playback */ bool wasRising = gSpeedHysteresisOscillatorRising; - matrixOut[n*8 + DAC_PIN1] = hysteresis_oscillator(matrixIn[n*8 + ADC_PIN1], 48000, 16000, &gSpeedHysteresisOscillatorRising); + context->analogOut[n*8 + DAC_PIN1] = hysteresis_oscillator(context->analogIn[n*8 + ADC_PIN1], 48000.0/65536.0, + 16000.0/65536.0, &gSpeedHysteresisOscillatorRising); // Find interval of zero crossing if(wasRising && !gSpeedHysteresisOscillatorRising) { @@ -394,12 +413,12 @@ * Controls wavetable used for oscillator bank */ - int tableLength = gFeedbackOscillator.process(matrixIn[n*8 + ADC_PIN2], &matrixOut[n*8 + DAC_PIN2]); + int tableLength = gFeedbackOscillator.process(context->analogIn[n*8 + ADC_PIN2], &context->analogOut[n*8 + DAC_PIN2]); if(tableLength != 0) { gFeedbackOscillatorTableLength = tableLength; gFeedbackOscillatorTable = gFeedbackOscillator.wavetable(); gDynamicWavetableNeedsRender = true; - scheduleAuxiliaryTask(gLowPriorityRender); + BeagleRT_scheduleAuxiliaryTask(gLowPriorityRender); } /* @@ -411,10 +430,10 @@ */ volatile int touchCount = gSensor1LatestTouchCount; if(touchCount == 0) - matrixOut[n*8 + DAC_PIN3] = 0; + context->analogOut[n*8 + DAC_PIN3] = 0; else { int touchIndex = (gMatrixSampleCount >> 5) % touchCount; - matrixOut[n*8 + DAC_PIN3] = gSensor1LatestTouchPos[touchIndex] * 56000.0f; + context->analogOut[n*8 + DAC_PIN3] = gSensor1LatestTouchPos[touchIndex] * 56000.0f / 65536.0f; if(touchIndex != gSensor1LastTouchIndex) { // Just changed to a new touch output. Reset the counter. // It will take 2*matrixFrames samples for this output to come back to the @@ -422,33 +441,33 @@ // let's say 24 samples into it. // FIXME this won't work for p > 2 - gSensor1InputDelayCounter = 24 + 2*numMatrixFrames; + gSensor1InputDelayCounter = 24 + 2*context->analogFrames; gSensor1InputIndex = touchIndex; } gSensor1LastTouchIndex = touchIndex; } if(gSensor1InputDelayCounter-- >= 0 && touchCount > 0) { - gSensor1MatrixTouchPos[gSensor1InputIndex] = (float)matrixIn[n*8 + ADC_PIN3] / 65536.0f; + gSensor1MatrixTouchPos[gSensor1InputIndex] = context->analogIn[n*8 + ADC_PIN3]; } /* Matrix Out 4 * * Sensor 1 last pos */ - touchPosInt = gSensor1LatestTouchPos[gSensor1LatestTouchIndex] * 65536.0; + touchPosInt = gSensor1LatestTouchPos[gSensor1LatestTouchIndex]; if(touchPosInt < 0) touchPosInt = 0; - if(touchPosInt > 65535) touchPosInt = 65535; - matrixOut[n*8 + DAC_PIN4] = touchPosInt; + if(touchPosInt > 1.0) touchPosInt = 1.0; + context->analogOut[n*8 + DAC_PIN4] = touchPosInt; /* Matrix In 4 * * Loop points selector */ - gLoopPointsInputBuffer[gLoopPointsInputBufferPointer++] = matrixIn[n*8 + ADC_PIN4]; + gLoopPointsInputBuffer[gLoopPointsInputBufferPointer++] = context->analogIn[n*8 + ADC_PIN4]; if(gLoopPointsInputBufferPointer >= gLoopPointsInputBufferSize) { // Find min and max values - uint16_t loopMax = 0, loopMin = 65535; + float loopMax = 0, loopMin = 1.0; for(int i = 0; i < gLoopPointsInputBufferSize; i++) { if(gLoopPointsInputBuffer[i] < loopMin) loopMin = gLoopPointsInputBuffer[i]; @@ -482,8 +501,8 @@ PeakBurst[0].process(1); - int convAudio = burstOut*peak[0]*65535; - matrixOut[n*8 + DAC_PIN5] = convAudio; + float convAudio = burstOut*peak[0]; + context->analogOut[n*8 + DAC_PIN5] = convAudio; prevFiltered[0] = filterOut[0][n*2+1]; if(prevFiltered[0]>1) prevFiltered[0] = 1; @@ -492,8 +511,8 @@ * * Dissonance, via changing frequency motion of partials */ - float amount = (float)matrixIn[n*8 + ADC_PIN5] / 65536.0f; - gOscBanks[gCurrentOscBank]->freqMovement = 1-amount; + float amount = (float)context->analogIn[n*8 + ADC_PIN5]; + gOscBanks[gCurrentOscBank]->freqMovement = 1.0 - amount; @@ -516,8 +535,8 @@ PeakBurst[1].process(1); - convAudio = burstOut*peak[1]*65535; - matrixOut[n*8 + DAC_PIN6] = convAudio; + convAudio = burstOut*peak[1]; + context->analogOut[n*8 + DAC_PIN6] = convAudio; prevFiltered[1] = filterOut[1][n*2+1]; if(prevFiltered[1]>1) prevFiltered[1] = 1; @@ -529,14 +548,14 @@ if(!gIsLoading) { // Use hysteresis to avoid jumping back and forth between sounds if(gOscBanks.size() > 1) { - int input = matrixIn[n*8 + ADC_PIN6]; - const int hystValue = 16000; + float input = context->analogIn[n*8 + ADC_PIN6]; + const float hystValue = 16000.0 / 65536.0; - int upHysteresisValue = ((gCurrentOscBank + 1) * 65536 + hystValue) / gOscBanks.size(); - int downHysteresisValue = (gCurrentOscBank * 65536 - hystValue) / gOscBanks.size(); + float upHysteresisValue = ((gCurrentOscBank + 1) + hystValue) / gOscBanks.size(); + float downHysteresisValue = (gCurrentOscBank - hystValue) / gOscBanks.size(); if(input > upHysteresisValue || input < downHysteresisValue) { - gNextOscBank = input * gOscBanks.size() / 65536; + gNextOscBank = input * gOscBanks.size(); if(gNextOscBank < 0) gNextOscBank = 0; if((unsigned)gNextOscBank >= gOscBanks.size()) @@ -551,8 +570,8 @@ * FSR from primary touch sensor * Value ranges from 0-1799 */ - gLastFSRValue = matrixIn[n*8 + ADC_PIN7] * (1799.0 / 65535.0); - //gLastFSRValue = 1799 - matrixIn[n*8 + ADC_PIN7] * (1799.0 / 65535.0); + gLastFSRValue = context->analogIn[n*8 + ADC_PIN7] * 1799.0; + //gLastFSRValue = 1799 - context->analogIn[n*8 + ADC_PIN7] * (1799.0 / 65535.0); //dbox_printf("%i\n",gLastFSRValue); gMatrixSampleCount++; @@ -569,7 +588,7 @@ gOscillatorNeedsRender = false; /* Render one frame into the write buffer */ - memset(gOscillatorBufferWrite, 0, gOscBanks[gCurrentOscBank]->hopCounter * gNumAudioChannels * sizeof(float)); + memset(gOscillatorBufferWrite, 0, gOscBanks[gCurrentOscBank]->hopCounter * 2 * sizeof(float)); /* assumes 2 audio channels */ oscillator_bank_neon(gOscBanks[gCurrentOscBank]->hopCounter, gOscillatorBufferWrite, gOscBanks[gCurrentOscBank]->actPartNum, gOscBanks[gCurrentOscBank]->lookupTableSize, @@ -579,7 +598,7 @@ gOscBanks[gCurrentOscBank]->oscillatorAmplitudeDerivatives, /*gOscBanks[gCurrentOscBank]->lookupTable*/gDynamicWavetable); - gOscillatorBufferWriteCurrentSize = gOscBanks[gCurrentOscBank]->hopCounter * gNumAudioChannels; + gOscillatorBufferWriteCurrentSize = gOscBanks[gCurrentOscBank]->hopCounter * 2; /* Update the pitch right before the hop * Total CV range +/- N_OCT octaves @@ -660,7 +679,7 @@ gOscBanks[gCurrentOscBank]->lookupTable, sineMix); } - if(gLoopPointMin >= 60000 && gLoopPointMax >= 60000) { + if(gLoopPointMin >= 60000.0/65536.0 && gLoopPointMax >= 60000.0/65536.0) { // KLUDGE! if(gCurrentOscBank == 0) gOscBanks[gCurrentOscBank]->setLoopHops(50, ((float)gOscBanks[gCurrentOscBank]->getLastHop() * 0.6) - 1); @@ -668,8 +687,8 @@ gOscBanks[gCurrentOscBank]->setLoopHops(5, ((float)gOscBanks[gCurrentOscBank]->getLastHop() * 0.7) - 1); } else { - float normLoopPointMin = (float)gLoopPointMin * gOscBanks[gCurrentOscBank]->getLastHop() / 65535.0; - float normLoopPointMax = (float)gLoopPointMax * gOscBanks[gCurrentOscBank]->getLastHop() / 65535.0; + float normLoopPointMin = (float)gLoopPointMin * gOscBanks[gCurrentOscBank]->getLastHop(); + float normLoopPointMax = (float)gLoopPointMax * gOscBanks[gCurrentOscBank]->getLastHop(); int intLoopPointMin = normLoopPointMin; if(intLoopPointMin < 1) @@ -712,7 +731,7 @@ } // Clean up at the end of render -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { free(gOscillatorBuffer1); free(gOscillatorBuffer2); @@ -744,9 +763,9 @@ } // Create a hysteresis oscillator with a matrix input and output -inline uint16_t hysteresis_oscillator(uint16_t input, uint16_t risingThreshold, uint16_t fallingThreshold, bool *rising) +inline float hysteresis_oscillator(float input, float risingThreshold, float fallingThreshold, bool *rising) { - uint16_t value; + float value; if(*rising) { if(input > risingThreshold) { @@ -754,12 +773,12 @@ value = 0; } else - value = 65535; + value = 1.0; } else { if(input < fallingThreshold) { *rising = true; - value = 65535; + value = 1.0; } else value = 0;
--- a/projects/filter_FIR/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/filter_FIR/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -12,7 +12,8 @@ #include <string> #include <getopt.h> #include <sndfile.h> // to load audio files -#include "../../include/RTAudio.h" + +#include <BeagleRT.h> #include "SampleData.h" using namespace std; @@ -90,7 +91,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings string fileName; // Name of the sample to load SampleData sampleData; // User define structure to pass data retrieved from file to render function
--- a/projects/filter_FIR/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/filter_FIR/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,11 +6,8 @@ */ -#include "../../include/render.h" -#include "../../include/RTAudio.h" // to schedule lower prio parallel process -#include <rtdk.h> +#include <BeagleRT.h> #include <cmath> -#include <stdio.h> #include <NE10.h> // neon library #include "SampleData.h" #include "FIRfilter.h" @@ -25,8 +22,7 @@ ne10_uint32_t blockSize; ne10_float32_t *gFIRfilterState; -void initialise_filter(); - +void initialise_filter(BeagleRTContext *context); // Task for handling the update of the frequencies using the matrix AuxiliaryTask gTriggerSamplesTask; @@ -34,10 +30,7 @@ bool initialise_trigger(); void trigger_samples(); -int gPeriodSize; // Period size in sensor frames - - -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -46,20 +39,15 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call gSampleData = *(SampleData *)userData; gReadPtr = -1; - gPeriodSize = numMatrixFramesPerPeriod; - initialise_filter(); + initialise_filter(context); // Initialise auxiliary tasks if(!initialise_trigger()) @@ -73,10 +61,9 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { - for(int n = 0; n < numAudioFrames; n++) { + for(unsigned int n = 0; n < context->audioFrames; n++) { float in = 0; // If triggered... @@ -91,21 +78,21 @@ ne10_fir_float_neon(&gFIRfilter, gFIRfilterIn, gFIRfilterOut, blockSize); - for(int n = 0; n < numAudioFrames; n++) { - for(int channel = 0; channel < gNumAudioChannels; channel++) - audioOut[n * gNumAudioChannels + channel] = gFIRfilterOut[n]; // ...and put it in both left and right channel + for(unsigned int n = 0; n < context->audioFrames; n++) { + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = gFIRfilterOut[n]; // ...and put it in both left and right channel } // Request that the lower-priority task run at next opportunity - scheduleAuxiliaryTask(gTriggerSamplesTask); + BeagleRT_scheduleAuxiliaryTask(gTriggerSamplesTask); } // Initialise NE10 data structures to define FIR filter -void initialise_filter() +void initialise_filter(BeagleRTContext *context) { - blockSize = 2*gPeriodSize; + blockSize = context->audioFrames; gFIRfilterState = (ne10_float32_t *) NE10_MALLOC ((FILTER_TAP_NUM+blockSize-1) * sizeof (ne10_float32_t)); gFIRfilterIn = (ne10_float32_t *) NE10_MALLOC (blockSize * sizeof (ne10_float32_t)); gFIRfilterOut = (ne10_float32_t *) NE10_MALLOC (blockSize * sizeof (ne10_float32_t)); @@ -118,7 +105,7 @@ bool initialise_trigger() { - if((gTriggerSamplesTask = createAuxiliaryTaskLoop(&trigger_samples, 50, "beaglert-trigger-samples")) == 0) + if((gTriggerSamplesTask = BeagleRT_createAuxiliaryTask(&trigger_samples, 50, "beaglert-trigger-samples")) == 0) return false; rt_printf("Press 'a' to trigger sample, 's' to stop\n"); @@ -161,10 +148,10 @@ -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { delete[] gSampleData.samples;
--- a/projects/filter_IIR/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/filter_IIR/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -12,7 +12,8 @@ #include <string> #include <getopt.h> #include <sndfile.h> // to load audio files -#include "../../include/RTAudio.h" + +#include <BeagleRT.h> #include "SampleData.h" using namespace std; @@ -92,7 +93,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings string fileName; // Name of the sample to load SampleData sampleData; // User define structure to pass data retrieved from file to render function
--- a/projects/filter_IIR/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/filter_IIR/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,8 +6,7 @@ */ -#include "../../include/render.h" -#include "../../include/RTAudio.h" // to schedule lower prio parallel process +#include <BeagleRT.h> // to schedule lower prio parallel process #include <rtdk.h> #include <cmath> #include <stdio.h> @@ -45,7 +44,7 @@ extern float gCutFreq; -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -54,11 +53,7 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call @@ -80,10 +75,9 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { - for(int n = 0; n < numAudioFrames; n++) { + for(unsigned int n = 0; n < context->audioFrames; n++) { float sample = 0; float out = 0; @@ -101,14 +95,14 @@ gLastY[1] = gLastY[0]; gLastY[0] = out; - for(int channel = 0; channel < gNumAudioChannels; channel++) - audioOut[n * gNumAudioChannels + channel] = out; // ...and put it in both left and right channel + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = out; // ...and put it in both left and right channel } // Request that the lower-priority tasks run at next opportunity - scheduleAuxiliaryTask(gChangeCoeffTask); - scheduleAuxiliaryTask(gInputTask); + BeagleRT_scheduleAuxiliaryTask(gChangeCoeffTask); + BeagleRT_scheduleAuxiliaryTask(gInputTask); } // First calculation of coefficients @@ -145,10 +139,10 @@ bool initialise_aux_tasks() { - if((gChangeCoeffTask = createAuxiliaryTaskLoop(&check_coeff, 90, "beaglert-check-coeff")) == 0) + if((gChangeCoeffTask = BeagleRT_createAuxiliaryTask(&check_coeff, 90, "beaglert-check-coeff")) == 0) return false; - if((gInputTask = createAuxiliaryTaskLoop(&read_input, 50, "beaglert-read-input")) == 0) + if((gInputTask = BeagleRT_createAuxiliaryTask(&read_input, 50, "beaglert-read-input")) == 0) return false; rt_printf("Press 'a' to trigger sample, 's' to stop\n"); @@ -218,10 +212,10 @@ -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { delete[] gSampleData.samples; }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/level_meter/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,131 @@ +/* + * render.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ + + +#include <BeagleRT.h> +#include <Utilities.h> +#include <cmath> + +#define NUMBER_OF_SEGMENTS 10 + +// Two levels of audio: one follows current value, the other holds +// peaks for longer +float gAudioLocalLevel = 0, gAudioPeakLevel = 0; + +// Decay rates for detecting levels +float gLocalDecayRate = 0.99, gPeakDecayRate = 0.999; + +// Thresholds for LEDs: set in setup() +float gThresholds[NUMBER_OF_SEGMENTS + 1]; + +// High-pass filter on the input +float gLastX[2] = {0}; +float gLastY[2] = {0}; + +// These coefficients make a high-pass filter at 5Hz for 44.1kHz sample rate +double gB0 = 0.99949640; +double gB1 = -1.99899280; +double gB2 = gB0; +double gA1 = -1.99899254; +double gA2 = 0.99899305; + +// setup() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. + +bool setup(BeagleRTContext *context, void *userData) +{ + // This project makes the assumption that the audio and digital + // sample rates are the same. But check it to be sure! + if(context->audioFrames != context->digitalFrames) { + rt_printf("Error: this project needs the audio and digital sample rates to be the same.