def __init__(self, num=0): self.num = num pypruss.modprobe() pypruss.init() pypruss.open(self.num) pypruss.pruintc_init() pypruss.pru_write_memory(0,0,[ddr]) pypruss.exec_program(0,'./matrix.bin')
def init_pru(self):
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
pypruss.init() # Init the PRU
pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.open(1) # Open PRU event 1 which is PRU1_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.pru_write_memory(0, 0, [self.ddr_addr, self.ddr_nr_events, 0]) # Put the ddr address in the first region
pypruss.exec_program(0, self.firmware.get_firmware(0)) # Load firmware on PRU 0
pypruss.exec_program(1, self.firmware.get_firmware(1)) # Load firmware on PRU 1
def __init__(self, prog):
self.val = {}
pypruss.modprobe()
pypruss.init()
pypruss.open(event_nr)
pypruss.pruintc_init()
pypruss.pru_disable(1)
self.data = pypruss.map_prumem(pypruss.PRUSS0_PRU1_DATARAM)
self.write32(COM_RANGE, 0)
pypruss.exec_program(1, prog)
def setup(this): 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 this.buffer = pypruss.map_prumem(pypruss.PRUSS0_PRU0_DATARAM) pypruss.exec_program(0, "./triac.bin") # Load firmware "blinkled.bin" on PRU 0 this.brightness = [0 for x in range(N_BULBS)] this.writeOffset = 0 this.write()
def init(pru_bin): pypruss.modprobe(1024) ddr_addr = pypruss.ddr_addr() ddr_size = pypruss.ddr_size() print "DDR memory address is 0x%x and the size is 0x%x"%(ddr_addr, ddr_size) fifo = Fifo(ddr_addr, ddr_size) pypruss.init() pypruss.open(0) pypruss.pruintc_init() pypruss.pru_write_memory(0,0,[ddr_addr]) pypruss.exec_program(0, pru_bin) return fifo
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 __init__(self, port, pin, pullup_port, pullup_pin, bMappedPRU):
if not OneWire.nInstances:
# Init PRU
print('Loading program into PRU')
pypruss.init();
pypruss.open(pypruss.PRU_EVTOUT_0)
pypruss.pruintc_init();
pypruss.exec_program(0, './dallas.bin')
OneWire.nInstances += 1
self.bIsBusy = False # May help in the future
self.bMappedPRU = bMappedPRU
self.port, self.pin, self.pullup_port, self.pullup_pin = port, pin, pullup_port, pullup_pin
self._keepalive = OneWire # Avoids that the OneWire class is deleted before its instances...
self.dSensors = {}
def __init__(self, sPathBin):
try:
addr = int(open('/sys/class/uio/uio0/maps/map0/addr', 'rb').read(), 16)
except IOError as e:
print('---> ERROR while opening the pruss memory <---')
print('Probably there is something wrong with capes (did you "echo BB-BONE-PRU-ACT > /sys/devices/bone_capemgr.9/slots" ?)')
raise e
self.sPathBin = sPathBin
self.mem_fd = open('/dev/mem', 'r+b')
self.pruicss = mmap.mmap(self.mem_fd.fileno(), 0x080000, offset=addr)
pypruss.init()
# Reset is VERY important... otherwise the PRU might start at random
#pypruss.pru_reset(0) # FAILS! x_x
self.pruicss[0x022000] = 0 # Manual set 0 to the byte of CONTROL reg in the control regs...
pypruss.open(pypruss.PRU_EVTOUT_0) # Is this required?
pypruss.pruintc_init()
pypruss.exec_program(0, self.sPathBin)
def __init__(self):
pru_hz = 200*1000*1000 # The PRU has a speed of 200 MHz
self.s_pr_inst = 1.0/pru_hz # I take it every instruction is a single cycle instruction
self.s_pr_inst_2 = 2.0*(1.0/pru_hz) # I take it every instruction is a single cycle instruction
self.inst_pr_loop = 16 # This is the minimum number of instructions needed to step.
