void uninitialize_pru(){ pruDataMem_int[0] = 0; /* Wait until PRU0 has finished execution */ printf("\tINFO: Waiting for HALT command.\r\n"); if (PRU_NUM == 0){ prussdrv_pru_wait_event (PRU_EVTOUT_0); } if (PRU_NUM == 1){ prussdrv_pru_wait_event (PRU_EVTOUT_1); } printf("\tINFO: PRU completed transfer.\r\n"); if (PRU_NUM == 0){ prussdrv_pru_clear_event (PRU0_ARM_INTERRUPT); } if (PRU_NUM == 1){ prussdrv_pru_clear_event (PRU1_ARM_INTERRUPT); } /* Disable PRU and close memory mapping*/ }
int main (void) { int ret = init_PRUSS(); uint16_t chan[NUM_CHANNELS][SAMPLES_PR_PACKAGE]; int offset = 0; while(1){ /* Wait until PRU0 has finished execution */ prussdrv_pru_wait_event(PRU_EVTOUT_0); // there's a bug that makes the pruss driver execute interrupts twice, se: https://github.com/beagleboard/am335x_pru_package/issues/3 prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); prussdrv_pru_wait_event(PRU_EVTOUT_0); // there's a bug that makes the pruss driver execute interrupts twice, se: https://github.com/beagleboard/am335x_pru_package/issues/3 prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); uint32_t flag = sharedMem_int[0]; if(flag){ offset = 2; } else { offset = 2050; } //printf("flag: %08x , data: ", flag); for(int k = 0; k < SAMPLES_PR_PACKAGE ; k +=8){ for(int i = 0 ; i< NUM_CHANNELS ; ++i){ chan[i][k] = sharedMem_chan[k+offset+i]; } printf("chan 0 : %04.2f \n", chan[0][k]*3.2227); } //printf("\n"); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); } /* Disable PRU and close memory mapping*/ prussdrv_pru_disable(0); prussdrv_pru_disable(1); prussdrv_exit (); return(ret); }
static void pru_wait_queue_empty() { const unsigned int last_insert_position = (queue_pos_ - 1) % QUEUE_LEN; while (pru_data_->ring_buffer[last_insert_position].state != STATE_EMPTY) { prussdrv_pru_wait_event(PRU_EVTOUT_0); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); } }
int old_main(int argc, char **argv) { int rtn; /* prussdrv_init() will segfault if called with EUID != 0 */ if(geteuid()) { fprintf(stderr, "%s must be run as root to use prussdrv\n", argv[0]); return -1; } /* initialize the library, PRU and interrupt; launch our PRU program */ if(pru_setup("./pwm.bin")) { pru_cleanup(); return -1; } /* wait for PRU to assert the interrupt to indicate completion */ printf("waiting for interrupt from PRU0...\n"); /* The prussdrv_pru_wait_event() function returns the number of times the event has taken place, as an unsigned int. There is no out-of- band value to indicate error (and it can wrap around to 0 if you run the program just a whole lot of times). */ rtn = prussdrv_pru_wait_event(PRU_EVTOUT_0); printf("PRU program completed, event number %d\n", rtn); /* clear the event, disable the PRU and let the library clean up */ return pru_cleanup(); }
void *producer(void *ptr) { struct s_VcdFormatValues buffervalues; static uint64_t nr_of_captures=0; const uint8_t mem_offset=4; while (producer_running) { pthread_mutex_lock(&shared_var_mutex); while (buffer_full(&dataCapturedValues)) { pthread_cond_wait(&cond_producer, &shared_var_mutex); } /*Capture values from */ dbg("\tWaiting for event...\n"); prussdrv_pru_wait_event(PRU_EVTOUT_0); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU1_ARM_INTERRUPT); buffervalues.values=shared_ram[mem_offset]; buffervalues.seconds = sample_delay*nr_of_captures++; (void) buffer_push(&dataCapturedValues, buffervalues); pthread_cond_signal(&cond_consumer);/*wake up consumer*/ pthread_mutex_unlock(&shared_var_mutex); } pthread_exit(0); }
//! 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; }