\n"); + return false; + } + + // Initialise threshold levels in -3dB steps. One extra for efficiency in render() + // Level = 10^(dB/20) + for(int i = 0; i < NUMBER_OF_SEGMENTS + 1; i++) { + gThresholds[i] = powf(10.0f, (-1.0 * (NUMBER_OF_SEGMENTS - i)) * .05); + } + + for(int i = 0; i < NUMBER_OF_SEGMENTS; i++) + pinModeFrame(context, 0, i, OUTPUT); + + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numMatrixFrames +// will be 0. + +void render(BeagleRTContext *context, void *userData) +{ + for(unsigned int n = 0; n < context->audioFrames; n++) { + // Get average of audio input channels + float sample = 0; + for(unsigned int ch = 0; ch < context->audioChannels; ch++) { + context->audioOut[n * context->audioChannels + ch] = + context->audioIn[n * context->audioChannels + ch]; + sample += context->audioIn[n * context->audioChannels + ch]; + } + + // Do DC-blocking on the sum + float out = gB0 * sample + gB1 * gLastX[0] + gB2 * gLastX[1] + - gA1 * gLastY[0] - gA2 * gLastY[1]; + + gLastX[1] = gLastX[0]; + gLastX[0] = sample; + gLastY[1] = gLastY[0]; + gLastY[0] = out; + + out = fabsf(out / (float)context->audioChannels); + + // Do peak detection: fast-responding local level + if(out > gAudioLocalLevel) + gAudioLocalLevel = out; + else + gAudioLocalLevel *= gLocalDecayRate; + + // Do peak detection: slow-responding peak level + if(out > gAudioPeakLevel) + gAudioPeakLevel = out; + else { + // Make peak decay slowly by only multiplying + // every few samples + if(((context->audioSampleCount + n) & 31) == 0) + gAudioPeakLevel *= gPeakDecayRate; + } + // LED bargraph on digital outputs 0-9 + for(int led = 0; led < NUMBER_OF_SEGMENTS; led++) { + // All LEDs up to the local level light up. The LED + // for the peak level also remains lit. + int state = LOW; + + if(gAudioLocalLevel > gThresholds[led]) + state = HIGH; + else if(gAudioPeakLevel > gThresholds[led] && gAudioPeakLevel <= gThresholds[led + 1]) + state = HIGH; + + // Write LED + digitalWriteFrameOnce(context, n, led, state); + } + } +} + +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/measure_noisefloor/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,104 @@ +/* + * main.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ + +#include <iostream> +#include <cstdlib> +#include <libgen.h> +#include <signal.h> +#include <getopt.h> +#include <BeagleRT.h> + +extern int gBufferSize; + +using namespace std; + +// Handle Ctrl-C by requesting that the audio rendering stop +void interrupt_handler(int var) +{ + gShouldStop = true; +} + +// Print usage information +void usage(const char * processName) +{ + cerr << "Usage: " << processName << " [options]" << endl; + + BeagleRT_usage(); + + cerr << " --buffer-size [-b] size Set the analysis buffer size\n"; + cerr << " --help [-h]: Print this menu\n"; +} + +int main(int argc, char *argv[]) +{ + BeagleRTInitSettings settings; // Standard audio settings + + struct option customOptions[] = + { + {"help", 0, NULL, 'h'}, + {"buffer-size", 1, NULL, 'b'}, + {NULL, 0, NULL, 0} + }; + + // Set default settings + BeagleRT_defaultSettings(&settings); + + // By default use a longer period size because latency is not an issue + settings.periodSize = 32; + + // Parse command-line arguments + while (1) { + int c; + if ((c = BeagleRT_getopt_long(argc, argv, "hb:", customOptions, &settings)) < 0) + break; + switch (c) { + case 'b': + gBufferSize = atoi(optarg); + break; + case 'h': + usage(basename(argv[0])); + exit(0); + case '?': + default: + usage(basename(argv[0])); + exit(1); + } + } + + if(gBufferSize < settings.periodSize) + gBufferSize = settings.periodSize; + + // Initialise the PRU audio device + if(BeagleRT_initAudio(&settings, 0) != 0) { + cout << "Error: unable to initialise audio" << endl; + return -1; + } + + // Start the audio device running + if(BeagleRT_startAudio()) { + cout << "Error: unable to start real-time audio" << endl; + return -1; + } + + // Set up interrupt handler to catch Control-C and SIGTERM + signal(SIGINT, interrupt_handler); + signal(SIGTERM, interrupt_handler); + + // Run until told to stop + while(!gShouldStop) { + usleep(100000); + } + + // Stop the audio device + BeagleRT_stopAudio(); + + // Clean up any resources allocated for audio + BeagleRT_cleanupAudio(); + + // All done! + return 0; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/measure_noisefloor/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,163 @@ +/* + * render.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ + + +#include <BeagleRT.h> +#include <Utilities.h> +#include <cmath> + +int gBufferSize = 8192; + +// Double buffers to hold samples for noise analysis +float *gReadBuffers[10], *gWriteBuffers[10]; +float *gBuffers0[10], *gBuffers1[10]; + +int gWriteBufferPointers[10], gReadBufferPointers[10]; + +// Task to analyse and print results which would otherwise be too slow for render() +AuxiliaryTask gAnalysisTask; + +void analyseResults(); + +// setup() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. + +bool setup(BeagleRTContext *context, void *userData) +{ + // Clear the filter data structures + for(int i = 0; i < 10; i++) { + gReadBufferPointers[i] = gWriteBufferPointers[i] = 0; + gBuffers0[i] = new float[gBufferSize]; + gBuffers1[i] = new float[gBufferSize]; + gWriteBuffers[i] = gBuffers0[i]; + gReadBuffers[i] = gBuffers1[i]; + if(gBuffers0[i] == 0 || gBuffers1[i] == 0) { + rt_printf("Error allocating buffer %d\n", i); + return false; + } + } + + gAnalysisTask = BeagleRT_createAuxiliaryTask(analyseResults, 50, "beaglert-analyse-results"); + + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numMatrixFrames +// will be 0. + +void render(BeagleRTContext *context, void *userData) +{ + bool bufferIsFull = false; // Whether at least one buffer has filled + + for(unsigned int n = 0; n < context->audioFrames; n++) { + // Store audio inputs in buffer + for(unsigned int ch = 0; ch < context->audioChannels; ch++) { + if(gWriteBufferPointers[ch] < gBufferSize) { + gWriteBuffers[ch][gWriteBufferPointers[ch]] = + context->audioIn[n * context->audioChannels + ch]; + gWriteBufferPointers[ch]++; + if(gWriteBufferPointers[ch] >= gBufferSize) + bufferIsFull = true; + } + } + } + + if(context->analogChannels != 0) { + for(unsigned int n = 0; n < context->analogFrames; n++) { + // Store analog inputs in buffer, starting at channel 2 + for(unsigned int ch = 0; ch < context->analogChannels; ch++) { + if(gWriteBufferPointers[ch + 2] < gBufferSize) { + gWriteBuffers[ch + 2][gWriteBufferPointers[ch + 2]] = + context->analogIn[n * context->analogChannels + ch]; + gWriteBufferPointers[ch + 2]++; + if(gWriteBufferPointers[ch + 2] >= gBufferSize) + bufferIsFull = true; + } + + // Set all analog outputs to halfway point so they can be more + // easily measured for noise + context->analogOut[n * context->analogChannels + ch] = 0.5; + } + } + } + + + if(bufferIsFull) { + // Swap buffers and reset write pointers + for(int ch = 0; ch < 10; ch++) { + gReadBufferPointers[ch] = gWriteBufferPointers[ch]; + gWriteBufferPointers[ch] = 0; + + if(gReadBuffers[ch] == gBuffers0[ch]) { + gReadBuffers[ch] = gBuffers1[ch]; + gWriteBuffers[ch] = gBuffers0[ch]; + } + else { + gReadBuffers[ch] = gBuffers0[ch]; + gWriteBuffers[ch] = gBuffers1[ch]; + } + } + + BeagleRT_scheduleAuxiliaryTask(gAnalysisTask); + } +} + +void analyseResults() +{ + rt_printf("\e[1;1H\e[2J"); // Command to clear the screen + + // Print the analysis results. channels 0-1 are audio, channels 2-9 are analog + for(int ch = 0; ch < 10; ch++) { + // Skip unused channels + if(gReadBufferPointers[ch] == 0) + continue; + + float mean = 0; + for(int n = 0; n < gReadBufferPointers[ch]; n++) { + mean += gReadBuffers[ch][n]; + } + mean /= (float)gReadBufferPointers[ch]; + + float rms = 0; + for(int n = 0; n < gReadBufferPointers[ch]; n++) { + rms += (gReadBuffers[ch][n] - mean) * (gReadBuffers[ch][n] - mean); + } + rms = sqrtf(rms / (float)gReadBufferPointers[ch]); + + if(ch == 0) + rt_printf("Audio In L: "); + else if(ch == 1) + rt_printf("Audio In R: "); + else + rt_printf("Analog In %d: ", ch - 2); + + rt_printf("Noise %6.1fdB DC offset %6.4f (%6.1fdB) window size: %d\n", + 20.0f * log10f(rms), + mean, + 20.0f * log10f(fabsf(mean)), + gReadBufferPointers[ch]); + } +} + +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + for(int i = 0; i < 10; i++) { + delete gBuffers0[i]; + delete gBuffers1[i]; + } +}
--- a/projects/oscillator_bank/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/oscillator_bank/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -10,7 +10,7 @@ #include <libgen.h> #include <signal.h> #include <getopt.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> using namespace std; @@ -37,7 +37,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings struct option customOptions[] = {
--- a/projects/oscillator_bank/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/oscillator_bank/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,8 +6,8 @@ */ -#include "../../include/RTAudio.h" -#include "../../include/Utilities.h" +#include <BeagleRT.h> +#include <Utilities.h> #include <rtdk.h> #include <cstdlib> #include <cmath> @@ -34,7 +34,7 @@ // These settings are carried over from main.cpp // Setting global variables is an alternative approach -// to passing a structure to userData in initialise_render() +// to passing a structure to userData in setup() extern int gNumOscillators; extern int gWavetableLength; @@ -50,7 +50,7 @@ float *lookupTable); } -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -58,15 +58,11 @@ // in from the call to initAudio(). // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { srandom(time(NULL)); - if(numAudioChannels != 2) { + if(context->audioChannels != 2) { rt_printf("Error: this example needs stereo audio enabled\n"); return false; } @@ -109,7 +105,7 @@ for(int n = 0; n < gNumOscillators; n++) { gPhases[n] = 0.0; - if(numMatrixFramesPerPeriod == 0) { + if(context->analogFrames == 0) { // Random frequencies when used without matrix gFrequencies[n] = kMinimumFrequency + (kMaximumFrequency - kMinimumFrequency) * ((float)random() / (float)RAND_MAX); } @@ -120,16 +116,34 @@ } // For efficiency, frequency is expressed in change in wavetable position per sample, not Hz or radians - gFrequencies[n] *= (float)gWavetableLength / audioSampleRate; + gFrequencies[n] *= (float)gWavetableLength / context->audioSampleRate; gAmplitudes[n] = ((float)random() / (float)RAND_MAX) / (float)gNumOscillators; gDFrequencies[n] = gDAmplitudes[n] = 0.0; } + increment = 0; + freq = 440.0; + + for(int n = 0; n < gNumOscillators; n++) { + // Update the frequencies to a regular spread, plus a small amount of randomness + // to avoid weird phase effects + float randScale = 0.99 + .02 * (float)random() / (float)RAND_MAX; + float newFreq = freq * randScale; + + // For efficiency, frequency is expressed in change in wavetable position per sample, not Hz or radians + gFrequencies[n] = newFreq * (float)gWavetableLength / context->audioSampleRate; + + freq += increment; + } + // Initialise auxiliary tasks - if((gFrequencyUpdateTask = createAuxiliaryTaskLoop(&recalculate_frequencies, 90, "beaglert-update-frequencies")) == 0) + if((gFrequencyUpdateTask = BeagleRT_createAuxiliaryTask(&recalculate_frequencies, 85, "beaglert-update-frequencies")) == 0) return false; - gAudioSampleRate = audioSampleRate; + //for(int n = 0; n < gNumOscillators; n++) + // rt_printf("%f\n", gFrequencies[n]); + + gAudioSampleRate = context->audioSampleRate; gSampleCount = 0; return true; @@ -140,23 +154,22 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { // Initialise buffer to 0 - memset(audioOut, 0, 2 * numAudioFrames * sizeof(float)); + memset(context->audioOut, 0, 2 * context->audioFrames * sizeof(float)); // Render audio frames - oscillator_bank_neon(numAudioFrames, audioOut, + oscillator_bank_neon(context->audioFrames, context->audioOut, gNumOscillators, gWavetableLength, gPhases, gFrequencies, gAmplitudes, gDFrequencies, gDAmplitudes, gWavetable); - if(numMatrixFrames != 0 && (gSampleCount += numAudioFrames) >= 128) { + if(context->analogFrames != 0 && (gSampleCount += context->audioFrames) >= 128) { gSampleCount = 0; - gNewMinFrequency = map(matrixIn[0], 0, MATRIX_MAX, 20.0f, 8000.0f); - gNewMaxFrequency = map(matrixIn[1], 0, MATRIX_MAX, 20.0f, 8000.0f); + gNewMinFrequency = map(context->analogIn[0], 0, 1.0, 1000.0f, 8000.0f); + gNewMaxFrequency = map(context->analogIn[1], 0, 1.0, 1000.0f, 8000.0f); // Make sure max >= min if(gNewMaxFrequency < gNewMinFrequency) { @@ -166,7 +179,7 @@ } // Request that the lower-priority task run at next opportunity - scheduleAuxiliaryTask(gFrequencyUpdateTask); + //BeagleRT_scheduleAuxiliaryTask(gFrequencyUpdateTask); } } @@ -194,10 +207,10 @@ } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { free(gWavetable); free(gPhases);
--- a/projects/samples/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/samples/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -12,7 +12,8 @@ #include <string> #include <getopt.h> #include <sndfile.h> // to load audio files -#include "../../include/RTAudio.h" + +#include <BeagleRT.h> #include "SampleData.h" using namespace std; @@ -90,7 +91,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings string fileName; // Name of the sample to load SampleData sampleData; // User define structure to pass data retrieved from file to render function
--- a/projects/samples/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/samples/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,11 +6,8 @@ */ -#include "../../include/render.h" -#include "../../include/RTAudio.h" // to schedule lower prio parallel process -#include <rtdk.h> +#include <BeagleRT.h> #include <cmath> -#include <stdio.h> #include "SampleData.h" SampleData gSampleData; // User defined structure to get complex data from main @@ -22,7 +19,7 @@ bool initialise_trigger(); void trigger_samples(); -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -31,11 +28,7 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numMatrixChannels, int numAudioChannels, - int numMatrixFramesPerPeriod, - int numAudioFramesPerPeriod, - float matrixSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { // Retrieve a parameter passed in from the initAudio() call @@ -55,10 +48,9 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numMatrixFrames, int numAudioFrames, float *audioIn, float *audioOut, - uint16_t *matrixIn, uint16_t *matrixOut) +void render(BeagleRTContext *context, void *userData) { - for(int n = 0; n < numAudioFrames; n++) { + for(unsigned int n = 0; n < context->audioFrames; n++) { float out = 0; // If triggered... @@ -68,12 +60,12 @@ if(gReadPtr >= gSampleData.sampleLen) gReadPtr = -1; - for(int channel = 0; channel < gNumAudioChannels; channel++) - audioOut[n * gNumAudioChannels + channel] = out; // ...and put it in both left and right channel + for(unsigned int channel = 0; channel < context->audioChannels; channel++) + context->audioOut[n * context->audioChannels + channel] = out; // ...and put it in both left and right channel } // Request that the lower-priority task run at next opportunity - scheduleAuxiliaryTask(gTriggerSamplesTask); + BeagleRT_scheduleAuxiliaryTask(gTriggerSamplesTask); } // Initialise the auxiliary task @@ -81,7 +73,7 @@ bool initialise_trigger() { - if((gTriggerSamplesTask = createAuxiliaryTaskLoop(&trigger_samples, 50, "beaglert-trigger-samples")) == 0) + if((gTriggerSamplesTask = BeagleRT_createAuxiliaryTask(&trigger_samples, 50, "beaglert-trigger-samples")) == 0) return false; rt_printf("Press 'a' to trigger sample, 's' to stop\n"); @@ -124,10 +116,10 @@ -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { delete[] gSampleData.samples; }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/scope/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,97 @@ +/* + * main.cpp + * + * Created on: Oct 24, 2014 + * Author: parallels + */ +#include <unistd.h> +#include <iostream> +#include <cstdlib> +#include <libgen.h> +#include <signal.h> +#include <getopt.h> +#include <BeagleRT.h> + +using namespace std; + +// Handle Ctrl-C by requesting that the audio rendering stop +void