self.inst_pr_delay = 2 # Every loop adds two instructions: i-- and i != 0
self.sec_to_inst_dev = (self.s_pr_inst*2)
self.pru_data = [] # This holds all data for one move (x,y,z,e1,e2)
self.ddr_used = Queue.Queue(30) # List of data lengths currently in DDR for execution
self.ddr_reserved = 0
self.ddr_mem_used = 0
self.clear_events = []
self.ddr_lock = Lock()
self.debug = 0
self.i = 0
pypruss.modprobe(0x40000) # This only has to be called once pr boot
self.ddr_addr = pypruss.ddr_addr()
self.ddr_size = pypruss.ddr_size()
print "The DDR memory reserved for the PRU is "+hex(self.ddr_size)+" and has addr "+hex(self.ddr_addr)
ddr_offset = self.ddr_addr-0x10000000 # The Python mmap function cannot accept unsigned longs.
ddr_filelen = self.ddr_size+0x10000000
self.DDR_START = 0x10000000
self.DDR_END = 0x10000000+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
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, [self.ddr_addr, self.ddr_nr_events]) # Put the ddr address in the first region
pypruss.exec_program(0, "../firmware/firmware_pru_0.bin") # Load firmware "ddr_write.bin" on PRU 0
self.t = Thread(target=self._wait_for_events) # Make the thread
self.running = True
self.t.start()
logging.debug("PRU initialized")
def init(pru_bin):
pypruss.modprobe(1024)
ddr_addr = pypruss.ddr_addr()
ddr_size = pypruss.ddr_size()
print "DDR memory address is 0x%x and the size is 0x%x"%(ddr_addr, ddr_size)
fifo = Fifo(ddr_addr, ddr_size)
pypruss.init()
pypruss.open(0)
pypruss.pruintc_init()
pru_init = [ddr_addr, len(axes)]
for step_addr, step_pin, dir_addr, dir_pin in axes:
pru_init += [step_addr+0x194, 1 << step_pin,
dir_addr+0x194, 1 << dir_pin,
0, 0]
pypruss.pru_write_memory(0,0,pru_init)
pypruss.exec_program(0, pru_bin)
return fifo
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 __init__(self):
"""Build ultrasonic abstraction objects and logger."""
# Load system configuration
self.config = lib.get_config()
# Get and store logger object
self.logger = lib.get_logger()
# Memory address that maps to the 8k PRU0 datamem block
PRU_ADDR = 0x4a300000
self.PRU_EVOUT_0 = 0
self.PRU0_ARM_INTERRUPT = 19
us_config = self.config['ultrasonics']
try:
with open("/dev/mem", "r+b") as f:
# TODO: replace 32 with len(sensors) * 4 * 2 ?
self.pru_mem = mmap.mmap(f.fileno(), 32, offset=PRU_ADDR)
except IOError as e:
self.logger.warning("Could not open /dev/mem: {}".format(e))
self.pru_mem = struct.pack('IIIIIIII', 1, 2, 3, 4, 5, 6, 7, 8)
# Initialize the PRU driver (not sure what this does?)
pypruss.init()
try:
pypruss.open(self.PRU_EVOUT_0)
except SystemError as e:
self.logger.error("Could not open PRU: {}".format(e))
self.logger.error("Is the PRU module (uio_pruss) loaded?")
pypruss.pruintc_init() # Init the interrupt controller
self.logger.debug("Loading PRU program: {}".format(
us_config['pru_file']))
pypruss.exec_program(us_config['pru_num'], us_config['pru_file'])
self.sensors = us_config['sensors']
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.")
def __init__(self):
pru_hz = 200*1000*1000 # The PRU has a speed of 200 MHz
self.s_pr_inst = 2.0*(1.0/pru_hz) # I take it every instruction is a single cycle instruction
self.inst_pr_loop = 42 # This is the minimum number of instructions needed to step.
self.inst_pr_delay = 2 # Every loop adds two instructions: i-- and i != 0
self.sec_to_inst_dev = (self.s_pr_inst*2)
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.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
dirname = os.path.dirname(os.path.realpath(__file__))
pypruss.init() # Init the PRU
pypruss.open(PRU0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.pru_write_memory(0, 0, [self.ddr_addr, self.ddr_nr_events]) # Put the ddr address in the first region
pypruss.exec_program(0, dirname+"/../firmware/firmware_00A3.bin") # Load firmware "ddr_write.bin" on PRU 0
self.t = Thread(target=self._wait_for_events) # Make the thread
self.running = True
self.t.start()
def ready_pruss_for_burst(self, CR=None):
""" Arms the ADC for sample collection. This removes some GPIO control
from the BBB, and replaces it with PRUIN/OUT control.
