int main(int argc, char** argv) {
if(getuid()!=0){
printf("You must run this program as root. Exiting.\n");
exit(EXIT_FAILURE);
}
// 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 ();
//Initilize Interrupts
prussdrv_open (PRU_EVTOUT_0);
// Map PRU's interrupts
prussdrv_pruintc_init(&pruss_intc_initdata);
// Map PRU memory to a pointer
prussdrv_map_prumem(PRUSS0_PRU0_DATARAM, &pru0DataMemory);
pru0DataMemory_int = (unsigned int *) pru0DataMemory;
// Map ddr memory
prussdrv_map_extmem((void **) &ddr_memory);
ddr_memory_int = (unsigned int *) ddr_memory;
unsigned int shared_ddr_len = prussdrv_extmem_size();
unsigned int physical_address = prussdrv_get_phys_addr((void *) ddr_memory);
// Use first 8 bytes of PRU memory to tell where the share memory is
pru0DataMemory_int[0] = physical_address;
pru0DataMemory_int[1] = shared_ddr_len;
printf("%u bytes of shared DDR available.\n Physical (PRU-side) address:%x\n", shared_ddr_len, physical_address);
printf("Virtual (linux-side) address: %p\n\n", ddr_memory);
// Load and execute the PRU program on the PRU
prussdrv_exec_program (PRU_NUM, "./memory.bin");
// Wait for event completion from PRU, returns the PRU_EVTOUT_0 number
int n = prussdrv_pru_wait_event (PRU_EVTOUT_0);
printf("EBB PRU program completed, event number %d.\n", n);
printf("The number read from PRU0 memory is: %d\n", *pru0DataMemory_int);
printf("%d\n", ddr_memory_int[199999]);
// Disable PRU and close memory mappings
prussdrv_pru_disable(PRU_NUM);
prussdrv_pru_disable(1);
prussdrv_exit ();
return EXIT_SUCCESS;
}
int PRUloader::setup_pruss(void) {
/* Allocate and initialize memory */
if (prussdrv_init()){
perror("prussdrv_init failed");
return -1;
}
if (prussdrv_open(PRU_EVTOUT_0)){
perror("prussdrv_open evt0 failed");
return -1;
}
if (prussdrv_open(PRU_EVTOUT_1)){
printf("prussdrv_open evt1 failed\n");
return -1;
}
if (prussdrv_pruintc_init(&pruss_intc_initdata)){
perror("prussdrv_pruintc_init failed");
return -1;
}
/* Start IRQ thread for event handling */
pthread_attr_t pthread_attr;
struct sched_param sched_param;
pthread_attr_init(&pthread_attr);
int evt_priority = sched_get_priority_max(SCHED_FIFO) - 2;
pthread_attr_setinheritsched(&pthread_attr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&pthread_attr, SCHED_FIFO);
sched_param.sched_priority = evt_priority;
pthread_attr_setschedparam(&pthread_attr, &sched_param);
quit_rx_thread = false;
if(pthread_create(&irq_thread_evt0, &pthread_attr, &pruevtout0_thread, this) != 0){
printf("ERR >> Event thread not created\r\n");
return -1;
}
pthread_attr_destroy(&pthread_attr);
// map pruss memory
prussdrv_map_extmem(&ddrMemOrigin);
// get max size
ddr_mem_size = prussdrv_extmem_size();
printf("PRU_DEBUG >> DDR size is 0x%0x bytes\r\nPRU_DEBUG >> DDR virtual address is 0x%0x\r\n", (uint32_t)ddr_mem_size, (uint32_t)ddrMemOrigin);
// Get physical address
phy_add = prussdrv_get_phys_addr(ddrMemOrigin);
printf("PRU_DEBUG >> Start of physical address allocated is 0x%X\r\n", phy_add);
memset((char *)ddrMemOrigin, 0, ddr_mem_size);
return 1;
}