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Joerg Hoppe
179
10.01_base/2_src/arm/pru.cpp
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179
10.01_base/2_src/arm/pru.cpp
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/* pru.cpp: Management interface to PRU0 & PRU1.
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Copyright (c) 2018, Joerg Hoppe
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j_hoppe@t-online.de, www.retrocmp.com
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Permission is hereby granted, free of charge, to any person obtaining a
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copy of this software and associated documentation files (the "Software"),
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to deal in the Software without restriction, including without limitation
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the rights to use, copy, modify, merge, publish, distribute, sublicense,
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and/or sell copies of the Software, and to permit persons to whom the
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Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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JOERG HOPPE BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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12-nov-2018 JH entered beta phase
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Management interface to PRU0 & 1:
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- setup interrupt
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- download code from arrays in pru0/1_config.c
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Partly copyright (c) 2014 dhenke@mythopoeic.org
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usage: sudo ./example
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***/
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#define _PRU_CPP_
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include "logger.hpp"
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#include "prussdrv.h"
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#include "pruss_intc_mapping.h"
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#include "mailbox.h"
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#include "ddrmem.h"
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#include "iopageregister.h"
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#include "pru.hpp"
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#define PRUSS_MAX_IRAM_SIZE 8192
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// Array with program code for PRU
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// generated by 'hexpru --array'
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#include "pru0_config.h"
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#include "pru1_config.h"
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#define PRU0_CODE_IMAGE pru0_image_0 // name of bianry array in include
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#define PRU1_CODE_IMAGE pru1_image_0 // name of bianry array in include
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// Singleton
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pru_c *pru ;
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pru_c::pru_c() {
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log_label = "PRU" ;
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}
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/*** pru_setup() -- initialize PRU and interrupt handler
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Initializes both PRUs and sets up PRU_EVTOUT_0 handler.
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The argument is a pointer to a null-terminated string containing the path
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to the file containing the PRU program binary.
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Returns 0 on success, non-0 on error.
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***/
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int pru_c::setup() {
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int rtn;
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tpruss_intc_initdata intc = PRUSS_INTC_INITDATA;
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/* initialize PRU */
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if ((rtn = prussdrv_init()) != 0) {
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ERROR("prussdrv_init() failed");
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return rtn;
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}
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/* open the interrupt */
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if ((rtn = prussdrv_open(PRU_EVTOUT_0)) != 0) {
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ERROR("prussdrv_open() failed");
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return rtn;
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}
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/* initialize interrupt */
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if ((rtn = prussdrv_pruintc_init(&intc)) != 0) {
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ERROR("prussdrv_pruintc_init() failed");
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return rtn;
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}
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/*
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http://credentiality2.blogspot.com/2015/09/beaglebone-pru-ddr-memory-access.html
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* get pointer to shared DDR
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*/
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// Pointer into the DDR RAM mapped by the uio_pruss kernel module.
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ddrmem->base_virtual = NULL;
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prussdrv_map_extmem((void **) &(ddrmem->base_virtual));
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ddrmem->len = prussdrv_extmem_size();
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// INFO("Shared DDR memory: %u bytes available.", ddrmem.len);
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ddrmem->base_physical = prussdrv_get_phys_addr((void *) (ddrmem->base_virtual));
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ddrmem->info(); // may abort program
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/* load code from arrays PRU*_code[] into PRU and start at 0
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*/
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if (pru0_sizeof_code() > PRUSS_MAX_IRAM_SIZE) {
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FATAL("PRU0 code too large. Closing program");
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}
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if ((rtn = prussdrv_exec_code_at(0, PRU0_CODE_IMAGE, pru0_sizeof_code(), PRU0_ENTRY_ADDR))
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!= 0) {
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ERROR("prussdrv_exec_program() failed");
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return rtn;
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}
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if (pru1_sizeof_code() > PRUSS_MAX_IRAM_SIZE) {
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FATAL("PRU1 code too large. Closing program");
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exit(1);
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}
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if ((rtn = prussdrv_exec_code_at(1, PRU1_CODE_IMAGE, pru1_sizeof_code(), PRU1_ENTRY_ADDR))
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!= 0) {
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ERROR("prussdrv_exec_program() failed");
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return rtn;
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}
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sleep(1); // wait for PRU to come up, much too long
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// get address of mail box struct in PRU
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mailbox_connect();
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// get address of device register descriptor struct in PRU
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iopageregisters_connect();
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return rtn;
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}
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/*** pru_cleanup() -- halt PRU and release driver
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Performs all necessary de-initialization tasks for the prussdrv library.
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Returns 0 on success, non-0 on error.
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***/
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int pru_c::cleanup(void) {
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int rtn = 0;
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/* clear the event (if asserted) */
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if (prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT)) {
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ERROR("prussdrv_pru_clear_event() failed");
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rtn = -1;
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}
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/* halt and disable the PRU (if running) */
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if ((rtn = prussdrv_pru_disable(0)) != 0) {
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ERROR("prussdrv_pru_disable(0) failed");
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rtn = -1;
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}
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if ((rtn = prussdrv_pru_disable(1)) != 0) {
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ERROR("prussdrv_pru_disable(1) failed");
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rtn = -1;
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}
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/* release the PRU clocks and disable prussdrv module */
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if ((rtn = prussdrv_exit()) != 0) {
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ERROR("prussdrv_exit() failed");
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rtn = -1;
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}
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return rtn;
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}
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