ur lucky day, just did it :)
****************
// This is a nearly-minimal PRU program. It delays for five seconds, then
// notifies the host that it has completed, then halts the PRU.
//
// The idea is to have a program that does something you can see from user
// space, without doing anything complicated like playing with IO pins,
// DDR or shared memory.
//
// Try adjusting the DELAYCOUNT value and re-running the test; you should
// be able to convince yourself that the program is actually doing
something.
.origin 0 // offset of the start of the code in PRU memory
.entrypoint START // program entry point, used by debugger only
// To signal the host that we're done, we set bit 5 in our R31
// simultaneously with putting the number of the signal we want
// into R31 bits 0-3. See 5.2.2.2 in AM335x PRU-ICSS Reference Guide.
#define PRU0_R31_VEC_VALID 32;
#define PRU_EVTOUT_0 3
#define PRU_EVTOUT_1 4
#define PRU1_ARM_INTERRUPT 20
#define DELAY_SECONDS 5 // adjust this to experiment
#define CLOCK 200000000 // PRU is always clocked at 200MHz
#define CLOCKS_PER_LOOP 2 // loop contains two instructions, one clock each
#define DELAYCOUNT DELAY_SECONDS * CLOCK / CLOCKS_PER_LOOP
START:
// initialize loop counter
MOV r1, DELAYCOUNT
// wait for specified period of time
DELAY:
SUB r1, r1, 1 // decrement loop counter
QBNE DELAY, r1, 0 // repeat loop unless zero
// tell host we're done
mov r31.b0, PRU1_ARM_INTERRUPT+16
// initialize loop counter
MOV r1, DELAYCOUNT
// wait for specified period of time
DELAY1:
SUB r1, r1, 1 // decrement loop counter
QBNE DELAY1, r1, 0 // repeat loop unless zero
// tell host we're done, then halt
mov r31.b0, PRU1_ARM_INTERRUPT+15
mov r31.b0, PRU1_ARM_INTERRUPT+16
HALT
******************
/* PRUSS program to drive a HC-SR04 sensor and display the sensor output
* in Linux userspace by sending an interrupt.
* written by Derek Molloy for the book Exploring BeagleBone
*/
#include <stdio.h>
#include <stdlib.h>
#include <prussdrv.h>
#include <pruss_intc_mapping.h>
#include <pthread.h>
#include <unistd.h>
#include<iostream>
using namespace std;
#define PRU_NUM 1
static void *PRU1DataMemory;
static unsigned int *PRU1DataMemory_int;
void *threadFunction(void *value){
do {
int notimes = prussdrv_pru_wait_event (PRU_EVTOUT_1);
cout << "PRU event 1 " << notimes << endl << flush ;
sleep(1);
prussdrv_pru_clear_event (PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
} while (1);
}
int main (void)
{
if(getuid()!=0){
printf("You must run this program as root. Exiting.\n");
exit(EXIT_FAILURE);
}
pthread_t thread;
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
// Allocate and initialize memory
prussdrv_init ();
prussdrv_open (PRU_EVTOUT_0);
prussdrv_open (PRU_EVTOUT_1);
// Map PRU's INTC
prussdrv_pruintc_init(&pruss_intc_initdata);
// Copy data to PRU memory - different way
prussdrv_map_prumem(PRUSS0_PRU1_DATARAM, &PRU1DataMemory);
PRU1DataMemory_int = (unsigned int *) PRU1DataMemory;
// Use the first 4 bytes for the number of samples
*PRU1DataMemory_int = 500;
// Use the second 4 bytes for the sample delay in ms
*(PRU1DataMemory_int+1) = 100; // 2 milli seconds between samples
// Load and execute binary on PRU
prussdrv_exec_program (PRU_NUM, "./ultra.bin");
if(pthread_create(&thread, NULL, &threadFunction, NULL)){
printf("Failed to create thread!");
}
int n = prussdrv_pru_wait_event (PRU_EVTOUT_0);
printf("PRU program completed, event number %d.\n", n);
// distance in inches = time (ms) / 148 according to datasheet
/* Disable PRU and close memory mappings */
prussdrv_pru_disable(PRU_NUM);
prussdrv_exit ();
return EXIT_SUCCESS;
}
******************
:)
On Tuesday, 23 June 2015 03:26:18 UTC+10, Frédéric wrote:
>
> Le Monday 22 June 2015, Luiz a écrit :
>
> > I believe you might be missing a
> >
> > prussdrv.pruintc_init()
> >
> > after your prussdrv.open() call. This initializes the PRU interrupt
> > controller and determine what EVENT_1 etc. will be.
>
> I'll try that. Thanks !
>
> --
> Frédéric
>
--
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