Hi guys,
I'm trying to control a gpio using PRU but I not understand something.
First of all, I know that for certain pins, there is the PRU mode for
writing and reading (mode 5 and 6) and for gpio is mode 7. My question is,
can I control the pin in mode 7 with PRU?
I already tried to control a pin in mode 5 or 6 with PRU and everything
seems to work. But what I don't understand from documentation is that if I
can control it in mode 7, and I'm asking that because I saw some examples
with pin used in mode 7 ( gpio) controlled by PRU ( output or capture).
I already have some code but it seems that it doesn't work.
//pru
#include <stdint.h>
#include "pru_cfg.h"
#include "pru_ctrl.h"
#define GROUP_ADDRESS 0x44E07000
#define GPIO_CTRL 0x130
#define GPIO_DATAOUT 0x13C
#define HWREG(x) (*((volatile unsigned int *)(x)))
unsigned int *shared_ram = (unsigned int *) 0x10000;
volatile register unsigned int __R31;
int finish = 0;
static void delay(uint32_t microseconds);
/**
* Configurations for shared ram
* shared_ram[0]=finish
* shared_ram[1]=pullup/down
* shared_ram[2]=event
* shared_ram[3]=sample event
* shared_ram[4:260]=data to arm
*/
int main(void) {
/* Clear SYSCFG[STANDBY_INIT] to enable OCP master port*/
uint8_t ii;
uint8_t value;
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
// /* Enable GPIO0 Module.GPIO0_CTRL Register*/
// HWREG((GROUP_ADDRESS|GPIO_CTRL)) = 0x00;
/*Set pins as output*/
HWREG((GROUP_ADDRESS|0x1B4)) = 0x0f;
while (!finish) {
value=shared_ram[0];
HWREG((GROUP_ADDRESS|GPIO_DATAOUT))^=(1<<20);
__R31 = 35;
delay(100);
}
__halt();
/**/
return 0;
}
void delay(uint32_t microseconds) {
while (0 < microseconds) {
__delay_cycles(200); /*if 1 cycle takes 5 ns, in 1 us PRU executes 200
cycles*/
--microseconds;
}
}
//host
#include <stdio.h>
#include <pthread.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <sys/time.h>
#include <fcntl.h>
#include <sys/mman.h>
#include <prussdrv.h>
#include <pruss_intc_mapping.h>
#define PRU_NUM 0
#define START_ADDR 0x00000000 /*took from pru.map file*/
#ifndef START_ADDR
#error "START_ADDR must be defined"
#endif
unsigned int* shared_ram = NULL;
pthread_t thread;
int finish = 0;
void init_pru_program(){
tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
prussdrv_init();
prussdrv_open(PRU_EVTOUT_1);
prussdrv_pruintc_init(&pruss_intc_initdata);
prussdrv_load_datafile(PRU_NUM, "./data.bin");
prussdrv_exec_program_at(PRU_NUM, "./text.bin", START_ADDR);
}
void signal_handler(int signal){
finish = 1;
}
void* threaded_function(void* param){
printf("Started thread\n");
while(!finish){
// Wait for interrupt from PRU
// prussdrv_pru_wait_event(PRU_EVTOUT_1);
// prussdrv_pru_clear_event(PRU_EVTOUT_1, PRU1_ARM_INTERRUPT);
shared_ram[0]=1;
sleep(1);
shared_ram[0]=0;
sleep(1);
// Read number in shared ram
// printf("Got input: %u\n", shared_ram[0]);
}
return NULL;
}
void start_thread(){
pthread_attr_t attr;
if(pthread_attr_init(&attr)){
printf("Cannot start a new thread.\n");
exit(1);
}
if(pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED)){
printf("Cannot start a new thread.");
exit(1);
}
if(pthread_create(&thread, &attr, &threaded_function, NULL)){
printf("Cannot start a new thread.");
exit(1);
}
}
void stop_thread(){
while(pthread_cancel(thread)){
printf("Stopping thread");
}
printf("Stopped thread");
}
int main(int argc, const char *argv[]){
printf("\n\n");
// Listen to SIGINT signals (program termination)
signal(SIGINT, signal_handler);
// Load and run binary into pru0
init_pru_program();
// Get pointer to shared ram
void* p;
prussdrv_map_prumem(PRUSS0_SHARED_DATARAM, &p);
shared_ram = (unsigned int*)p;
// Start input polling thread
start_thread();
while(!finish)
{
}
printf("Disabling PRU.\n");
prussdrv_pru_disable(PRU_NUM);
prussdrv_exit ();
stop_thread();
return 0;
}
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