def _wait_for_events(self):
events_caught = 0
self.dev = os.open("/dev/uio0", os.O_RDONLY)
self.new_events = 0
self.old_events = 0
nr_interrupts = 0
while self.running:
ret = select.select( [self.dev],[],[], 1.0 )
if ret[0] == [self.dev]:
self._wait_for_event()
pypruss.clear_event(PRU0_ARM_INTERRUPT) # Clear the event
nr_events = struct.unpack("L", self.ddr_mem[self.DDR_END-4:self.DDR_END])[0]
else:
nr_events = struct.unpack("L", self.ddr_mem[self.DDR_END-4:self.DDR_END])[0]
while nr_interrupts < nr_events:
ddr = self.ddr_used.get() # Pop the first ddr memory amount
with Pru.ddr_lock:
self.ddr_mem_used -= ddr
#logging.debug("Popped "+str(ddr)+"\tnow "+hex(self.get_capacity()))
if self.get_capacity() < 0:
logging.error("Capacity less than 0!")
if self.get_capacity() == 0x40000:
logging.warning("PRU empty!")
nr_interrupts += 1
self.ddr_used.task_done()
def run(self):
old_consume = 0
while not self.stopped.is_set():
pypruss.wait_for_event(TARGET_PRU_NO)
pypruss.clear_event(TARGET_PRU_NO, TARGET_PRU_INTERRUPT)
self.calls += 1
(produce, consume) = \
struct.unpack("LL", self.ddr_mem[DDR_START:DDR_START +
RX_RING_BUFFER_FRAMES_OFFSET])
while consume != produce:
length = struct.unpack("B", self.ddr_mem[self.frames_ptr])[0]
frame = \
struct.unpack("B"*length,
self.ddr_mem[self.frames_ptr+1:
self.frames_ptr+1+length])
#sys.stderr.write('rx ' + str(frame) + '\n')
consume = (consume + 1) % RX_RING_BUFFER_LEN
self.frames_ptr = self.frames_base + \
(consume * RX_FRAME_SIZE)
if old_consume != consume:
self.ddr_mem[DDR_START + RX_RING_BUFFER_CONSUME_OFFSET:
DDR_START + RX_RING_BUFFER_FRAMES_OFFSET] = \
struct.pack('L', consume)
old_consume = consume
def run(self):
old_consume = 0
while not self.stopped.is_set():
pypruss.wait_for_event(TARGET_PRU_NO)
pypruss.clear_event(TARGET_PRU_NO, TARGET_PRU_INTERRUPT)
self.calls += 1
(produce, consume) = \
struct.unpack("LL", self.ddr_mem[DDR_START:DDR_START +
RING_BUFFER_FRAMES_OFFSET])
while consume != produce:
length = struct.unpack("B", self.ddr_mem[self.frames_ptr])[0]
frame = \
struct.unpack("B"*length,
self.ddr_mem[self.frames_ptr+1:
self.frames_ptr+1+length])
self.socket.sendto(''.join(map(chr, frame)),
('localhost', UDP_PORTS[1]))
consume = (consume + 1) % RX_RING_BUFFER_LEN
self.frames_ptr = self.frames_base + \
(consume * FRAME_SIZE)
if old_consume != consume:
self.ddr_mem[DDR_START + RING_BUFFER_CONSUME_OFFSET:
DDR_START + RING_BUFFER_FRAMES_OFFSET] = \
struct.pack('L', consume)
old_consume = consume
def run(self):
ddr_start = 0x10000000
old_consume = 0
while not self.stopped.is_set():
pypruss.wait_for_event(
1) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(1,
pypruss.PRU1_ARM_INTERRUPT) # Clear the event
self.calls += 1
(produce,
consume) = struct.unpack("LL",
self.ddr_mem[ddr_start:ddr_start + 8])
while consume != produce:
length = struct.unpack("B", self.ddr_mem[self.messages_ptr])[0]
message = struct.unpack(
"B" * length,
self.ddr_mem[self.messages_ptr + 1:self.messages_ptr + 1 +
length])
# print(",".join(map(lambda x: "{:02x}".format(x), message)))
self.socket.sendto(''.join(map(chr, message)),
('localhost', 6972))
consume = (consume + 1) % 16
self.messages_ptr = self.messages_base + (consume * 43)
if old_consume != consume:
self.ddr_mem[ddr_start + 4:ddr_start + 8] = struct.pack(
'L', consume)
old_consume = consume
def main():
# Initialize environment
pypruss.modprobe()
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(0, "./hello_pru.bin") # Load firmware on PRU0
pypruss.wait_for_event(0) # Wait for event 0 which is conn to PRU0_ARM_INTERUPT
pypruss.clear_event(0) # Clear the event
pypruss.exit() # Exit PRU
print("Test completed: PRU was successfully opened and closed.")
