added example ipes

README.md

@@ -1,4 +1,4 @@
-PruIEP_Int  2 examples
+PruIEP_Int  3 examples
 ========
 Examples of using the PRUSS IEP timer interrupt on the BEAGLEBONE to toggle a pin.
 
@@ -13,3 +13,7 @@ prujts1-00A0.dts - The device tree overlay to enable the PRUSS and set P9.31 for
 iep2.c - Initialize the Pruss,  initializes the interrupt system, waits for the pru to finish executionjj
 
 iep2.p - The PRUSS initializes the IEP interrupt for CMP0 (compare register 0). and  CMP1  On CMP1 interrupt clear the pin, on CMP0 set the pin and reset the counter.
+
+ieps.c - Initialize the Pruss, waits 30 seconds and exits.  Does not initialize the PRUSS INTC
+
+ieps.c - Initialize the PRUSS INTC interrupt system.  Initializes the IEP interrupts for CMP0 & CMP1.  Toggles P9.31 using interrupts form CMP0 & CMP1. 

ieps.c

@@ -0,0 +1,132 @@
+/*ieps.c - PRUSS IEP,  2 interrupts
+ *
+ * The C-code is derived from:
+ * PRU_memAccessPRUDataRam.c
+ *
+ * Copyright (C) 2012 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ *  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.
+ *
+*/
+
+/*
+ * ============================================================================
+ * Copyright (c) Texas Instruments Inc 2010-12
+ *
+ * Use of this software is controlled by the terms and conditions found in the
+ * license agreement under which this software has been supplied or provided.
+ * ============================================================================
+ */
+
+/*****************************************************************************
+ * Copyright (c) John Stampfl 2014
+ * This code is provided for your reading pleasure.
+ * anyother use is at your own risk.  
+ *
+ *pu.c uses the PRUSS to read data from
+ *pu.c the ADAFRUIT Ultimate GPS
+******************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <string.h>
+#include <errno.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <prussdrv.h>
+#include <pruss_intc_mapping.h>
+
+#define PRU_NUM 	0
+#define AM33XX
+
+static int LOCAL_exampleInit ( unsigned short pruNum );
+static void *pruDataMem;
+static unsigned int *pruDataMem_int;
+static char *pdata;
+
+int main (void)
+{
+    int ret1,i,cnt;
+    int fd,len,msig,messno;
+    short ret2;
+
+    unsigned int ret,value,en = 0;
+    tpruss_intc_initdata pruss_intc_initdata = PRUSS_INTC_INITDATA;
+
+
+    printf("\nINFO: Starting %s example.\r\n", "pt - SR04");
+
+    /* Initialize the PRU */
+    prussdrv_init ();
+
+    /* Open PRU Interrupt */
+    ret = prussdrv_open(PRU_EVTOUT_0);
+    if (ret)
+    {
+        printf("prussdrv_open open failed\n");
+        return (ret);
+    }
+
+    /* Get the interrupt initialized */
+    //prussdrv_pruintc_init(&pruss_intc_initdata);
+
+    /* Initialize example */
+    printf("\tINFO: Initializing example.\r\n");
+    LOCAL_exampleInit(PRU_NUM);
+
+    /* Execute example on PRU */
+    printf("\tINFO: Executing example.\r\n");
+    prussdrv_exec_program (PRU_NUM, "./ieps.bin");
+    pruDataMem_int[66] = 0;
+    printf("\tINFO: Waiting for \r\n");
+    sleep(30);
+    prussdrv_pru_disable (PRU_NUM);
+    prussdrv_exit ();
+    return(0);
+
+}
+
+static int LOCAL_exampleInit ( unsigned short pruNum )
+{
+    //Initialize pointer to PRU data memory
+    if (pruNum == 0)
+    {
+      prussdrv_map_prumem (PRUSS0_PRU0_DATARAM, &pruDataMem);
+    }
+    else if (pruNum == 1)
+    {
+      prussdrv_map_prumem (PRUSS0_PRU1_DATARAM, &pruDataMem);
+    }
+
+    pdata=(char*) pruDataMem;   
+    pruDataMem_int  = (unsigned int*) pruDataMem;
+return(0);
+}
+

