def join(self):
logging.debug("joining")
self.running = False
self.t.join()
self.ddr_mem.close() # Close the memory
pypruss.pru_disable(0) # Disable PRU 0, this is already done by the firmware
pypruss.exit() # Exit, don't know what this does.
def __del__(self):
# Hope we get there
print('Closing the PRU interface')
pypruss.pru_disable(0) # Does not wait for program to complete, I don't care here
pypruss.exit()
self.pruicss.close()
self.mem_fd.close()
def __del__(self):
# Hope we get there
print('Closing the PRU interface')
pypruss.pru_disable(
0) # Does not wait for program to complete, I don't care here
pypruss.exit()
self.pruicss.close()
self.mem_fd.close()
def __del__(self):
global OneWire # Hack: sometimes OneWire is deleted before self
if not OneWire:
OneWire = self._keepalive
OneWire.nInstances -= 1
if not OneWire.nInstances:
print('Exiting PRU program')
pypruss.pru_disable(0)
pypruss.exit()
def __del__(self):
global OneWire # Hack: sometimes OneWire is deleted before self
if not OneWire:
OneWire = self._keepalive
OneWire.nInstances -= 1
if not OneWire.nInstances:
print('Exiting PRU program')
pypruss.pru_disable(0)
pypruss.exit()
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 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 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 emergency_interrupt(self):
pypruss.pru_disable(0) # Disable PRU 0, this is already done by the firmware
pypruss.exit() # Exit, don't know what this does.
logging.debug('Resetting PRU...')
self.pru_data = []
while True:
try:
b = self.ddr_used.get(block=False)
if b != None:
self.ddr_used.task_done()
except Queue.Empty:
break
self.ddr_reserved = 0
with Pru.ddr_lock:
self.ddr_mem_used = 0
self.clear_events = []
self.ddr_start = self.DDR_START
self.ddr_nr_events = self.ddr_addr+self.ddr_size-4
self.init_pru()
def end():
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.
# 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()
def stop_pru(self):
pypruss.pru_disable(0)
pypruss.exit()
return 0
def stop(self):
logging.debug("[ADC] Stopping the PRUs")
struct.pack_into('L', self._data, self.PRU0_OFFSET_RES1, 0xdeadbeef)
time.sleep(0.5)
pypruss.pru_disable(0)
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
def force_exit(self):
self.running = False
pypruss.pru_disable(0) # Disable PRU 0, this is already done by the firmware
pypruss.exit() # Exit, don't know what this does.
def cleanup(signum, frame):
pypruss.pru_disable(0)
pypruss.exit() # Exit
sys.exit()
def stop(self):
pypruss.pru_disable(1) # Disable PRU 1, this is already done by the firmware
pypruss.exit()
self.data = None
def cleanup(signum, frame):
pypruss.pru_disable(0)
pypruss.exit() # Exit
sys.exit()
#!/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.
