//! The main function.
int main(int argc, char **argv)
{
pruIo *io = pruio_new(PRUIO_ACT_PRU1, 0, 0, 0); //! create new driver structure
do {
uint32 pru_num, pru_iram, pru_dram, pru_intr;
//
// Check init success
//
if(io->Errr) {
printf("initialisation failed (%s)\n", io->Errr); break;}
if(io->PruNo) { // we use the other PRU
pru_num = 0;
pru_iram = PRUSS0_PRU0_IRAM;
pru_dram = PRUSS0_PRU0_DRAM;
pru_intr = PRU0_ARM_INTERRUPT; }
else {
pru_num = 1;
pru_iram = PRUSS0_PRU1_IRAM;
pru_dram = PRUSS0_PRU1_DRAM;
pru_intr = PRU1_ARM_INTERRUPT; }
//
// Now prepare the other PRU
//
if(prussdrv_open(PRU_EVTOUT_0)) { // note: libpruio uses PRU_EVTOUT_5
printf("prussdrv_open failed\n"); break;}
//Note: no prussdrv_pruintc_init(), libpruio did it already
load_firmware(pru_iram);
//
// Pass parameters to PRU
//
uint32 *dram;
prussdrv_map_prumem(pru_dram, (void *) &dram); // get dram pointer
dram[1] = 23; // start value
dram[2] = 7; // value to add
dram[3] = 67; // loop count (max 16 bit = 65536)
dram[4] = pru_intr + 16; // the interrupt we're waiting for
//
// Execute
//
printf("instructions loaded, starting PRU-%d\n", pru_num);
prussdrv_pru_enable(pru_num); // start
prussdrv_pru_wait_event(PRU_EVTOUT_0); // wait until finished
prussdrv_pru_clear_event(PRU_EVTOUT_0, pru_intr); // clear interrupt (optional, useful when starting again)
//
// Check result
//
if(dram[0] == (dram[1] + (dram[2] * dram[3])))
{printf("Test OK %d == %d + (%d * %d)\n", dram[0], dram[1], dram[2], dram[3]);}
else
{printf("Test failed: %d != %d + (%d * %d)\n", dram[0], dram[1], dram[2], dram[3]);}
prussdrv_pru_disable(pru_num); // disable PRU
// note: no prussdrv_exit(), libpruio does it in the destructor
} while (0);
pruio_destroy(io); /* destroy driver structure */
return 0;
}
void init(){
// Check if device tree overlay is loaded, load if needed.
int device_tree_overlay_loaded = 0;
FILE* f;
f = fopen("/sys/devices/bone_capemgr.9/slots","rt");
if(f==NULL){
printf("Initialisation failed (fopen rt)");
exit(1);
}
char line[256];
while(fgets(line, 256, f) != NULL){
if(strstr(line, "SAMPLE-DTO") != NULL){
device_tree_overlay_loaded = 1;
}
}
fclose(f);
if(!device_tree_overlay_loaded){
f = fopen("/sys/devices/bone_capemgr.9/slots","w");
if(f==NULL){
printf("Initialisation failed (fopen)");
exit(1);
}
fprintf(f, "SAMPLE-DTO");
fclose(f);
usleep(100000);
}
// Init pruio instance
io = pruio_new(0, 0x98, 0, 1);
if (io->Errr) {
printf("Initialisation failed (%s)\n", io->Errr);
exit(1);
}
}
//! The main function.
int main(int argc, char **argv)
{
pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); //! create new driver structure
do {
if (io->Errr) {
printf("initialisation failed (%s)\n", io->Errr); break;}
if (pruio_config(io, 1, 0x1FE, 0, 4)) {
printf("config failed (%s)\n", io->Errr); break;}
struct termios oldt, newt; // make terminal non-blocking
tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~( ICANON | ECHO );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 0;
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
while(!isleep(1)) { // run loop until keystroke
printf("\r%1X", pruio_gpio_Value(io, PIN));
fflush(STDIN_FILENO);
}
tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // reset terminal
printf("\n");
} while (0);
pruio_destroy(io); /* destroy driver structure */
return 0;
}
//! The main function.