ieps.p

@@ -0,0 +1,138 @@
+//ieps.p   -  setup PRU INTC without help of Linux Prussdrv
+//            All the setup is done by the pru.  Still does the same
+//            as iepx.p, Initalizes CMP0 and toggle the pin on interrupt
+//            and on CMP1 hitting compare value.
+//            toggles pin p9.31 -  attached to r30.t0 - mode 5 output
+//
+//            Changed the loop time to 1 second.
+//
+.setcallreg r2.w0  //  Going to use r30
+.origin 0
+.entrypoint TB
+TB:
+       set r30,r30, 0         //turn on 
+       jmp ASET           //this is the routine to setup
+
+TB1:
+       ldi r17,0             // init loop counter
+       call RSET             // routine to clear & enable interrupts
+
+TB2:
+       qbbc TB2,r31.t30     // spin here for interrupt
+       lbco r3,c26,0x44,4   //get status, which interrupt
+       qbbs TB5,r3.t0       // check for CMP0
+TB3:
+       clr r30,r30,0        // CMP1 interrupt
+TB4:
+       call RSET            // clear, enable
+       add r17,r17,1        //loop counter
+       qblt TB9,r17,50      //loop 50 times
+       jmp TB2
+
+TB5:
+       set r30,r30,0        // CMP0 interrupt
+       jmp TB4
+
+TB9:    //  exit point 
+       clr r30,r30,0
+       HALT
+
+ASET: //  This section is to initialize the interrupts
+
+//    INITIALIZE` THE PRU INTC
+
+      mov r15,0xD00               //offset for SIPR0
+      mov r14,0xFFFFFFFF          // must be oll bits = one
+      sbco r14,c0,r15,4
+      mov r15,0xD04               //offset for SIPR1
+      sbco r14,c0,r15,4
+
+      mov r15,0xD80               //offset for SITR0
+      mov r14,0                   // must be zero
+      sbco r14,c0,r15,4
+      mov r15,0xD84               //offset for SITR1
+      sbco r14,c0,r15,4
+
+//    INITIALIZE IEP INTERRUPTS
+
+       mov r14,0x0BEBC200           //For CMP0, compare trigger
+       sbco r14,c26,0x48,4
+       mov r14,0x05F5E100         //For CMP1, compare trigger
+       sbco r14,c26,0x4c,4
+       mov r14,0x7                // enable CMP0 & CPM1, and enable
+       sbco r14,c26,0x40,4        // counter reset on event
+       mov r14,0x3
+       sbco r14,c26,0x44,4        // clear status for CMP0 & CMP1
+       lbco r14,c26,0x4,4
+       sbco r14,c26,0x4,4         // clear GLOBAL status, overflow
+       mov r14,0x111              // enable IEP counter, inc 1
+       sbco r14,c26,0,4
+
+//    DONE WITH IEP SETUP
+
+//    SETUP CHANNEL MAP
+//            map SysEvent to Channel 0, leave 16 - 23 alone set by Linux
+       mov r18,0x43C
+       mov r15,0x3FC            //set up Channel map
+TB43:
+       mov r14,0x09090909       // first map all events to
+       add r15,r15,4            // to channel 9
+       sbco r14,c0,r15,4
+       qbgt TB43,r15,r18
+       mov r14,0x00090909       // map SysEvt 7 to channel 0
+       mov r15,0x404            // now do 404, which has the
+       sbco r14,c0,r15,4        // entries for 4,5,6,7
+
+//   Done with Channel Map, Host Interrupt Map now
+           // Host Interrupt 0 - 3 were setup by Linux   
+
+       mov r14,0x09090900       // map channels 1,2,3 to Host Int 9 
+                                // and channel 0 to host 0
+       mov r15,0x800
+       sbco r14,c0,r15,4
+       mov r14,0x09090909       // map channels 4,5,6,7 to Host Int 9 
+       mov r15,0x804
+       sbco r14,c0,r15,4
+       mov r14,0x00000909       // map channel 8 & 9 to Host Int 9
+       mov r15,0x808
+       sbco r14,c0,r15,4
+
+       ldi r15, 0x24             //clear all events
+       call RSET
+
+       ldi r15,0x28              // enable all events
+       call ALLEVT
+       ldi r14,1
+       ldi r15,0x10
+       sbco r14,c0,r15,4         //turn on global interrupts
+       ldi r14,0xF
+       ldi r15,0x1500
+       sbco r14,c0,r15,4         //turn on  interrupts
+       jmp TB1
+
+RSET:  // Routine to clear & enable system events, also host interrupts
+       mov r24,r2           // Save return address
+                            // so can call ALLEVT
+       lbco r14,c26,0x4,4   // clear GLOBAL_STATUS
+       sbco r14,c26,0x4,4
+       lbco r14,c26,0x44,4  // clear CMP_STATUS
+       sbco r14,c26,0x44,4
+       lbco r14,c26,0x44,4
+       mov r15,0x24         //  to clear system event
+       call ALLEVT
+       mov r15,0x28         //  to enable system event
+       call ALLEVT
+
+       mov r2,r24            // restore return address
+       ret
+
+ALLEVT:  //Insert the system envent in the proper INTC register
+         // register r15 must have the register offset
+         // will only work with registers that take the event number
+         // if you want to handle multiple events, just add 
+         //   ldi r14,"sys event no."
+         //   sbco r14, c0 ,r15,4
+
+       ldi r14,0x7
+       sbco r14, c0 ,r15,4
+       ret