"""
# Initialize variables
if CR is None:
CR = self.conversion_rate
else:
self.conversion_rate = CR
if CR == 0:
raise ValueError("CR currently set to 0 (DEFAULT), indicating that"
+ "user forgot to preset the sample/conversion rate."
+ "prior to calling this function.")
CR_BITECODE = int(round(1.0 / CR * F_CLK)) # Converts user CR input to Hex.
# 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
# init PRU Registers
pypruss.exec_program(0, INIT0) # Cleaning the registers
pypruss.exec_program(1, INIT1) # Cleaning the registers
pypruss.pru_write_memory(0, 0x0000, [0x0, ] * 0x0800) # clearing pru0 ram
pypruss.pru_write_memory(0, 0x0800, [0x0, ] * 0x0800) # clearing pru1 ram
pypruss.pru_write_memory(0, 0x4000, [0x0, ] * 300) # clearing ack bit from pru1
pypruss.pru_write_memory(0, PRU0_CR_Mem_Offset, [CR_BITECODE, ]) # Setting conversion
pypruss.exec_program(1, ADS7865_ClkAndSamplePRU) # Load firmware on PRU1
# end readying process by arming the PRUs
boot.arm()
self.arm_status = 'armed'
self.modified = False
for iy in xrange(20):
sprite_idx_arr.append((ix, iy))
sprite_idx_arr = [(7, 0), (8, 0), (9, 0), (11, 0), (12, 0), (13, 0), (15, 0), (12, 1), (14, 1), (13, 3)]
for (ix, iy) in sprite_idx_arr:
box = ((ix) * sizex, (iy) * sizey, (ix + 1) * sizex, (iy + 1) * sizey)
region = sheet.crop(box)
ni = Image.new("RGB", (sizex, sizey))
ni.paste(region, (0, 0, sizex, sizey))
newimgname = "img_%d_%d.png" % (ix, iy)
print "Writing %s" % newimgname
# ni.save( newimgname )
data = get_img_array(ni)
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
sleep(1.500) # sleep 1s
if clear_leds_at_end:
empty_data = [256] + [0] * 256 # 1st index is #_of_pixels, then 256 pixel values of 0 follow it
pypruss.pru_write_memory(0, 0, empty_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
sleep(1.000) # sleep 1s
pypruss.exit() # Exit
sys.exit(0)
cycle_count = 0x000014 # 20 cycles pwm_ratio = 0x0000000E # 16 cycles on # new io object io = IOCtrl() io.setPin(22,1) io.setPin(23,1) io.setPin(24,1) gpio=io.getData() # # write gpio data to memory # mem type, offset, data, len*4 # pru memory, offset bytes, data pypruss.modprobe() pypruss.init() pypruss.open(0) pypruss.pruintc_init() data = [escape, cycle_count, pwm_ratio, gpio] pypruss.pru_write_memory(0,0,data) print "running program!" pypruss.exec_program(0,"./memtest.bin") pypruss.clear_event(0) pypruss.exit()
JMP START
#else
START:
SET r30.t14
CLR r30.t14
JMP START
#endif""" % constant
if os.path.exists(filename):
os.remove(filename)
fp = file(filename, 'w')
fp.write(generate_code)
fp.close()
cmd = "make -C %s clean all" % path
print cmd
os.system(cmd)
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, "./clock.bin") # Load firmware "clock.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.
print "Constant to reach %d hertz: %d" % (hertz, constant)
''' test.py - test script for the PyPRUSS library with the PRU''' import pypruss 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, "./text.bin") # Load firmware "text.bin" on PRU 0 # Optional commands if you would like to disable the PRU #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.