int main(int argc, char **argv)
{
pruIo *Io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); //! ouvrir l'interruption Pruss (/ dev / uio5),charger les instructions de pasm_init.p au PRU et les exécute, et appeler les fonctions initialize des UDT du sous-système.
do {
if (Io->Errr) {
printf("initialisation failed (%s)\n", Io->Errr); break;}
if (pruio_cap_config(Io, P_IN, 2.)) { // Cette fonction configure un axe d'en-tête pour la capture et Analyse Pulse (CAP) trains. La configuration des broches est vérifié. Si elle est pas configuré comme entrée pour le module de la Cap dans le sous-système PWM, libpruio essaie d'adapter le muxing broches.
printf("failed setting input @P_IN (%s)\n", Io->Errr); break;}
float_t
f1 // Variable for calculated frequency.
, d1 // Variable for calculated duty cycle.
, f0 = 31250 // The required frequency.
, d0 = .5; // The required duty cycle.
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) { //Cette fonction définit la sortie PWM sur une broche d'en-tête. sortie PWM peuvent être soit générés par un eHRPWM ou d'un module eCAP. En fonction du nombre de broches spécifié (paramètre à billes), le module PWM correspondant est configuré pour la fréquence et le rapport cyclique déterminé.
printf("failed setting output @P_OUT (%s)\n", Io->Errr); break;}
if (pruio_config(Io, 1, 0x1FE, 0, 4)) { //Cette fonction est utilisée pour télécharger la configuration de l'hôte (ARM) au conducteur (PRU). Le PRU s'arrêté (si en cours d'exécution) et les nouvelles configurations se charger. Aussi les instructions Pru_Run se ré-initialisés.
printf("config failed (%s)\n", Io->Errr); break;}
struct termios oldt, newt; // make terminal non-blocking
tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~( ICANON );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 1;
tcsetattr( STDIN_FILENO, TCSANOW, &newt );
while(1) { // run endless loop
if (1 == isleep(1)) {
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) { // set new output
printf("failed setting PWM output (%s)\n", Io->Errr); break;}
printf("\n--> Frequency: %10f , Duty: %10f\n", f0, d0); // info
}
if (pruio_cap_Value(Io, P_IN, &f1, &d1)) { // get current input
printf("failed reading input @P_IN (%s)\n", Io->Errr); break;}
printf("\r Frequency: %10f , Duty: %10f ", f1, d1); // info
fflush(STDIN_FILENO);
}
finish:
tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // reset terminal
printf("\n");
} while (0);
pruio_destroy(Io); /* destroy driver structure */
return 0;
}
//-------------------------------! The main function.
int main(int argc, char **argv)
{ char *ret;
uint32 Samp, Mask, Tmr;
uint16 Mds;
pruIo *Io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); // create new driver structure
if (Io->Errr)
{ printf("initialisation failed (%s)\n", Io->Errr);
}
//pin config OK, transfer local settings to PRU and start
//char* pruio_config(pruIo* Io, uint32 Samp, uint32 Mask, uint32 Tmr, uint16 Mds);
Samp = 1;
Mask = 0x1FE;
Tmr = 0;
Mds = 4;
ret = pruio_config(Io, Samp, Mask, Tmr, Mds);
if (ret) //pruio_config(Io, 1, 0x1FE, 0, 4))
{ printf("config failed (%s)\n", Io->Errr);
}
/*=============================================
// char* pruio_gpio_setValue(pruIo* Io, uint8 Ball, uint8 Modus);
ret = pruio_gpio_setValue(Io, P_FANA, 1); //
if (ret) // set HIGH to turn off fan
{ printf("failed setting PWMA output (%s)\n", Io->Errr);
}
ret = pruio_gpio_setValue(Io, P_FANB, 1);
if (ret) // set HIGH to turn off fan
{ printf("failed setting PWMB output (%s)\n", Io->Errr);
}
============================================*/
ret = pruio_gpio_setValue(Io, P_FANA, 1); //
if (ret) // set HIGH to turn off fan
{ printf("failed setting PWMA output (%s)\n", Io->Errr);
}
ret = pruio_gpio_setValue(Io, P_FANB, 1);
if (ret) // set HIGH to turn off fan
{ printf("failed setting PWMB output (%s)\n", Io->Errr);
}
sleep(5);
pruio_destroy(Io); /* destroy driver structure */
return 0;
}
//! The main function.