def runOnPRU(PRU, binFile, interrupt=1):
try:
pypruss.init() # Init the PRU
pypruss.open(interrupt) # Open PRU PRU1_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(PRU, binFile)
log.info('PRU %s executing %s' % (PRU, os.path.split(binFile)[len(os.path.split(binFile)) - 1]))
pypruss.wait_for_event(interrupt) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(interrupt) # Clear the event
pypruss.exit()
except Exception, e:
log.error(e)
pypruss.exit()
raise Exception('Error executing file %s on PRU' % binFile)
def stop(self):
print("Ending")
# Set our command byte to FF and write it out
self.data[0] = 0x000000FF
pypruss.pru_write_memory(0, 0, self.data)
# Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.wait_for_event(0)
# Clear the event
pypruss.clear_event(0)
# Disable PRU 0, this is already done by the firmware
pypruss.pru_disable(0)
# Exit, don't know what this does.
pypruss.exit()
def stop(self):
print("Ending")
# Set our command byte to FF and write it out
self.data[0] = 0x000000FF
pypruss.pru_write_memory(0, 0, self.data)
# Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.wait_for_event(0)
# Clear the event
pypruss.clear_event(0)
# Disable PRU 0, this is already done by the firmware
pypruss.pru_disable(0)
# Exit, don't know what this does.
pypruss.exit()
def ExecuteActions(prussmem, lActions):
# Write actions (PRU is in standby)
WriteActions(prussmem, lActions)
# Makes the PRU treat actions
prussmem[SHARED] = 1 # COMMAND_START
# Waits for completion.
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
# I don't know why we have to wait and clear 2 times...
# I thought that there was a delay between the PRU signaled the interrupt and
# and the Linux updating the shared mem, but no, you have to wait for event twice...
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
return ReadActions(prussmem, lActions)
def ExecuteActions(prussmem, lActions):
# Write actions (PRU is in standby)
WriteActions(prussmem, lActions)
# Makes the PRU treat actions
prussmem[SHARED] = 1 # COMMAND_START
# Waits for completion.
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
# I don't know why we have to wait and clear 2 times...
# I thought that there was a delay between the PRU signaled the interrupt and
# and the Linux updating the shared mem, but no, you have to wait for event twice...
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
return ReadActions(prussmem, lActions)
def __init__(self, firmware):
self.pru_hz = 200*1000*1000 # The PRU has a speed of 200 MHz
self.s_pr_inst = (1.0/self.pru_hz) # I take it every instruction is a single cycle instruction
self.max_delay_cycles = self.pru_hz*4 #Maximum delay to avoid bugs (4 seconds)
self.pru_data = [] # This holds all data for one move (x,y,z,e1,e2)
self.ddr_used = Queue.Queue() # List of data lengths currently in DDR for execution
self.ddr_reserved = 0
self.ddr_mem_used = 0
self.clear_events = []
self.firmware = firmware
self.ddr_addr = int(open("/sys/class/uio/uio0/maps/map1/addr","rb").read().rstrip(), 0)
self.ddr_size = int(open("/sys/class/uio/uio0/maps/map1/size","rb").read().rstrip(), 0)
logging.info("The DDR memory reserved for the PRU is "+hex(self.ddr_size)+" and has addr "+hex(self.ddr_addr))
ddr_offset = self.ddr_addr-0x20000000 # The Python mmap function cannot accept unsigned longs.
