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Code Issues Releases Wiki Activity

Adding support for blinky LEDs on BeagleBone adapter.

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This commit is contained in:
Josh Dersch
2023-10-01 23:41:56 -07:00
parent 4d992b1bd7
commit 6e7ed50e92
1 changed files with 77 additions and 13 deletions
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90
PUP/Transport/3MbitAdapter.cs
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@@ -41,16 +41,10 @@ namespace IFS.Transport
{
public Ether3MbitInterface()
{
try
{
InitializePRU();
StartReceiver();
}
catch (Exception e)
{
Log.Write(LogType.Error, LogComponent.E3Mbit, "Failed to initialize the BeagleBone 3Mbit Interface. Error: {0}", e.Message);
return;
}
_ledController = new BeagleBoneLedController();
InitializePRU();
StartReceiver();
StartHeartbeat();
}
public void RegisterRouterCallback(ReceivedPacketCallback callback)
@@ -158,6 +152,20 @@ namespace IFS.Transport
Log.Write(LogType.Normal, LogComponent.E3Mbit, "PRU Initialization completed.");
}
private void StartHeartbeat()
{
ThreadPool.QueueUserWorkItem((ctx) =>
{
while(true)
{
_ledController.BlinkLed(0, 500);
Thread.Sleep(75);
_ledController.BlinkLed(0, 100);
Thread.Sleep(100);
}
}, null);
}
private void StartReceiver()
{
ThreadPool.QueueUserWorkItem((ctx) =>
@@ -182,7 +190,7 @@ namespace IFS.Transport
PRU.prussdrv_pru_clear_event(PRU.PRU_EVTOUT_0, PRU.PRU0_ARM_INTERRUPT);
if (HostOwnsReadBuffer())
{
{
// PRU gave us a read packet from the 3mbit Ether, handle it.
ReceiveFromNetworkInterface();
}
@@ -238,6 +246,7 @@ namespace IFS.Transport
/// </summary>
private void ReceiveFromNetworkInterface()
{
_ledController.SetLed(3, 1);
PruInterfaceControlBlock cb = GetInterfaceControlBlock();
if (cb.r_truncated != 0)
@@ -295,6 +304,7 @@ namespace IFS.Transport
MemoryStream packetStream = new MemoryStream(encapsulatedPacket);
_routerCallback(packetStream, this);
_ledController.SetLed(3, 0);
Log.Write(LogType.Verbose, LogComponent.E3Mbit, "Received packet (0x{0:x} bytes), sent to router.", receivedDataLength);
}
@@ -311,6 +321,8 @@ namespace IFS.Transport
return;
}
_ledController.SetLed(2, 1);
ushort crcVal = CalculateCRC(data, data.Length);
// Construct a new buffer with space for the CRC
@@ -326,6 +338,7 @@ namespace IFS.Transport
// Signal PRU to send the data in the write buffer.
SetWriteBufferOwner(OWNER_PRU);
_ledController.SetLed(2, 0);
Log.Write(LogType.Verbose, LogComponent.E3Mbit, "Packet sent to 3mbit interface.");
}
@@ -453,9 +466,9 @@ namespace IFS.Transport
return crc;
}
IntPtr _sharedPruMemory;
private IntPtr _sharedPruMemory;
private ReceivedPacketCallback _routerCallback;
private BeagleBoneLedController _ledController;
// Interface between host and PRU
// The idea is there are two buffers: r_ and w_.
@@ -507,6 +520,57 @@ namespace IFS.Transport
const uint MAX_SIZE = 12 * 1024;
}
public class BeagleBoneLedController
{
const string _ledPath = "/sys/class/leds/beaglebone:green:usr";
public BeagleBoneLedController()
{
try
{
Init();
}
catch(Exception e)
{
Log.Write(LogType.Warning, LogComponent.E3Mbit, "Failed to intialize LEDs. Error: {0}", e.Message);
}
}
public void SetLed(int n, int brightness)
{
if (n >= 0 && n <= _ledStream?.Length)
{
_ledStream?[n]?.WriteLine($"{brightness}");
}
}
public void BlinkLed(int n, int durationMsec)
{
SetLed(n, 1);
Thread.Sleep(durationMsec);
SetLed(n, 0);
}
private void Init()
{
_ledStream = new StreamWriter[4];
for (int i = 0; i < 4; i++)
{
using (StreamWriter sw = new StreamWriter(Path.Combine(_ledPath + $"{i}", "trigger")))
{
sw.WriteLine("none");
}
_ledStream[i] = new StreamWriter(Path.Combine(_ledPath + $"{i}", "brightness"));
_ledStream[i].AutoFlush = true;
SetLed(i, 0);
}
}
private StreamWriter[] _ledStream;
}
/// <summary>
/// Provides constants, structs, and functions needed to P/Invoke into prussdrv lib calls.
/// </summary>