int main(int argc, char **argv) { if (argc != 2) { printf("Usage: %s pru_code.bin\n", argv[0]); return 1; } // If this segfaults, make sure you're executing as root. prussdrv_init(); if (prussdrv_open(PRU_EVTOUT_0) == -1) { printf("prussdrv_open() failed\n"); return 1; } tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; prussdrv_pruintc_init(&pruss_intc_initdata); // Change to 1 to use PRU1 int which_pru = 0; printf("Executing program and waiting for termination\n"); prussdrv_exec_program(which_pru, argv[1]); // Wait for the PRU to let us know it's done prussdrv_pru_wait_event(PRU_EVTOUT_0); printf("All done\n"); prussdrv_pru_disable(which_pru); prussdrv_exit(); return 0; }
int main(int argc, char** argv) { printf("\nStarting %s example.\r\n", argv[0]); /* Initialize the PRU */ prussdrv_init(); /* Open PRU Interrupt */ int open_result = prussdrv_open(PRU_EVTOUT_0); if (open_result) { printf("prussdrv_open open failed\n"); return open_result; } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); uint16_t* pruMemory; prussdrv_map_prumem(PRUSS0_PRU0_DATARAM, (void**) &pruMemory); memcpy(pruMemory, digits, sizeof(digits)); printf("\tExecuting.\r\n"); prussdrv_exec_code(PRU0, counter, sizeof(counter)); printf("\tWaiting for HALT command.\r\n"); prussdrv_pru_wait_event(PRU_EVTOUT_0); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); /* Disable PRU and close memory mapping*/ prussdrv_pru_disable(PRU0); prussdrv_exit(); return(0); }
/* unsigned int times_count=0; */ void* threaded_function(void* param){ printf("Started thread\n"); /* struct timeval time; */ /* unsigned long t1=0; */ /* unsigned long t2=0; */ unsigned int buffer_size=0; unsigned int buffer_position; /* unsigned int first=1; */ /* times_count=0; */ /* int i; */ /* float sample; */ int count = 0; while(1){ // Wait for interrupt from PRU prussdrv_pru_wait_event(PRU_EVTOUT_0); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); // Store time so we can average later /* gettimeofday(&time,NULL); */ /* t2 = t1; */ /* t1 = time.tv_usec + time.tv_sec*1000000; */ /* if(times_count<1000 && !first){ */ /* times[times_count]=(t1-t2); */ /* times_count++; */ /* } */ /* first=0; */ // Read number of samples available buffer_size = shared_ram[1]; // Read position in RAM buffer_position = shared_ram[0]; // Write samples to buffer memcpy(&(buffer[buffer_count]), &(shared_ram[buffer_position]), buffer_size*sizeof(unsigned int)); buffer_count += buffer_size; /* int *p = (int *)(&shared_ram[1]); */ /* sf_write_int(sound_file, &(shared_ram[1]), buffer_size); */ /* for(i=0; i<buffer_size;i++){ */ /* sample = (float)shared_ram[i+1]; */ /* sample = sample/(float)0xFFF; */ /* sf_write_float(sound_file, &sample, 1); */ /* printf("sample: %f \n", sample); */ /* } */ if(count%1 == 0){ // Print info //printf("Pos: %u\n", buffer_position); //printf("Buffer size: %u\n", buffer_size); if(shared_ram[2]) printf("%u\t", shared_ram[buffer_position]); else printf("%u\n", shared_ram[buffer_position]); //printf("fifo count: %u \n", shared_ram[3]); } count++; } return NULL; }
int main(int argc, char **argv) { int rtn; printf("Starting the EBB PRU Program:\n"); if(geteuid()) { fprintf(stderr, "You must be run as root to use the prussdrv\n", argv[0]); return -1; } if(pru_setup("./flashLED.bin")) { pru_cleanup(); return -1; } /* wait for PRU to assert the interrupt to indicate completion */ printf("waiting for interrupt from PRU0...\n"); /* The prussdrv_pru_wait_event() function returns the number of times the event has taken place, as an unsigned int. There is no out-of- band value to indicate error (and it can wrap around to 0 if you run the program just a whole lot of times). */ rtn = prussdrv_pru_wait_event(PRU_EVTOUT_0); printf("PRU program completed, event number %d\n", rtn); /* clear the event, disable the PRU and let the library clean up */ return pru_cleanup(); }