if ".bin" in bin_file and "reset.bin" not in bin_file and "inputReceiver_PRU0.bin" not in bin_file:
binaries.append(bin_file)
binaries.sort()
# Power up VCC
with open("/dev/mem", "r+b") as f:
mem = mmap.mmap(f.fileno(), GPIO0_size, offset=GPIO0_offset)
reg = struct.unpack("<L", mem[GPIO_OE:GPIO_OE + 4])[0]
mem[GPIO_OE:GPIO_OE + 4] = struct.pack("<L", reg & ~VCC)
mem[GPIO_SETDATAOUT:GPIO_SETDATAOUT + 4] = struct.pack("<L", VCC)
init_receiver("inputReceiver_PRU0.bin")
for binary in binaries:
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(1, os.path.join(
binary_folder, binary)) # 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 1 completed " + binary)
pypruss.clear_event(1) # Clear the event
pypruss.exit()
# end_receiver()
raw_input("All files executed, press ENTER to shutdown device\n")
# Reset the GPIO on both PRU
resetPRU("shut down")
mem[GPIO_CLEARDATAOUT:GPIO_CLEARDATAOUT + 4] = struct.pack("<L", VCC)
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
endReached = False
#import numpy as np # Needed for braiding the pins with the delays
import struct
import mmap
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)
ddr_mem[RAM0_START:RAM0_START + 4] = struct.pack('L', 0)
#pypruss.modprobe() # This only has to be called once pr boot
pypruss.init()
pypruss.open(0)
pypruss.pruintc_init()
pypruss.exec_program(0, "./photodiodetest.bin")
pypruss.wait_for_event(0)
pypruss.clear_event(0, pypruss.PRU0_ARM_INTERRUPT)
pypruss.pru_disable(0)
pypruss.exit()
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
local = struct.unpack('L', ddr_mem[RAM0_START:RAM0_START + 4])
#TODO: add check if test is succesfull or not
print(hex(local[0]))
return struct.unpack('L',
self.ddr_mem[self.ddr_start:self.ddr_start+4])[0]
pypruss.modprobe(1024)
ddr_addr = pypruss.ddr_addr()
ddr_size = pypruss.ddr_size()
print "DDR memory address is 0x%x and the size is 0x%x"%(ddr_addr, ddr_size)
fifo = Fifo(ddr_addr, ddr_size)
pypruss.init()
pypruss.open(0)
pypruss.pruintc_init()
pypruss.pru_write_memory(0,0,[ddr_addr])
pypruss.exec_program(0, "./division.bin")
fifo.write([int(i) for i in sys.argv[1:3]])
fifo.write([0,0])
olda = fifo.front()
while True:
a = fifo.front()
if not olda == a:
print 'front:',a
olda = a
if a == fifo.back:
break
print fifo.memread(40, 3)
pypruss.wait_for_event(0)
(float(speed[0]) - float(lines[0])) /
float(lines[0])) * 100 ##Calculate the new percent changed
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
import pypruss # The Programmable Realtime Unit Library
import struct
import mmap
import time
PRU_ICSS = 0x4A300000
PRU_ICSS_LEN = 512 * 1024
RAM0_START = 0x00000000
RAM1_START = 0x00002000
RAM2_START = 0x00012000
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(1, "../firmware/firmware_endstops.bin"
) # Load firmware "mem_write.bin" on PRU 0
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
while True:
shared = struct.unpack('LLL', ddr_mem[RAM2_START:RAM2_START + 12])
print "Raw: " + bin(shared[0]) + " Masked: " + bin(
shared[1]) + " Allowed: " + bin(shared[2]) + (" " * 30) + "\r",
pypruss.exit() # Exit
''' test.py - test script for the PyPRUSS library with the PRU''' import pypruss 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, "./text.bin") # Load firmware "text.bin" on PRU 0 # Optional commands if you would like to disable the PRU #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.
