void efireExit(void){
int ctrl = 0;
if (prussdrv_pru_disable(PRU_0) != 0){
ctrl = 1;
printf("ERROR: PRU_0 did not disable.");
}
if (prussdrv_pru_disable(PRU_1) != 0){
ctrl = 1;
printf("ERROR: PRU_1 did not disable.");
}
prussdrv_exit (); // Always returns 0
tcflush(file, TCIOFLUSH);
if (close(file) != 0){
ctrl = 1;
printf("ERROR: UART did not close.");
}
if(ctrl == 1){
printf("ERROR EXITING: Something went really wrong.");
exit(EXIT_FAILURE);
}
printf("Exited Succesfully.\n");
exit(EXIT_SUCCESS);
}
void PruTimer::stopThread(bool join) {
LOG( "Stopping PruTimer..." << std::endl);
stop=true;
/* Disable PRU and close memory mapping*/
prussdrv_pru_disable (PRU_NUM0);
prussdrv_pru_disable (PRU_NUM1);
prussdrv_exit ();
if(ddr_mem) {
#ifdef DEMO_PRU
free(ddr_mem);
ddr_mem = NULL;
#else
munmap(ddr_mem, ddr_size);
close(mem_fd);
ddr_mem = NULL;
mem_fd=-1;
#endif
}
LOG( "PRU disabled, DDR released, FD closed." << std::endl);
blockAvailable.notify_all();
if(join && runningThread.joinable()) {
runningThread.join();
}
LOG( "PruTimer stopped." << std::endl);
}
void PruTimer::reset() {
std::unique_lock<std::mutex> lk(mutex_memory);
prussdrv_pru_disable(0);
prussdrv_pru_disable(1);
initalizePRURegisters();
/* Execute firmwares on PRU */
LOG( ("\tINFO: Starting stepper firmware on PRU0\r\n"));
unsigned int ret = prussdrv_exec_program (PRU_NUM0, firmwareStepper.c_str());
if(ret!=0) {
LOG( "[WARNING] Unable to execute firmware on PRU0" << std::endl);
}
LOG( ("\tINFO: Starting endstop firmware on PRU1\r\n"));
ret=prussdrv_exec_program (PRU_NUM1, firmwareEndstop.c_str());
if(ret!=0) {
LOG( "[WARNING] Unable to execute firmware on PRU1" << std::endl);
}
totalQueuedMovesTime = 0;
ddr_mem_used = 0;
currentNbEvents = 0;
blocksID = std::queue<BlockDef>();
}
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;
}
/* This method frees the shared memory and disables the PRU's again.
* Take not that the Device Tree Overlay will NOT be unloaded, as doing this may result in an unstable system.
*/
unsigned int mdau_destroy(){
// Disable PRU and close memory mappings
prussdrv_pru_disable(ADC_PRU_NUM);
prussdrv_pru_disable(CLK_PRU_NUM);
prussdrv_exit ();
if(system("rmmod uio_pruss")==1){
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
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);
}
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 */
/* Initialize example */
/* Execute example on PRU */
/* Disable PRU and close memory mapping*/
prussdrv_pru_disable (PRU_NUM);
prussdrv_exit ();
return(0);
}
int main(int argc, const char *argv[]){
printf("\n\n");
// Listen to SIGINT signals (program termination)
signal(SIGINT, signal_handler);
// Tell linux not to use the user leds in the board.
take_over_leds();
// Load device tree overlay to enable PRU hardware.
load_device_tree_overlay();
// Load and run binary into pru0
init_pru_program();
open_sound_file();
start_thread();
/* while(!finish){ */
sleep(5);
/* } */
prussdrv_pru_disable(PRU_NUM);
prussdrv_exit ();
stop_thread();
close_sound_file();
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 ();
}
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 (void)
{
// Initialize the PRU
printf("Initializing PRU\n");
prussdrv_init ();
// Open an event
if (prussdrv_open(PRU_EVTOUT_0))
{
printf("prussdrv_open open failed\n");
return -1;
}
// Execute code on PRU
printf("Executing follow pru code\n");
prussdrv_exec_program (0, "follow.bin");
// Wait for Ctrl-C
signal(SIGINT, on_sigint);
while (is_sigint == 0)
{
}
// Disable PRU and close memory mapping
prussdrv_pru_disable (0);
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);
}
int main(void) {
prussdrv_init();
prussdrv_open(PRU_EVTOUT_0);
prussdrv_pru_reset(PRU0);
enable_pru_interrupts();
prussdrv_map_prumem(PRUSS0_PRU0_DATARAM, (void**)&pru0_data_ram);
*pru0_data_ram = 99;
prussdrv_pru_write_memory(
PRUSS0_PRU0_IRAM, 0, (unsigned int*)intp_bin, intp_bin_len
);
// Contra the ARM PRU Linux API documentation, this function does not exist!
