/*
* main.c
*/
int main() {
struct pru_rpmsg_transport transport;
uint16_t src, dst, len;
volatile uint8_t *status;
/* allow OCP master port access by the PRU so the PRU can read external memories */
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
/* clear the status of event MB_INT_NUMBER (the mailbox event) and enable the mailbox event */
CT_INTC.SICR_bit.STS_CLR_IDX = MB_INT_NUMBER;
CT_MBX.IRQ[MB_USER].ENABLE_SET |= 1 << (MB_FROM_ARM_HOST * 2);
/* Make sure the Linux drivers are ready for RPMsg communication */
status = &resourceTable.rpmsg_vdev.status;
while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK));
/* Initialize pru_virtqueue corresponding to vring0 (PRU to ARM Host direction) */
pru_virtqueue_init(&transport.virtqueue0, &resourceTable.rpmsg_vring0, &CT_MBX.MESSAGE[MB_TO_ARM_HOST], &CT_MBX.MESSAGE[MB_FROM_ARM_HOST]);
/* Initialize pru_virtqueue corresponding to vring1 (ARM Host to PRU direction) */
pru_virtqueue_init(&transport.virtqueue1, &resourceTable.rpmsg_vring1, &CT_MBX.MESSAGE[MB_TO_ARM_HOST], &CT_MBX.MESSAGE[MB_FROM_ARM_HOST]);
/* Create the RPMsg channel between the PRU and ARM user space using the transport structure. */
while(pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS);
while(1){
/* Check bit 31 of register R31 to see if the mailbox interrupt has occurred */
#ifdef __GNUC__
unsigned int r31 = read_r31();
#else
unsigned int r31 = __R31;
#endif
if(r31 & HOST_INT){
/* Clear the mailbox interrupt */
CT_MBX.IRQ[MB_USER].STATUS_CLR |= 1 << (MB_FROM_ARM_HOST * 2);
/* Clear the event status, event MB_INT_NUMBER corresponds to the mailbox interrupt */
CT_INTC.SICR_bit.STS_CLR_IDX = MB_INT_NUMBER;
/* Use a while loop to read all of the current messages in the mailbox */
while(CT_MBX.MSGSTATUS_bit[MB_FROM_ARM_HOST].NBOFMSG > 0){
/* Check to see if the message corresponds to a receive event for the PRU */
if(CT_MBX.MESSAGE[MB_FROM_ARM_HOST] == 1){
/* Receive the message */
if(pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS){
/* Echo the message back to the same address from which we just received */
pru_rpmsg_send(&transport, dst, src, payload, len);
}
}
}
}
}
return 0;
}
int main(void)
{
struct pru_rpmsg_transport transport;
volatile uint8_t *status;
/* allow OCP master port access by the PRU so the PRU
* can read external memories */
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
/* clear the status of the PRU-ICSS system event that the ARM will use to 'kick' us */
CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
/* Make sure the Linux drivers are ready for RPMsg communication */
status = &resourceTable.rpmsg_vdev.status;
while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK))
;
/* Initialize the RPMsg transport structure */
pru_rpmsg_init(&transport,
&resourceTable.rpmsg_vring0,
&resourceTable.rpmsg_vring1,
TO_ARM_HOST,
FROM_ARM_HOST);
/* Create the RPMsg channel between the PRU and ARM user space using the transport structure. */
while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS)
;
hc_sr04_init();
while (1) {
/* Check bit 31 of register R31 to see
* if the mailbox interrupt has occurred */
if (read_r31() & HOST_INT) {
handle_mailbox_interrupt(&transport);
}
}
return 0;
}