ddr_filelen = self.ddr_size+0x20000000
self.DDR_START = 0x20000000
self.DDR_END = 0x20000000+self.ddr_size
self.ddr_start = self.DDR_START
self.ddr_nr_events = self.ddr_addr+self.ddr_size-4
with open("/dev/mem", "r+b") as f: # Open the memory device
self.ddr_mem = mmap.mmap(f.fileno(), ddr_filelen, offset=ddr_offset) # mmap the right area
self.ddr_mem[self.ddr_start:self.ddr_start+4] = struct.pack('L', 0) # Add a zero to the first reg to make it wait
self.init_pru();
#Wait until we get the GPIO output in the DDR
self.dev = os.open("/dev/uio0", os.O_RDONLY)
ret = select.select( [self.dev],[],[], 1.0 )
if ret[0] == [self.dev]:
pypruss.clear_event(PRU0_ARM_INTERRUPT) # Clear the event
self.initial_gpio = [struct.unpack("L", self.ddr_mem[self.DDR_START+4:self.DDR_START+8])[0], struct.unpack("L", self.ddr_mem[self.DDR_START+8:self.DDR_START+12])[0], struct.unpack("L", self.ddr_mem[self.DDR_START+12:self.DDR_START+16])[0], struct.unpack("L", self.ddr_mem[self.DDR_START+16:self.DDR_START+20])[0] ]
os.close(self.dev)
#Clear DDR
self.ddr_mem[self.DDR_START+4:self.DDR_START+8] = struct.pack('L', 0)
self.ddr_mem[self.DDR_START+8:self.DDR_START+12] = struct.pack('L', 0)
self.ddr_mem[self.DDR_START+12:self.DDR_START+16] = struct.pack('L', 0)
self.ddr_mem[self.DDR_START+16:self.DDR_START+20] = struct.pack('L', 0)
self.t = Thread(target=self._wait_for_events) # Make the thread
self.t.daemon = True
self.running = True
self.t.start()
def resetPRU(start_stop):
for PRU in range(0, 2):
if os.path.isfile(reset_pru_bin):
pypruss.init() # Init the PRU
pypruss.open(1) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(
PRU, reset_pru_bin) # Load firmware "mem_write.bin" on PRU 0
pypruss.wait_for_event(
1) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
print("PRU " + str(PRU) + " " + start_stop)
pypruss.clear_event(1) # Clear the event
pypruss.exit()
else:
compile_assembler(os.path.join(header_folder, "reset.p"))
def __del__(self):
# Tells the PRU program to end (optional)
# Using __del__ to clean out is not a very brilliant idea, as many objects are already deleted
global ServoController # Pb with order of del
print('Waiting for the PRU program to self-stop')
pMem = PruInterface.MASK_FETCH | PruInterface.P_HEADER
self.pruface.getMappedMem()[pMem:pMem + 4] = self.struct.pack('<I', 2)
# Waits for completion.
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
# I don't know why we have to wait and clear 2 times...
# I thought that there was a delay between the PRU signaled the interrupt and
# and the Linux updating the shared mem, but no, you have to wait for event twice...
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
def __del__(self):
# Tells the PRU program to end (optional)
# Using __del__ to clean out is not a very brilliant idea, as many objects are already deleted
global ServoController # Pb with order of del
print('Waiting for the PRU program to self-stop')
pMem = PruInterface.MASK_FETCH|PruInterface.P_HEADER
self.pruface.getMappedMem()[pMem:pMem+4] = self.struct.pack('<I', 2)
