/** * \file main.c * * \brief This file contains pruss example application code.This will * test the API's of the PRU0 of PRUICSS1, interrupt handling * and event handling . * Copyright (c) 2015, Texas Instruments Incorporated * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * * Neither the name of Texas Instruments Incorporated nor the names of * its contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** ============================================================================*/ #ifndef __LINUX_USER_SPACE #include #include #include #include #include #include #include #include #else #include "mmap_helper.h" #include #include #include #include #endif #include #include #include #include #include #include #include #ifndef __LINUX_USER_SPACE #include #ifdef __JAILHOUSE_INMATE #include #endif #include #include "ti/board/board.h" #endif #include #ifdef __LINUX_USER_SPACE #define PRINT printf /* t is given in ms */ void linux_sleep_ms(int ms) { struct timespec ts; ts.tv_sec = (ms)/1000; \ ts.tv_nsec = (ms*1000000)%1000000000; \ nanosleep(&ts, NULL); } #define SLEEP(t) linux_sleep_ms(t) #else #define PRINT UART_printf #define SLEEP Task_sleep #endif /*This will enable the PRINT through the UART. for this project should include the UART driver library and UART_soc.c files*/ #define UART_PRINT #define PRUSS_EVENT_COUNT 5 #define PRUSS_TEST_CONSTANT_TABLE_CHECK 0x00020001 extern char PRUarray[12810]; static uint32_t pruEventCount = 0; static int eventregistered = 0; static int prueventsent = 0; static int eventregistered2 = 0; static int prueventsent2 = 0; static uint32_t pruEventCount2 = 0; static uint32_t *Mem_xdata; /* Example/Board Header files */ #ifndef SOC_K2G static void Board_initPruss(void); #endif #ifdef __LINUX_USER_SPACE void *eventwait(void *a0); void *eventwait2(void *a0); #endif void pruss_isr(void*); void pruss_isr2(void*); // Set parameters to change PRU [1 or 2] and PRU core [0 or 1] int pru_num = 1, pru_core_num = 0; #ifdef __LINUX_USER_SPACE tprussdrv *pruss_drv_handle, *pruss_drv_handle2; PRUICSS_HwAttrs linux_prussInitCfg[PRUICCSS_INSTANCE_MAX-1]; PRUICSS_V1_Object linux_prussObjects[PRUICCSS_INSTANCE_MAX-1]; PRUICSS_Config linux_pruss_config[PRUICCSS_INSTANCE_MAX] = { { &(linux_prussObjects[0]), &(linux_prussInitCfg[0]) }, { &(linux_prussObjects[1]), &(linux_prussInitCfg[1]) }, {NULL, NULL} }; #endif PRUICSS_Handle handle = NULL; PRUICSS_Handle handle2 = NULL; void pruss_isr(void * ptr) { PRUICSS_pruClearEvent(handle,PRU0_ARM_EVENT); } void pruss_isr2(void * ptr) { PRUICSS_pruClearEvent(handle2,PRU0_ARM_EVENT); } int32_t prussTestVerifiyConstantTblUpdate(PRUICSS_Handle handle) { uint32_t readval = 0; if (pru_core_num == 0) { PRUICSS_HwAttrs const *hwAttrs = handle->hwAttrs; PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC24, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC25, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru0CtrlRegBase + CSL_ICSSPRUCTRL_CTBIR0); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC26, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC27, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru0CtrlRegBase + CSL_ICSSPRUCTRL_CTBIR1); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC28, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC29, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru0CtrlRegBase + CSL_ICSSPRUCTRL_CTPPR0); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC30, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC31, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru0CtrlRegBase + CSL_ICSSPRUCTRL_CTPPR1); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } } else { PRUICSS_HwAttrs const *hwAttrs = handle->hwAttrs; PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC24, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC25, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru1CtrlRegBase + CSL_ICSSPRUCTRL_CTBIR0); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC26, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC27, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru1CtrlRegBase + CSL_ICSSPRUCTRL_CTBIR1); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC28, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC29, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru1CtrlRegBase + CSL_ICSSPRUCTRL_CTPPR0); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC30, 0x00000001U); PRUICSS_setConstantTblEntry(handle, pru_core_num, PRUICCSS_ConstTblEntryC31, 0x00000002U); readval = HW_RD_REG32(hwAttrs->prussPru1CtrlRegBase + CSL_ICSSPRUCTRL_CTPPR1); if (readval != PRUSS_TEST_CONSTANT_TABLE_CHECK) { return 0; } } return 1; } uint32_t taskFxnDone = 0; /* * ======== taskFxn ======== */ #ifdef __LINUX_USER_SPACE void *taskFxn(void *a0) #else Void taskFxn(UArg a0, UArg a1) #endif { PRUICSS_IntcInitData pruss_intc_initdata = PRUICSS_INTC_INITDATA; PRUICSS_Config *cfg; PRUICSS_IntrCfg intrCfg; pru_num = PRUICCSS_INSTANCE_ONE; #ifdef __LINUX_USER_SPACE linux_init((void**)&pruss_drv_handle, linux_prussInitCfg, pru_num); cfg = linux_pruss_config; #else int32_t ret = PRUICSS_socGetInitCfg(&cfg); if (ret != PRUICSS_RETURN_SUCCESS) { return (ret); } #endif handle = PRUICSS_create(cfg,pru_num); intrCfg.pruEvtoutNum = 2; intrCfg.waitEnable = 1; intrCfg.irqHandler = pruss_isr; #ifdef SOC_K2G #ifdef _TMS320C6X intrCfg.intNum = 8; intrCfg.eventId = CSL_C66X_COREPAC_CIC_0_OUT47; intrCfg.intcMuxNum =0; intrCfg.intcMuxInEvent = CSL_CIC_ICSSM0_HOST_INT0; intrCfg.intcMuxOutEvent = 47; /* correlates to CSL_C66X_COREPAC_CIC_0_OUT47 */ #else intrCfg.intNum = CSL_ARM_GIC_ICSSM0_HOST_INT0 + 32; intrCfg.eventId = 0; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ #endif #else #ifdef _TMS320C6X intrCfg.intNum = 12; intrCfg.eventId = 92; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ #elif __ARM_ARCH_7A__ intrCfg.intNum = 134+32; intrCfg.eventId = 0; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ #else intrCfg.intNum = 48; intrCfg.eventId = 0; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ intrCfg.pruEvtoutNum = 2; intrCfg.waitEnable = 1; intrCfg.irqHandler = pruss_isr; #endif #endif #ifdef __LINUX_USER_SPACE prussdrv_open(pruss_drv_handle, PRU_EVTOUT_0); prussdrv_start_irqthread(pruss_drv_handle, PRU_EVTOUT_0, sched_get_priority_max(SCHED_FIFO)-10, eventwait); #else PRUICSS_registerIrqHandler2(handle, &intrCfg); #endif for (pru_core_num = PRUICCSS_PRU0; pru_core_num < PRUICSS_MAX_PRU;pru_core_num++) { PRUICSS_pruDisable(handle,pru_core_num); /* Verification of PRUICSS_setConstantTblEntry API */ if (prussTestVerifiyConstantTblUpdate(handle)) { PRINT("passed verify constant tbl entry for instance %d: pruNum: %d\n", pru_num, pru_core_num); eventregistered = 1; //PRUICSS_setPRUBuffer(handle,pru_core_num, (void*)XYZ, sizeof(XYZ)); PRUICSS_setPRUBuffer(handle,pru_core_num, (void*)PRUarray, (11*66)); PRUICSS_pruIntcInit(handle,&pruss_intc_initdata); /* Test intc clear API and then init once again */ PRUICSS_pruIntcClear(handle); PRUICSS_pruIntcInit(handle,&pruss_intc_initdata); PRUICSS_pruExecProgram(handle,pru_core_num); PRUICSS_pruEnable(handle,pru_core_num); SLEEP(1000); while(1) { if(prueventsent == 0 ) { if (pruEventCount == PRUSS_EVENT_COUNT) { PRINT("Testing for instance: %d, pru num: %d is complete\n", pru_num, pru_core_num); pruEventCount = 0; break; } PRINT("sending the INTC event to the PRU for instance: %d , pru num: %d\n", pru_num, pru_core_num); prueventsent =1; PRUICSS_pruSendEvent(handle,ARM_PRU0_EVENT); } else { SLEEP(1000); } Mem_xdata = (uint32_t *)0x800230d0; PRINT("%d\n", (int)*Mem_xdata); } } else { PRINT("All tests have failed\n"); } } taskFxnDone = 1; } #ifdef __LINUX_USER_SPACE void *taskFxn2(void *a0) #else Void taskFxn2(UArg a0, UArg a1) #endif { PRUICSS_IntcInitData pruss_intc_initdata = PRUICSS_INTC_INITDATA; PRUICSS_Config *cfg; PRUICSS_IntrCfg intrCfg; while(taskFxnDone == 0) SLEEP(1000); pru_num = PRUICCSS_INSTANCE_TWO; #ifdef __LINUX_USER_SPACE linux_init((void**)&pruss_drv_handle2, linux_prussInitCfg, pru_num); cfg = linux_pruss_config; #else int32_t ret = PRUICSS_socGetInitCfg(&cfg); if (ret != PRUICSS_RETURN_SUCCESS) { return (ret); } #endif handle2 = PRUICSS_create(cfg,pru_num); intrCfg.pruEvtoutNum = 2; intrCfg.waitEnable = 1; intrCfg.irqHandler = pruss_isr2; #ifdef SOC_K2G #ifdef _TMS320C6X intrCfg.intNum = 9; intrCfg.eventId = CSL_C66X_COREPAC_CIC_0_OUT48; intrCfg.intcMuxNum =0; intrCfg.intcMuxInEvent = CSL_CIC_ICSSM1_HOST_INT0; intrCfg.intcMuxOutEvent = 48; /* correlates to CSL_C66X_COREPAC_CIC_0_OUT48 */ #else intrCfg.intNum = CSL_ARM_GIC_ICSSM1_HOST_INT0 + 32; intrCfg.eventId = 0; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ #endif #else #ifdef _TMS320C6X intrCfg.intNum = 15; intrCfg.eventId = 93; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ #elif __ARM_ARCH_7A__ intrCfg.intNum = 135+32; intrCfg.eventId = 0; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ #else intrCfg.intNum = 49; intrCfg.eventId = 0; /* not applicable for ARM; */ intrCfg.intcMuxNum =PRUSS_INVALID_INTC_MUX_NUM; /* not applicable for ARM; */ intrCfg.intcMuxInEvent = 0;/* not applicable for ARM; */ intrCfg.intcMuxOutEvent = 0; /* not applicable for ARM; */ intrCfg.pruEvtoutNum = 2; intrCfg.waitEnable = 1; intrCfg.irqHandler = pruss_isr2; #endif #endif #ifdef __LINUX_USER_SPACE prussdrv_open(pruss_drv_handle2, PRU_EVTOUT_0); prussdrv_start_irqthread(pruss_drv_handle2, PRU_EVTOUT_0, sched_get_priority_max(SCHED_FIFO)-10, eventwait2); #else PRUICSS_registerIrqHandler2(handle2, &intrCfg); #endif for (pru_core_num = PRUICCSS_PRU0; pru_core_num < PRUICSS_MAX_PRU;pru_core_num++) { PRUICSS_pruDisable(handle2,pru_core_num); /* Verification of PRUICSS_setConstantTblEntry API */ if (prussTestVerifiyConstantTblUpdate(handle2)) { PRINT("passed verify constant tbl entry for instance %d: pruNum: %d\n", pru_num, pru_core_num); eventregistered2 = 1; PRUICSS_setPRUBuffer(handle2,pru_core_num, (void*)XYZ, sizeof(XYZ)); PRUICSS_pruIntcInit(handle2,&pruss_intc_initdata); /* Test intc clear API and then init once again */ PRUICSS_pruIntcClear(handle2); PRUICSS_pruIntcInit(handle2,&pruss_intc_initdata); PRUICSS_pruExecProgram(handle2,pru_core_num); PRUICSS_pruEnable(handle2,pru_core_num); SLEEP(1000); while(1) { if(prueventsent2 == 0 ) { if (pruEventCount2 == PRUSS_EVENT_COUNT) { PRINT("Testing for instance: %d, pru num: %d is complete\n", pru_num, pru_core_num); if(pru_core_num == PRUICCSS_PRU1) { PRINT("All tests have passed\n"); } pruEventCount2 = 0; break; } PRINT("sending the INTC event to the PRU for instance: %d , pru num: %d\n", pru_num, pru_core_num); prueventsent2 =1; PRUICSS_pruSendEvent(handle2,ARM_PRU0_EVENT); } else { SLEEP(1000); } } } else { PRINT("All tests have failed\n"); } } } #ifdef __LINUX_USER_SPACE