PRU.h

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

#ifndef PRU_H_
#define PRU_H_

#include <stdint.h>
#include <native/intr.h>
#include "../include/Bela.h"

typedef struct {
        float *audioIn;

        float *audioOut;

        float *analogIn;

        float *analogOut;

        uint32_t *digital;

        uint32_t audioFrames;
        uint32_t audioInChannels;
        uint32_t audioOutChannels;
        float audioSampleRate;

        uint32_t analogFrames;

        uint32_t analogInChannels;

        uint32_t analogOutChannels;

        float analogSampleRate;

        uint32_t digitalFrames;
        uint32_t digitalChannels;
        float digitalSampleRate;

        uint64_t audioFramesElapsed;

        uint32_t flags;
} InternalBelaContext;


class PRU
{
private:
        static const unsigned int kPruGPIODACSyncPin;
        static const unsigned int kPruGPIOADCSyncPin;
        static const unsigned int kPruGPIOTestPin;
        static const unsigned int kPruGPIOTestPin2;
        static const unsigned int kPruGPIOTestPin3;

public:
        // Constructor
        PRU(InternalBelaContext *input_context);

        // Destructor
        ~PRU();

        // Prepare the GPIO pins needed for the PRU
        int prepareGPIO(int include_test_pin, int include_led);

        // Clean up the GPIO at the end
        void cleanupGPIO();

        // Initialise and open the PRU
        int initialise(int pru_num, int frames_per_buffer,
                                   int spi_channels, int mux_channels = 0, 
                                   bool xenomai_test_pin = false);

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

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

        // Wait for an interrupt from the PRU indicate it is finished
        void waitForFinish();

        // Turn off the PRU when done
        void disable();

        // For debugging:
        void setGPIOTestPin();
        void clearGPIOTestPin();

private:
        InternalBelaContext *context;   // Overall settings

        int pru_number;         // Which PRU we use
        bool running;           // Whether the PRU is running
        bool analog_enabled;  // Whether SPI ADC and DAC are used
        bool digital_enabled; // Whether digital is used
        bool gpio_enabled;      // Whether GPIO has been prepared
        bool led_enabled;       // Whether a user LED is enabled
        int  mux_channels;   // How many mux channels are used (if enabled)
        bool gpio_test_pin_enabled; // Whether the test pin was also enabled


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

        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
};


#endif /* PRU_H_ */