# Waits for completion.
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
# I don't know why we have to wait and clear 2 times...
# I thought that there was a delay between the PRU signaled the interrupt and
# and the Linux updating the shared mem, but no, you have to wait for event twice...
pypruss.wait_for_event(pypruss.PRU_EVTOUT_0)
pypruss.clear_event(pypruss.PRU_EVTOUT_0, pypruss.PRU0_ARM_INTERRUPT)
def moveStepper_p9_15(steps):
pypruss.modprobe()
pypruss.init()
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
setSteps(steps)
pypruss.exec_program(
0, "./pru/p9_15.bin") # Load firmware "blinkled.bin" on PRU 0
pypruss.wait_for_event(
0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(0) # Clear the event
pypruss.pru_disable(
0) # Disable PRU 0, this is already done by the firmware
pypruss.exit() # Exit, don't know what this does.
def initReceiver(self, clearMem=True, copyMem=False, memBlock=100):
"""Initialize the input receiver
1. copy out the memory content if set, default false
2. Reset the moemory contents if set, default True
3. Start the receiver binary on the receiving PRU"""
if copyMem:
self.PRUMemContents = readOutPRUMem(blocks=0)
if clearMem:
resetPRUMem(memBlock)
log.info('PRU Memory Cleared %s blocks' % memBlock)
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(receivingPRU, self.inputBinary) # Load firmware for input recording
pypruss.clear_event(0)
pypruss.exit()
def get_distances(self):
distances = []
pypruss.wait_for_event(
0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
time.sleep(0.2)
pypruss.clear_event(0, pypruss.PRU0_ARM_INTERRUPT) # Clear the event
for j in range(5):
distances.append(
round(
float(
struct.unpack(
'L', self.pruData[offset + j * 4:offset +
(j + 1) * 4])[0] / 58.44), 2))
return distances
def _wait_for_events(self):
events_caught = 0
self.dev = os.open("/dev/uio0", os.O_RDONLY)
self.new_events = 0
self.old_events = 0
nr_interrupts = 0
while self.running:
ret = select.select( [self.dev],[],[], 1.0 )
if ret[0] == [self.dev]:
self._wait_for_event()
pypruss.clear_event(PRU0_ARM_INTERRUPT) # Clear the event
nr_events = struct.unpack("L", self.ddr_mem[self.DDR_END-4:self.DDR_END])[0]
while nr_interrupts < nr_events:
ddr = self.ddr_used.get() # Pop the first ddr memory amount
with self.ddr_lock:
self.ddr_mem_used -= ddr
if self.debug > 0:
print "Popped "+str(ddr)+"\tnow "+hex(self.get_capacity())
self.ddr_used.task_done()
nr_interrupts += 1
def sendData(addr, data, rx=0):
if (rx == 0):
data = [int((0x00 << 24) + (addr << 16) + data)]
else:
data = [int((0x80 << 24) + (addr << 16) + 0x0000)]
# data = [0x80272345]
GPIO.output("P8_30", GPIO.LOW)
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.pru_write_memory(1, 0, data) # Load the data in the PRU ram
pypruss.exec_program(
1, "arm/spi_awg.bin") # Load firmware "mem_write.bin" on PRU 0
pypruss.wait_for_event(
0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(0) # Clear the event
# data = [0x12345678]
pypruss.pru_write_memory(1, 0, data) # Load the data in the PRU ram
GPIO.output("P8_30", GPIO.HIGH)
if (rx == 1):
PRU_ICSS = 0x4A300000
PRU_ICSS_LEN = 512 * 1024
# RAM0_START = 0x00000000
# RAM1_START = 0x00002000
RAM2_START = 0x00012000
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
# local = struct.unpack('LLLL', ddr_mem[RAM1_START:RAM1_START+16])
shared = struct.unpack('L', ddr_mem[RAM2_START:RAM2_START + 4])
f.close()
pypruss.exit() # Exit
if (rx == 1):
return shared[0]
else:
return 0
def sendData(addr,data,rx=0):
if(rx==0):