// prussdrv_start_irqthread(
// PRU_EVTOUT_0, sched_get_priority_max(SCHED_FIFO) - 2, pruevtout0_thread
// );
pthread_t irqthread;
int iret = pthread_create(&irqthread, NULL, pruevtout0_thread, NULL);
printf("iret = %d\n", iret);
sleep(1);
printf("starting PRU...\n");
prussdrv_pru_enable(PRU0);
sleep(3);
printf("after sleep\n");
printf("count = %d\n", *pru0_data_ram);
prussdrv_pru_disable(PRU0);
printf("PRU disabled\n");
printf("count = %d\n", *pru0_data_ram);
}
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;
}
//! 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 ac, char** av)
{
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
uint32_t x[2];
prussdrv_init();
if (prussdrv_open(PRU_EVTOUT_0))
{
printf("prussdrv_open open failed\n");
return -1;
}
prussdrv_pruintc_init(&pruss_intc_initdata);
/* execute code on pru0 */
#define PRU_NUM 0
prussdrv_exec_program(PRU_NUM, "./iep.bin");
signal(SIGINT, on_sigint);
while (is_sigint == 0)
{
usleep(500000);
read_words(x);
printf("0x%08x, 0x%08x\n", x[0], x[1]);
}
/* 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 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);
}
int pru_stop(int pru_number)
{
/* Halt and disable the PRU (returns -1 if argument is not 0 or 1) */
if (prussdrv_pru_disable(pru_number) != 0) {
fprintf(stderr, "The argument passed to prussdrv_pru_disable() must be 0 or 1.\n");
return(-1);
}
return(0);
}
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();
}
int main (void)
{
unsigned int ret, i, j, k;
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
printf("\nINFO: Starting %s example.\r\n", "pru_gpio");
/* Initialize the PRU */
prussdrv_init ();
//NOTE : The PRU code does not export the PIN so this must be
//done for any pin that used.
LOCAL_export_pin(32 + 16,"out"); //GPIO1_16
LOCAL_export_pin(32 + 13,"in"); //GPIO1_13
/* 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();
//Start th emain loop
pruDataMem_byte[CMD_VALUE] = CMD_NO_OP;
/* Execute example on PRU */
printf("\tINFO: Executing example.\r\n");
prussdrv_exec_program (PRU_NUM, "./pru_gpio.bin");
//The PRU is just configured to use GPIO1 for now. This can be changed easily in the assembly.
set_pin(16); //GPIO1_16
clear_pin(16);
int value = read_pin(13); //GPIO1_13
printf("PIN value is %d\n",value);
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 ();
LOCAL_unexport_pin(38);
return(0);
}
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 (int argc, char ** argv)
{
if (argc != 2){
printf("you need to give me the number of frames to captures\n");
exit(-1);
}
int num_frames = atoi(argv[1]);
initialize_pru();
start_pru();
FILE * image_data = fopen("/media/usb/image.data", "w");
if (image_data == NULL){
fprintf(stderr, "Failed to open image output file");
exit(-1);
}
const char *version = FreeImage_GetVersion();
printf("Freeimage version %s\n", version);
FIBITMAP* dib = FreeImage_Allocate(320, 203, 16, 0xF800, 0x07E0,0x001F); // allocate 320x203 RGB565 bitmap
int bytespp = FreeImage_GetLine(dib)/FreeImage_GetWidth(dib);
FREE_IMAGE_TYPE image_type = FreeImage_GetImageType(dib);
if (image_type == FIT_BITMAP){
printf("1\n");
}
printf("%d %d\n", FreeImage_GetHeight(dib), FreeImage_GetWidth(dib));
BYTE * bits = FreeImage_GetBits(dib);
FILE * fp = fopen("image.data", "rb");
char filename[] = "/root/1314-BeagleBone-Quadcopter/code/ControlTower/ramfs/latest_image.bmp";
int i = 0;
for (i = 0; i < num_frames; i++){
while(i==pruDataMem_int[100]){usleep(100000);}
int buffer = pruDataMem_int[1];
printf("%d buffer=%d\n", pruDataMem_int[100], buffer);
if (i%10==0){
memcpy(bits, pru1_ddr+buffer*320*240*2, 320*203*2);
FreeImage_Save(FIF_BMP, dib, filename,0);
}
}
uninitialize_pru();
fflush(image_data);
printf("%d\n", ((volatile uint8_t *)pru1_ddr)[0]);
fclose(image_data);
prussdrv_pru_disable (PRU_NUM);
prussdrv_exit ();
return(0);
}
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);
}
static void pru_shutdown(char flush_queue) {
if (flush_queue) {
struct MotionSegment end_element;
bzero(&end_element, sizeof(end_element));
end_element.state = STATE_EXIT;
pru_enqueue_segment(&end_element);
pru_wait_queue_empty();
}
prussdrv_pru_disable(PRU_NUM);
prussdrv_exit();
pru_motor_enable_nowait(0);
unmap_gpio();
}
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 (int ac, char** av)
{
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
uint32_t x[MEM_SIZE];
const size_t n = sizeof (x) / sizeof (x[0]);
size_t i;
size_t count = 0;
printf ("n: %u \n", n);
prussdrv_init ();
if (prussdrv_open (PRU_EVTOUT_0))
{
printf ("prussdrv_open open failed\n");
return -1;
}
prussdrv_pruintc_init (&pruss_intc_initdata);
/* zero_words(n); */
/* write data from data.bin */
prussdrv_load_datafile (PRU_NUM, "./data.bin");
/* execute code on pru0 */
prussdrv_exec_program_at (PRU_NUM, "./text.bin", START_ADDR);
// prussdrv_exec_program(PRU_NUM, "./text.bin");
signal (SIGINT, on_sigint);
while (is_sigint == 0)
{
printf ("reading count: %d\n", count++);
usleep (1000000);
read_words (x, n);
for (i = 0; i != n; ++i)
{
//printf("mem 0x%08x: (%f)\n", x[i], *((float*)(x + i)));
printf ("mem %d %08x: (%08x)\n", i, (x + i), (unsigned int) (*(x + i)));
}
printf ("\n");
}
/* disable pru and close memory mapping */
prussdrv_pru_disable (PRU_NUM);
prussdrv_exit ();
return 0;
}
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)
{
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);
}