notes

@@ -1,4 +1,4 @@
-Notes for PruIEP_Int
+Notes for PruIEP_Int - Three examples
 
 Hardware:
 ========================================================================
@@ -24,13 +24,37 @@ Devicetree:
 ========================================================================
 prujts1-00A0.dts - enables the PRUSS and configures P9.31 (offset 0x190) for PRU input.
 
-Program:
+Program for example1
 ========================================================================
 iepx.c - initializes the PRU and PRU INTC for Linux interrupt 0.   Waits for Host Interrupt to signal PRU program
 completion
 
-iepx.p -  Initializes the PRU IEP counter and cmp0 with interrupt on cmp0 match. Toggles P9.31 on IEP interrupt.
+iepx.p -  Initializes the PRU IEP counter and CMP0 with interrupt on CMP0 match. Toggles P9.31 on IEP interrupt.
+
+
+The PRU program iep2.p depends on the Linux program iepx.c to initialize the PRU INTC system.  Then adds initialization
+for the IEP interrupt.
+
+Program for example2
+========================================================================
+iep2.c - initializes the PRU and PRU INTC for Linux interrupt 0.   Waits for Host Interrupt to signal PRU program
+completion
+
+iep2.p -  Initializes the PRU IEP counter,CMP0 with interrupt on CMP0 match and  on CMP1 match. Toggles P9.31.  CMP0 match puts high value to the pin and resets the counter.  CMP1 match puts low value to the pin.  The values set
+means CMP0 interrupts every 4 seconds, and CMP1 interrupts 2 seconds after the counter is reset. Each loop is wait for interrrupt, if CMP1 clear the value and wait for interrupt, if CMP0 set the value and reset the counter and wait for interrupt.
 
 
 The PRU program iepx.p depends on the Linux program iepx.c to initialize the PRU INTC system.  Then adds initialization
 for the IEP interrupt.
+
+Program for example3
+========================================================================
+ieps.c -  Starts the PRUSS & Waits 30 seconds.
+
+
+ieps.p -  Initializes the PRUSS INTC interrupt system. Initializes the PRU IEP counter,CMP0 with interrupt on CMP0 match and  on CMP1 match. Toggles P9.31.  CMP0 match puts high value to the pin and resets the counter.  CMP1 match puts low value to the pin.  The values set means CMP0 interrupts every 1 seconds, and CMP1 interrupts .5 seconds after the counter is reset. Each loop is:  wait for interrrupt, if CMP1, clear the value and wait for interrupt, if CMP0, set the value and reset the counter and wait for interrupt.
+
+
+The PRU program initializes the PRU INTC system and  initializes  the IEP interrupt.
+
+This is the same program as iep2.ps above with the loop time changed and initializing the PRU INTC instead of depending on  Linux & PRUSSDRV.