data = [int((0x00 << 24) + (addr << 16) + data)]
else:
data = [int((0x80 << 24) + (addr << 16) + 0x0000)]
# data = [0x80272345]
GPIO.output("P8_30",GPIO.LOW)
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.pru_write_memory(1, 0, data) # Load the data in the PRU ram
pypruss.exec_program(1, "arm/spi_awg.bin") # Load firmware "mem_write.bin" on PRU 0
pypruss.wait_for_event(0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(0) # Clear the event
# data = [0x12345678]
pypruss.pru_write_memory(1, 0, data) # Load the data in the PRU ram
GPIO.output("P8_30",GPIO.HIGH)
if (rx == 1):
PRU_ICSS = 0x4A300000
PRU_ICSS_LEN = 512*1024
# RAM0_START = 0x00000000
# RAM1_START = 0x00002000
RAM2_START = 0x00012000
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
# local = struct.unpack('LLLL', ddr_mem[RAM1_START:RAM1_START+16])
shared = struct.unpack('L', ddr_mem[RAM2_START:RAM2_START+4])
f.close()
pypruss.exit() # Exit
if (rx == 1):
return shared[0]
else:
return 0
def read_times(self):
"""Get readings from all ultrasonic sensors, as a pulse time.
:returns: Readings from all ultrasonic sensors
"""
self.logger.debug("Waiting for PRU interrupt")
pypruss.wait_for_event(self.PRU_EVOUT_0)
self.logger.debug("Received PRU interrupt")
pypruss.clear_event(self.PRU_EVOUT_0, self.PRU0_ARM_INTERRUPT)
times = {}
inches = {}
for i in self.sensors:
times[i] = struct.unpack_from(
'I', self.pru_mem, self.sensors[i]['offset'])[0]
self.logger.debug("Sensor: %s = %d", i, times[i])
self.logger.debug("Waiting for duplicate PRU interrupt")
pypruss.wait_for_event(self.PRU_EVOUT_0)
self.logger.debug("Received (expected) duplicated PRU interrupt")
pypruss.clear_event(self.PRU_EVOUT_0, self.PRU0_ARM_INTERRUPT)
self.logger.debug("Times: {}".format(times))
return times
def main():
# Initialize evironment
pypruss.modprobe()
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
# Configure PRU Registers
pypruss.pru_write_memory(0, 0, [0, ])
# Execute the PRU program
a = time.time()
pypruss.exec_program(0, "./bin/timer_app.bin") # Load firmware on PRU0
# Wait for PRU to finish its job.
pypruss.wait_for_event(0) # Wait for event 0 which is conn to PRU0_ARM_INTERUPT
loop_time = time.time() - a
# Once signal has been received, clean up house
pypruss.clear_event(0) # Clear the event
pypruss.exit() # Exit PRU
print("That's a %ds loop you have there." % loop_time)
print("Test completed: PRU was successfully opened and closed.")
with open("/dev/mem", "r+b") as f: # Open the memory device
mem = mmap.mmap(f.fileno(), 32, offset=pru_addr) # mmap the right area
pypruss.init() # Init the PRU
try:
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
except SystemError as e:
print e
print "Is the PRU module (uio_pruss) loaded?"
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(0, "./ultrasonic.bin")
while True:
print "Wait for event... ",
pypruss.wait_for_event(PRU_EVOUT_0)
print "Got event"
pypruss.clear_event(PRU_EVOUT_0, PRU0_ARM_INTERRUPT)
time1, pre1, time2, pre2, time3, pre3, time4, pre4 = \
struct.unpack_from('LLLLLLLL', mem, 0)
print "Vals:"
print " %d, %d = %0.2f in" % (pre1, time1, time1 / 149.3)
print " %d, %d = %0.2f in" % (pre2, time2, time2 / 149.3)
print " %d, %d = %0.2f in" % (pre3, time3, time3 / 149.3)
print " %d, %d = %0.2f in" % (pre4, time4, time4 / 149.3)
print "Wait for event2... ",
pypruss.wait_for_event(PRU_EVOUT_0)
print "Got event"
pypruss.clear_event(PRU_EVOUT_0, PRU0_ARM_INTERRUPT)
print percentChange
#Now we've compared. Let's write the most recent speed to our file.
