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158 lines
6.4 KiB
158 lines
6.4 KiB
// This program is free software: you can redistribute it and/or modify |
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// it under the terms of the GNU General Public License as published by |
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// the Free Software Foundation, either version 3 of the License, or |
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// (at your option) any later version. |
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// This program is distributed in the hope that it will be useful, |
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// but WITHOUT ANY WARRANTY; without even the implied warranty of |
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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// GNU General Public License for more details. |
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// You should have received a copy of the GNU General Public License |
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// along with this program. If not, see <http://www.gnu.org/licenses/>. |
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#include <stdio.h> |
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#include <stdint.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <sys/mman.h> |
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//Comment/uncomment the #includes statements depending on your BeagleBone version: |
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//#include "RcAioPRU_POCKET_bin.h" |
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//#include "RcAioPRU_BBBMINI_bin.h" |
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#include "RcAioPRU_BBBLUE_bin.h" |
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#define NUM_RING_ENTRIES 300 |
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#define RCOUT_PRUSS_RAM_BASE 0x4a302000 |
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#define RCOUT_PRUSS_CTRL_BASE 0x4a324000 |
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#define RCOUT_PRUSS_IRAM_BASE 0x4a338000 |
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#define RCIN_PRUSS_RAM_BASE 0x4a303000 |
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#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0])) |
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#define PWM_FREQ 50 |
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struct ring_buffer { |
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volatile uint16_t ring_head; |
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volatile uint16_t ring_tail; |
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struct { |
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volatile uint32_t s1; |
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volatile uint32_t s0; |
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} buffer[NUM_RING_ENTRIES]; |
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}; |
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struct pwm { |
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volatile uint32_t enable; |
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volatile uint32_t ch1_hi_time; |
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volatile uint32_t ch1_t_time; |
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volatile uint32_t ch2_hi_time; |
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volatile uint32_t ch2_t_time; |
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volatile uint32_t ch3_hi_time; |
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volatile uint32_t ch3_t_time; |
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volatile uint32_t ch4_hi_time; |
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volatile uint32_t ch4_t_time; |
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volatile uint32_t ch5_hi_time; |
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volatile uint32_t ch5_t_time; |
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volatile uint32_t ch6_hi_time; |
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volatile uint32_t ch6_t_time; |
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volatile uint32_t ch7_hi_time; |
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volatile uint32_t ch7_t_time; |
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volatile uint32_t ch8_hi_time; |
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volatile uint32_t ch8_t_time; |
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volatile uint32_t ch9_hi_time; |
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volatile uint32_t ch9_t_time; |
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volatile uint32_t ch10_hi_time; |
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volatile uint32_t ch10_t_time; |
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volatile uint32_t ch11_hi_time; |
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volatile uint32_t ch11_t_time; |
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volatile uint32_t ch12_hi_time; |
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volatile uint32_t ch12_t_time; |
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volatile uint32_t time; |
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volatile uint32_t max_cycle_time; |
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}; |
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volatile struct ring_buffer *ring_buffer; |
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volatile struct pwm *pwm; |
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static const uint32_t TICK_PER_US = 200; |
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static const uint32_t TICK_PER_S = 200000000; |
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static const uint32_t TICK_DURATION_NS = 5; |
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int main (void) |
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{ |
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unsigned int ret, s0, s1, min_s0 = 0xffffffff, min_s1 = 0xffffffff, max_s0 = 0, max_s1 = 0; |
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uint32_t mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC); |
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ring_buffer = (struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_BASE); |
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pwm = (struct pwm*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_RAM_BASE); |
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uint32_t *iram = (uint32_t*)mmap(0, 0x2000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_IRAM_BASE); |
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uint32_t *ctrl = (uint32_t*)mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_CTRL_BASE); |
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uint64_t time_ns; |
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close(mem_fd); |
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// This loop checks that the IEP counter is really started. If not, the PRU is reset, the program is reload and PRU restarted |
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// To report pwm->time and pwm->max_cycle_time, the PRU program must be compiled with -DDEBUG option, for example: |
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// pasm -V3 -c RcAioPRU.p RcAioPRU_BBBLUE -DBBBLUE -DDEBUG |
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// This is made for you by 'make debug' followed by 'make test' |
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do { |
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printf("The PRU will be reset\n"); |
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// Reset PRU 1 |
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*ctrl = 0; |
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//You might uncomment this to identify more easily where the program ends in the IRAM |
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//memset(iram, '\0', sizeof(PRUcode) + 128); |
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// Load firmware |
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memcpy(iram, PRUcode, sizeof(PRUcode)); |
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// Start PRU 1 |
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*ctrl |= 2; |
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pwm->ch1_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch2_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch3_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch4_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch5_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch6_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch7_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch8_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch9_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch10_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch11_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->ch12_t_time = TICK_PER_S / PWM_FREQ; |
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pwm->enable=0xffffffff; |
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printf("IEP counter: 0x%08x\n", pwm->time); |
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} while (pwm->time == 0xffffffff); |
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while(1) { |
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for(unsigned int a = 0; a < NUM_RING_ENTRIES; a++) { |
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s0 = ring_buffer->buffer[a].s0; |
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s1 = ring_buffer->buffer[a].s1; |
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if(s0 > max_s0) {max_s0 = s0;} |
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if(s1 > max_s1) {max_s1 = s1;} |
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if(s0 < min_s0) {min_s0 = s0;} |
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if(s1 < min_s1) {min_s1 = s1;} |
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} |
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s0 = ring_buffer->buffer[ring_buffer->ring_tail].s0; |
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s1 = ring_buffer->buffer[ring_buffer->ring_tail].s1; |
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time_ns = ((double)pwm->time) * ((double)TICK_DURATION_NS); |
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printf("max ct: %3u cycles time: %11lluns head: %u tail: %3u s0: %7u s1: %7u s01: %7u jitter_s0: %uns jitter_s1: %uns\n", pwm->max_cycle_time, time_ns, ring_buffer->ring_head, ring_buffer->ring_tail, s0 * TICK_DURATION_NS, s1 * TICK_DURATION_NS, (s0+s1) * TICK_DURATION_NS, ((max_s0-min_s0) * TICK_DURATION_NS), ((max_s1-min_s1) * TICK_DURATION_NS)); |
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// uint32_t value = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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// pwm->ch1_hi_time = value; |
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// pwm->ch2_hi_time = value; |
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//pwm->ch1_hi_time = 1500 * TICK_PER_US; |
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pwm->ch1_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch2_hi_time = 1500 * TICK_PER_US; |
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pwm->ch3_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch4_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch5_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch6_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch7_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch8_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch9_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch10_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch11_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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pwm->ch12_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US); |
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usleep(1000000); |
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min_s0 = 0xffffffff; |
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min_s1 = 0xffffffff; |
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max_s0 = 0; |
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max_s1 = 0; |
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} |
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return 0; |
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}
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