''' blinkled.py - test script for the PyPRUSS library
It blinks the user leds ten times'''
import pypruss
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,
"./blinkled.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 _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
ddr_mem = mmap.mmap(f.fileno(), DDR_FILELEN, offset=DDR_BASEADDR) # data = "".join(map(chr, [b0, b1, b2, b3])) # Make the data, it needs to be a string ddr_mem[DDR_OFFSET:DDR_OFFSET+4] = data # Write the data to the DDR memory, four bytes should suffice ddr_mem.close() # Close the memory f.close() # Close the file 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, "./blinkled.bin") # Load firmware "blinkled.bin" on PRU 0 pypruss.exec_program(0, "./gpioLEDBlink.out") # 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. #import pypruss as pru # The Programmable Realtime Unit Library #import numpy as np # Needed for braiding the pins with the delays #distance =100 #steps_pr_mm = 1 #inst_pr_step = 1 #num_steps = int(distance*steps_pr_mm) # Number of ticks in total #steps = [(1<<12), 0]*num_steps # Make the table of ticks for the stepper. #delays = [inst_pr_step]*2*num_steps # Make the table of delays
#!/usr/bin/python """ blinkled.py - test script for the PyPRUSS library It blinks the user leds ten times """ import sys import pypruss delay = int(600000) 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.pru_write_memory(0, 0, [delay]) # Load data in the pru RAM pypruss.exec_program(0, "./bin/beagle_pov.bin") # Load firmware "beagle_pov.bin" on PRU 0 pypruss.exit() # Exit, don't know what this does.
# TODO: machine halts at zero
# TODO: why is there a ringbuffer!?
# START
start_lines = queue_len if total_lines > queue_len else total_lines
# byte zero is error byte
data = [0] + ([1] + line) * start_lines + [10]
bit_data = (len(data) // 4 + 1) * [0]
for idx, item in enumerate(data):
bit_data[idx // 4] += item << (8 * (idx % 4))
#pypruss.modprobe() # This only has to be called once pr boot
pypruss.init()
pypruss.open(0)
pypruss.pruintc_init()
pypruss.pru_write_memory(0, 0, bit_data) # Load the data in the PRU ram
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)
if TARGET_PRU_NO == 1:
pypruss.init()
pypruss.open(TARGET_PRU_NO)
if TARGET_PRU_NO == 1:
pypruss.pruintc_init()
stopped = threading.Event()
stopped.clear()
pru_stop_thread = PRU_read_thread(stopped, sock, shared_mem)
pru_send_thread = PRU_write_thread(stopped, sock, shared_mem)
pru_stop_thread.start()
pru_send_thread.start()
pypruss.exec_program(TARGET_PRU_NO, TARGET_PRU_FW)
def signal_handler(signal, frame):
pru_stop_thread.kill_me()
pru_send_thread.kill_me()
pru_stop_thread.join()
pru_send_thread.join()
signal.signal(signal.SIGINT, signal_handler)
pru_stop_thread.join()
pru_send_thread.join()
pypruss.exit()
""" blinkled.py - test script for the PyPRUSS library blinks the laser 3 times with a period of 6 seconds """ import pypruss #pypruss.modprobe() # This only has to be called once pr boot pypruss.init() pypruss.open(0) pypruss.pruintc_init() pypruss.exec_program(0, "./blinklaser.bin") pypruss.wait_for_event(0) pypruss.clear_event(0, pypruss.PRU0_ARM_INTERRUPT) pypruss.pru_disable(0) pypruss.exit()
''' blinkled.py - test script for the PyPRUSS library It blinks the user leds ten times''' import pypruss 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, "./blinkled.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 run(self):
print("Starting PRU binary %s" % self.bin_file)
pypruss.exec_program(0, self.bin_file)
ddr_start = 0x10000000
ddr_end = 0x10000000 + ddr_size
f = open("/dev/mem", "r+b")
ddr_mem = mmap.mmap(f.fileno(), ddr_filelen,
offset=ddr_offset) # mmap the right area
pypruss.open(1) # Open PRU event 0 which is PRU0_ARM_INTERRUPT
stopped = threading.Event()
stopped.clear()
pru_stop_thread = PRUReadThread(stopped, my_socket, ddr_mem)
pru_send_thread = PRUWriteThread(stopped, my_socket, ddr_mem)
pru_stop_thread.start()
pru_send_thread.start()
pypruss.exec_program(1, "/opt/bbonePRU/text2.bin")
def signal_handler(signal, frame):
print("Program termination requested")