int main() { void *pru0_memory; unsigned int *pru0_memory_uint; int distance_samples; int n; tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; prussdrv_init(); prussdrv_open(PRU_EVTOUT_0); prussdrv_pruintc_init(&pruss_intc_initdata); prussdrv_map_prumem(PRUSS0_PRU0_DATARAM, &pru0_memory); pru0_memory_uint = (unsigned int*)pru0_memory; prussdrv_exec_program(0, "./hcsr04.bin"); n = prussdrv_pru_wait_event(PRU_EVTOUT_0); distance_samples = *pru0_memory_uint; printf("Measured distance: %f cm\n", (float)distance_samples / (USECS_DIV * HCSR04_DIV)); prussdrv_pru_disable(0); prussdrv_exit(); return 0; }
void main (void) { int n; /* 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 (); prussdrv_open (PRU_EVTOUT_0); /* Map PRU's INTC */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Copy data to PRU memory */ unsigned int x = 7; prussdrv_pru_write_memory(PRUSS0_PRU0_DATARAM, 0, &x, 4); /* Load and execute binary on PRU */ prussdrv_exec_program (PRU_NUM, "./buttonTest.bin"); /* Wait for event completion from PRU */ n = prussdrv_pru_wait_event (PRU_EVTOUT_0); // This assumes the PRU generates an interrupt // connected to event out 0 immediately before halting printf("PRU program completed, event number %d.\n", n); /* Disable PRU and close memory mappings */ prussdrv_pru_disable(PRU_NUM); prussdrv_exit (); }
static volatile struct MotionSegment *next_queue_element() { queue_pos_ %= QUEUE_LEN; while (pru_data_->ring_buffer[queue_pos_].state != STATE_EMPTY) { prussdrv_pru_wait_event(PRU_EVTOUT_0); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); } return &pru_data_->ring_buffer[queue_pos_++]; }
int PruTimer::waitUntilSync() { int ret; // Wait until the PRU sends a sync event. ret = prussdrv_pru_wait_event(PRU_EVTOUT_1, 1000); if(ret != 0) prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT); return ret; }
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 main (void) { unsigned int ret; tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; printf("\nINFO: Starting %s example.\r\n", "PRU_memAccessPRUDataRam"); /* Initialize the PRU */ prussdrv_init (); /* Open PRU Interrupt */ ret = prussdrv_open(PRU_EVTOUT_0); if (ret) { printf("prussdrv_open open failed\n"); return (ret); } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Initialize example */ printf("\tINFO: Initializing example.\r\n"); LOCAL_exampleInit(PRU_NUM); /* Execute example on PRU */ printf("\tINFO: Executing example.\r\n"); char path[] = "./PRU_memAccessPRUDataRam.bin"; if(prussdrv_exec_program (PRU_NUM, path)) { fprintf(stderr, "ERROR: Could not open %s\n", path); return 1; } /* Wait until PRU0 has finished execution */ printf("\tINFO: Waiting for HALT command.\r\n"); prussdrv_pru_wait_event (PRU_EVTOUT_0); printf("\tINFO: PRU completed transfer.\r\n"); prussdrv_pru_clear_event (PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); /* Check if example passed */ if ( LOCAL_examplePassed(PRU_NUM) ) { printf("INFO: Example executed succesfully.\r\n"); } else { printf("INFO: Example failed.\r\n"); } /* Disable PRU and close memory mapping*/ prussdrv_pru_disable (PRU_NUM); prussdrv_exit (); return(0); }
/***************************************************************************** * Local Function Definitions * *****************************************************************************/ updatePixelStrip() { unsigned int k; /* Execute example on PRU */ prussdrv_exec_program (PRU_NUM, "./ledgriddrvr.bin"); /* Wait until PRU0 has finished execution */ prussdrv_pru_wait_event (PRU_EVTOUT_0); prussdrv_pru_clear_event (PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); for( k=0 ; k < INTERSCAN_DELAY ; k++ ) { ; } } // updatePixelStrip()
void PRUloader::stopPRU(void){ pruDataMem_byte[0] = 0; printf("\r\nWaiting for PRU to HALT\r\n"); /* Wait for event completion from PRU */ prussdrv_pru_wait_event(PRU_EVTOUT_1); // This assumes the PRU generates an interrupt connected to event out 0 immediately before halting prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT); /* Disable PRU and close memory mappings */ prussdrv_pru_disable(PRU_NUM); prussdrv_exit(); }
