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executable file 55 lines (48 sloc) 1.93 KB
/* Copyright (c) 2013 Owen McAree
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
// Class derived from node-pru Node.js module
#ifndef pru_h
#define pru_h
// System headers
#include <stdio.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <string>
// PRU Driver headers
#include <prussdrv.h>
#include <pruss_intc_mapping.h>
class PRU {
public:
PRU(int number = 0);
~PRU();
void execute(const char * program);
void stop();
void setSharedMemoryInt(unsigned int index, unsigned int value);
void setSharedMemory(unsigned int * array, unsigned int start, unsigned int length);
unsigned int getSharedMemoryInt(unsigned int index);
void getSharedMemory(unsigned int * memory, unsigned int start, unsigned int length);
private:
int pruNumber;
static unsigned int* memoryPtr;
static const unsigned int OFFSET_SHAREDRAM = 2048;
};
#endif