pru_stop_thread.killme()
pru_send_thread.killme()
pru_stop_thread.join()
pru_send_thread.join()
signal.signal(signal.SIGINT, signal_handler)
pru_stop_thread.join()
pru_send_thread.join()
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)
ddr_mem[RAM0_START:RAM0_START+4] = struct.pack('L', 0)
ddr_mem[RAM1_START:RAM1_START+4] = struct.pack('L', 0)
ddr_mem[RAM2_START:RAM2_START+4] = struct.pack('L', 0)
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(1, "./mem_read.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
pypruss.exit() # Exit
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
local = struct.unpack('L', ddr_mem[RAM0_START:RAM0_START+4])
print hex(local[0])
local = struct.unpack('L', ddr_mem[RAM1_START:RAM1_START+4])
print hex(local[0])
shared = struct.unpack('L', ddr_mem[RAM2_START:RAM2_START+4])
print hex(shared[0])
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)
ddr_mem[RAM0_START:RAM0_START + 4] = struct.pack('L', 0)
ddr_mem[RAM1_START:RAM1_START + 4] = struct.pack('L', 0)
ddr_mem[RAM2_START:RAM2_START + 4] = struct.pack('L', 0)
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(
1, "./mem_read.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
pypruss.exit() # Exit
with open("/dev/mem", "r+b") as f:
ddr_mem = mmap.mmap(f.fileno(), PRU_ICSS_LEN, offset=PRU_ICSS)
local = struct.unpack('L', ddr_mem[RAM0_START:RAM0_START + 4])
print hex(local[0])
local = struct.unpack('L', ddr_mem[RAM1_START:RAM1_START + 4])
print hex(local[0])
shared = struct.unpack('L', ddr_mem[RAM2_START:RAM2_START + 4])
print hex(shared[0])
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
def burst(self, length=None, n_channels=None, raw=None, fmt_volts=1):
"""
Args:
length: Number of samples to record. Overides natural behavior to
use the value stored in self.length
n_channels: Number of channel that will collect samples. overrides
natural behavior to use the value storing in self.n_channels
raw: Bit that lets the user specify that he wants the data in the
raw binary non-2's compliment format instead of 2's compliment.
fmt_volts: Specify's whether to convert the raw binary data into
human readable volts form.
"""
if length is None: # Optional argument for sample length
length = self.sample_length
else:
self.sample_length = int(length)
if n_channels is None:
n_channels = self.n_channels
else:
self.n_channels = n_channels
# Share DDR RAM Addr with PRU0
pypruss.pru_write_memory(0, PRU0_DDR_MEM_OFFSET, [self.ddr['addr'], ])
# Share SL with PRU0: pru_SL_mapping just incorporates
# some math that translates the user specified SL parameter
# to a byte addressable memory size value that the PRU will use to
# check whether it has finished writing it's data to the
# memory
pru_SL_mapping = (length - MIN_SAMPLE_LENGTH) * BYTES_PER_SAMPLE
pypruss.pru_write_memory(0, PRU0_SL_MEM_OFFSET, [pru_SL_mapping, ])
# Share deadband length with PRU0
db_hex = int(round(self.deadband_ms / 1000.0 * F_CLK * 2.0)) # counts
pypruss.pru_write_memory(0, PRU0_DB_MEM_OFFSET, [db_hex, ])
# Share Threshold with PRU0
thr_hex = self.V_to_12bit_Hex(self.corrected_threshold)
pypruss.pru_write_memory(0, PRU0_THR_Mem_Offset, [thr_hex, ])
# Launch the Sample collection program
a = time.time()
pypruss.exec_program(0, ADS7865_MasterPRU) # 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_INTERRUPT
b = time.time()
t = b - a
# Once signal has been received, clean up house
# pypruss.clear_event(0) # Clear the event
# pypruss.exit() # Exit PRU
# Read the memory: Extract raw status code
raw_data = read_sample(self.ddr, length + STATUS_BLOCK)
logging.info("ADC: RAW_DATA %d:" % raw_data[0])
status_code = raw_data[0] & 0x3F
# Read the memory: Extract TOF Flag
TOF = get_bit(raw_data[0], TIMEOUT_STATUS_BIT)
self.TOF = TOF
# Read the memory: Extract TRG_CH Data
self.TRG_CH = get_bit(raw_data[0], TFLG0_BIT)
print
if self.n_channels != 2:
self.TRG_CH += 2 * get_bit(raw_data[0], TFLG1_BIT)
logging.info("ADC: Triggered off ch %d" % self.TRG_CH)
# Read the DB overflow bit
DBOVF = get_bit(raw_data[0], DBOVF_BIT)
logging.info("ADC: DBOVF = %d" % DBOVF)