interrupt_handler(int var) +{ + gShouldStop = true; +} + +// Print usage information +void usage(const char * processName) +{ + cerr << "Usage: " << processName << " [options]" << endl; + + BeagleRT_usage(); + + cerr << " --frequency [-f] frequency: Set the frequency of the oscillator\n"; + cerr << " --help [-h]: Print this menu\n"; +} + +int main(int argc, char *argv[]) +{ + BeagleRTInitSettings settings; // Standard audio settings + float frequency = 440.0; // Frequency of oscillator + + struct option customOptions[] = + { + {"help", 0, NULL, 'h'}, + {"frequency", 1, NULL, 'f'}, + {NULL, 0, NULL, 0} + }; + + // Set default settings + BeagleRT_defaultSettings(&settings); + + // Parse command-line arguments + while (1) { + int c; + if ((c = BeagleRT_getopt_long(argc, argv, "hf:", customOptions, &settings)) < 0) + break; + switch (c) { + case 'h': + usage(basename(argv[0])); + exit(0); + case 'f': + frequency = atof(optarg); + break; + case '?': + default: + usage(basename(argv[0])); + exit(1); + } + } + + // Initialise the PRU audio device + if(BeagleRT_initAudio(&settings, &frequency) != 0) { + cout << "Error: unable to initialise audio" << endl; + return -1; + } + + // Start the audio device running + if(BeagleRT_startAudio()) { + cout << "Error: unable to start real-time audio" << endl; + return -1; + } + + // Set up interrupt handler to catch Control-C and SIGTERM + signal(SIGINT, interrupt_handler); + signal(SIGTERM, interrupt_handler); + + // Run until told to stop + while(!gShouldStop) { + usleep(100000); + } + + // Stop the audio device + BeagleRT_stopAudio(); + + // Clean up any resources allocated for audio + BeagleRT_cleanupAudio(); + + // All done! + return 0; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/scope/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,75 @@ +#include <BeagleRT.h> +#include <Scope.h> +#include <cmath> + +float gPhase1, gPhase2; +float gFrequency1, gFrequency2; +float gInverseSampleRate; + +Scope scope; //create a scope object + +// initialise_render() is called once before the audio rendering starts. +// Use it to perform any initialisation and allocation which is dependent +// on the period size or sample rate. +// +// userData holds an opaque pointer to a data structure that was passed +// in from the call to initAudio(). +// +// Return true on success; returning false halts the program. +bool setup(BeagleRTContext *context, void *userData) +{ + scope.setup(context->audioSampleRate); //call this once in setup to initialise the scope + + gInverseSampleRate = 1.0/context->audioSampleRate; + + gPhase1 = 0.0; + gPhase2 = 0.0; + + gFrequency1 = 200.0; + gFrequency2 = 201.0; + return true; +} + +// render() is called regularly at the highest priority by the audio engine. +// Input and output are given from the audio hardware and the other +// ADCs and DACs (if available). If only audio is available, numMatrixFrames +// will be 0. + +void render(BeagleRTContext *context, void *userData) +{ + for(unsigned int n = 0; n < context->audioFrames; n++) { + + float chn1 = sinf(gPhase1); + float chn2 = sinf(gPhase2); + + float chn3 = context->audioIn[n*2 + 0]; + float chn4 = context->audioIn[n*2 + 1]; + + float chn5 = context->analogIn[(int)n/2*8 + 0]; + float chn6 = context->analogIn[(int)n/2*8 + 1]; + +// scope.log(chn1, chn2, chn3, chn4, chn5, chn6); + scope.log(chn1); + //call this once every audio frame + //takes six or fewer floats as parameters + //first parameter becomes channel 1 etc + //to view, click the 'oscilloscope' button on the toolbar while BeagleRT is NOT running + //then click the big red button on the toolbar on this page + + gPhase1 += 2.0 * M_PI * gFrequency1 * gInverseSampleRate; + gPhase2 += 2.0 * M_PI * gFrequency2 * gInverseSampleRate; + if(gPhase1 > 2.0 * M_PI) + gPhase1 -= 2.0 * M_PI; + if(gPhase2 > 2.0 * M_PI) + gPhase2 -= 2.0 * M_PI; + + } +} + +// cleanup_render() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in initialise_render(). + +void cleanup(BeagleRTContext *context, void *userData) +{ + +}
--- a/projects/tank_wars/game.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/tank_wars/game.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -8,7 +8,7 @@ #include <cmath> #include <cstdlib> #include "vector_graphics.h" -#include "../../include/Utilities.h" +#include <Utilities.h> // Virtual screen size int screenWidth, screenHeight;
--- a/projects/tank_wars/main.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/tank_wars/main.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -11,7 +11,7 @@ #include <signal.h> #include <getopt.h> #include <sndfile.h> -#include "../../include/RTAudio.h" +#include <BeagleRT.h> extern int gScreenFramesPerSecond; @@ -77,7 +77,7 @@ int main(int argc, char *argv[]) { - RTAudioSettings settings; // Standard audio settings + BeagleRTInitSettings settings; // Standard audio settings string musicFileName = "music.wav"; string soundBoomFileName = "boom.wav";
--- a/projects/tank_wars/render.cpp Mon Jun 08 01:07:48 2015 +0100 +++ b/projects/tank_wars/render.cpp Tue Aug 18 00:35:15 2015 +0100 @@ -6,8 +6,8 @@ */ -#include "../../include/RTAudio.h" -#include "../../include/Utilities.h" +#include <BeagleRT.h> +#include <Utilities.h> #include "game.h" #include <rtdk.h> #include <cmath> @@ -78,7 +78,7 @@ void screen_update(); -// initialise_render() is called once before the audio rendering starts. +// setup() is called once before the audio rendering starts. // Use it to perform any initialisation and allocation which is dependent // on the period size or sample rate. // @@ -87,26 +87,22 @@ // // Return true on success; returning false halts the program. -bool initialise_render(int numAnalogChannels, int numDigitalChannels, int numAudioChannels, - int numAnalogFramesPerPeriod, - int numAudioFramesPerPeriod, - float analogSampleRate, float audioSampleRate, - void *userData) +bool setup(BeagleRTContext *context, void *userData) { srandom(time(NULL)); // Verify we are running with matrix enabled - if(numAnalogFramesPerPeriod == 0 || numAnalogChannels < 4) { + if(context->analogFrames == 0 || context->analogChannels < 4) { rt_printf("Error: this example needs the matrix enabled with at least 4 channels\n"); return false; } // Initialise audio variables - gAudioFramesPerMatrixFrame = numAudioFramesPerPeriod / numAnalogFramesPerPeriod; - gOscillatorPhaseScaler = 2.0 * M_PI / audioSampleRate; + gAudioFramesPerMatrixFrame = context->audioFrames / context->analogFrames; + gOscillatorPhaseScaler = 2.0 * M_PI / context->audioSampleRate; // Initialise the screen buffers - gScreenBufferMaxLength = 2 * analogSampleRate / gScreenFramesPerSecond; + gScreenBufferMaxLength = 2 * context->analogSampleRate / gScreenFramesPerSecond; gScreenBuffer1 = new float[gScreenBufferMaxLength]; gScreenBuffer2 = new float[gScreenBufferMaxLength]; if(gScreenBuffer1 == 0 || gScreenBuffer2 == 0) { @@ -123,12 +119,12 @@ // Initialise the game setupGame(gScreenWidth, gScreenHeight); - gGameFrameInterval = analogSampleRate / gGameFramesPerSecond; + gGameFrameInterval = context->analogSampleRate / gGameFramesPerSecond; gSamplesUntilNextFrame = gGameFrameInterval; // Initialise auxiliary tasks - if((gScreenUpdateTask = createAuxiliaryTaskLoop(&screen_update, 90, - "beaglert-screen-update")) == 0) + if((gScreenUpdateTask = BeagleRT_createAuxiliaryTask(&screen_update, 90, + "beaglert-screen-update")) == 0) return false; return true; @@ -159,12 +155,11 @@ // ADCs and DACs (if available). If only audio is available, numMatrixFrames // will be 0. -void render(int numAnalogFrames, int numDigitalFrames, int numAudioFrames, float *audioIn, float *audioOut, - float *analogIn, float *analogOut, uint32_t *digital) +void render(BeagleRTContext *context, void *userData) { int audioIndex = 0; - for(int n = 0; n < numAnalogFrames; n++) { + for(unsigned int n = 0; n < context->analogFrames; n++) { for(int k = 0; k < gAudioFramesPerMatrixFrame; k++) { // Render music and sound float audioSample = 0; @@ -193,12 +188,12 @@ gSoundProjectileOscillatorPhase -= 2.0 * M_PI; } - audioOut[2*audioIndex] = audioOut[2*audioIndex + 1] = audioSample; + context->audioOut[2*audioIndex] = context->audioOut[2*audioIndex + 1] = audioSample; audioIndex++; } // First-order lowpass filter to remove noise on launch FSR - float rawSample = AnalogRead(gInputLauncher, n); + float rawSample = analogReadFrame(context, n, gInputLauncher); float launchSample = gLauncherFilterPole * gLauncherLastSample + (1.0f - gLauncherFilterPole) * rawSample; gLauncherLastSample = launchSample; @@ -232,9 +227,9 @@ // Update game physics and cannon angles gSamplesUntilNextFrame = gGameFrameInterval; - setTank1CannonAngle(map(AnalogRead(gInputTank1Angle, n), + setTank1CannonAngle(map(analogReadFrame(context, n, gInputTank1Angle), 0, 1.0, M_PI, 0)); - setTank2CannonAngle(map(AnalogRead(gInputTank2Angle, n), + setTank2CannonAngle(map(analogReadFrame(context, n, gInputTank2Angle), 0, 1.0, M_PI, 0)); nextGameFrame(); @@ -257,21 +252,21 @@ // Rescale screen coordinates to matrix ranges; invert the Y // coordinate to go from normal screen coordinates to scope coordinates - AnalogWriteFrame(gOutputX, n, constrain(map(x, 0, gScreenWidth, 0, 1.0), 0, 1.0)); - AnalogWriteFrame(gOutputY, n, constrain(map(y, 0, gScreenHeight, 1.0, 0), 0, 1.0)); + analogWriteFrameOnce(context, n, gOutputX, constrain(map(x, 0, gScreenWidth, 0, 1.0), 0, 1.0)); + analogWriteFrameOnce(context, n, gOutputY, constrain(map(y, 0, gScreenHeight, 1.0, 0), 0, 1.0)); } else { // Still not ready! Write 0 until something happens - AnalogWriteFrame(gOutputX, n, 0); - AnalogWriteFrame(gOutputY, n, 0); + analogWriteFrameOnce(context, n, gOutputX, 0); + analogWriteFrameOnce(context, n, gOutputY, 0); } if(gameStatusWinner() != 0) { // Blink one LED to show who won // Blink both LEDs when projectile is in motion float val = (gSampleCounter % 4000 > 2000) ? 1.0 : 0; - AnalogWriteFrame(gOutputPlayer1LED, n, gameStatusWinner() == 1 ? val : 0); - AnalogWriteFrame(gOutputPlayer2LED, n, gameStatusWinner() == 2 ? val : 0); + analogWriteFrameOnce(context, n, gOutputPlayer1LED, gameStatusWinner() == 1 ? val : 0); + analogWriteFrameOnce(context, n, gOutputPlayer2LED, gameStatusWinner() == 2 ? val : 0); // After 5 seconds, restart the game gSamplesSinceFinish++; @@ -281,23 +276,23 @@ else if(gameStatusProjectileInMotion()) { // Blink both LEDs when projectile is in motion float val = (gSampleCounter % 2000 > 1000) ? 1.0 : 0; - AnalogWriteFrame(gOutputPlayer1LED, n, val); - AnalogWriteFrame(gOutputPlayer2LED, n, val); + analogWriteFrameOnce(context, n, gOutputPlayer1LED, val); + analogWriteFrameOnce(context, n, gOutputPlayer2LED, val); } else if(gameStatusPlayer1Turn()) { - AnalogWriteFrame(gOutputPlayer1LED, n, 1.0); - AnalogWriteFrame(gOutputPlayer2LED, n, 0); + analogWriteFrameOnce(context, n, gOutputPlayer1LED, 1.0); + analogWriteFrameOnce(context, n, gOutputPlayer2LED, 0); } else { - AnalogWriteFrame(gOutputPlayer2LED, n, 1.0); - AnalogWriteFrame(gOutputPlayer1LED, n, 0); + analogWriteFrameOnce(context, n, gOutputPlayer2LED, 1.0); + analogWriteFrameOnce(context, n, gOutputPlayer1LED, 0); } // Check if we have reached the point where we should next update if(gScreenBufferReadPointer >= gScreenBufferNextUpdateLocation && !gScreenNextBufferReady) { // Update the screen at lower priority than the audio thread - scheduleAuxiliaryTask(gScreenUpdateTask); + BeagleRT_scheduleAuxiliaryTask(gScreenUpdateTask); } gSampleCounter++; @@ -320,10 +315,10 @@ gScreenNextBufferReady = true; } -// cleanup_render() is called once at the end, after the audio has stopped. -// Release any resources that were allocated in initialise_render(). +// cleanup() is called once at the end, after the audio has stopped. +// Release any resources that were allocated in setup(). -void cleanup_render() +void cleanup(BeagleRTContext *context, void *userData) { // Clean up the game state cleanupGame();
--- a/pru_rtaudio.p Mon Jun 08 01:07:48 2015 +0100 +++ b/pru_rtaudio.p Tue Aug 18 00:35:15 2015 +0100 @@ -31,7 +31,8 @@ #define GPIO_CLEARDATAOUT 0x190 #define GPIO_SETDATAOUT 0x194 -#define PRU0_ARM_INTERRUPT 19 +#define PRU0_ARM_INTERRUPT 19 // Interrupt signalling we're done +#define PRU1_ARM_INTERRUPT 20 // Interrupt signalling a block is ready #define C_ADC_DAC_MEM C24 // PRU0 mem #ifdef DBOX_CAPE @@ -144,6 +145,7 @@ #define MCASP_RFIFOCTL 0x1008 #define MCASP_RFIFOSTS 0x100C +#define MCASP_XSTAT_XUNDRN_BIT 0 // Bit to test if there was an underrun #define MCASP_XSTAT_XDATA_BIT 5 // Bit to test for transmit ready #define MCASP_RSTAT_RDATA_BIT 5 // Bit to test for receive ready @@ -382,23 +384,23 @@ .macro HANG //useful for debugging DALOOP: -set r30.t14 -clr r30.t14 + set r30.t14 + clr r30.t14 QBA DALOOP .endm // Bring CS line low to write to DAC .macro DAC_CS_ASSERT - MOV r27, DAC_CS_PIN - MOV r28, DAC_GPIO + GPIO_CLEARDATAOUT - SBBO r27, r28, 0, 4 + MOV r27, DAC_CS_PIN + MOV r28, DAC_GPIO + GPIO_CLEARDATAOUT + SBBO r27, r28, 0, 4 .endm // Bring CS line high at end of DAC transaction .macro DAC_CS_UNASSERT - MOV r27, DAC_CS_PIN - MOV r28, DAC_GPIO + GPIO_SETDATAOUT - SBBO r27, r28, 0, 4 + MOV r27, DAC_CS_PIN + MOV r28, DAC_GPIO + GPIO_SETDATAOUT + SBBO r27, r28, 0, 4 .endm // Write to DAC TX register @@ -410,314 +412,313 @@ // Wait for SPI to finish (uses RXS indicator) .macro DAC_WAIT_FOR_FINISH LOOP: - LBBO r27, reg_spi_addr, SPI_CH0STAT, 4 - QBBC LOOP, r27, 0 + LBBO r27, reg_spi_addr, SPI_CH0STAT, 4 + QBBC LOOP, r27, 0 .endm // Read the RX word to clear .macro DAC_DISCARD_RX - LBBO r27, reg_spi_addr, SPI_CH0RX, 4 + LBBO r27, reg_spi_addr, SPI_CH0RX, 4 .endm // Complete DAC write with chip select .macro DAC_WRITE .mparam reg - DAC_CS_ASSERT - DAC_TX reg - DAC_WAIT_FOR_FINISH - DAC_CS_UNASSERT - DAC_DISCARD_RX + DAC_CS_ASSERT + DAC_TX reg + DAC_WAIT_FOR_FINISH + DAC_CS_UNASSERT + DAC_DISCARD_RX .endm // Bring CS line low to write to ADC .macro ADC_CS_ASSERT - MOV r27, ADC_CS_PIN - MOV r28, ADC_GPIO + GPIO_CLEARDATAOUT - SBBO r27, r28, 0, 4 + MOV r27, ADC_CS_PIN + MOV r28, ADC_GPIO + GPIO_CLEARDATAOUT + SBBO r27, r28, 0, 4 .endm // Bring CS line high at end of ADC transaction .macro ADC_CS_UNASSERT - MOV r27, ADC_CS_PIN - MOV r28, ADC_GPIO + GPIO_SETDATAOUT - SBBO r27, r28, 0, 4 + MOV r27, ADC_CS_PIN + MOV r28, ADC_GPIO + GPIO_SETDATAOUT + SBBO r27, r28, 0, 4 .endm // Write to ADC TX register .macro ADC_TX .mparam data - SBBO data, reg_spi_addr, SPI_CH1TX, 4 + SBBO data, reg_spi_addr, SPI_CH1TX, 4 .endm // Wait for SPI to finish (uses RXS indicator) .macro ADC_WAIT_FOR_FINISH LOOP: - LBBO r27, reg_spi_addr, SPI_CH1STAT, 4 - QBBC LOOP, r27, 0 + LBBO r27, reg_spi_addr, SPI_CH1STAT, 4 + QBBC LOOP, r27, 0 .endm // Read the RX word to clear; store output .macro ADC_RX .mparam data - LBBO data, reg_spi_addr, SPI_CH1RX, 4 + LBBO data, reg_spi_addr, SPI_CH1RX, 4 .endm // Complete ADC write+read with chip select .macro ADC_WRITE .mparam in, out - ADC_CS_ASSERT - ADC_TX in - ADC_WAIT_FOR_FINISH - ADC_RX out - ADC_CS_UNASSERT + ADC_CS_ASSERT + ADC_TX in + ADC_WAIT_FOR_FINISH + ADC_RX out + ADC_CS_UNASSERT .endm // Complete ADC write+read with chip select and also performs IO for digital .macro ADC_WRITE_GPIO .mparam in, out, do_gpio - ADC_CS_ASSERT - ADC_TX in - QBBC GPIO_DONE, reg_flags, FLAG_BIT_USE_DIGITAL //skip if DIGITAL is disabled - AND r27, do_gpio, 0x3 // only do a DIGITAL every 2 SPI I/O - QBNE GPIO_DONE, r27, 0 + ADC_CS_ASSERT + ADC_TX in + QBBC GPIO_DONE, reg_flags, FLAG_BIT_USE_DIGITAL //skip if DIGITAL is disabled + AND r27, do_gpio, 0x3 // only do a DIGITAL every 2 SPI I/O + QBNE GPIO_DONE, r27, 0 //from here to GPIO_DONE takes 1.8us, while usually ADC_WAIT_FOR_FINISH only waits