f = open('speed.txt', 'w')
f.write(speed[0])
f.close()
pypruss.modprobe() # This only has to be called once pr boot
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
if percentChange < -5:
pypruss.exec_program(0, "./red.bin")
else:
if percentChange < 0:
pypruss.exec_program(0, "./orange.bin")
else:
if percentChange > 0:
pypruss.exec_program(0, "./green.bin")
else:
pypruss.exec_program(0, "./other.bin") #should never hit this
pypruss.wait_for_event(
0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(0) # Clear the event
pypruss.pru_disable(
0) # Disable PRU 0, this is already done by the firmware
pypruss.exit() # Exits pypruss
time.sleep(interval) # restarts speed evaluation after 'interval' seconds
ddr_size = pypruss.ddr_size()
print "DDR memory address is 0x%x and the size is 0x%x"%(ddr_addr, ddr_size)
ddr_offset = ddr_addr-0x10000000
ddr_filelen = ddr_size+0x10000000
ddr_start = 0x10000000
ddr_end = 0x10000000+ddr_size
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.pru_write_memory(0, 0, [ddr_addr, ddr_addr+ddr_size-4]) # Put the ddr address in the first region
pypruss.exec_program(0, "./ddr_write.bin") # Load firmware "ddr_write.bin" on PRU 0
pypruss.wait_for_event(0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(0) # Clear the event
pypruss.exit() # Exit PRU
with open("/dev/mem", "r+b") as f: # Open the physical memory device
ddr_mem = mmap.mmap(f.fileno(), ddr_filelen, offset=ddr_offset) # mmap the right area
read_back = struct.unpack("L", ddr_mem[ddr_start:ddr_start+4])[0] # Parse the data
read_back2 = struct.unpack("L", ddr_mem[ddr_end-4:ddr_end])[0] # Parse the data
print "The first 4 bytes of DDR memory reads "+hex(read_back)
print "The last 4 bytes of DDR memory reads "+hex(read_back2)
ddr_mem.close() # Close the memory
f.close() # Close the file
def _sendPixels( self, data ):
pypruss.pru_write_memory(0, 0, data) # Load the data in the PRU ram
pypruss.exec_program(0, self.prucode_file ) # Load firmware on PRU 0
pypruss.wait_for_event(0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
sleep( 0.003 ) # Allow pru to complete
pypruss.clear_event(0) # Clear the event
pypruss.exec_program(1, prog)
def read32(self, offset):
return struct.unpack('L', self.data[offset:offset+4])[0]
def write32(self, offset, val):
self.data[offset:offset+4] = struct.pack('L', val)
def poll(self, offset):
newval = self.read32(offset)
prev = self.val.get(offset)
if prev != newval:
self.val[offset] = newval
print "%x = %x" % (offset, newval)
return newval
def stop(self):
pypruss.pru_disable(1) # Disable PRU 1, this is already done by the firmware
pypruss.exit()
self.data = None
if __name__ == '__main__':
mon = PRUMonitor("./pru_stick.bin")
mon.write32(COM_SET_POS, 0x808080)
while True:
mon.poll(0xf0)
mon.poll(COM_RANGE)
mon.poll(COM_CURRENT_POS)
mon.poll(COM_INPUT_BITS)
time.sleep(1.0/1000)
pypruss.wait_for_event(event_nr)
pypruss.clear_event(event_nr)
mon.stop()
pypruss.exec_program(0, "./stabilizer.bin")
if total_lines > queue_len:
total_lines -= queue_len
# continue_line
#data = ([1] + line)
#bit_data = (len(data)//4+1)*[0]
#for idx, item in enumerate(data):
# bit_data[idx//4]+=item<<(8*(idx%4))
byte = 1 # note byte0 is error
response = 1
while True:
pypruss.wait_for_event(0)
pypruss.clear_event(0, pypruss.PRU0_ARM_INTERRUPT)
# read out result and state of the program
with open("/dev/mem", "r+b") as f:
# byte number should be set via amount interrupts received
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
# substracted 1 to read out error
local = struct.unpack(
'L', ddr_mem[RAM0_START + byte - 1:RAM0_START + byte - 1 + 4])
# START_RINGBUFFER 1 --> ja hij zit in de 1//4 (eerste vier bytes)
# bit shift to get the first byte
# bit mask to ignore higher bytes
command_index = (local[0] >> 8 * 1) & 255
try:
command = COMMANDS[command_index]
if command == 'CMD_EMPTY':
if response % queue_len == 0:
with open("/dev/mem", "r+b") as f: # Open the memory device
mem = mmap.mmap(f.fileno(), 32, offset=pru_addr) # mmap the right area
pypruss.init() # Init the PRU
try:
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
except SystemError as e:
print e
print "Is the PRU module (uio_pruss) loaded?"