# Read the memory: Move on. Treat actual data as raw data now.
raw_data = raw_data[1:]
# Print out stuff
logging.info("ADC: Returned Status code = %d" % status_code)
logging.info("ADC: Returned TOF code = %d" % TOF)
if TOF:
logging.warning("ADC: TIMEOUT occured!")
y_orig = y = [0] * n_channels
for chan in range(n_channels):
# user may specify whether he wants a numpy array
# ... or not.
y[chan] = np.asarray(raw_data[chan::n_channels])
# User may specify whether he wants values to come in
# raw, or two's compliment.
if raw is None or raw == 0:
i = 0
for sample in y[chan]:
y[chan][i] = twos_comp(sample, WORD_SIZE)
i += 1
# Assuming that the user is requesting 2 compliment values,
# it is possible to do conversion to voltage values. How ever,
# if the user has set raw to True, then this option is
# unavailable.
if fmt_volts:
y[chan] = y[chan] * self.lsb
# Apply digital gain
y_orig[chan] = y[chan]
y[chan] = y[chan] * self.digital_gain
# Perform some commands that ready the ADC for another burst.
self.reload()
# Storing collected samples internally
self.y = y
self.y_orig = y_orig
# Return values
return (y, TOF)
pypruss.modprobe()
ddr_addr = pypruss.ddr_addr()
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
ddr_addr = pypruss.ddr_addr()
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)
def load(path):
print('Loading program')
pypruss.exec_program(0, path)
#!/usr/bin/python
import os
import argparse
import pypruss
from math import ceil
if __name__ == '__main__':
pru = 0
firmware = "./clock.bin"
pypruss.modprobe() # This only has to be called once pr boot
pypruss.init() # Init the PRU
pypruss.open(pru) # Open PRU event <num> which is PRU<num>_ARM_INTERRUPT
pypruss.pruintc_init() # Init the interrupt controller
pypruss.exec_program(pru, firmware) # Load firmware on PRU <num>
pypruss.wait_for_event(pru) # Wait for event <num> which is connected to PRU<num>_ARM_INTERRUPT
pypruss.clear_event(pru) # Clear the event
pypruss.pru_disable(pru) # Disable PRU <num>, this is already done by the firmware
pypruss.exit() # Exit, don't know what this does.
from __future__ import print_function import pypruss import os #on PRU0 # wait for input on PRU0 to go high. # when it goes high, send interrupt to PRU1. #on PRU1 # wait for interrupt from PRU0 # generate square wave pypruss.modprobe() pypruss.init() # Init the PRU pypruss.open(0) # Open PRU event 0 which is PRU0_ARM_INTERRUPT pypruss.open(1) # also PRU1 pypruss.pruintc_init() pypruss.exec_program(0, "./PRU0toPRU1.bin") pypruss.exec_program(1, "./PRU1toPRU0.bin") pypruss.wait_for_event(0) # wait for an interrupt from PRU0. currently not sent, use CtrlC
percentChange = ( ( float(speed[0]) - float(lines[0])) / float(lines[0])) * 100 ##Calculate the new percent changed
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
pru_addr = 0x4a300000
PRU_EVOUT_0 = 0
PRU0_ARM_INTERRUPT = 19
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... ",
def run(self):
pypruss.exec_program(
0, self.bin_file) # Load firmware "blinkled.bin" on PRU 0