for 1.14us. //TODO: it would be better to split the DIGITAL stuff in two parts: //- one taking place during DAC_WRITE which sets the GPIO_OE //- and the other during ADC_WRITE which actually reads DATAIN and writes CLEAR/SET DATAOUT //r27 is actually r27, so do not use r27 from here to ... - LBBO r27, reg_digital_current, 0, 4 - JAL r28.w0, DIGITAL // note that this is not called as a macro, but with JAL. r28 will contain the return address - SBBO r27, reg_digital_current, 0, 4 + LBBO r27, reg_digital_current, 0, 4 + JAL r28.w0, DIGITAL // note that this is not called as a macro, but with JAL. r28 will contain the return address + SBBO r27, reg_digital_current, 0, 4 //..here you can start using r27 again - ADD reg_digital_current, reg_digital_current, 4 //increment pointer + ADD reg_digital_current, reg_digital_current, 4 //increment pointer GPIO_DONE: - ADC_WAIT_FOR_FINISH - ADC_RX out - ADC_CS_UNASSERT + ADC_WAIT_FOR_FINISH + ADC_RX out + ADC_CS_UNASSERT .endm // Write a McASP register .macro MCASP_REG_WRITE .mparam reg, value - MOV r27, value - SBBO r27, reg_mcasp_addr, reg, 4 + MOV r27, value + SBBO r27, reg_mcasp_addr, reg, 4 .endm // Write a McASP register beyond the 0xFF boundary .macro MCASP_REG_WRITE_EXT .mparam reg, value - MOV r27, value - MOV r28, reg - ADD r28, reg_mcasp_addr, r28 - SBBO r27, r28, 0, 4 + MOV r27, value + MOV r28, reg + ADD r28, reg_mcasp_addr, r28 + SBBO r27, r28, 0, 4 .endm // Read a McASP register .macro MCASP_REG_READ .mparam reg, value - LBBO value, reg_mcasp_addr, reg, 4 + LBBO value, reg_mcasp_addr, reg, 4 .endm // Read a McASP register beyond the 0xFF boundary .macro MCASP_REG_READ_EXT .mparam reg, value - MOV r28, reg - ADD r28, reg_mcasp_addr, r28 - LBBO value, r28, 0, 4 + MOV r28, reg + ADD r28, reg_mcasp_addr, r28 + LBBO value, r28, 0, 4 .endm // Set a bit and wait for it to come up .macro MCASP_REG_SET_BIT_AND_POLL .mparam reg, mask - MOV r27, mask - LBBO r28, reg_mcasp_addr, reg, 4 - OR r28, r28, r27 - SBBO r28, reg_mcasp_addr, reg, 4 + MOV r27, mask + LBBO r28, reg_mcasp_addr, reg, 4 + OR r28, r28, r27 + SBBO r28, reg_mcasp_addr, reg, 4 POLL: - LBBO r28, reg_mcasp_addr, reg, 4 - AND r28, r28, r27 - QBEQ POLL, r28, 0 + LBBO r28, reg_mcasp_addr, reg, 4 + AND r28, r28, r27 + QBEQ POLL, r28, 0 .endm START: - // Set up c24 and c25 offsets with CTBIR register - // Thus C24 points to start of PRU0 RAM - MOV r3, 0x22020 // CTBIR0 - MOV r2, 0 - SBBO r2, r3, 0, 4 + // Set up c24 and c25 offsets with CTBIR register + // Thus C24 points to start of PRU0 RAM + MOV r3, 0x22020 // CTBIR0 + MOV r2, 0 + SBBO r2, r3, 0, 4 - // Set up c28 pointer offset for shared PRU RAM - MOV r3, 0x22028 // CTPPR0 - MOV r2, 0x00000120 // To get address 0x00012000 - SBBO r2, r3, 0, 4 + // Set up c28 pointer offset for shared PRU RAM + MOV r3, 0x22028 // CTPPR0 + MOV r2, 0x00000120 // To get address 0x00012000 + SBBO r2, r3, 0, 4 - // Load useful registers for addressing SPI - MOV reg_comm_addr, SHARED_COMM_MEM_BASE - MOV reg_spi_addr, SPI_BASE - MOV reg_mcasp_addr, MCASP_BASE + // Load useful registers for addressing SPI + MOV reg_comm_addr, SHARED_COMM_MEM_BASE + MOV reg_spi_addr, SPI_BASE + MOV reg_mcasp_addr, MCASP_BASE - // Set ARM such that PRU can write to registers - LBCO r0, C4, 4, 4 - CLR r0, r0, 4 - SBCO r0, C4, 4, 4 + // Set ARM such that PRU can write to registers + LBCO r0, C4, 4, 4 + CLR r0, r0, 4 + SBCO r0, C4, 4, 4 - // Clear flags - MOV reg_flags, 0 + // Clear flags + MOV reg_flags, 0 + // Default number of channels in case SPI disabled + LDI reg_num_channels, 8 - // Default number of channels in case SPI disabled - LDI reg_num_channels, 8 - - // Find out whether we should use DIGITAL - LBBO r2, reg_comm_addr, COMM_USE_DIGITAL, 4 - QBEQ DIGITAL_INIT_DONE, r2, 0 // if we use digital - SET reg_flags, reg_flags, FLAG_BIT_USE_DIGITAL + // Find out whether we should use DIGITAL + LBBO r2, reg_comm_addr, COMM_USE_DIGITAL, 4 + QBEQ DIGITAL_INIT_DONE, r2, 0 // if we use digital + SET reg_flags, reg_flags, FLAG_BIT_USE_DIGITAL /* This block of code is not really needed, as the memory is initialized by ARM before the PRU is started. Will leave it here for future reference DIGITAL_INIT: //set the digital buffer to 0x0000ffff (all inputs), to prevent unwanted high outputs //the loop is unrolled by a factor of four just to take advantage of the speed of SBBO on larger byte bursts, but there is no real need for it - MOV r2, 0x0000ffff //value to store. 0x0000ffff means all inputs - MOV r3, MEM_DIGITAL_BASE //start of the digital buffer - MOV r4, MEM_DIGITAL_BASE+2*MEM_DIGITAL_BUFFER1_OFFSET //end of the digital buffer + MOV r2, 0x0000ffff //value to store. 0x0000ffff means all inputs + MOV r3, MEM_DIGITAL_BASE //start of the digital buffer + MOV r4, MEM_DIGITAL_BASE+2*MEM_DIGITAL_BUFFER1_OFFSET //end of the digital buffer DIGITAL_INIT_BUFFER_LOOP: - SBBO r2, r3, 0, 4 - ADD r3, r3, 4 //increment pointer - QBGT DIGITAL_INIT_BUFFER_LOOP, r3, r4 //loop until we reach the end of the buffer + SBBO r2, r3, 0, 4 + ADD r3, r3, 4 //increment pointer + QBGT DIGITAL_INIT_BUFFER_LOOP, r3, r4 //loop until we reach the end of the buffer */ DIGITAL_INIT_DONE: - // Find out whether we should use SPI ADC and DAC - LBBO r2, reg_comm_addr, COMM_USE_SPI, 4 - QBEQ SPI_FLAG_CHECK_DONE, r2, 0 - SET reg_flags, reg_flags, FLAG_BIT_USE_SPI + // Find out whether we should use SPI ADC and DAC + LBBO r2, reg_comm_addr, COMM_USE_SPI, 4 + QBEQ SPI_FLAG_CHECK_DONE, r2, 0 + SET reg_flags, reg_flags, FLAG_BIT_USE_SPI SPI_FLAG_CHECK_DONE: - // If we don't use SPI, then skip all this init - QBBC SPI_INIT_DONE, reg_flags, FLAG_BIT_USE_SPI + // If we don't use SPI, then skip all this init + QBBC SPI_INIT_DONE, reg_flags, FLAG_BIT_USE_SPI - // Load the number of channels: valid values are 8, 4 or 2 - LBBO reg_num_channels, reg_comm_addr, COMM_NUM_CHANNELS, 4 - QBGT SPI_NUM_CHANNELS_LT8, reg_num_channels, 8 // 8 > num_channels ? - LDI reg_num_channels, 8 // If N >= 8, N = 8 - QBA SPI_NUM_CHANNELS_DONE + // Load the number of channels: valid values are 8, 4 or 2 + LBBO reg_num_channels, reg_comm_addr, COMM_NUM_CHANNELS, 4 + QBGT SPI_NUM_CHANNELS_LT8, reg_num_channels, 8 // 8 > num_channels ? + LDI reg_num_channels, 8 // If N >= 8, N = 8 + QBA SPI_NUM_CHANNELS_DONE SPI_NUM_CHANNELS_LT8: - QBGT SPI_NUM_CHANNELS_LT4, reg_num_channels, 4 // 4 > num_channels ? - LDI reg_num_channels, 4 // If N >= 4, N = 4 - QBA SPI_NUM_CHANNELS_DONE + QBGT SPI_NUM_CHANNELS_LT4, reg_num_channels, 4 // 4 > num_channels ? + LDI reg_num_channels, 4 // If N >= 4, N = 4 + QBA SPI_NUM_CHANNELS_DONE SPI_NUM_CHANNELS_LT4: - LDI reg_num_channels, 2 // else N = 2 + LDI reg_num_channels, 2 // else N = 2 SPI_NUM_CHANNELS_DONE: - // Init SPI clock - MOV r2, 0x02 - MOV r3, CLOCK_BASE + CLOCK_SPI0 - SBBO r2, r3, 0, 4 + // Init SPI clock + MOV r2, 0x02 + MOV r3, CLOCK_BASE + CLOCK_SPI0 + SBBO r2, r3, 0, 4 - // Reset SPI and wait for finish - MOV r2, 0x02 - SBBO r2, reg_spi_addr, SPI_SYSCONFIG, 4 + // Reset SPI and wait for finish + MOV r2, 0x02 + SBBO r2, reg_spi_addr, SPI_SYSCONFIG, 4 SPI_WAIT_RESET: - LBBO r2, reg_spi_addr, SPI_SYSSTATUS, 4 - QBBC SPI_WAIT_RESET, r2, 0 + LBBO r2, reg_spi_addr, SPI_SYSSTATUS, 4 + QBBC SPI_WAIT_RESET, r2, 0 - // Turn off SPI channels - MOV r2, 0 - SBBO r2, reg_spi_addr, SPI_CH0CTRL, 4 - SBBO r2, reg_spi_addr, SPI_CH1CTRL, 4 + // Turn off SPI channels + MOV r2, 0 + SBBO r2, reg_spi_addr, SPI_CH0CTRL, 4 + SBBO r2, reg_spi_addr, SPI_CH1CTRL, 4 - // Set to master; chip select lines enabled (CS0 used for DAC) - MOV r2, 0x00 - SBBO r2, reg_spi_addr, SPI_MODULCTRL, 4 + // Set to master; chip select lines enabled (CS0 used for DAC) + MOV r2, 0x00 + SBBO r2, reg_spi_addr, SPI_MODULCTRL, 4 - // Configure CH0 for DAC - MOV r2, (3 << 27) | (DAC_DPE << 16) | (DAC_TRM << 12) | ((DAC_WL - 1) << 7) | (DAC_CLK_DIV << 2) | DAC_CLK_MODE | (1 << 6) - SBBO r2, reg_spi_addr, SPI_CH0CONF, 4 + // Configure CH0 for DAC + MOV r2, (3 << 27) | (DAC_DPE << 16) | (DAC_TRM << 12) | ((DAC_WL - 1) << 7) | (DAC_CLK_DIV << 2) | DAC_CLK_MODE | (1 << 6) + SBBO r2, reg_spi_addr, SPI_CH0CONF, 4 - // Configure CH1 for ADC - MOV r2, (3 << 27) | (ADC_DPE << 16) | (ADC_TRM << 12) | ((ADC_WL - 1) << 7) | (ADC_CLK_DIV << 2) | ADC_CLK_MODE - SBBO r2, reg_spi_addr, SPI_CH1CONF, 4 + // Configure CH1 for ADC + MOV r2, (3 << 27) | (ADC_DPE << 16) | (ADC_TRM << 12) | ((ADC_WL - 1) << 7) | (ADC_CLK_DIV << 2) | ADC_CLK_MODE + SBBO r2, reg_spi_addr, SPI_CH1CONF, 4 - // Turn on SPI channels - MOV r2, 0x01 - SBBO r2, reg_spi_addr, SPI_CH0CTRL, 4 - SBBO r2, reg_spi_addr, SPI_CH1CTRL, 4 + // Turn on SPI channels + MOV r2, 0x01 + SBBO r2, reg_spi_addr, SPI_CH0CTRL, 4 + SBBO r2, reg_spi_addr, SPI_CH1CTRL, 4 - // DAC power-on reset sequence - MOV r2, (0x07 << AD5668_COMMAND_OFFSET) - DAC_WRITE r2 + // DAC power-on reset sequence + MOV r2, (0x07 << AD5668_COMMAND_OFFSET) + DAC_WRITE r2 - // Initialise ADC - MOV r2, AD7699_CFG_MASK | (0 << AD7699_CHANNEL_OFFSET) | (0 << AD7699_SEQ_OFFSET) - ADC_WRITE r2, r2 + // Initialise ADC + MOV r2, AD7699_CFG_MASK | (0 << AD7699_CHANNEL_OFFSET) | (0 << AD7699_SEQ_OFFSET) + ADC_WRITE r2, r2 - // Enable DAC internal reference - MOV r2, (0x08 << AD5668_COMMAND_OFFSET) | (0x01 << AD5668_REF_OFFSET) - DAC_WRITE r2 + // Enable DAC internal reference + MOV r2, (0x08 << AD5668_COMMAND_OFFSET) | (0x01 << AD5668_REF_OFFSET) + DAC_WRITE r2 - // Read ADC ch0 and ch1: result is always 2 samples behind so start here - MOV r2, AD7699_CFG_MASK | (0x00 << AD7699_CHANNEL_OFFSET) - ADC_WRITE r2, r2 + // Read ADC ch0 and ch1: result is always 2 samples behind so start here + MOV r2, AD7699_CFG_MASK | (0x00 << AD7699_CHANNEL_OFFSET) + ADC_WRITE r2, r2 - MOV r2, AD7699_CFG_MASK | (0x01 << AD7699_CHANNEL_OFFSET) - ADC_WRITE r2, r2 + MOV r2, AD7699_CFG_MASK | (0x01 << AD7699_CHANNEL_OFFSET) + ADC_WRITE r2, r2 SPI_INIT_DONE: -// Prepare McASP0 for audio -MCASP_REG_WRITE MCASP_GBLCTL, 0 // Disable McASP -MCASP_REG_WRITE_EXT MCASP_SRCTL0, 0 // All serialisers off -MCASP_REG_WRITE_EXT MCASP_SRCTL1, 0 -MCASP_REG_WRITE_EXT MCASP_SRCTL2, 0 -MCASP_REG_WRITE_EXT MCASP_SRCTL3, 0 -MCASP_REG_WRITE_EXT MCASP_SRCTL4, 0 -MCASP_REG_WRITE_EXT MCASP_SRCTL5, 0 + // Prepare McASP0 for audio + MCASP_REG_WRITE MCASP_GBLCTL, 0 // Disable McASP + MCASP_REG_WRITE_EXT MCASP_SRCTL0, 0 // All serialisers off + MCASP_REG_WRITE_EXT MCASP_SRCTL1, 0 + MCASP_REG_WRITE_EXT MCASP_SRCTL2, 0 + MCASP_REG_WRITE_EXT MCASP_SRCTL3, 0 + MCASP_REG_WRITE_EXT MCASP_SRCTL4, 0 + MCASP_REG_WRITE_EXT MCASP_SRCTL5, 0 -MCASP_REG_WRITE MCASP_PWRIDLESYSCONFIG, 0x02 // Power on -MCASP_REG_WRITE MCASP_PFUNC, 0x00 // All pins are McASP -MCASP_REG_WRITE MCASP_PDIR, MCASP_OUTPUT_PINS // Set pin direction -MCASP_REG_WRITE MCASP_DLBCTL, 0x00 -MCASP_REG_WRITE MCASP_DITCTL, 0x00 -MCASP_REG_WRITE MCASP_RMASK, MCASP_DATA_MASK // 16 bit data receive -MCASP_REG_WRITE MCASP_RFMT, MCASP_DATA_FORMAT // Set data format -MCASP_REG_WRITE MCASP_AFSRCTL, 0x100 // I2S mode -MCASP_REG_WRITE MCASP_ACLKRCTL, 0x80 // Sample on rising edge -MCASP_REG_WRITE MCASP_AHCLKRCTL, 0x8001 // Internal clock, not inv, /2; irrelevant? -MCASP_REG_WRITE MCASP_RTDM, 0x03 // Enable TDM slots 0 and 1 -MCASP_REG_WRITE MCASP_RINTCTL, 0x00 // No interrupts -MCASP_REG_WRITE MCASP_XMASK, MCASP_DATA_MASK // 16 bit data transmit -MCASP_REG_WRITE MCASP_XFMT, MCASP_DATA_FORMAT // Set data format -MCASP_REG_WRITE MCASP_AFSXCTL, 0x100 // I2S mode -MCASP_REG_WRITE MCASP_ACLKXCTL, 0x00 // Transmit on rising edge, sync. xmit and recv -MCASP_REG_WRITE MCASP_AHCLKXCTL, 0x8001 // External clock from AHCLKX -MCASP_REG_WRITE MCASP_XTDM, 0x03 // Enable TDM slots 0 and 1 -MCASP_REG_WRITE MCASP_XINTCTL, 0x00 // No interrupts + MCASP_REG_WRITE MCASP_PWRIDLESYSCONFIG, 0x02 // Power on + MCASP_REG_WRITE MCASP_PFUNC, 0x00 // All pins are McASP + MCASP_REG_WRITE MCASP_PDIR, MCASP_OUTPUT_PINS // Set pin direction + MCASP_REG_WRITE MCASP_DLBCTL, 0x00 + MCASP_REG_WRITE MCASP_DITCTL, 0x00 + MCASP_REG_WRITE MCASP_RMASK, MCASP_DATA_MASK // 16 bit data receive + MCASP_REG_WRITE MCASP_RFMT, MCASP_DATA_FORMAT // Set data format + MCASP_REG_WRITE MCASP_AFSRCTL, 0x100 // I2S mode + MCASP_REG_WRITE MCASP_ACLKRCTL, 0x80 // Sample on rising edge + MCASP_REG_WRITE MCASP_AHCLKRCTL, 0x8001 // Internal clock, not inv, /2; irrelevant? + MCASP_REG_WRITE MCASP_RTDM, 0x03 // Enable TDM slots 0 and 1 + MCASP_REG_WRITE MCASP_RINTCTL, 0x00 // No interrupts + MCASP_REG_WRITE MCASP_XMASK, MCASP_DATA_MASK // 16 bit data transmit + MCASP_REG_WRITE MCASP_XFMT, MCASP_DATA_FORMAT // Set data format + MCASP_REG_WRITE MCASP_AFSXCTL, 0x100 // I2S mode + MCASP_REG_WRITE MCASP_ACLKXCTL, 0x00 // Transmit on rising edge, sync. xmit and recv + MCASP_REG_WRITE MCASP_AHCLKXCTL, 0x8001 // External clock from AHCLKX + MCASP_REG_WRITE MCASP_XTDM, 0x03 // Enable TDM slots 0 and 1 + MCASP_REG_WRITE MCASP_XINTCTL, 0x00 // No interrupts -MCASP_REG_WRITE_EXT MCASP_SRCTL_R, 0x02 // Set up receive serialiser -MCASP_REG_WRITE_EXT MCASP_SRCTL_X, 0x01 // Set up transmit serialiser -MCASP_REG_WRITE_EXT MCASP_WFIFOCTL, 0x00 // Disable FIFOs -MCASP_REG_WRITE_EXT MCASP_RFIFOCTL, 0x00 + MCASP_REG_WRITE_EXT MCASP_SRCTL_R, 0x02 // Set up receive serialiser + MCASP_REG_WRITE_EXT MCASP_SRCTL_X, 0x01 // Set up transmit serialiser + MCASP_REG_WRITE_EXT MCASP_WFIFOCTL, 0x00 // Disable FIFOs + MCASP_REG_WRITE_EXT MCASP_RFIFOCTL, 0x00 -MCASP_REG_WRITE MCASP_XSTAT, 0xFF // Clear transmit errors -MCASP_REG_WRITE MCASP_RSTAT, 0xFF // Clear receive errors + MCASP_REG_WRITE MCASP_XSTAT, 0xFF // Clear transmit errors + MCASP_REG_WRITE MCASP_RSTAT, 0xFF // Clear receive errors -MCASP_REG_SET_BIT_AND_POLL MCASP_RGBLCTL, (1 << 1) // Set RHCLKRST -MCASP_REG_SET_BIT_AND_POLL MCASP_XGBLCTL, (1 << 9) // Set XHCLKRST + MCASP_REG_SET_BIT_AND_POLL MCASP_RGBLCTL, (1 << 1) // Set RHCLKRST + MCASP_REG_SET_BIT_AND_POLL MCASP_XGBLCTL, (1 << 9) // Set XHCLKRST // The above write sequence will have temporarily changed the AHCLKX frequency // The PLL needs time to settle or the sample rate will be unstable and possibly // cause an underrun. Give it ~1ms before going on. // 10ns per loop iteration = 10^-8s --> 10^5 iterations needed - MOV r2, 1 << 28 - MOV r3, GPIO1 + GPIO_SETDATAOUT - SBBO r2, r3, 0, 4 + MOV r2, 1 << 28 + MOV r3, GPIO1 + GPIO_SETDATAOUT + SBBO r2, r3, 0, 4 MOV r2, 100000 MCASP_INIT_WAIT: - SUB r2, r2, 1 - QBNE MCASP_INIT_WAIT, r2, 0 + SUB r2, r2, 1 + QBNE MCASP_INIT_WAIT, r2, 0 - MOV r2, 1 << 28 - MOV r3, GPIO1 + GPIO_CLEARDATAOUT - SBBO r2, r3, 0, 4 - + MOV r2, 1 << 28 + MOV r3, GPIO1 + GPIO_CLEARDATAOUT + SBBO r2, r3, 0, 4 + MCASP_REG_SET_BIT_AND_POLL MCASP_RGBLCTL, (1 << 0) // Set RCLKRST MCASP_REG_SET_BIT_AND_POLL MCASP_XGBLCTL, (1 << 8) // Set XCLKRST MCASP_REG_SET_BIT_AND_POLL MCASP_RGBLCTL, (1 << 2) // Set RSRCLR @@ -777,263 +778,263 @@ // Here we are out of sync by one TDM slot since the 0 word transmitted above will have occupied // the first output slot. Send one more word before jumping into the loop. MCASP_DAC_WAIT_BEFORE_LOOP: - LBBO r2, reg_mcasp_addr, MCASP_XSTAT, 4 - QBBC MCASP_DAC_WAIT_BEFORE_LOOP, r2, MCASP_XSTAT_XDATA_BIT + LBBO r2, reg_mcasp_addr, MCASP_XSTAT, 4 + QBBC MCASP_DAC_WAIT_BEFORE_LOOP, r2, MCASP_XSTAT_XDATA_BIT - MCASP_REG_WRITE_EXT MCASP_XBUF, 0x00 + MCASP_REG_WRITE_EXT MCASP_XBUF, 0x00 // Likewise, read and discard the first sample we get back from the ADC. This keeps the DAC and ADC // in sync in terms of which TDM slot we are reading (empirically found that we should throw this away // rather than keep it and invert the phase) MCASP_ADC_WAIT_BEFORE_LOOP: - LBBO r2, reg_mcasp_addr, MCASP_RSTAT, 4 - QBBC MCASP_ADC_WAIT_BEFORE_LOOP, r2, MCASP_RSTAT_RDATA_BIT + LBBO r2, reg_mcasp_addr, MCASP_RSTAT, 4 + QBBC MCASP_ADC_WAIT_BEFORE_LOOP, r2, MCASP_RSTAT_RDATA_BIT - MCASP_REG_READ_EXT MCASP_RBUF, r2 + MCASP_REG_READ_EXT MCASP_RBUF, r2 WRITE_ONE_BUFFER: - // Write a single buffer of DAC samples and read a buffer of ADC samples - // Load starting positions - MOV reg_dac_current, reg_dac_buf0 // DAC: reg_dac_current is current pointer - LMBD r2, reg_num_channels, 1 // 1, 2 or 3 for 2, 4 or 8 channels - LSL reg_adc_current, reg_frame_total, r2 - LSL reg_adc_current, reg_adc_current, 2 // N * 2 * 2 * bufsize - ADD reg_adc_current, reg_adc_current, reg_dac_current // ADC: starts N * 2 * 2 * bufsize beyond DAC - MOV reg_mcasp_dac_current, reg_mcasp_buf0 // McASP: set current DAC pointer - LSL reg_mcasp_adc_current, reg_frame_total, r2 // McASP ADC: starts (N/2)*2*2*bufsize beyond DAC - LSL reg_mcasp_adc_current, reg_mcasp_adc_current, 1 - ADC reg_mcasp_adc_current, reg_mcasp_adc_current, reg_mcasp_dac_current - MOV reg_frame_current, 0 - QBBS DIGITAL_BASE_CHECK_SET, reg_flags, FLAG_BIT_BUFFER1 //check which buffer we are using for DIGITAL + // Write a single buffer of DAC samples and read a buffer of ADC samples + // Load starting positions + MOV reg_dac_current, reg_dac_buf0 // DAC: reg_dac_current is current pointer + LMBD r2, reg_num_channels, 1 // 1, 2 or 3 for 2, 4 or 8 channels + LSL reg_adc_current, reg_frame_total, r2 + LSL reg_adc_current, reg_adc_current, 2 // N * 2 * 2 * bufsize + ADD reg_adc_current, reg_adc_current, reg_dac_current // ADC: starts N * 2 * 2 * bufsize beyond DAC + MOV reg_mcasp_dac_current, reg_mcasp_buf0 // McASP: set current DAC pointer + LSL reg_mcasp_adc_current, reg_frame_total, r2 // McASP ADC: starts (N/2)*2*2*bufsize beyond DAC + LSL reg_mcasp_adc_current, reg_mcasp_adc_current, 1 + ADC reg_mcasp_adc_current, reg_mcasp_adc_current, reg_mcasp_dac_current + MOV reg_frame_current, 0 + QBBS DIGITAL_BASE_CHECK_SET, reg_flags, FLAG_BIT_BUFFER1 //check which buffer we are using for DIGITAL // if we are here, we are using buffer0 - MOV reg_digital_current, MEM_DIGITAL_BASE - QBA DIGITAL_BASE_CHECK_DONE + MOV reg_digital_current, MEM_DIGITAL_BASE + QBA DIGITAL_BASE_CHECK_DONE DIGITAL_BASE_CHECK_SET: //if we are here, we are using buffer1 - MOV reg_digital_current, MEM_DIGITAL_BASE+MEM_DIGITAL_BUFFER1_OFFSET //so adjust offset appropriately + MOV reg_digital_current, MEM_DIGITAL_BASE+MEM_DIGITAL_BUFFER1_OFFSET //so adjust offset appropriately DIGITAL_BASE_CHECK_DONE: WRITE_LOOP: - // Write N channels to DAC from successive values in memory - // At the same time, read N channels from ADC - // Unrolled by a factor of 2 to get high and low words - MOV r1, 0 + // Write N channels to DAC from successive values in memory + // At the same time, read N channels from ADC + // Unrolled by a factor of 2 to get high and low words + MOV r1, 0 ADC_DAC_LOOP: - QBBC SPI_DAC_LOAD_DONE, reg_flags, FLAG_BIT_USE_SPI - // Load next 2 SPI DAC samples and store zero in their place - LBCO reg_dac_data, C_ADC_DAC_MEM, reg_dac_current, 4 - MOV r2, 0 - SBCO r2, C_ADC_DAC_MEM, reg_dac_current, 4 - ADD reg_dac_current, reg_dac_current, 4 + QBBC SPI_DAC_LOAD_DONE, reg_flags, FLAG_BIT_USE_SPI + // Load next 2 SPI DAC samples and store zero in their place + LBCO reg_dac_data, C_ADC_DAC_MEM, reg_dac_current, 4 + MOV r2, 0 + SBCO r2, C_ADC_DAC_MEM, reg_dac_current, 4 + ADD reg_dac_current, reg_dac_current, 4 SPI_DAC_LOAD_DONE: - // On even iterations, load two more samples and choose the first one - // On odd iterations, transmit the second of the samples already loaded - // QBBS MCASP_DAC_HIGH_WORD, r1, 1 - QBBS MCASP_DAC_HIGH_WORD, reg_flags, FLAG_BIT_MCASP_HWORD + // On even iterations, load two more samples and choose the first one + // On odd iterations, transmit the second of the samples already loaded + // QBBS MCASP_DAC_HIGH_WORD, r1, 1 + QBBS MCASP_DAC_HIGH_WORD, reg_flags, FLAG_BIT_MCASP_HWORD MCASP_DAC_LOW_WORD: - // Load next 2 Audio DAC samples and store zero in their place - LBCO reg_mcasp_dac_data, C_MCASP_MEM, reg_mcasp_dac_current, 4 - MOV r2, 0 - SBCO r2, C_MCASP_MEM, reg_mcasp_dac_current, 4 - ADD reg_mcasp_dac_current, reg_mcasp_dac_current, 4 + // Load next 2 Audio DAC samples and store zero in their place + LBCO reg_mcasp_dac_data, C_MCASP_MEM, reg_mcasp_dac_current, 4 + MOV r2, 0 + SBCO r2, C_MCASP_MEM, reg_mcasp_dac_current, 4 + ADD reg_mcasp_dac_current, reg_mcasp_dac_current, 4 - // Mask out the low word (first in little endian) - MOV r2, 0xFFFF - AND r7, reg_mcasp_dac_data, r2 + // Mask out the low word (first in little endian) + MOV r2, 0xFFFF + AND r7, reg_mcasp_dac_data, r2 - QBA MCASP_WAIT_XSTAT + QBA MCASP_WAIT_XSTAT MCASP_DAC_HIGH_WORD: - // Take the high word of the previously loaded data - LSR r7, reg_mcasp_dac_data, 16 + // Take the high word of the previously loaded data + LSR r7, reg_mcasp_dac_data, 16 - // Every 2 channels we send one audio sample; this loop already - // sends exactly two SPI channels. - // Wait for McASP XSTAT[XDATA] to set indicating we can write more data + // Every 2 channels we send one audio sample; this loop already + // sends exactly two SPI channels. + // Wait for McASP XSTAT[XDATA] to set indicating we can write more data MCASP_WAIT_XSTAT: - LBBO r2, reg_mcasp_addr, MCASP_XSTAT, 4 - QBBC MCASP_WAIT_XSTAT, r2, MCASP_XSTAT_XDATA_BIT + LBBO r2, reg_mcasp_addr, MCASP_XSTAT, 4 + QBBS START, r2, MCASP_XSTAT_XUNDRN_BIT // if underrun occurred, reset the PRU + QBBC MCASP_WAIT_XSTAT, r2, MCASP_XSTAT_XDATA_BIT - MCASP_REG_WRITE_EXT MCASP_XBUF, r7 + MCASP_REG_WRITE_EXT MCASP_XBUF, r7 - // Same idea with ADC: even iterations, load the sample into the low word, odd - // iterations, load the sample into the high word and store - // QBBS MCASP_ADC_HIGH_WORD, r1, 1 - QBBS MCASP_ADC_HIGH_WORD, reg_flags, FLAG_BIT_MCASP_HWORD + // Same idea with ADC: even iterations, load the sample into the low word, odd + // iterations, load the sample into the high word and store + // QBBS MCASP_ADC_HIGH_WORD, r1, 1 + QBBS MCASP_ADC_HIGH_WORD, reg_flags, FLAG_BIT_MCASP_HWORD MCASP_ADC_LOW_WORD: - // Start ADC data at 0 - LDI reg_mcasp_adc_data, 0 + // Start ADC data at 0 + LDI reg_mcasp_adc_data, 0 - // Now wait for a received word to become available from the audio ADC + // Now wait for a received word to become available from the audio ADC MCASP_WAIT_RSTAT_LOW: - LBBO r2, reg_mcasp_addr, MCASP_RSTAT, 4 - QBBC MCASP_WAIT_RSTAT_LOW, r2, MCASP_RSTAT_RDATA_BIT + LBBO r2, reg_mcasp_addr, MCASP_RSTAT, 4 + QBBC MCASP_WAIT_RSTAT_LOW, r2, MCASP_RSTAT_RDATA_BIT - // Mask low word and store in ADC data register - MCASP_REG_READ_EXT MCASP_RBUF, r3 - MOV r2, 0xFFFF - AND reg_mcasp_adc_data, r3, r2 - QBA MCASP_ADC_DONE + // Mask low word and store in ADC data register + MCASP_REG_READ_EXT MCASP_RBUF, r3 + MOV r2, 0xFFFF + AND reg_mcasp_adc_data, r3, r2 + QBA MCASP_ADC_DONE MCASP_ADC_HIGH_WORD: - // Wait for a received word to become available from the audio ADC + // Wait for a received word to become available from the audio ADC MCASP_WAIT_RSTAT_HIGH: - LBBO r2, reg_mcasp_addr, MCASP_RSTAT, 4 - QBBC MCASP_WAIT_RSTAT_HIGH, r2, MCASP_RSTAT_RDATA_BIT + LBBO r2, reg_mcasp_addr, MCASP_RSTAT, 4 + QBBC MCASP_WAIT_RSTAT_HIGH, r2, MCASP_RSTAT_RDATA_BIT - // Read data and shift 16 bits to the left (into the high word) - MCASP_REG_READ_EXT MCASP_RBUF, r3 - LSL r3, r3, 16 - OR reg_mcasp_adc_data, reg_mcasp_adc_data, r3 + // Read data and shift 16 bits to the left (into the high word) + MCASP_REG_READ_EXT MCASP_RBUF, r3 + LSL r3, r3, 16 + OR reg_mcasp_adc_data, reg_mcasp_adc_data, r3 - // Now store the result and increment the pointer - SBCO reg_mcasp_adc_data, C_MCASP_MEM, reg_mcasp_adc_current, 4 - ADD reg_mcasp_adc_current, reg_mcasp_adc_current, 4 + // Now store the result and increment the pointer + SBCO reg_mcasp_adc_data, C_MCASP_MEM, reg_mcasp_adc_current, 4 + ADD reg_mcasp_adc_current, reg_mcasp_adc_current, 4 MCASP_ADC_DONE: - QBBC SPI_SKIP_WRITE, reg_flags, FLAG_BIT_USE_SPI + QBBC SPI_SKIP_WRITE, reg_flags, FLAG_BIT_USE_SPI - // DAC: transmit low word (first in little endian) - MOV r2, 0xFFFF - AND r7, reg_dac_data, r2 - LSL r7, r7, AD5668_DATA_OFFSET - MOV r8, (0x03 << AD5668_COMMAND_OFFSET) - OR r7, r7, r8 - LSL r8, r1, AD5668_ADDRESS_OFFSET - OR r7, r7, r8 - DAC_WRITE r7 + // DAC: transmit low word (first in little endian) + MOV r2, 0xFFFF + AND r7, reg_dac_data, r2 + LSL r7, r7, AD5668_DATA_OFFSET + MOV r8, (0x03 << AD5668_COMMAND_OFFSET) + OR r7, r7, r8 + LSL r8, r1, AD5668_ADDRESS_OFFSET + OR r7, r7, r8 + DAC_WRITE r7 - // Read ADC channels: result is always 2 commands behind - // Start by reading channel 2 (result is channel 0) and go - // to N+2, but masking the channel number to be between 0 and N-1 - LDI reg_adc_data, 0 - ADD r8, r1, 2 - SUB r7, reg_num_channels, 1 - AND r8, r8, r7 - LSL r8, r8, AD7699_CHANNEL_OFFSET - MOV r7, AD7699_CFG_MASK - OR r7, r7, r8 + // Read ADC channels: result is always 2 commands behind + // Start by reading channel 2 (result is channel 0) and go + // to N+2, but masking the channel number to be between 0 and N-1 + LDI reg_adc_data, 0 + ADD r8, r1, 2 + SUB r7, reg_num_channels, 1 + AND r8, r8, r7 + LSL r8, r8, AD7699_CHANNEL_OFFSET + MOV r7, AD7699_CFG_MASK + OR r7, r7, r8 -//ssssssssssssssssssssssssssss - ADC_WRITE_GPIO r7, r7, r1 + ADC_WRITE_GPIO r7, r7, r1 - // Mask out only the relevant 16 bits and store in reg_adc_data - MOV r2, 0xFFFF - AND reg_adc_data, r7, r2 + // Mask out only the relevant 16 bits and store in reg_adc_data + MOV r2, 0xFFFF + AND reg_adc_data, r7, r2 + // Increment channel index + ADD r1, r1, 1 - // Increment channel index - ADD r1, r1, 1 + // DAC: transmit high word (second in little endian) + LSR r7, reg_dac_data, 16 + LSL r7, r7, AD5668_DATA_OFFSET + MOV r8, (0x03 << AD5668_COMMAND_OFFSET) + OR r7, r7, r8 + LSL r8, r1, AD5668_ADDRESS_OFFSET + OR r7, r7, r8 + DAC_WRITE r7 - // DAC: transmit high word (second in little endian) - LSR r7, reg_dac_data, 16 - LSL r7, r7, AD5668_DATA_OFFSET - MOV r8, (0x03 << AD5668_COMMAND_OFFSET) - OR r7, r7, r8 - LSL r8, r1, AD5668_ADDRESS_OFFSET - OR r7, r7, r8 - DAC_WRITE r7 + // Read ADC channels: result is always 2 commands behind + // Start by reading channel 2 (result is channel 0) and go + // to N+2, but masking the channel number to be between 0 and N-1 + ADD r8, r1, 2 + SUB r7, reg_num_channels, 1 + AND r8, r8, r7 + LSL r8, r8, AD7699_CHANNEL_OFFSET + MOV r7, AD7699_CFG_MASK + OR r7, r7, r8 + ADC_WRITE r7, r7 - // Read ADC channels: result is always 2 commands behind - // Start by reading channel 2 (result is channel 0) and go - // to N+2, but masking the channel number to be between 0 and N-1 - ADD r8, r1, 2 - SUB r7, reg_num_channels, 1 - AND r8, r8, r7 - LSL r8, r8, AD7699_CHANNEL_OFFSET - MOV r7, AD7699_CFG_MASK - OR r7, r7, r8 - ADC_WRITE r7, r7 + // Move this result up to the 16 high bits + LSL r7, r7, 16 + OR reg_adc_data, reg_adc_data, r7 - // Move this result up to the 16 high bits - LSL r7, r7, 16 - OR reg_adc_data, reg_adc_data, r7 + // Store 2 ADC words in memory + SBCO reg_adc_data, C_ADC_DAC_MEM, reg_adc_current, 4 + ADD reg_adc_current, reg_adc_current, 4 - // Store 2 ADC words in memory - SBCO reg_adc_data, C_ADC_DAC_MEM, reg_adc_current, 4 - ADD reg_adc_current, reg_adc_current, 4 + // Toggle the high/low word for McASP control (since we send one word out of + // 32 bits for each pair of SPI channels) + XOR reg_flags, reg_flags, (1 << FLAG_BIT_MCASP_HWORD) + + // Repeat 4 times for 8 channels (2 samples per loop, r1 += 1 already happened) + // For 4 or 2 channels, repeat 2 or 1 times, according to flags + ADD r1, r1, 1 + QBNE ADC_DAC_LOOP, r1, reg_num_channels + QBA ADC_DAC_LOOP_DONE +SPI_SKIP_WRITE: + // We get here only if the SPI ADC and DAC are disabled + // Just keep the loop going for McASP - // Toggle the high/low word for McASP control (since we send one word out of - // 32 bits for each pair of SPI channels) - XOR reg_flags, reg_flags, (1 << FLAG_BIT_MCASP_HWORD) - - // Repeat 4 times for 8 channels (2 samples per loop, r1 += 1 already happened) - // For 4 or 2 channels, repeat 2 or 1 times, according to flags - ADD r1, r1, 1 - QBNE ADC_DAC_LOOP, r1, reg_num_channels - QBA ADC_DAC_LOOP_DONE -SPI_SKIP_WRITE: - // We get here only if the SPI ADC and DAC are disabled - // Just keep the loop going for McASP + // Toggle the high/low word for McASP control (since we send one word out of + // 32 bits for each pair of SPI channels) + XOR reg_flags, reg_flags, (1 << FLAG_BIT_MCASP_HWORD) - // Toggle the high/low word for McASP control (since we send one word out of - // 32 bits for each pair of SPI channels) - XOR reg_flags, reg_flags, (1 << FLAG_BIT_MCASP_HWORD) - - ADD r1, r1, 2 - QBNE ADC_DAC_LOOP, r1, reg_num_channels + ADD r1, r1, 2 + QBNE ADC_DAC_LOOP, r1, reg_num_channels ADC_DAC_LOOP_DONE: - // Increment number of frames, see if we have more to write - ADD reg_frame_current, reg_frame_current, 1 - QBNE WRITE_LOOP, reg_frame_current, reg_frame_total + // Increment number of frames, see if we have more to write + ADD reg_frame_current, reg_frame_current, 1 + QBNE WRITE_LOOP, reg_frame_current, reg_frame_total WRITE_LOOP_DONE: - // Now done, swap the buffers and do the next one - // Use r2 as a temp register - MOV r2, reg_dac_buf0 - MOV reg_dac_buf0, reg_dac_buf1 - MOV reg_dac_buf1, r2 - MOV r2, reg_mcasp_buf0 - MOV reg_mcasp_buf0, reg_mcasp_buf1 - MOV reg_mcasp_buf1, r2 - XOR reg_flags, reg_flags, (1 << FLAG_BIT_BUFFER1) //flip the buffer flag + // Now done, swap the buffers and do the next one + // Use r2 as a temp register + MOV r2, reg_dac_buf0 + MOV reg_dac_buf0, reg_dac_buf1 + MOV reg_dac_buf1, r2 + MOV r2, reg_mcasp_buf0 + MOV reg_mcasp_buf0, reg_mcasp_buf1 + MOV reg_mcasp_buf1, r2 + XOR reg_flags, reg_flags, (1 << FLAG_BIT_BUFFER1) //flip the buffer flag - // Notify ARM of buffer swap - AND r2, reg_flags, (1 << FLAG_BIT_BUFFER1) // Mask out every but low bit - SBBO r2, reg_comm_addr, COMM_CURRENT_BUFFER, 4 + // Notify ARM of buffer swap + AND r2, reg_flags, (1 << FLAG_BIT_BUFFER1) // Mask out every but low bit + SBBO r2, reg_comm_addr, COMM_CURRENT_BUFFER, 4 + MOV R31.b0, PRU1_ARM_INTERRUPT + 16 // Interrupt to host loop + + // Increment the frame count in the comm buffer (for status monitoring) + LBBO r2, reg_comm_addr, COMM_FRAME_COUNT, 4 + ADD r2, r2, reg_frame_total + SBBO r2, reg_comm_addr, COMM_FRAME_COUNT, 4 - // Increment the frame count in the comm buffer (for status monitoring) - LBBO r2, reg_comm_addr, COMM_FRAME_COUNT, 4 - ADD r2, r2, reg_frame_total - SBBO r2, reg_comm_addr, COMM_FRAME_COUNT, 4 - - // If LED blink enabled, toggle every 4096 frames - LBBO r3, reg_comm_addr, COMM_LED_ADDRESS, 4 - QBEQ LED_BLINK_DONE, r3, 0 - MOV r1, 0x1000 - AND r2, r2, r1 // Test (frame count & 4096) - QBEQ LED_BLINK_OFF, r2, 0 - LBBO r2, reg_comm_addr, COMM_LED_PIN_MASK, 4 - MOV r1, GPIO_SETDATAOUT - ADD r3, r3, r1 // Address for GPIO set register - SBBO r2, r3, 0, 4 // Set GPIO pin - QBA LED_BLINK_DONE + // If LED blink enabled, toggle every 4096 frames + LBBO r3, reg_comm_addr, COMM_LED_ADDRESS, 4 + QBEQ LED_BLINK_DONE, r3, 0 + MOV r1, 0x1000 + AND r2, r2, r1 // Test (frame count & 4096) + QBEQ LED_BLINK_OFF, r2, 0 + LBBO r2, reg_comm_addr, COMM_LED_PIN_MASK, 4 + MOV r1, GPIO_SETDATAOUT + ADD r3, r3, r1 // Address for GPIO set register + SBBO r2, r3, 0, 4 // Set GPIO pin + QBA LED_BLINK_DONE LED_BLINK_OFF: - LBBO r2, reg_comm_addr, COMM_LED_PIN_MASK, 4 - MOV r1, GPIO_CLEARDATAOUT - ADD r3, r3, r1 // Address for GPIO clear register - SBBO r2, r3, 0, 4 // Clear GPIO pin + LBBO r2, reg_comm_addr, COMM_LED_PIN_MASK, 4 + MOV r1, GPIO_CLEARDATAOUT + ADD r3, r3, r1 // Address for GPIO clear register + SBBO r2, r3, 0, 4 // Clear GPIO pin LED_BLINK_DONE: - // Check if we should finish: flag is zero as long as it should run - LBBO r2, reg_comm_addr, COMM_SHOULD_STOP, 4 - QBEQ WRITE_ONE_BUFFER, r2, 0 + // Check if we should finish: flag is zero as long as it should run + LBBO r2, reg_comm_addr, COMM_SHOULD_STOP, 4 + QBEQ WRITE_ONE_BUFFER, r2, 0 CLEANUP: - MCASP_REG_WRITE MCASP_GBLCTL, 0x00 // Turn off McASP + MCASP_REG_WRITE MCASP_GBLCTL, 0x00 // Turn off McASP - // Turn off SPI if enabled - QBBC SPI_CLEANUP_DONE, reg_flags, FLAG_BIT_USE_SPI + // Turn off SPI if enabled + QBBC SPI_CLEANUP_DONE, reg_flags, FLAG_BIT_USE_SPI - MOV r3, SPI_BASE + SPI_CH0CONF - LBBO r2, r3, 0, 4 - CLR r2, r2, 13 - CLR r2, r2, 27 - SBBO r2, r3, 0, 4 + MOV r3, SPI_BASE + SPI_CH0CONF + LBBO r2, r3, 0, 4 + CLR r2, r2, 13 + CLR r2, r2, 27 + SBBO r2, r3, 0, 4 - MOV r3, SPI_BASE + SPI_CH0CTRL - LBBO r2, r3, 0, 4 - CLR r2, r2, 1 - SBBO r2, r3, 0, 4 + MOV r3, SPI_BASE + SPI_CH0CTRL + LBBO r2, r3, 0, 4 + CLR r2, r2, 1 + SBBO r2, r3, 0, 4 SPI_CLEANUP_DONE: - // Signal the ARM that we have finished - MOV R31.b0, PRU0_ARM_INTERRUPT + 16 - HALT + // Signal the ARM that we have finished + MOV R31.b0, PRU0_ARM_INTERRUPT + 16 + HALT