/* This method programs the PRU's and makes them execute their program. ./PRUADC.bin and ./PRUClock.bin should be present. * The PRU's fill the shared memory with 10-bit samples stored as uint_16. This method allocates memory to copy these values as an array * of doubles and returns a pointer to this array. Returns NULL if VREF are not set. To set these, call mdau_create. */ double* mdau_read_frame(){ if(VREF == 0){ return NULL; } // 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; // Map the PRU's interrupts prussdrv_pruintc_init(&pruss_intc_initdata); // Load and execute the PRU program on the PRU prussdrv_exec_program (ADC_PRU_NUM, "./PRUADC.bin"); prussdrv_exec_program (CLK_PRU_NUM, "./PRUClock.bin"); // Wait for event completion from PRU, returns the PRU_EVTOUT_0 number prussdrv_pru_wait_event (PRU_EVTOUT_0); int fd; void *map_base, *virt_addr; unsigned long read_result; unsigned int addr = readFileValue(MMAP1_LOC "addr"); unsigned int dataSize = readFileValue(MMAP1_LOC "size"); unsigned int frame_size = dataSize / 2; off_t target = addr; if((fd = open("/dev/mem", O_RDWR | O_SYNC)) == -1){ return NULL; } map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); if(map_base == (void *) -1) { return NULL; } double* samples = malloc(frame_size*sizeof(double)); if(samples == NULL){ return NULL; } int i=0; for(i=0; i<frame_size; i++){ virt_addr = map_base + (target & MAP_MASK); read_result = *((uint16_t *) virt_addr); samples[i] = VREF * read_result / ADC_MAXIMUM ; target+=2; // 2 bytes per sample } if(munmap(map_base, MAP_SIZE) == -1) { return NULL; } close(fd); return samples; }
int main (int argc, char* argv[]) { int arg_length = strlen(argv[1]); unsigned int code=0; unsigned int code_array[15]; int i; if (arg_length != 15){ printf("Number of bits in pattern is not equal to 15\n"); exit(EXIT_FAILURE); } for (i=0;i<15;i++) { code_array[i] = (unsigned int)(argv[1][i]-48); printf("digit %d: %d\n",i, code_array[i]); code = code | (code_array[i] << i) ; } printf("code: %x\n", code); 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 (); prussdrv_open (PRU_EVTOUT_0); // Map PRU's interrupts prussdrv_pruintc_init(&pruss_intc_initdata); // Load the code into the PRU memory prussdrv_pru_write_memory(PRUSS0_PRU0_DATARAM, 0, &code, 4); // Load and execute the PRU program on the PRU prussdrv_exec_program (PRU_NUM, "/usr/scripts/PRU/send_15_bit_IR_pattern.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); // Disable PRU and close memory mappings prussdrv_pru_disable(PRU_NUM); prussdrv_exit (); return EXIT_SUCCESS; }
int main (void) { static FILE *fp = 0; unsigned int ret; tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; printf("\nINFO: Starting %s example.\r\n", "blink"); /* Initialize the PRU */ prussdrv_init (); // Set ADC CS if((fp=fopen("/sys/class/gpio/export", "w"))==NULL){ printf("Cannot open GPIO file 62.\n"); return (1); } fprintf(fp,"62"); fclose(fp); if((fp=fopen("/sys/class/gpio/gpio62/direction", "w"))==NULL){ printf("cannot open gpio direction file.\n"); return(1); } fprintf(fp,"out"); fclose(fp); mux("lcd_pclk",0x0d); /* Open PRU Interrupt */ ret = prussdrv_open(PRU_EVTOUT_0); if (ret) { printf("prussdrv_open open failed\n"); return (ret); } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Execute example on PRU */ printf("\tINFO: Executing example.\r\n"); prussdrv_exec_program (PRU_NUM, "./blink.bin"); /* Wait until PRU0 has finished execution */ printf("\tINFO: Waiting for HALT command.\r\n"); prussdrv_pru_wait_event (PRU_EVTOUT_0); printf("\tINFO: PRU completed transfer.\r\n"); prussdrv_pru_clear_event (PRU0_ARM_INTERRUPT); /* Disable PRU and close memory mapping*/ prussdrv_pru_disable (PRU_NUM); prussdrv_exit (); return(0); }