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(0, "./ultrasonic.bin")
while True:
print "Wait for event... ",
pypruss.wait_for_event(PRU_EVOUT_0)
print "Got event"
pypruss.clear_event(PRU_EVOUT_0, PRU0_ARM_INTERRUPT)
time1, pre1, time2, pre2, time3, pre3, time4, pre4 = \
struct.unpack_from('LLLLLLLL', mem, 0)
print "Vals:"
print " %d, %d = %0.2f in" % (pre1, time1, time1/149.3)
print " %d, %d = %0.2f in" % (pre2, time2, time2/149.3)
print " %d, %d = %0.2f in" % (pre3, time3, time3/149.3)
print " %d, %d = %0.2f in" % (pre4, time4, time4/149.3)
print "Wait for event2... ",
pypruss.wait_for_event(PRU_EVOUT_0)
print "Got event"
pypruss.clear_event(PRU_EVOUT_0, PRU0_ARM_INTERRUPT)
# self.rest = 0
pass
steps, speed, acc, dec = (float(arg) for arg in sys.argv[1:5])
if sim:
fifo = SimFifo()
else:
fifo = init('./stepper.bin')
stepper = Stepper(fifo)
stepper.move(steps, speed, acc, dec)
if not sim:
fifo.write([0,0,0,0])
olda = fifo.front()
while True:
a = fifo.front()
if not olda == a:
print 'front:',a
olda = a
if a == fifo.back:
break
time.sleep(0.1)
pypruss.wait_for_event(0)
pypruss.clear_event(0)
pypruss.pru_disable(0)
pypruss.exit()
mem = mmap.mmap( m.fileno(), 512*1024, offset=PRU_ICSS)
valuestring = mem[START:START+4]
value = struct.unpack('L', valuestring)[0]
seconds = value * 0.000000005 # 5ns per cycle
return seconds
os.system("config-pin p8.15 pruin")
pypruss.modprobe() # This only has to be called once pr boot
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(0, "./rpm.bin") # Load firmware "blinkled.bin" on PRU 0
try:
while True:
pypruss.wait_for_event(0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
seconds = readrpm()
print( r'{} seconds'.format(seconds) )
pypruss.clear_event(0,pypruss.PRU0_ARM_INTERRUPT) # Clear the event
except KeyboardInterrupt as e:
print(e)
pypruss.pru_disable(0) # Disable PRU 0, this is already done by the firmware
pypruss.exit() # Exit, don't know what this does.
def _sendPixels( self, data ):
pypruss.pru_write_memory(0, 0, data) # Load the data in the PRU ram
pypruss.exec_program(0, "./ledgriddrvr.bin") # Load firmware on PRU 0
pypruss.wait_for_event(0) # Wait for event 0 which is connected to PRU0_ARM_INTERRUPT
pypruss.clear_event(0) # Clear the event