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/resources/am335x-boneblack.dts Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,1251 @@ +/dts-v1/; + +/ { + #address-cells = <0x1>; + #size-cells = <0x1>; + compatible = "ti,am335x-bone", "ti,am33xx"; + interrupt-parent = <0x1>; + model = "TI AM335x BeagleBone"; + + chosen { + }; + + aliases { + serial0 = "/ocp/serial@44e09000"; + serial1 = "/ocp/serial@48022000"; + serial2 = "/ocp/serial@48024000"; + serial3 = "/ocp/serial@481a6000"; + serial4 = "/ocp/serial@481a8000"; + serial5 = "/ocp/serial@481aa000"; + }; + + memory { + device_type = "memory"; + reg = <0x80000000 0x10000000>; + }; + + cpus { + + cpu@0 { + compatible = "arm,cortex-a8"; + operating-points = <0xf4240 0x149970 0xc3500 0x13d620 0x927c0 0x10f7c0 0x493e0 0xec928>; + voltage-tolerance = <0x2>; + clock-latency = <0x493e0>; + cpu0-supply = <0x2>; + linux,phandle = <0x12>; + phandle = <0x12>; + }; + }; + + soc { + compatible = "ti,omap-infra"; + + mpu { + compatible = "ti,omap3-mpu"; + ti,hwmods = "mpu"; + }; + }; + + pinmux@44e10800 { + compatible = "pinctrl-single"; + reg = <0x44e10800 0x238>; + #address-cells = <0x1>; + #size-cells = <0x0>; + pinctrl-single,register-width = <0x20>; + pinctrl-single,function-mask = <0x7f>; + pinctrl-names = "default"; + pinctrl-0 = <0x3>; + linux,phandle = <0x13>; + phandle = <0x13>; + + pinmux_userled_pins { + pinctrl-single,pins = <0x54 0x7 0x58 0x17 0x5c 0x7 0x60 0x17 +// /*PRU1 GPO 0-7*/ 0xa0 0x05 0xa4 0x05 0xa8 0x05 0xac 0x05 0xb0 0x05 0xb4 0x05 0xb8 0x05 0xbc 0x05 +/*GPIOrt pins*/ 0x90 0x27 0x94 0x27 0x9c 0x27 0x98 0x27 0x34 0x27 0x30 0x27 0x78 0x27 0x48 0x27 0x3c 0x27 0x38 0x27 0x4c 0x27 0x8c 0x27 0xe0 0x27 0xe8 0x27 0xe4 0x27 0xec 0x27 +// /*GPIOrt pins with PRU0 gpo*/ 0x90 0x27 0x94 0x27 0x9c 0x27 0x98 0x27 0x34 0x06 0x30 0x06 0x78 0x27 0x48 0x27 0x3c 0x27 0x38 0x27 0x4c 0x27 0x8c 0x27 0xe0 0x27 0xe8 0x27 0xe4 0x27 0xec 0x27 +>; + linux,phandle = <0x3>; + phandle = <0x3>; + }; + + pinmux_i2c0_pins { + pinctrl-single,pins = <0x188 0x70 0x18c 0x70>; + linux,phandle = <0x6>; + phandle = <0x6>; + }; + + pinmux_i2c1_pins { + pinctrl-single,pins = <0x180 0x73 0x184 0x73>; + linux,phandle = <0x7>; + phandle = <0x7>; + }; + + pinmux_i2c2_pins { + pinctrl-single,pins = <0x178 0x73 0x17c 0x73>; + linux,phandle = <0x8>; + phandle = <0x8>; + }; + + pinmux_rstctl_pins { + pinctrl-single,pins = <0x50 0x17>; + linux,phandle = <0x4>; + phandle = <0x4>; + }; + }; + + ocp { + compatible = "simple-bus"; + #address-cells = <0x1>; + #size-cells = <0x1>; + ranges; + ti,hwmods = "l3_main"; + linux,phandle = <0x14>; + phandle = <0x14>; + + interrupt-controller@48200000 { + compatible = "ti,omap2-intc"; + interrupt-controller; + #interrupt-cells = <0x1>; + ti,intc-size = <0x80>; + reg = <0x48200000 0x1000>; + linux,phandle = <0x1>; + phandle = <0x1>; + }; + + edma@49000000 { + compatible = "ti,edma3"; + ti,hwmods = "tpcc", "tptc0", "tptc1", "tptc2"; + reg = <0x49000000 0x10000 0x44e10f90 0x40>; + interrupt-parent = <0x1>; + interrupts = <0xc 0xd 0xe>; + #dma-cells = <0x1>; + dma-channels = <0x40>; + ti,edma-regions = <0x4>; + ti,edma-slots = <0x100>; + ti,edma-queue-tc-map = <0x0 0x0 0x1 0x1 0x2 0x2>; + ti,edma-queue-priority-map = <0x0 0x0 0x1 0x1 0x2 0x2>; + ti,edma-default-queue = <0x1>; + ti,edma-xbar-event-map = <0x20 0xc 0x1e 0x14>; + linux,phandle = <0x9>; + phandle = <0x9>; + }; + + gpio@44e07000 { + compatible = "ti,omap4-gpio"; + ti,hwmods = "gpio1"; + gpio-controller; + #gpio-cells = <0x2>; + interrupt-controller; + #interrupt-cells = <0x1>; + reg = <0x44e07000 0x1000>; + interrupts = <0x60>; + linux,phandle = <0x15>; + phandle = <0x15>; + }; + + gpio@4804c000 { + compatible = "ti,omap4-gpio"; + ti,hwmods = "gpio2"; + gpio-controller; + #gpio-cells = <0x2>; + interrupt-controller; + #interrupt-cells = <0x1>; + reg = <0x4804c000 0x1000>; + interrupts = <0x62>; + linux,phandle = <0x5>; + phandle = <0x5>; + }; + + gpio@481ac000 { + compatible = "ti,omap4-gpio"; + ti,hwmods = "gpio3"; + gpio-controller; + #gpio-cells = <0x2>; + interrupt-controller; + #interrupt-cells = <0x1>; + reg = <0x481ac000 0x1000>; + interrupts = <0x20>; + linux,phandle = <0x16>; + phandle = <0x16>; + }; + + gpio@481ae000 { + compatible = "ti,omap4-gpio"; + ti,hwmods = "gpio4"; + gpio-controller; + #gpio-cells = <0x2>; + interrupt-controller; + #interrupt-cells = <0x1>; + reg = <0x481ae000 0x1000>; + interrupts = <0x3e>; + linux,phandle = <0x17>; + phandle = <0x17>; + }; + + rstctl@0 { + status = "okay"; + compatible = "gpio-rctrl"; + pinctrl-names = "default"; + pinctrl-0 = <0x4>; + #reset-cells = <0x2>; + gpios = <0x5 0x14 0x0>; + gpio-names = "eMMC_RSTn"; + linux,phandle = <0xb>; + phandle = <0xb>; + }; + + serial@44e09000 { + compatible = "ti,omap3-uart"; + ti,hwmods = "uart1"; + clock-frequency = <0x2dc6c00>; + reg = <0x44e09000 0x2000>; + interrupts = <0x48>; + status = "okay"; + linux,phandle = <0x18>; + phandle = <0x18>; + }; + + serial@48022000 { + compatible = "ti,omap3-uart"; + ti,hwmods = "uart2"; + clock-frequency = <0x2dc6c00>; + reg = <0x48022000 0x2000>; + interrupts = <0x49>; + status = "okay"; + linux,phandle = <0x19>; + phandle = <0x19>; + }; + + serial@48024000 { + compatible = "ti,omap3-uart"; + ti,hwmods = "uart3"; + clock-frequency = <0x2dc6c00>; + reg = <0x48024000 0x2000>; + interrupts = <0x4a>; + status = "disabled"; + linux,phandle = <0x1a>; + phandle = <0x1a>; + }; + + serial@481a6000 { + compatible = "ti,omap3-uart"; + ti,hwmods = "uart4"; + clock-frequency = <0x2dc6c00>; + reg = <0x481a6000 0x2000>; + interrupts = <0x2c>; + status = "disabled"; + linux,phandle = <0x1b>; + phandle = <0x1b>; + }; + + serial@481a8000 { + compatible = "ti,omap3-uart"; + ti,hwmods = "uart5"; + clock-frequency = <0x2dc6c00>; + reg = <0x481a8000 0x2000>; + interrupts = <0x2d>; + status = "disabled"; + linux,phandle = <0x1c>; + phandle = <0x1c>; + }; + + serial@481aa000 { + compatible = "ti,omap3-uart"; + ti,hwmods = "uart6"; + clock-frequency = <0x2dc6c00>; + reg = <0x481aa000 0x2000>; + interrupts = <0x2e>; + status = "disabled"; + linux,phandle = <0x1d>; + phandle = <0x1d>; + }; + + i2c@44e0b000 { + compatible = "ti,omap4-i2c"; + #address-cells = <0x1>; + #size-cells = <0x0>; + ti,hwmods = "i2c1"; + reg = <0x44e0b000 0x1000>; + interrupts = <0x46>; + status = "okay"; + clock-frequency = <0x61a80>; + pinctrl-names = "default"; + pinctrl-0 = <0x6>; + linux,phandle = <0x1e>; + phandle = <0x1e>; + + tps@24 { + reg = <0x24>; + compatible = "ti,tps65217"; + ti,pmic-shutdown-controller; + linux,phandle = <0x1f>; + phandle = <0x1f>; + + regulators { + #address-cells = <0x1>; + #size-cells = <0x0>; + + regulator@0 { + reg = <0x0>; + regulator-compatible = "dcdc1"; + regulator-always-on; + linux,phandle = <0x20>; + phandle = <0x20>; + }; + + regulator@1 { + reg = <0x1>; + regulator-compatible = "dcdc2"; + regulator-name = "vdd_mpu"; + regulator-min-microvolt = <0xe1d48>; + regulator-max-microvolt = <0x1437c8>; + regulator-boot-on; + regulator-always-on; + linux,phandle = <0x2>; + phandle = <0x2>; + }; + + regulator@2 { + reg = <0x2>; + regulator-compatible = "dcdc3"; + regulator-name = "vdd_core"; + regulator-min-microvolt = <0xe1d48>; + regulator-max-microvolt = <0x118c30>; + regulator-boot-on; + regulator-always-on; + linux,phandle = <0x21>; + phandle = <0x21>; + }; + + regulator@3 { + reg = <0x3>; + regulator-compatible = "ldo1"; + regulator-always-on; + linux,phandle = <0x22>; + phandle = <0x22>; + }; + + regulator@4 { + reg = <0x4>; + regulator-compatible = "ldo2"; + regulator-always-on; + linux,phandle = <0x23>; + phandle = <0x23>; + }; + + regulator@5 { + reg = <0x5>; + regulator-compatible = "ldo3"; + regulator-min-microvolt = <0x1b7740>; + regulator-max-microvolt = <0x1b7740>; + regulator-always-on; + linux,phandle = <0x24>; + phandle = <0x24>; + }; + + regulator@6 { + reg = <0x6>; + regulator-compatible = "ldo4"; + regulator-always-on; + linux,phandle = <0x25>; + phandle = <0x25>; + }; + }; + }; + + baseboard_eeprom@50 { + compatible = "at,24c256"; + reg = <0x50>; + linux,phandle = <0xd>; + phandle = <0xd>; + }; + }; + + i2c@4802a000 { + compatible = "ti,omap4-i2c"; + #address-cells = <0x1>; + #size-cells = <0x0>; + ti,hwmods = "i2c2"; + reg = <0x4802a000 0x1000>; + interrupts = <0x47>; + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <0x7>; + clock-frequency = <0x61a80>; + linux,phandle = <0x26>; + phandle = <0x26>; + }; + + i2c@4819c000 { + compatible = "ti,omap4-i2c"; + #address-cells = <0x1>; + #size-cells = <0x0>; + ti,hwmods = "i2c3"; + reg = <0x4819c000 0x1000>; + interrupts = <0x1e>; + status = "okay"; + pinctrl-names = "default"; + pinctrl-0 = <0x8>; + clock-frequency = <0x186a0>; + linux,phandle = <0x27>; + phandle = <0x27>; + + cape_eeprom0@54 { + compatible = "at,24c256"; + reg = <0x54>; + linux,phandle = <0xe>; + phandle = <0xe>; + }; + + cape_eeprom1@55 { + compatible = "at,24c256"; + reg = <0x55>; + linux,phandle = <0xf>; + phandle = <0xf>; + }; + + cape_eeprom2@56 { + compatible = "at,24c256"; + reg = <0x56>; + linux,phandle = <0x10>; + phandle = <0x10>; + }; + + cape_eeprom3@57 { + compatible = "at,24c256"; + reg = <0x57>; + linux,phandle = <0x11>; + phandle = <0x11>; + }; + }; + + mmc@48060000 { + compatible = "ti,omap3-hsmmc"; + ti,hwmods = "mmc1"; + ti,dual-volt; + ti,needs-special-reset; + ti,needs-special-hs-handling; + dmas = <0x9 0x18 0x9 0x19>; + dma-names = "tx", "rx"; + status = "okay"; + vmmc-supply = <0xa>; + ti,vcc-aux-disable-is-sleep; + linux,phandle = <0x28>; + phandle = <0x28>; + }; + + mmc@481d8000 { + compatible = "ti,omap3-hsmmc"; + ti,hwmods = "mmc2"; + ti,needs-special-reset; + ti,needs-special-hs-handling; + dmas = <0x9 0x2 0x9 0x3>; + dma-names = "tx", "rx"; + status = "okay"; + vmmc-supply = <0xa>; + bus-width = <0x8>; + ti,non-removable; + reset = <0xb 0x0 0x0>; + reset-names = "eMMC_RSTn-CONSUMER"; + linux,phandle = <0x29>; + phandle = <0x29>; + }; + + mmc@47810000 { + compatible = "ti,omap3-hsmmc"; + ti,hwmods = "mmc3"; + ti,needs-special-reset; + ti,needs-special-hs-handling; + status = "disabled"; + linux,phandle = <0x2a>; + phandle = <0x2a>; + }; + + wdt@44e35000 { + compatible = "ti,omap3-wdt"; + ti,hwmods = "wd_timer2"; + reg = <0x44e35000 0x1000>; + interrupts = <0x5b>; + linux,phandle = <0x2b>; + phandle = <0x2b>; + }; + + d_can@481cc000 { + compatible = "bosch,d_can"; + ti,hwmods = "d_can0"; + reg = <0x481cc000 0x2000>; + interrupts = <0x34>; + status = "disabled"; + linux,phandle = <0x2c>; + phandle = <0x2c>; + }; + + d_can@481d0000 { + compatible = "bosch,d_can"; + ti,hwmods = "d_can1"; + reg = <0x481d0000 0x2000>; + interrupts = <0x37>; + status = "disabled"; + linux,phandle = <0x2d>; + phandle = <0x2d>; + }; + + timer@44e31000 { + compatible = "ti,omap2-timer"; + reg = <0x44e31000 0x400>; + interrupts = <0x43>; + ti,hwmods = "timer1"; + ti,timer-alwon; + linux,phandle = <0x2e>; + phandle = <0x2e>; + }; + + timer@48040000 { + compatible = "ti,omap2-timer"; + reg = <0x48040000 0x400>; + interrupts = <0x44>; + ti,hwmods = "timer2"; + linux,phandle = <0x2f>; + phandle = <0x2f>; + }; + + timer@48042000 { + compatible = "ti,omap2-timer"; + reg = <0x48042000 0x400>; + interrupts = <0x45>; + ti,hwmods = "timer3"; + linux,phandle = <0x30>; + phandle = <0x30>; + }; + + timer@48044000 { + compatible = "ti,omap2-timer"; + reg = <0x48044000 0x400>; + interrupts = <0x5c>; + ti,hwmods = "timer4"; + ti,timer-pwm; + linux,phandle = <0x31>; + phandle = <0x31>; + }; + + timer@48046000 { + compatible = "ti,omap2-timer"; + reg = <0x48046000 0x400>; + interrupts = <0x5d>; + ti,hwmods = "timer5"; + ti,timer-pwm; + linux,phandle = <0x32>; + phandle = <0x32>; + }; + + timer@48048000 { + compatible = "ti,omap2-timer"; + reg = <0x48048000 0x400>; + interrupts = <0x5e>; + ti,hwmods = "timer6"; + ti,timer-pwm; + linux,phandle = <0x33>; + phandle = <0x33>; + }; + + timer@4804a000 { + compatible = "ti,omap2-timer"; + reg = <0x4804a000 0x400>; + interrupts = <0x5f>; + ti,hwmods = "timer7"; + ti,timer-pwm; + linux,phandle = <0x34>; + phandle = <0x34>; + }; + + pruss@4a300000 { + compatible = "ti,pruss-v2"; + ti,hwmods = "pruss"; + ti,deassert-hard-reset = "pruss", "pruss"; + reg = <0x4a300000 0x80000>; + ti,pintc-offset = <0x20000>; + interrupt-parent = <0x1>; + status = "disabled"; + interrupts = <0x14 0x15 0x16 0x17 0x18 0x19 0x1a 0x1b>; + linux,phandle = <0x35>; + phandle = <0x35>; + }; + + rtc@44e3e000 { + compatible = "ti,da830-rtc"; + reg = <0x44e3e000 0x1000>; + interrupts = <0x4b 0x4c>; + ti,hwmods = "rtc"; + ti,system-power-controller; + }; + + spi@48030000 { + compatible = "ti,omap4-mcspi"; + #address-cells = <0x1>; + #size-cells = <0x0>; + reg = <0x48030000 0x400>; + interrupt = <0x41>; + ti,spi-num-cs = <0x2>; + ti,hwmods = "spi0"; + dmas = <0x9 0x10 0x9 0x11 0x9 0x12 0x9 0x13>; + dma-names = "tx0", "rx0", "tx1", "rx1"; + status = "disabled"; + linux,phandle = <0x36>; + phandle = <0x36>; + }; + + spi@481a0000 { + compatible = "ti,omap4-mcspi"; + #address-cells = <0x1>; + #size-cells = <0x0>; + reg = <0x481a0000 0x400>; + interrupt = <0x7d>; + ti,spi-num-cs = <0x2>; + ti,hwmods = "spi1"; + dmas = <0x9 0x2a 0x9 0x2b 0x9 0x2c 0x9 0x2d>; + dma-names = "tx0", "rx0", "tx1", "rx1"; + status = "disabled"; + linux,phandle = <0x37>; + phandle = <0x37>; + }; + + gpmc@50000000 { + compatible = "ti,am3352-gpmc"; + ti,hwmods = "gpmc"; + reg = <0x50000000 0x1000000>; + interrupts = <0x64>; + gpmc,num-cs = <0x7>; + gpmc,num-waitpins = <0x2>; + #address-cells = <0x2>; + #size-cells = <0x1>; + status = "disabled"; + linux,phandle = <0x38>; + phandle = <0x38>; + }; + + nop-phy@0 { + compatible = "nop-xceiv-usb"; + }; + + nop-phy@1 { + compatible = "nop-xceiv-usb"; + }; + + usb@47400000 { + compatible = "ti,musb-am33xx"; + reg = <0x47400000 0x1000 0x47401000 0x800 0x47401800 0x800>; + interrupts = <0x11 0x12 0x13>; + multipoint = <0x1>; + num-eps = <0x10>; + ram-bits = <0xc>; + port0-mode = <0x3>; + port1-mode = <0x1>; + power = <0xfa>; + ti,hwmods = "usb_otg_hs"; + status = "okay"; + interface_type = <0x1>; + linux,phandle = <0x39>; + phandle = <0x39>; + }; + + ethernet@4a100000 { + compatible = "ti,cpsw"; + ti,hwmods = "cpgmac0"; + cpdma_channels = <0x8>; + ale_entries = <0x400>; + bd_ram_size = <0x2000>; + no_bd_ram = <0x0>; + rx_descs = <0x40>; + mac_control = <0x20>; + slaves = <0x2>; + cpts_active_slave = <0x0>; + cpts_clock_mult = <0x80000000>; + cpts_clock_shift = <0x1d>; + reg = <0x4a100000 0x800 0x4a101200 0x100>; + #address-cells = <0x1>; + #size-cells = <0x1>; + interrupt-parent = <0x1>; + interrupts = <0x28 0x29 0x2a 