int main (void) { unsigned int ret; tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; printf("\nINFO: Starting %s test.\r\n", "GPIO input level"); /* Initialize the PRU */ prussdrv_init (); /* Open PRU Interrupt */ ret = prussdrv_open(PRU_EVTOUT_0); if (ret) { printf("prussdrv_open open failed\n"); return (ret); } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Initialize example */ printf("\tINFO: Initializing test.\r\n"); LOCAL_exampleInit(PRU_NUM); /* Execute example on PRU */ printf("\tINFO: Executing test.\r\n"); prussdrv_exec_program (PRU_NUM, "./levelIn.bin"); /* Wait until PRU0 has finished execution */ printf("\tINFO: Waiting for HALT command.\r\n"); prussdrv_pru_wait_event (PRU_EVTOUT_0); printf("\tINFO: PRU completed transfer.\r\n"); prussdrv_pru_clear_event (PRU0_ARM_INTERRUPT); /* Check if example passed */ if ( LOCAL_examplePassed(PRU_NUM) ) { printf("Test executed succesfully.\r\n"); } else { printf("Test failed.\r\n"); } /* Disable PRU and close memory mapping*/ prussdrv_pru_disable(PRU_NUM); prussdrv_exit (); munmap(ddrMem, 0x0FFFFFFF); close(mem_fd); return(0); }
void *pruevtout0_thread(void *arg) { printf("pruevtout0_thread started.\n"); printf("count = %d\n", *pru0_data_ram); do { prussdrv_pru_wait_event(PRU_EVTOUT_0); printf("count = %d\n", *pru0_data_ram); // The Linux API documentation is wrong regarding the following function: // the documentation has the arguments reversed. If you get this wrong, // the above prussdrv_pru_wait_event() will wait forever even if // an interrupt is pending. prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); } while (1); }
static void *pruevent_thread(void *arg) { int event = (int) arg; int event_count; do { if (prussdrv_pru_wait_event(event, &event_count) < 0) continue; HPG_ERR("PRU event %d received\n",event); prussdrv_pru_clear_event(pru ? PRU1_ARM_INTERRUPT : PRU0_ARM_INTERRUPT); } while (1); HPG_ERR("pruevent_thread exiting\n"); return NULL; // silence compiler warning }
void main (void) { tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; prussdrv_init (); prussdrv_open (PRU_EVTOUT_0); prussdrv_pruintc_init(&pruss_intc_initdata); prussdrv_exec_program (PRU_NUM, "./buttonTest.bin"); /* Wait for event completion from PRU */ int n = prussdrv_pru_wait_event (PRU_EVTOUT_0); printf("PRU test completed, event number %d.\n", n); /* Disable PRU and close memory mappings */ prussdrv_pru_disable(PRU_NUM); prussdrv_exit (); }
int main (void) { int ret1,i; int fd,len; char buf[64]; unsigned int ret,value; tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; signal(SIGINT, signal_callback_handler); printf("\nINFO: Starting %s example.\r\n", "pt - SR04"); /* Initialize the PRU */ prussdrv_init (); /* Open PRU Interrupt */ ret = prussdrv_open(PRU_EVTOUT_0); if (ret) { printf("prussdrv_open open failed\n"); return (ret); } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Initialize example */ printf("\tINFO: Initializing example.\r\n"); LOCAL_exampleInit(PRU_NUM); /* Execute example on PRU */ printf("\tINFO: Executing example.\r\n"); prussdrv_exec_program (PRU_NUM, "./pu.bin"); printf("\tINFO: Waiting for \r\n"); while(1) { prussdrv_pru_wait_event (PRU_EVTOUT_0); prussdrv_pru_clear_event (PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); ret1 = LOCAL_pr(PRU_NUM); // go get & print result } usleep (500000); //Just pause so don't go too fast prussdrv_pru_disable (PRU_NUM); prussdrv_exit (); sleep(20); return(0); }