int main(int argc, char **argv)
{
int i, n;
pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 4, 0x98, 0); //! create new driver structure
if (pruio_config(io, 1, 0x1FE, 0, 4)){ // upload (default) settings, start IO mode
printf("config failed (%s)\n", io->Errr);}
else {
/* now current ADC samples are available for AIN-0 to AIN-7 in array io->Adc->Value[] */
for(n = 1; n <= 13; n++) { // print some lines
for(i = 1; i < 9; i++) // all steps
printf(" %4X", io->Adc->Value[i]); // output one channel in hex
printf("\n"); // next line
}
}
/* we're done */
pruio_destroy(io); /* destroy driver structure */
return 0;
}
//! The main function.
int main(int argc, char **argv)
{
pruIo *Io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); //! create new driver structure
do {
if (Io->Errr) {
printf("initialisation failed (%s)\n", Io->Errr); break;}
if (pruio_cap_config(Io, P_IN, 2.)) { // configure input pin
printf("failed setting input @P_IN (%s)\n", Io->Errr); break;}
float_t
f1 // Variable for calculated frequency.
, d1 // Variable for calculated duty cycle.
, f0 = .5 // The required frequency.
, d0 = .5; // The required duty cycle.
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) {
printf("failed setting output @P_OUT (%s)\n", Io->Errr); break;}
// pin config OK, transfer local settings to PRU and start
if (pruio_config(Io, 1, 0x1FE, 0, 4)) {
printf("config failed (%s)\n", Io->Errr); break;}
struct termios oldt, newt; // make terminal non-blocking
tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~( ICANON );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 1;
tcsetattr( STDIN_FILENO, TCSANOW, &newt );
while(1) { // run endless loop
if (1 == isleep(1)) {
switch (getchar()) { // evaluate keystroke
case '0' : d0 = 0.0; break;
case '1' : d0 = 0.1; break;
case '2' : d0 = 0.2; break;
case '3' : d0 = 0.3; break;
case '4' : d0 = 0.4; break;
case '5' : d0 = 0.5; break;
case '6' : d0 = 0.6; break;
case '7' : d0 = 0.7; break;
case '8' : d0 = 0.8; break;
case '9' : d0 = 0.9; break;
case ',' : d0 = 1.0; break;
case 'm' : f0 = (f0 > 5.5 ? f0 - 5. : .5); break;
case 'p' : f0 = (f0 < 999995. ? f0 + 5. : 1000000.); break;
case '*' : f0 = (f0 < 1000000 ? f0 * 2 : 1000000.); break;
case '/' : f0 = (f0 > .5 ? f0 / 2 : .5); break;
case '+' : f0 = 1000000; break;
case '-' : f0 = .5; break;
default: goto finish;
};
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) { // set new output
printf("failed setting PWM output (%s)\n", Io->Errr); break;}
printf("\n--> Frequency: %10f , Duty: %10f\n", f0, d0); // info
}
if (pruio_cap_Value(Io, P_IN, &f1, &d1)) { // get current input
printf("failed reading input @P_IN (%s)\n", Io->Errr); break;}
printf("\r Frequency: %10f , Duty: %10f ", f1, d1); // info
fflush(STDIN_FILENO);
}
finish:
tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // reset terminal
printf("\n");
} while (0);
pruio_destroy(Io); /* destroy driver structure */
return 0;
}
int main( int argc, char *argv[] )
{
float temp;
uint32 cur_time;
uint32 start_time;
float duty_cycle;
float target_temp;
char print_string[ 200 ];
util_print_procId();
force_stop = FALSE;
door_open = FALSE;
timer_init();
if( argc != 2 )
{
util_print_debug( "Error: The only argument is the path to the JSON file.\n" );
return( -1 );
}
//Set up signal handler:
if( signal( SIGINT, signalHandler ) == SIG_ERR )
{
util_print_debug( "MPU: Error setting up ctrl-c interrupt.\n" );
return( -1 );
}
util_print_debug( argv[ 1 ] );
if( !pid_init( argv[ 1 ] ) )
{
util_print_debug( "Error: There was an error loading the profile.\n" );
return( -1 );
}
pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1);
start_time = 0;
cur_time = 0;
duty_cycle = 1.0;
if( pruio_config( io, 1, 0x1FE, 0, 4 ) )
{
sprintf( print_string, "config failed (%s)\n", io->Errr );
util_print_debug( print_string );
return( -1 );
}
pruio_pwm_setValue( io, P_OUT, PWM_FREQ, duty_cycle );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE ); //close door
while( !force_stop )
{
temp = util_calc_temp( io->Adc->Value[ 1 ] );
target_temp = pid_find_target( cur_time / 1000.0 );
duty_cycle = pid_calc( target_temp, temp );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_IDLE );
if( duty_cycle == -1 )
{
force_stop = TRUE;
}
// DOOR CRACKING CODE
if ( ( temp - target_temp) > 5.0 )
{
// OPEN DOOR
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_OPEN );
door_open = TRUE;
}
else if ( ( duty_cycle > 0.0 ) && door_open )
{
// CLOSE DOOR
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE );
door_open = FALSE;
}
pruio_pwm_setValue( io, P_OUT, -1, duty_cycle );
util_print_point( cur_time / 1000, target_temp, temp );
//block for 2 seconds.
while( ( cur_time - start_time <= PWM_PERIOD_MS ) && !force_stop )
{
if( !timer_get( &cur_time ) )
{
printf( "There was an error with the timer.\n" );
return( 0 );
}
}
start_time = start_time + PWM_PERIOD_MS;
}
// I WISH WE COULD WAIT UNTIL THE OVEN IS AT 100 DEGREES C TO CLOSE THIS DOWN
pruio_pwm_setValue( io, P_OUT, -1, 0.0f );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE ); // CLOSE THE DOOR
// STALL BEFORE SHUTTING DOWN PWM
timer_get( &start_time );
cur_time = start_time;
while( ( cur_time - start_time ) < 500 )
{
timer_get( &cur_time );
}
pruio_destroy(io); /* destroy driver structure */
return 0;
}
//-------------------------------! The main function.
int main(int argc, char **argv)
{ float_t f1 = 500.0F; // Variable for calculated frequency.
float_t d1 = 0.9F; // Variable for calculated duty cycle.
float_t f0 = 500.0F; // The required frequency.
float_t d0 = .9F; // The required duty cycle.