void *eventwait(void *a0) #else void eventwait (UArg a0, UArg a1) #endif { static int32_t pruEventCountTotal = 0; /*wait for the event registration*/ while(eventregistered == 0) { SLEEP(1000); } while (1) { PRINT("eventwait: waiting for the INTC event from PRU\n"); #ifdef __LINUX_USER_SPACE prussdrv_pru_wait_event(pruss_drv_handle, PRU_EVTOUT_0); PRUICSS_pruClearEvent(handle,PRU0_ARM_EVENT); #else PRUICSS_pruWaitEvent(handle,2); #endif pruEventCountTotal++; prueventsent=0; pruEventCount++; PRINT("eventwait: got the INTC event from PRU, count: %d\n", pruEventCount); if (pruEventCountTotal == PRUSS_EVENT_COUNT*2) { break; } } } #ifdef __LINUX_USER_SPACE void *eventwait2(void *a0) #else void eventwait2 (UArg a0, UArg a1) #endif { static int32_t pruEventCountTotal = 0; /*wait for the event registration*/ while(eventregistered2 == 0) { SLEEP(1000); } while (1) { PRINT("eventwait2: waiting for the INTC event from PRU\n"); #ifdef __LINUX_USER_SPACE prussdrv_pru_wait_event(pruss_drv_handle2, PRU_EVTOUT_0); PRUICSS_pruClearEvent(handle2,PRU0_ARM_EVENT); #else PRUICSS_pruWaitEvent(handle2,2); #endif pruEventCountTotal++; prueventsent2=0; pruEventCount2++; PRINT("eventwait2: got the INTC event from PRU, count: %d\n", pruEventCount2); if (pruEventCountTotal == PRUSS_EVENT_COUNT*2) { break; } } } /* * ======== main ======== */ #ifndef __LINUX_USER_SPACE Int main() { Task_Handle task; Error_Block eb; Task_Params taskParams; Task_Handle task2; Error_Block eb2; Task_Params taskParams2; #ifdef __JAILHOUSE_INMATE #define BOARD_UART_INSTANCE 2 UART_HwAttrs uart_hwAttrs; /* Make sure non-interrupt mode is used for UART */ /* Get the UART default configuration */ UART_socGetInitCfg(BOARD_UART_INSTANCE, &uart_hwAttrs); /* Disabling interrupt mode, forcing UART to use the polling mode */ uart_hwAttrs.enableInterrupt = 0; /* Write back the config */ UART_socSetInitCfg(BOARD_UART_INSTANCE, &uart_hwAttrs); #endif Board_initCfg cfg = BOARD_INIT_MODULE_CLOCK | BOARD_INIT_UART_STDIO |BOARD_INIT_PINMUX_CONFIG; Board_init(cfg); #ifndef SOC_K2G Board_initPruss(); #endif Error_init(&eb); Task_Params_init(&taskParams); taskParams.instance->name = (char*)"taskFxn"; task = Task_create(taskFxn, &taskParams, &eb); if (task == NULL) { BIOS_exit(0); } Error_init(&eb2); Task_Params_init(&taskParams2); taskParams2.instance->name = (char*)"taskFxn2"; task2 = Task_create(taskFxn2, &taskParams2, &eb2); if (task2 == NULL) { BIOS_exit(0); } BIOS_start(); /* does not return */ return(0); } #else // __LINUX_USER_SPACE int main(int argc, char *argv[]) { int status; pthread_t test_th, test_th2; if ((status = pthread_create(&test_th, NULL, taskFxn, NULL))) { printf("ERROR: \"taskFxn\" task-create failed (%d)\n", status); return (-1); } if ((status = pthread_create(&test_th2, NULL, taskFxn2, NULL))) { printf("ERROR: \"taskFxn\" task-create failed (%d)\n", status); return (-1); } pthread_join(test_th, NULL); pthread_join(test_th2, NULL); return(0); } #endif // __LINUX_USER_SPACE #ifndef SOC_K2G void Board_initPruss(void) { #ifdef __ARM_ARCH_7A__ CSL_xbarMpuIrqConfigure(CSL_XBAR_INST_MPU_IRQ_134, CSL_XBAR_PRUSS1_IRQ_HOST2); CSL_xbarMpuIrqConfigure(CSL_XBAR_INST_MPU_IRQ_135, CSL_XBAR_PRUSS2_IRQ_HOST2); #elif _TMS320C6X CSL_xbarDspIrqConfigure(1, CSL_XBAR_INST_DSP1_IRQ_92, CSL_XBAR_PRUSS1_IRQ_HOST2); CSL_xbarDspIrqConfigure(1, CSL_XBAR_INST_DSP1_IRQ_93, CSL_XBAR_PRUSS2_IRQ_HOST2); #else CSL_xbarIpuIrqConfigure(1, CSL_XBAR_INST_IPU1_IRQ_48, CSL_XBAR_PRUSS1_IRQ_HOST2); CSL_xbarIpuIrqConfigure(1, CSL_XBAR_INST_IPU1_IRQ_49, CSL_XBAR_PRUSS2_IRQ_HOST2); #endif } #endif