0x2b>; + ranges; + disable-napi; + linux,phandle = <0x3a>; + phandle = <0x3a>; + + mdio@4a101000 { + compatible = "ti,davinci_mdio"; + #address-cells = <0x1>; + #size-cells = <0x0>; + ti,hwmods = "davinci_mdio"; + bus_freq = <0xf4240>; + reg = <0x4a101000 0x100>; + linux,phandle = <0xc>; + phandle = <0xc>; + }; + + slave@4a100200 { + mac-address = [00 00 00 00 00 00]; + phy_id = <0xc 0x0>; + linux,phandle = <0x3b>; + phandle = <0x3b>; + }; + + slave@4a100300 { + mac-address = [00 00 00 00 00 00]; + phy_id = <0xc 0x1>; + linux,phandle = <0x3c>; + phandle = <0x3c>; + }; + }; + + tscadc@44e0d000 { + compatible = "ti,ti-tscadc"; + reg = <0x44e0d000 0x1000>; + interrupt-parent = <0x1>; + interrupts = <0x10>; + ti,hwmods = "adc_tsc"; + status = "disabled"; + linux,phandle = <0x3d>; + phandle = <0x3d>; + }; + + lcdc@4830e000 { + compatible = "ti,am3352-lcdc", "ti,da830-lcdc"; + reg = <0x4830e000 0x1000>; + interrupts = <0x24>; + status = "disabled"; + ti,hwmods = "lcdc"; + linux,phandle = <0x3e>; + phandle = <0x3e>; + }; + + epwmss@48300000 { + compatible = "ti,am33xx-pwmss"; + reg = <0x48300000 0x10>; + ti,hwmods = "epwmss0"; + #address-cells = <0x1>; + #size-cells = <0x1>; + status = "disabled"; + ranges = <0x48300100 0x48300100 0x80 0x48300180 0x48300180 0x80 0x48300200 0x48300200 0x80>; + linux,phandle = <0x3f>; + phandle = <0x3f>; + + ecap@48300100 { + compatible = "ti,am33xx-ecap"; + #pwm-cells = <0x3>; + reg = <0x48300100 0x80>; + ti,hwmods = "ecap0"; + status = "disabled"; + linux,phandle = <0x40>; + phandle = <0x40>; + }; + + ehrpwm@48300200 { + compatible = "ti,am33xx-ehrpwm"; + #pwm-cells = <0x3>; + reg = <0x48300200 0x80>; + ti,hwmods = "ehrpwm0"; + status = "disabled"; + linux,phandle = <0x41>; + phandle = <0x41>; + }; + }; + + epwmss@48302000 { + compatible = "ti,am33xx-pwmss"; + reg = <0x48302000 0x10>; + ti,hwmods = "epwmss1"; + #address-cells = <0x1>; + #size-cells = <0x1>; + status = "disabled"; + ranges = <0x48302100 0x48302100 0x80 0x48302180 0x48302180 0x80 0x48302200 0x48302200 0x80>; + linux,phandle = <0x42>; + phandle = <0x42>; + + ecap@48302100 { + compatible = "ti,am33xx-ecap"; + #pwm-cells = <0x3>; + reg = <0x48302100 0x80>; + ti,hwmods = "ecap1"; + status = "disabled"; + linux,phandle = <0x43>; + phandle = <0x43>; + }; + + ehrpwm@48302200 { + compatible = "ti,am33xx-ehrpwm"; + #pwm-cells = <0x3>; + reg = <0x48302200 0x80>; + ti,hwmods = "ehrpwm1"; + status = "disabled"; + linux,phandle = <0x44>; + phandle = <0x44>; + }; + }; + + epwmss@48304000 { + compatible = "ti,am33xx-pwmss"; + reg = <0x48304000 0x10>; + ti,hwmods = "epwmss2"; + #address-cells = <0x1>; + #size-cells = <0x1>; + status = "disabled"; + ranges = <0x48304100 0x48304100 0x80 0x48304180 0x48304180 0x80 0x48304200 0x48304200 0x80>; + linux,phandle = <0x45>; + phandle = <0x45>; + + ecap@48304100 { + compatible = "ti,am33xx-ecap"; + #pwm-cells = <0x3>; + reg = <0x48304100 0x80>; + ti,hwmods = "ecap2"; + status = "disabled"; + linux,phandle = <0x46>; + phandle = <0x46>; + }; + + ehrpwm@48304200 { + compatible = "ti,am33xx-ehrpwm"; + #pwm-cells = <0x3>; + reg = <0x48304200 0x80>; + ti,hwmods = "ehrpwm2"; + status = "disabled"; + linux,phandle = <0x47>; + phandle = <0x47>; + }; + }; + + sham@53100000 { + compatible = "ti,omap4-sham"; + ti,hwmods = "sham"; + #address-cells = <0x1>; + #size-cells = <0x0>; + reg = <0x53100000 0x200>; + interrupt-parent = <0x1>; + interrupts = <0x6d>; + dmas = <0x9 0x24>; + dma-names = "rx"; + status = "okay"; + linux,phandle = <0x48>; + phandle = <0x48>; + }; + + aes@53500000 { + compatible = "ti,omap4-aes"; + ti,hwmods = "aes"; + #address-cells = <0x1>; + #size-cells = <0x0>; + reg = <0x53500000 0xa0>; + interrupt-parent = <0x1>; + interrupts = <0x66>; + dmas = <0x9 0x6 0x9 0x5>; + dma-names = "tx", "rx"; + status = "okay"; + linux,phandle = <0x49>; + phandle = <0x49>; + }; + + mcasp@48038000 { + compatible = "ti,omap2-mcasp-audio"; + #address-cells = <0x1>; + #size-cells = <0x0>; + ti,hwmods = "mcasp0"; + reg = <0x48038000 0x2000>; + interrupts = <0x50 0x51>; + status = "disabled"; + asp-chan-q = <0x2>; + tx-dma-offset = <0x46000000>; + rx-dma-offset = <0x46000000>; + dmas = <0x9 0x8 0x9 0x9>; + dma-names = "tx", "rx"; + linux,phandle = <0x4a>; + phandle = <0x4a>; + }; + + mcasp@4803C000 { + compatible = "ti,omap2-mcasp-audio"; + #address-cells = <0x1>; + #size-cells = <0x0>; + ti,hwmods = "mcasp1"; + reg = <0x4803c000 0x2000>; + interrupts = <0x52 0x53>; + status = "disabled"; + asp-chan-q = <0x2>; + tx-dma-offset = <0x46400000>; + rx-dma-offset = <0x46400000>; + dmas = <0x9 0xa 0x9 0xb>; + dma-names = "tx", "rx"; + linux,phandle = <0x4b>; + phandle = <0x4b>; + }; + + gpio-leds { + compatible = "gpio-leds"; + pinctrl-names = "default"; + pinctrl-0 = <0x3>; + + led0 { + label = "beaglebone:green:usr0"; + gpios = <0x5 0x15 0x0>; + linux,default-trigger = "heartbeat"; + default-state = "off"; + }; + + led1 { + label = "beaglebone:green:usr1"; + gpios = <0x5 0x16 0x0>; + linux,default-trigger = "mmc0"; + default-state = "off"; + }; + + led2 { + label = "beaglebone:green:usr2"; + gpios = <0x5 0x17 0x0>; + linux,default-trigger = "cpu0"; + default-state = "off"; + }; + + led3 { + label = "beaglebone:green:usr3"; + gpios = <0x5 0x18 0x0>; + default-state = "off"; + linux,default-trigger = "mmc1"; + }; + }; + }; + + bone_capemgr { + compatible = "ti,bone-capemgr"; + status = "okay"; + eeprom = <0xd>; + + baseboardmaps { + + board@0 { + board-name = "A335BONE"; + compatible-name = "ti,beaglebone"; + linux,phandle = <0x4c>; + phandle = <0x4c>; + }; + + board@1 { + board-name = "A335BNLT"; + compatible-name = "ti,beaglebone-black"; + linux,phandle = <0x4d>; + phandle = <0x4d>; + }; + }; + + slots { + + slot@0 { + eeprom = <0xe>; + }; + + slot@1 { + eeprom = <0xf>; + }; + + slot@2 { + eeprom = <0x10>; + }; + + slot@3 { + eeprom = <0x11>; + }; + + slot@5 { + ti,cape-override; + compatible = "kernel-command-line", "runtime"; + board-name = "Bone-Geiger"; + version = "00A0"; + manufacturer = "Geiger Inc."; + part-number = "BB-BONE-GEIGER"; + }; + + slot@7 { + ti,cape-override; + compatible = "kernel-command-line", "runtime"; + board-name = "Bone-Nixie"; + version = "00A0"; + manufacturer = "Ranostay Industries"; + part-number = "BB-BONE-NIXIE"; + }; + + slot@8 { + ti,cape-override; + compatible = "kernel-command-line", "runtime"; + board-name = "Bone-TFT"; + version = "00A0"; + manufacturer = "Adafruit"; + part-number = "BB-BONE-TFT-01"; + }; + + slot@9 { + ti,cape-override; + compatible = "kernel-command-line", "runtime"; + board-name = "Bone-RTC"; + version = "00A0"; + manufacturer = "Adafruit"; + part-number = "BB-BONE-RTC-01"; + }; + + slot@10 { + ti,cape-override; + compatible = "kernel-command-line", "runtime"; + board-name = "Bone-Hexy"; + version = "00A0"; + manufacturer = "Koen Kooi"; + part-number = "BB-BONE-HEXY-01"; + }; + + slot@11 { + ti,cape-override; + compatible = "kernel-command-line", "runtime"; + board-name = "Bone-MRF24J40"; + version = "00A0"; + manufacturer = "Signal 11 Software"; + part-number = "BB-BONE-MRF24J40"; + }; + + slot@100 { + ti,cape-override; + priority = <0x1>; + compatible = "ti,beaglebone-black"; + board-name = "Bone-LT-eMMC-2G"; + version = "00A0"; + manufacturer = "Texas Instruments"; + part-number = "BB-BONE-EMMC-2G"; + }; + + slot@101 { + ti,cape-override; + priority = <0x1>; + compatible = "ti,beaglebone-black"; + board-name = "Bone-Black-HDMI"; + version = "00A0"; + manufacturer = "Texas Instruments"; + part-number = "BB-BONELT-HDMI"; + }; + }; + + capemaps { + + cape@0 { + part-number = "BB-BONE-DVID-01"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-dvi-00A0.dtbo"; + }; + + version@00A1 { + version = "00A1", "01"; + dtbo = "cape-bone-dvi-00A1.dtbo"; + }; + + version@00A2 { + version = "00A2", "A2"; + dtbo = "cape-bone-dvi-00A2.dtbo"; + }; + + version@00A3 { + version = "00A3"; + dtbo = "cape-bone-dvi-00A2.dtbo"; + }; + }; + + cape@1 { + part-number = "BB-BONE-EMMC-2G"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-2g-emmc1.dtbo"; + }; + }; + + cape@2 { + part-number = "BB-BONE-GEIGER"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-geiger-00A0.dtbo"; + }; + }; + + cape@3 { + part-number = "BB-BONE-LCD3-01"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-lcd3-00A0.dtbo"; + }; + + version@00A2 { + version = "00A2"; + dtbo = "cape-bone-lcd3-00A2.dtbo"; + }; + }; + + cape@4 { + part-number = "BB-BONE-WTHR-01"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-weather-00A0.dtbo"; + }; + }; + + cape@5 { + part-number = "BB-BONELT-HDMI"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-boneblack-hdmi-00A0.dtbo"; + }; + }; + + cape@6 { + part-number = "BB-BONE-NIXIE"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-nixie-00A0.dtbo"; + }; + }; + + cape@7 { + part-number = "BB-BONE-TFT-01"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-adafruit-lcd-00A0.dtbo"; + }; + }; + + cape@8 { + part-number = "BB-BONE-RTC-01"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-adafruit-rtc-00A0.dtbo"; + }; + }; + + cape@9 { + part-number = "BB-BONE-HEXY-01"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-hexy-00A0.dtbo"; + }; + }; + + cape@10 { + part-number = "BB-BONE-MRF24J40"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-mrf24j40-00A0.dtbo"; + }; + }; + + cape@11 { + part-number = "BB-BONE-EXPTEST"; + + version@00A0 { + version = "00A0"; + dtbo = "cape-bone-exptest-00A0.dtbo"; + }; + }; + }; + }; + + fixedregulator@0 { + compatible = "regulator-fixed"; + regulator-name = "vmmcsd_fixed"; + regulator-min-microvolt = <0x325aa0>; + regulator-max-microvolt = <0x325aa0>; + linux,phandle = <0xa>; + phandle = <0xa>; + }; + + __symbols__ { + cpu = "/cpus/cpu@0"; + am33xx_pinmux = "/pinmux@44e10800"; + userled_pins = "/pinmux@44e10800/pinmux_userled_pins"; + i2c0_pins = "/pinmux@44e10800/pinmux_i2c0_pins"; + i2c1_pins = "/pinmux@44e10800/pinmux_i2c1_pins"; + i2c2_pins = "/pinmux@44e10800/pinmux_i2c2_pins"; + rstctl_pins = "/pinmux@44e10800/pinmux_rstctl_pins"; + ocp = "/ocp"; + intc = "/ocp/interrupt-controller@48200000"; + edma = "/ocp/edma@49000000"; + gpio1 = "/ocp/gpio@44e07000"; + gpio2 = "/ocp/gpio@4804c000"; + gpio3 = "/ocp/gpio@481ac000"; + gpio4 = "/ocp/gpio@481ae000"; + rstctl = "/ocp/rstctl@0"; + uart1 = "/ocp/serial@44e09000"; + uart2 = "/ocp/serial@48022000"; + uart3 = "/ocp/serial@48024000"; + uart4 = "/ocp/serial@481a6000"; + uart5 = "/ocp/serial@481a8000"; + uart6 = "/ocp/serial@481aa000"; + i2c0 = "/ocp/i2c@44e0b000"; + tps = "/ocp/i2c@44e0b000/tps@24"; + dcdc1_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@0"; + dcdc2_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@1"; + dcdc3_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@2"; + ldo1_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@3"; + ldo2_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@4"; + ldo3_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@5"; + ldo4_reg = "/ocp/i2c@44e0b000/tps@24/regulators/regulator@6"; + baseboard_eeprom = "/ocp/i2c@44e0b000/baseboard_eeprom@50"; + i2c1 = "/ocp/i2c@4802a000"; + i2c2 = "/ocp/i2c@4819c000"; + cape_eeprom0 = "/ocp/i2c@4819c000/cape_eeprom0@54"; + cape_eeprom1 = "/ocp/i2c@4819c000/cape_eeprom1@55"; + cape_eeprom2 = "/ocp/i2c@4819c000/cape_eeprom2@56"; + cape_eeprom3 = "/ocp/i2c@4819c000/cape_eeprom3@57"; + mmc1 = "/ocp/mmc@48060000"; + mmc2 = "/ocp/mmc@481d8000"; + mmc3 = "/ocp/mmc@47810000"; + wdt2 = "/ocp/wdt@44e35000"; + dcan0 = "/ocp/d_can@481cc000"; + dcan1 = "/ocp/d_can@481d0000"; + timer1 = "/ocp/timer@44e31000"; + timer2 = "/ocp/timer@48040000"; + timer3 = "/ocp/timer@48042000"; + timer4 = "/ocp/timer@48044000"; + timer5 = "/ocp/timer@48046000"; + timer6 = "/ocp/timer@48048000"; + timer7 = "/ocp/timer@4804a000"; + pruss = "/ocp/pruss@4a300000"; + spi0 = "/ocp/spi@48030000"; + spi1 = "/ocp/spi@481a0000"; + gpmc = "/ocp/gpmc@50000000"; + usb_otg_hs = "/ocp/usb@47400000"; + mac = "/ocp/ethernet@4a100000"; + davinci_mdio = "/ocp/ethernet@4a100000/mdio@4a101000"; + cpsw_emac0 = "/ocp/ethernet@4a100000/slave@4a100200"; + cpsw_emac1 = "/ocp/ethernet@4a100000/slave@4a100300"; + tscadc = "/ocp/tscadc@44e0d000"; + lcdc = "/ocp/lcdc@4830e000"; + epwmss0 = "/ocp/epwmss@48300000"; + ecap0 = "/ocp/epwmss@48300000/ecap@48300100"; + ehrpwm0 = "/ocp/epwmss@48300000/ehrpwm@48300200"; + epwmss1 = "/ocp/epwmss@48302000"; + ecap1 = "/ocp/epwmss@48302000/ecap@48302100"; + ehrpwm1 = "/ocp/epwmss@48302000/ehrpwm@48302200"; + epwmss2 = "/ocp/epwmss@48304000"; + ecap2 = "/ocp/epwmss@48304000/ecap@48304100"; + ehrpwm2 = "/ocp/epwmss@48304000/ehrpwm@48304200"; + sham = "/ocp/sham@53100000"; + aes = "/ocp/aes@53500000"; + mcasp0 = "/ocp/mcasp@48038000"; + mcasp1 = "/ocp/mcasp@4803C000"; + baseboard_beaglebone = "/bone_capemgr/baseboardmaps/board@0"; + baseboard_beaglebone_black = "/bone_capemgr/baseboardmaps/board@1"; + vmmcsd_fixed = "/fixedregulator@0"; + }; +};
--- a/resources/network/udp-server.c Mon Jun 08 01:07:48 2015 +0100 +++ b/resources/network/udp-server.c Tue Aug 18 00:35:15 2015 +0100 @@ -23,8 +23,11 @@ socklen_t fromlen; struct sockaddr_in server; struct sockaddr_in from; - char buf[1024]; - + float buf[2048]; + int i=0; + for(i=0; i<2048; i++){ + buf[i]=0; + } if (argc < 2) { fprintf(stderr, "ERROR, no port provided\n"); exit(0); @@ -41,10 +44,11 @@ error("binding"); fromlen = sizeof(struct sockaddr_in); while (1) { - n = recvfrom(sock,buf,1024,0,(struct sockaddr *)&from,&fromlen); + n = recvfrom(sock,buf,2048,0,(struct sockaddr *)&from,&fromlen); if (n < 0) error("recvfrom"); - write(1,"Received a datagram: ",21); - write(1,buf,n); + printf("Received a datagram of size %d: \n", n); + for(i=0; i<n/sizeof(float); i+=8) + printf("[%05d]: %+f, %+f, %+f, %+f, %+f, %+f, %+f, %+f\n",i,buf[0+i],buf[1+i],buf[2+i],buf[3+i],buf[4+i],buf[5+i],buf[6+i],buf[7+i]); n = sendto(sock,"Got your message\n",17, 0,(struct sockaddr *)&from,fromlen); if (n < 0) error("sendto");
