int main() {
//set pin to output
p.p_addr = GPIO_BASE_ADDR;
map_gpio(&p);
set_as_input(&p, 4);
//set_as_output(&p, 4);
set_output(&p, 4, 0);
clear_output(&p, 4);
read_pin(&p, 4);
return 0;
}
int main(){
int fd = open("/dev/mem", O_RDWR);
gpio_control * gpio_0 = map_gpio(fd, GPIO0_BASE);
gpio_control * gpio_1 = map_gpio(fd, GPIO1_BASE);
*(gpio_1->oe) &= ~P9_12;
*(gpio_0->oe) &= ~P9_11;
*(gpio_0->oe) |= P9_21;
*(gpio_0->oe) |= P9_22;
while(1){
if ((*(gpio_0->in)) & P9_22){
*(gpio_1->out) |= P9_12;
} else{
*(gpio_1->out) &= ~P9_12;
}
if ((*(gpio_0->in)) & P9_21){
*(gpio_0->out) |= P9_11;
} else{
*(gpio_0->out) &= ~P9_11;
}
}
return 0;
}
int init_pru_motion_queue(struct MotionQueue *queue) {
if (!map_gpio()) {
fprintf(stderr, "Couldn't mmap() GPIO ranges.\n");
return 1;
}
// Prepare all the pins we need for output. All the other bits are inputs,
// so the STOP switch bits are automatically prepared for input.
gpio_0[GPIO_OE/4] = ~(MOTOR_OUT_BITS | (1 << AUX_1_BIT) | (1 << AUX_2_BIT));
gpio_1[GPIO_OE/4] = ~(DIRECTION_OUT_BITS | (1 << MOTOR_ENABLE_GPIO1_BIT));
pru_motor_enable_nowait(0); // motors off initially.
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
prussdrv_init();
/* Get the interrupt initialized */
int ret = prussdrv_open(PRU_EVTOUT_0); // allow access.
if (ret) {
fprintf(stderr, "prussdrv_open() failed (%d)\n", ret);
return ret;
}
prussdrv_pruintc_init(&pruss_intc_initdata);
if (map_pru_communication() == NULL) {
fprintf(stderr, "Couldn't map PRU memory for queue.\n");
return 1;
}
prussdrv_pru_write_memory(PRUSS0_PRU0_IRAM, 0, PRUcode, sizeof(PRUcode));
prussdrv_pru_enable(0);
// Initialize operations.
queue->enqueue = &pru_enqueue_segment;
queue->wait_queue_empty = &pru_wait_queue_empty;
queue->motor_enable = &pru_motor_enable_nowait;
queue->shutdown = &pru_shutdown;
return 0;
}