float_t MINFREQ = 2.0F; //
char buffer[256], *msg = buffer;
pruIo *Io;
int charX=0;
Io = pruio_new(PRUIO_DEF_ACTIVE, 16, 0x98, 0); //pruIo* pruio_new(uint16 Act, uint8 Av, uint32 OpD, uint8 SaD);
pruio_destroy(Io); //destroy driver structure
Io = pruio_new(PRUIO_DEF_ACTIVE, 16, 0x98, 0); //pruIo* pruio_new(uint16 Act, uint8 Av, uint32 OpD, uint8 SaD);
//output GpioUdt::setValue PwmMod::setValue
//input GpioUdt::config CapMod::config
msg= pruio_pwm_setValue(Io, P_FANA, f0, d0);
if(msg)printf("1%s\n",msg); //char* pruio_pwm_setValue(pruIo* Io, uint8 Ball, float_t Hz, float_t Du);
msg= pruio_pwm_setValue(Io, P_FANB, f0, d0);
if(msg)printf("2%s\n",msg); //char* pruio_pwm_setValue(pruIo* Io, uint8 Ball, float_t Hz, float_t Du);
msg= pruio_config(Io, 1, 0x1FE, 1e6, 0);
if(msg)printf("3%s\n",msg); //char* pruio_config(pruIo* Io, uint32 Samp, uint32 Mask, uint32 Tmr, uint16 Mds);
msg= pruio_cap_config(Io, (uint8)P_IN, MINFREQ); //NO NON-FLOAT with decimal, get interpreted at double
if(msg)printf("4%s\n",msg); //char* pruio_cap_config(pruIo* Io, uint8 Ball, float_t FLow);
// not using ring buffer mode. couldn't get 2 PWM outputs to work with SAMP>1
// So TMR value is ignored
// msg= pruio_rb_start(Io); if(msg)printf("5%s\n",msg); //char* pruio_rb_start(pruIo* Io);
printf("Samples: %d\n", Io->Adc->Samples);
printf("TimerVal: %d ns\n",Io->Adc->TimerVal);
// printf("Dram[0]= %d\n",Io->DRam[0] ); //most recent write position
struct termios oldt, newt; // make terminal non-blocking
int localerr=0;
if( 0>tcgetattr( STDIN_FILENO, &oldt ) )
{ localerr = errno;
printf("tcgetattr failed, error = %d\n",localerr);
}
newt = oldt;
newt.c_lflag &= ~( ICANON );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 1;
tcsetattr( STDIN_FILENO, TCSANOW, &newt );
int irun=1;
while(irun) // Terminate on ESC, else run endless loop
{ if (1 == isleep(1000)) // got a char
{ charX = getchar();
switch (charX) // evaluate keystroke
{ case '0' : d0 = 0.0; break;
case '1' : d0 = 0.1; break;
case '2' : d0 = 0.2; break;
case '3' : d0 = 0.3; break;
case '4' : d0 = 0.4; break;
case '5' : d0 = 0.5; break;
case '6' : d0 = 0.6; break;
case '7' : d0 = 0.7; break;
case '8' : d0 = 0.8; break;
case '9' : d0 = 0.9; break;
case ',' : d0 = 1.0; break;
case 'm' : f0 = (f0 > 5.5 ? f0 - 5. : .5); break;
case 'p' : f0 = (f0 < 999995. ? f0 + 5. : 1000000.); break;
case '*' : f0 = (f0 < 1000000 ? f0 * 2 : 1000000.); break;
case '/' : f0 = (f0 > .5 ? f0 / 2 : .5); break;
case '+' : f0 = 1000000; break;
case '-' : f0 = .5; break;
default: {irun = 0; break;} //anything other than above, quit
};
if(irun)
{ msg = pruio_pwm_setValue(Io, P_FANA, f0, d0);
if(msg)
{ printf("6failed setting PWMA output (%s)\n", Io->Errr); irun=0;
}else
{ printf("6\n");
}
msg = pruio_pwm_setValue(Io, P_FANB, f0, d0);
if(msg)
{ printf("7failed setting PWMB output (%s)\n", Io->Errr); irun=0;
}else
{ printf("7\n");
}
}
}
if(irun)
{ if (pruio_cap_Value(Io, P_IN, &f1, &d1)) // get current input
{ printf("8failed reading input @P_IN=%d (%s)\n", P_IN, Io->Errr); break;
}
printf("Freq %6.1f Duty: %6.1f Freq: %6.1f Duty: %6.1f ADC: %4d %4d %4d\n", f0, d0, f1, d1,Io->Adc->Value[1],Io->Adc->Value[2],Io->Adc->Value[3]); // info
fflush(STDIN_FILENO);
}
} //end while
tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // reset terminal
printf("Exiting\n");
if (pruio_pwm_setValue(Io, P_FANA, f0, 1)) // set new output
{ printf("failed setting PWMA output (%s)\n", Io->Errr);
}
if (pruio_pwm_setValue(Io, P_FANB, f0, 1)) // set new output
{ printf("failed setting PWMB output (%s)\n", Io->Errr);
}
pruio_destroy(Io); //destroy driver structure
return 0;
}