int main (void) { /* Initialize the PRU */ printf("Initializing PRU\n"); tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; prussdrv_init (); /* Open PRU Interrupt */ if(prussdrv_open(PRU_EVTOUT_0)) { // Handle failure fprintf(stderr, "prussdrv_open open failed\n"); return 1; } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Get pointers to PRU local memory */ void *pruDataMem; prussdrv_map_prumem (PRUSS0_PRU0_DATARAM, &pruDataMem); unsigned int *pruData = (unsigned int *) pruDataMem; /* Execute example on PRU */ printf("Executing sonar pru code\n"); prussdrv_exec_program (0, "hcsr04_demo.bin"); /* Get 1000 measurements */ int i = 0; while(i++ < 1000) { // Wait for the PRU interrupt to occur prussdrv_pru_wait_event (PRU_EVTOUT_0); prussdrv_pru_clear_event (PRU0_ARM_INTERRUPT); // Print out the distance received from the sonar (sound takes 58.77 microseconds to travel 1 cm at sea level in dry air) printf("Distance = %f cm\n", (float) pruData[0] / 58.77); } /* Check if example passed */ printf("Executed succesfully.\r\n"); /* Disable PRU and close memory mapping*/ prussdrv_pru_disable (0); prussdrv_exit (); return(0); }
int main(void) { /* Initialize the PRU */ //printf(">> Initializing PRU\n"); tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; prussdrv_init(); /* Open PRU Interrupt */ if (prussdrv_open (PRU_EVTOUT_0)) { // Handle failure printf("-1"); return 1; } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Get pointers to PRU local memory */ void *pruDataMem; prussdrv_map_prumem(PRUSS0_PRU0_DATARAM, &pruDataMem); unsigned int *pruData = (unsigned int *) pruDataMem; /* Execute code on PRU */ //printf(">> Executing HCSR-04 code\n"); prussdrv_exec_program(0, "hcsr04.bin"); /* Get measurements */ //int i = 0; //while (i++ < 20) { // Wait for the PRU interrupt prussdrv_pru_wait_event (PRU_EVTOUT_0); prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); // Print the distance received from the sonar // At 20 degrees in dry air the speed of sound is 342.2 cm/sec // so it takes 29.12 us to make 1 cm, i.e. 58.44 us for a roundtrip of 1 cm printf("%.2f \n", (float) pruData[0] / 58.44); //sleep(1); //} /* Disable PRU and close memory mapping*/ prussdrv_pru_disable(0); prussdrv_exit(); //printf(">> PRU Disabled.\r\n"); return (0); }
int main (void) { unsigned int ret; tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA; printf("\nINFO: Starting %s example.\r\n", "dmx"); /* Initialize the PRU */ prussdrv_init (); LOCAL_export_pin(38); /* Open PRU Interrupt */ ret = prussdrv_open(PRU_EVTOUT_0); if (ret) { printf("prussdrv_open open failed\n"); return (ret); } /* Get the interrupt initialized */ prussdrv_pruintc_init(&pruss_intc_initdata); /* Initialize example */ printf("\tINFO: Initializing example.\r\n"); LOCAL_exampleInit(); /* Execute example on PRU */ printf("\tINFO: Executing example.\r\n"); prussdrv_exec_program (PRU_NUM, "./dmx.bin"); LOCAL_udp_listen(); pruDataMem_byte[DMX_HALT_ADDR] = 1; /* Wait until PRU0 has finished execution */ printf("\tINFO: Waiting for HALT command.\r\n"); prussdrv_pru_wait_event (PRU_EVTOUT_0); printf("\tINFO: PRU completed transfer.\r\n"); prussdrv_pru_clear_event (PRU_EVTOUT_0, PRU0_ARM_INTERRUPT); /* Disable PRU and close memory mapping*/ prussdrv_pru_disable (PRU_NUM); prussdrv_exit (); LOCAL_unexport_pin(38); return(0); }
int main(int argc, char *argv[]) { uint32_t *pru1_mem; /* PRU code only works if executed as root */ if (getuid() != 0) { fprintf(stderr, "This program needs to run as root.\n"); exit(EXIT_FAILURE); } /* PRU START UP */ if (pru_setup() != 0) { pru_cleanup(); exit(EXIT_FAILURE); } pru_mmap(PRU_N, &pru1_mem); /* Begin test */ printf("Start SPI test.\n"); *(pru1_mem) = 0xFFFFFFFF; if (pru_start(PRU_N, "./spi_test.bin") != 0) { fprintf(stderr, "Error starting the PRU.\n"); pru_cleanup(); exit(EXIT_FAILURE); } /* Wait for PRU_EVTOUT_1 and send shared RAM data */ prussdrv_pru_wait_event(PRU_EVTOUT_1); prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT); printf("Received data: %#010x.\n", *(pru1_mem)); /* PRU CLEAN UP */ pru_stop(PRU_N); pru_cleanup(); printf("Close SPI test.\n"); return(EXIT_SUCCESS); }