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/build_project.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,124 @@ +#!/bin/bash +# +# This script compiles a BeagleRT project on the BeagleBone Black and +# optionally runs it. Pass a directory path in the first argument. +# The source files in this directory are copied to the board and compiled. + +BBB_ADDRESS="root@192.168.7.2" +BBB_PATH="~/BeagleRT" +RUN_PROJECT=1 +COMMAND_ARGS= +RUN_IN_FOREGROUND=0 +RUN_WITHOUT_SCREEN=0 + +function usage +{ + THIS_SCRIPT=`basename "$0"` + echo "Usage: $THIS_SCRIPT [-b path-on-beaglebone] [-c command-line-args] [-nfF] <directory-with-source-files>" + echo " + This script copies a directory of source files to the BeagleBone, compiles + and runs it. The BeagleRT core files should have first been copied over + using the setup_board.sh script supplied with BeagleRT. + + The source directory should contain at least one .c, .cpp or .S file. + If the argument -n is passed, the output will not be run after compiling. + The argument -b will change the local path on the BeagleBone where the + BeagleRT files are found. The -c option passes command-line arguments to + the BeagleRT program; enclose the argument string in quotes. + + The -f argument runs the project in the foreground of the current terminal, + within a screen session that can be detached later. The -F argument runs + the project in the foreground of the current terminal, without screen, so + the output can be piped to another destination." +} + +OPTIND=1 + +while getopts "b:c:nfFh" opt; do + case $opt in + b) BBB_PATH=$OPTARG + ;; + c) COMMAND_ARGS=$OPTARG + ;; + f) RUN_IN_FOREGROUND=1 + ;; + F) RUN_WITHOUT_SCREEN=1 + ;; + n) RUN_PROJECT=0 + ;; + h|\?) usage + exit 1 + esac +done + +shift $((OPTIND-1)) + +# Check that we have a directory containing at least one source file +# as an argument + +if [ -z "$1" ] +then + usage + exit +fi + +FIND_STRING="find $* -maxdepth 10000 -type f " + +C_FILES=$($FIND_STRING -name "*.c") +CPP_FILES=$($FIND_STRING -name "*.cpp") +ASM_FILES=$($FIND_STRING -name "*.S") + +if [[ -z $C_FILES ]] && [[ -z $CPP_FILES ]] && [[ -z $ASM_FILES ]] +then + echo "Please provide a directory containing .c, .cpp or .S files." +# echo "Usage: $THIS_SCRIPT [directory-with-source-files]" + usage + exit +fi + +# Stop BeagleRT and clean out old source files +echo "Stopping BeagleRT and removing old source files..." +ssh -t -t $BBB_ADDRESS "screen -X -S BeagleRT quit &>/dev/null; pkill BeagleRT ; make sourceclean -C $BBB_PATH" + +#concatenate arguments to form path. +BBB_SOURCE_PATH= #initially empty, will be filled with input arguments +for i in "$@" #parse input arguments +do + if [ -d "$1" ] #check if the path is a folder + then #if it is, include all of its files + BBB_SOURCE_PATH+=" ${1}/* " + else + BBB_SOURCE_PATH+=" $1 " + fi + shift + # Copy new souce files to the board +done + +# Copy new source files to the board +echo "Copying new source files to BeagleBone..." +scp $BBB_SOURCE_PATH "$BBB_ADDRESS:$BBB_PATH/source/" + +if [ $? -ne 0 ] +then + echo "Error while copying files" + exit +fi + +# Make new BeagleRT executable and run +if [ $RUN_PROJECT -eq 0 ] +then + echo "Building project..." + ssh $BBB_ADDRESS "make all -C $BBB_PATH" +else + echo "Building and running project..." + + if [ $RUN_WITHOUT_SCREEN -ne 0 ] + then + ssh -t $BBB_ADDRESS "make all -C $BBB_PATH && $BBB_PATH/BeagleRT $COMMAND_ARGS" + elif [ $RUN_IN_FOREGROUND -eq 0 ] + then + ssh $BBB_ADDRESS "make all -C $BBB_PATH && screen -S BeagleRT -d -m $BBB_PATH/BeagleRT $COMMAND_ARGS" + else + ssh -t $BBB_ADDRESS "make all -C $BBB_PATH && screen -S BeagleRT $BBB_PATH/BeagleRT $COMMAND_ARGS" + fi +fi \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/connect_to_project.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,8 @@ +#!/bin/bash +# +# This script brings an already running BeagleRT program to the foreground +# in the terminal, so it can be run interactively. + +BBB_ADDRESS="root@192.168.7.2" + +ssh -t $BBB_ADDRESS "screen -S BeagleRT -r" \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/halt_board.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,8 @@ +#!/bin/bash +# +# This script halts the BeagleBone Black. + +BBB_ADDRESS="root@192.168.7.2" + +echo "Shutting down the BeagleBone Black..." +ssh $BBB_ADDRESS "halt" \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/run_project.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,57 @@ +#!/bin/bash +# +# This script runs an already-compiled BeagleRT project on the +# BeagleBone Black. + +BBB_ADDRESS="root@192.168.7.2" +BBB_PATH="~/BeagleRT" +COMMAND_ARGS= +RUN_IN_FOREGROUND=0 +RUN_WITHOUT_SCREEN=0 + +function usage +{ + THIS_SCRIPT=`basename "$0"` + echo "Usage: $THIS_SCRIPT [-b path-on-beaglebone] [-c command-line-args] [-fF]" + + echo " + This script runs a previously compiled BeagleRT project on the + BeagleBone Black. The -b option changes the default path, which + is otherwise $BBB_PATH. The -c option passes command-line arguments + to the BeagleRT program; enclose the argument string in quotes. + + The -f argument runs the project in the foreground of the current terminal, + within a screen session that can be detached later. The -F argument runs + the project in the foreground of the current terminal, without screen, so + the output can be piped to another destination." +} + +OPTIND=1 + +while getopts "b:c:fFh" opt; do + case $opt in + b) BBB_PATH=$OPTARG + ;; + c) COMMAND_ARGS=$OPTARG + ;; + f) RUN_IN_FOREGROUND=1 + ;; + F) RUN_WITHOUT_SCREEN=1 + ;; + h|\?) usage + exit 1 + esac +done + +shift $((OPTIND-1)) + +echo "Running BeagleRT..." +if [ $RUN_WITHOUT_SCREEN -ne 0 ] +then + ssh -t $BBB_ADDRESS "screen -X -S BeagleRT quit &>/dev/null; pkill BeagleRT ; sleep 0.5 ; $BBB_PATH/BeagleRT $COMMAND_ARGS" +elif [ $RUN_IN_FOREGROUND -eq 0 ] +then + ssh $BBB_ADDRESS "screen -X -S BeagleRT quit &>/dev/null; pkill BeagleRT ; sleep 0.5 ; screen -S BeagleRT -d -m $BBB_PATH/BeagleRT $COMMAND_ARGS" +else + ssh -t $BBB_ADDRESS "screen -X -S BeagleRT quit &>/dev/null; pkill BeagleRT ; sleep 0.5 ; screen -S BeagleRT $BBB_PATH/BeagleRT $COMMAND_ARGS" +fi \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/set_startup.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,76 @@ +#!/bin/bash +# +# This script enables or disables running BeagleRT when the board starts +# up. + +BBB_ADDRESS="root@192.168.7.2" +BBB_PATH="/root/BeagleRT" +ENABLE_STARTUP=1 +COMMAND_ARGS= +RUN_IN_LOOP=0 + +# This path is hard-coded in the BeagleRT image at present. +BBB_STARTUP_SCRIPT="/root/BeagleRT_startup.sh" + +function usage +{ + THIS_SCRIPT=`basename "$0"` + echo "Usage: $THIS_SCRIPT [-b path-on-beaglebone] [-c command-line-args] [-n] [-l]" + + echo " + This script enables (by default) or disables running the BeagleRT + project at startup. The -n option disables auto-startup, otherwise + auto-startup is enabled. The -b option changes the default path, which + is otherwise $BBB_PATH. The -c option passes command-line arguments to + the BeagleRT program; enclose the argument string in quotes. + The -l option runs the BeagleRT program in a loop, restarting + automatically in the event of a crash." +} + +OPTIND=1 + +while getopts "b:c:nlh" opt; do + case $opt in + b) BBB_PATH=$OPTARG + ;; + c) COMMAND_ARGS=$OPTARG + ;; + n) ENABLE_STARTUP=0 + ;; + l) RUN_IN_LOOP=1 + ;; + h|\?) usage + exit 1 + esac +done + +shift $((OPTIND-1)) + +if [ $ENABLE_STARTUP -eq 0 ] +then + echo "Disabling BeagleRT at startup..." + + ssh $BBB_ADDRESS "echo \"#!/bin/sh +# +# This file is autogenerated by BeagleRT. Do not edit! + +# Run on startup disabled -- nothing to do here\" > $BBB_STARTUP_SCRIPT" + +else + echo "Enabling BeagleRT at startup..." + + SCRIPT_PRERUN= + SCRIPT_POSTRUN= + if [ $RUN_IN_LOOP -ne 0 ] ; then + SCRIPT_PRERUN="bash -c \\\"while true ; do" + SCRIPT_POSTRUN=" ; done \\\" " + fi + + ssh $BBB_ADDRESS "echo \"#!/bin/sh +# +# This file is autogenerated by BeagleRT. Do not edit! + +echo Running BeagleRT... +screen -S BeagleRT -d -m $SCRIPT_PRERUN $BBB_PATH/BeagleRT $COMMAND_ARGS $SCRIPT_POSTRUN\" > $BBB_STARTUP_SCRIPT" + +fi \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/setup-ssh-windows.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,87 @@ +#!/bin/bash +IP_ADDRESS="192.168.7.2" +PRIVATE_KEY_FILENAME=$HOME/.ssh/id_rsa #if you change this to something like bbb_rsa it will be safer when cleaning but if you don't have the config file you will have to + # ssh -i $HOME/.ssh/bbb_rsa root@192.168.7.2 + # in order to log in +CONFIG_FILENAME=$HOME/.ssh/config +CLEAN=0 +if [ $# -gt 0 ]; then + while (( "$#" )); do + if [ $1 = "-k" ]; then + if [[ $2 == "/"* ]]; then + #it's full path + PRIVATE_KEY_FILENAME=$2 + else + #assume it's a key in .ssh + PRIVATE_KEY_FILENAME=$HOME'/.ssh/'$2 + fi + shift + shift + continue + fi + if [ $1 = "-i" ]; then + IP_ADDRESS=$2 + shift + shift + continue + fi + if [ $1 = "clean" ] ; then + CLEAN=1 + shift + continue + fi + #if we get here, then a wrong number or type of parameters have been passed + echo "Generates a key pair (if does not exist) and copies it over to the host, saving the settings in the /.ssh/config file + Usage: + -i [ipAddress] sets the host to authenticate to (default: 192.168.7.1) + -k [filename] sets the key file to use for autentication + (default: ~/.ssh/id_rsa)" + exit 1; + done; +fi + +if [ $CLEAN -eq 1 ] ; then + printf "Cleaning ${PRIVATE_KEY_FILENAME}, ${PRIVATE_KEY_FILENAME}.pub, ${CONFIG_FILENAME} and bbb:~/.ssh/ . Are you sure? This might prevent you from accessing other services that use the same key or config files (y/n) " + read sure + if [ $sure = "y" ] ; then + ssh root@192.168.7.2 rm -rf .ssh &&\ + rm $PRIVATE_KEY_FILENAME ${PRIVATE_KEY_FILENAME}.pub $CONFIG_FILENAME + if [ $? -ne 0 ] ; then + printf "ERROR: error while cleaning" + exit 4 + fi + printf "Cleaning succesful" + exit 0 + fi +fi +printf Pinging the Beaglebone on $IP_ADDRESS +ping $IP_ADDRESS -w 1000 -n 1 &>/dev/null #returns 1 if ping is unsuccesful +if [ $? -ne 0 ] ; then # $? is the return value of the last command + echo "Error: the Beaglebone is not alive, make sure it is connected and drivers are installed (MacOs and Windows only) or try again later" ; + exit 1 +fi; +printf "...done\n" + +mkdir -p $HOME/.ssh # create the ssh folder if it does not exist +printf '\nHost bbb\nHostname '$IP_ADDRESS'\nUser root\nIdentityFile '$PRIVATE_KEY_FILENAME'\n' >> $HOME/.ssh/config + +printf "Generating key $PRIVATE_KEY_FILENAME if it does not exist" +ls $PRIVATE_KEY_FILENAME &>/dev/null || ssh-keygen -t rsa -f $PRIVATE_KEY_FILENAME -q -P "" # the command after || will be executed only if the previous command fails (i.e. if id_rsa does not exist) +if [ $? -ne 0 ] ; then + printf "\nERROR: an error occurred while creating key pair $PRIVATE_KEY_FILENAME\n" + exit 2 +fi +printf "...Done\n" + +printf "Type 'a' (without quotes) when prompted for a password: \n" + +# StrictHostKeyChecking=no below will prevent the following message upon the first connection: +# "The authenticity of host '192.168.1.2' can't be established." +# which would require the user to type 'yes' +cat ${PRIVATE_KEY_FILENAME}.pub | (ssh -q -o StrictHostKeyChecking=no bbb 'mkdir -p .ssh; cat > .ssh/authorized_keys') +if [ $? -ne 0 ] ; then + printf "ERROR: An error occurred while copying the public key to the BBB\n" + exit 3 +fi +printf "SSH setup complete. You can now ssh into the beaglebone with command: ssh bbb\n" +exit 0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/setup-ssh.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,87 @@ +#!/bin/bash +IP_ADDRESS="192.168.7.2" +PRIVATE_KEY_FILENAME=$HOME/.ssh/id_rsa #if you change this to something like bbb_rsa it will be safer when cleaning but if you don't have the config file you will have to + # ssh -i $HOME/.ssh/bbb_rsa root@192.168.7.2 + # in order to log in +CONFIG_FILENAME=$HOME/.ssh/config +CLEAN=0 +if [ $# -gt 0 ]; then + while (( "$#" )); do + if [ $1 = "-k" ]; then + if [[ $2 == "/"* ]]; then + #it's full path + PRIVATE_KEY_FILENAME=$2 + else + #assume it's a key in .ssh + PRIVATE_KEY_FILENAME=$HOME'/.ssh/'$2 + fi + shift + shift + continue + fi + if [ $1 = "-i" ]; then + IP_ADDRESS=$2 + shift + shift + continue + fi + if [ $1 = "clean" ] ; then + CLEAN=1 + shift + continue + fi + #if we get here, then a wrong number or type of parameters have been passed + echo "Generates a key pair (if does not exist) and copies it over to the host, saving the settings in the /.ssh/config file + Usage: + -i [ipAddress] sets the host to authenticate to (default: 192.168.7.1) + -k [filename] sets the key file to use for autentication + (default: ~/.ssh/id_rsa)" + exit 1; + done; +fi + +if [ $CLEAN -eq 1 ] ; then + printf "Cleaning ${PRIVATE_KEY_FILENAME}, ${PRIVATE_KEY_FILENAME}.pub, ${CONFIG_FILENAME} and bbb:~/.ssh/ . Are you sure? This might prevent you from accessing other services that use the same key or config files (y/n) " + read sure + if [ $sure = "y" ] ; then + ssh root@192.168.7.2 rm -rf .ssh &&\ + rm $PRIVATE_KEY_FILENAME ${PRIVATE_KEY_FILENAME}.pub $CONFIG_FILENAME + if [ $? -ne 0 ] ; then + printf "ERROR: error while cleaning" + exit 4 + fi + printf "Cleaning succesful" + exit 0 + fi +fi +#printf "Pinging the Beaglebone on $IP_ADDRESS\n" +#ping $IP_ADDRESS -w 1000 -c &>/dev/null 1 #returns 1 if ping is unsuccesful +#if [ $? -ne 0 ] ; then # $? is the return value of the last command +# echo "Error: the Beaglebone is not alive, make sure it is connected and drivers are installed (MacOs and Windows only) or try again later" ; +# exit 1 +#fi; +#printf "...done\n" + +mkdir -p $HOME/.ssh # create the ssh folder if it does not exist +printf '\nHost bbb\nHostname '$IP_ADDRESS'\nUser root\nIdentityFile '$PRIVATE_KEY_FILENAME'\n' >> $HOME/.ssh/config + +printf "Generating key $PRIVATE_KEY_FILENAME if it does not exist" +ls $PRIVATE_KEY_FILENAME &>/dev/null || ssh-keygen -t rsa -f $PRIVATE_KEY_FILENAME -q -P "" # the command after || will be executed only if the previous command fails (i.e. if id_rsa does not exist) +if [ $? -ne 0 ] ; then + printf "\nERROR: an error occurred while creating key pair $PRIVATE_KEY_FILENAME\n" + exit 2 +fi +printf "...Done\n" + +printf "Type 'a' (without quotes) when prompted for a password: \n" + +# StrictHostKeyChecking=no below will prevent the following message upon the first connection: +# "The authenticity of host '192.168.1.2' can't be established." +# which would require the user to type 'yes' +cat ${PRIVATE_KEY_FILENAME}.pub | (ssh -q -o StrictHostKeyChecking=no bbb 'mkdir -p .ssh; cat >> .ssh/authorized_keys') +if [ $? -ne 0 ] ; then + printf "ERROR: An error occurred while copying the public key to the BBB\n" + exit 3 +fi +printf "SSH setup complete. You can now ssh into the beaglebone with command: ssh bbb\n" +exit 0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/setup_board.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,65 @@ +#!/bin/bash +# +# This script copies the core BeagleRT files to the BeagleBone Black +# in preparation for building projects. It will remove any existing +# BeagleRT directory before copying the files over + +BBB_ADDRESS="root@192.168.7.2" +BBB_PATH="~/BeagleRT" + +function usage +{ + THIS_SCRIPT=`basename "$0"` + echo "Usage: $THIS_SCRIPT [-b path-on-beaglebone]" + + echo " + This script copies the core BeagleRT files to the BeagleBone, REMOVING + any previous files found at that location. This should be done before + running any of the other build scripts in this directory. The -b option + changes the default path, which is otherwise $BBB_PATH." +} + +OPTIND=1 + +while getopts "b:h" opt; do + case $opt in + b) BBB_PATH=$OPTARG + ;; + h|\?) usage + exit 1 + esac +done + +echo "Copying BeagleRT core files to $BBB_PATH" + +shift $((OPTIND-1)) + +# Find location of this script so we can locate the rest of the files +SCRIPTPATH=$(readlink -f "$0") +SCRIPTDIR=$(dirname "$SCRIPTPATH") + +read -p "Warning: this script will DELETE any existing BeagleRT files from your BeagleBone! Continue? " -n 1 -r +echo +if [[ $REPLY = y ]] +then +# Stop BeagleRT if running and remove all files + echo "Stopping BeagleRT and removing old files." + ssh $BBB_ADDRESS "screen -X -S BeagleRT quit &>/dev/null; pkill BeagleRT; sleep 0.5 ; rm -rf $BBB_PATH ; mkdir $BBB_PATH" + +# Copy relevant files to BeagleBone Black + echo "Copying new files to BeagleBone..." + scp -r $SCRIPTDIR/../core $SCRIPTDIR/../include $SCRIPTDIR/../Makefile $SCRIPTDIR/../libNE10.a $SCRIPTDIR/../libprussdrv.a $BBB_ADDRESS:$BBB_PATH + + if [ $? -ne 0 ] + then + echo "Error while copying files" + exit + fi +# Make remaining directories needed for building + echo "Creating directory structure on BeagleBone..." + ssh $BBB_ADDRESS "mkdir -p $BBB_PATH/source ; mkdir -p $BBB_PATH/build ; mkdir -p $BBB_PATH/build/core ; mkdir -p $BBB_PATH/build/source" &&\ + echo "Done." +else + echo "Aborting..." +fi +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripts/stop_running.sh Tue Aug 18 00:35:15 2015 +0100 @@ -0,0 +1,11 @@ +#!/bin/bash +# +# This script stops the BeagleRT program running on the BeagleBone. + +BBB_ADDRESS="root@192.168.7.2" + +echo "Stopping BeagleRT..." + +# The first command should be sufficient to stop any BeagleRT run with +# these scripts; the second will catch any leftovers run other ways +ssh $BBB_ADDRESS "screen -X -S BeagleRT quit ; pkill BeagleRT" \ No newline at end of file