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);
}
// only done once per app run
void sim_init()
{
// try and improve our performance a bit
setpriority(PRIO_PROCESS, 0, -20);
scall("mlockall", mlockall(MCL_CURRENT | MCL_FUTURE));
// check that new polarity scheme didn't break anything
assert(WREG_O3_RST == WREG_O3_RST_GOOD);
assert(WREG_O2_IDLE == WREG_O2_IDLE_GOOD);
assert(WREG_O2_ENA == WREG_O2_ENA_GOOD);
assert(WREG_O2_ARM == WREG_O2_ARM_GOOD);
bus_init();
pru_start();
bus_pru_gpio_init();
if (!background_mode) {
tty = open("/dev/tty", O_RDONLY | O_NONBLOCK);
if (tty < 0) sys_panic("open tty");
}
}
int main(int argc, char *argv[])
{
int fd;
void *mem_map, *ram_addr;
unsigned int addr, size;
uint32_t *pru0_mem;
uint8_t *reg_read;
/* PRU code only works if executed as root */
if (getuid() != 0) {
fprintf(stderr, "This program needs to run as root.\n");
exit(EXIT_FAILURE);
}
/***** SHARED RAM SETUP *****/
printf("Allocating RAM buffer... ");
fflush(stdout);
/* Get shared RAM information */
getMemInfo(&addr, &size);
if (size < BUFFER_SIZE) {
printf("error.\n");
fprintf(stderr, "External RAM pool must be at least %d bytes.\n", BUFFER_SIZE);
exit(EXIT_FAILURE);
}
/* Get access to device memory */
if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) == -1) {
printf("error.\n");
perror("Failed to open memory!");
exit(EXIT_FAILURE);
}
/* Map shared RAM */
mem_map = mmap(0, RAM_BYTES, PROT_READ, MAP_SHARED, fd, addr & ~PAGE_MASK);
/* Close file descriptor (not needed after memory mapping) */
close(fd);
if (mem_map == (void *) -1) {
printf("error.\n");
perror("Failed to map base address");
exit(EXIT_FAILURE);
}
/* Memory mapping must be page aligned */
ram_addr = mem_map + (addr & PAGE_MASK);
printf("OK!\n");
/***** PRU SET UP *****/
printf("Setting up PRUs... ");
fflush(stdout);
if (pru_setup() != 0) {
printf("error.\n");
fprintf(stderr, "Error setting up the PRU.\n");
pru_cleanup();
munmap(mem_map, RAM_SIZE);
exit(EXIT_FAILURE);
}
/* Set up the PRU data RAMs */
pru_mmap(0, &pru0_mem);
*(pru0_mem) = addr;
printf("OK!\n");
/***** BEGIN MAIN PROGRAM *****/
printf("Starting main program.\n");
/* Start up PRU0 */
if (pru_start(PRU0, "pru/ads131e08_pru0.bin") != 0) {
fprintf(stderr, "Error starting PRU0.\n");
pru_cleanup();
munmap(mem_map, RAM_SIZE);
exit(EXIT_FAILURE);
}
/* Start up PRU1 */
if (pru_start(PRU1, "pru/ads131e08_pru1.bin") != 0) {
fprintf(stderr, "Error starting PRU1.\n");
pru_cleanup();
munmap(mem_map, RAM_SIZE);
exit(EXIT_FAILURE);
}
/* Wait for PRU_EVTOUT_0 and send shared RAM data */
prussdrv_pru_wait_event(PRU_EVTOUT_0);
prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
/* Print out ADS registers */
reg_read = (uint8_t *) ram_addr;
printf("\nADS registers before write:\n");
printf("ID: %#04x (default = 0xD2)\n", *(reg_read + 0));
printf("CONFIG1: %#04x (default = 0x91)\n", *(reg_read + 1));
printf("CONFIG2: %#04x (default = 0xE0)\n", *(reg_read + 2));
/* Datasheet claims that CONFIG3 should end in 00, but it ends in 01. */
printf("CONFIG3: %#04x (default = 0x41)\n", *(reg_read + 3));
printf("FAULT: %#04x (default = 0x00)\n", *(reg_read + 4));
printf("CH1SET: %#04x (default = 0x10)\n", *(reg_read + 5));
printf("CH2SET: %#04x (default = 0x10)\n", *(reg_read + 6));
printf("CH3SET: %#04x (default = 0x10)\n", *(reg_read + 7));
printf("CH4SET: %#04x (default = 0x10)\n", *(reg_read + 8));
printf("CH5SET: %#04x (default = 0x10)\n", *(reg_read + 9));
printf("CH6SET: %#04x (default = 0x10)\n", *(reg_read + 10));
printf("CH7SET: %#04x (default = 0x10)\n", *(reg_read + 11));
printf("CH8SET: %#04x (default = 0x10)\n", *(reg_read + 12));
printf("FAULT_STATP: %#04x (default = 0x00)\n", *(reg_read + 13));
printf("FAULT_STATN: %#04x (default = 0x00)\n", *(reg_read + 14));
/* Datasheet claims that GPIO should be 0x0F, but it ends in 0x00. */
printf("GPIO: %#04x (default = 0x00)\n", *(reg_read + 15));
/* Wait for PRU_EVTOUT_0 and send shared RAM data */
prussdrv_pru_wait_event(PRU_EVTOUT_0);
prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
/* Print out ADS registers */
printf("\nADS registers after write:\n");
printf("ID: %#04x (0xD2)\n", *(reg_read + 0));
printf("CONFIG1: %#04x (0x95)\n", *(reg_read + 1));
printf("CONFIG2: %#04x (0xE3)\n", *(reg_read + 2));
/* Datasheet claims that CONFIG3 should end in 00, but it ends in 01. */
printf("CONFIG3: %#04x (0xC1)\n", *(reg_read + 3));
printf("FAULT: %#04x (0x00)\n", *(reg_read + 4));
printf("CH1SET: %#04x (0x13)\n", *(reg_read + 5));
printf("CH2SET: %#04x (0x23)\n", *(reg_read + 6));
printf("CH3SET: %#04x (0x13)\n", *(reg_read + 7));
printf("CH4SET: %#04x (0x23)\n", *(reg_read + 8));
printf("CH5SET: %#04x (0x13)\n", *(reg_read + 9));
printf("CH6SET: %#04x (0x23)\n", *(reg_read + 10));
printf("CH7SET: %#04x (0x13)\n", *(reg_read + 11));
printf("CH8SET: %#04x (0x23)\n", *(reg_read + 12));
printf("FAULT_STATP: %#04x (0x00)\n", *(reg_read + 13));
printf("FAULT_STATN: %#04x (0x00)\n", *(reg_read + 14));
/* Datasheet claims that GPIO should be 0x0F, but it ends in 0x00. */
printf("GPIO: %#04x (0x00)\n", *(reg_read + 15));
/* PRU CLEAN UP */
printf("\nStopping PRUs.\n");
pru_stop(PRU1);
pru_stop(PRU0);
pru_cleanup();
/* SHARED RAM CLEAN UP */
if (munmap(mem_map, RAM_SIZE) == -1) {
perror("Failed to unmap memory");
exit(EXIT_FAILURE);
}
return(EXIT_SUCCESS);
}