/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Starts the PRU with the PRU1_StepperIO binary. Very specific to the
/// data needs of the PRU1_StepperIO binary
///
/// In this function, the PASM binary to load is hard coded. It is designed
/// to monitor incoming data from the client and control step and dir pins
/// for up to six stepper motors.
///
/// </summary>
/// <param name="pruID">The pruID</param>
/// <history>
/// 19 Nov 18 Cynic - Originally written
/// </history>
public void StartPRUWithDefaults(PRUEnum pruID)
{
// this is the array we use to pass in the data to the PRU. The
// single byte will act as a toggle flag. Because we are only
// transmitting a byte (an atomic value) we do not need to set
// up any complicated semaphore system.
// The size of this array is the number of
byte[] dataBytes = new byte[NUM_DATA_UINTS * sizeof(UInt32)];
// sanity checks
if (pruID == PRUEnum.PRU_NONE)
{
throw new Exception("No such PRU: " + pruID.ToString());
}
string binaryToRun = "./PRU1_StepperIO.bin";
// build the driver
pruDriver = new PRUDriver(pruID);
// initialize the dataBytes array. the PRU code expects to see a
// zero semaphore, and enable flags when it starts
Array.Clear(dataBytes, 0, dataBytes.Length);
// run the binary, pass in our initial array
pruDriver.ExecutePRUProgram(binaryToRun, dataBytes);
Console.WriteLine("PRU now running.");
LogMessage("PRU now running.");
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Configures a PRU and runs a compiled binary in it.
/// </summary>
/// <param name="pruID">The pruID</param>
/// <param name="binaryToRun">The binary file to run</param>
/// <history>
/// 19 Nov 18 Cynic - Originally written
/// </history>
public void PRUBlinkUSR3LED(PRUEnum pruID, string binaryToRun)
{
// sanity checks
if (pruID == PRUEnum.PRU_NONE)
{
throw new Exception("No such PRU: " + pruID.ToString());
}
if ((binaryToRun == null) || (binaryToRun.Length == 0))
{
throw new Exception("Null or zero length binary file name specified");
}
// build the driver
PRUDriver pruDriver = new PRUDriver(pruID);
// run the binary
pruDriver.ExecutePRUProgram(binaryToRun);
// close the driver, the code in the PRU remains running
pruDriver.Dispose();
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Sample code to launch various PASM binaries in a PRU.
///
/// </summary>
/// <param name="pruID">The pruID</param>
/// <param name="binaryToRun">The binary file to run</param>
/// <history>
/// 19 Nov 18 Cynic - Originally written
/// </history>
public void PRUToggleFromConsole(PRUEnum pruID, string binaryToRun)
{
uint tmpInt = 0;
// ###
// ### these are the offsets into the data store we pass into the PRU
// ### each data item is a uint (it is simpler that way)
// ###
// our semaphore flag is stored at this offset
const uint SEMAPHORE_OFFSET = 0;
// the all steppers enabled flag is stored at this offset
const uint ALLSTEP_ENABLE_OFFSET = 4;
// STEP0
const uint STEP0_ENABLED_OFFSET = 8; // 0 disabled, 1 enabled
const uint STEP0_FULLCOUNT = 12; // this is the count we reset to when we toggle
const uint STEP0_DIRSTATE = 16; // this is the state of the direction pin
// ###
// ### this is the END of the data items, we need to allocate space for the
// ### above number of UINTS
// ###
const int NUM_DATA_UINTS = 5;
// this is the array we use to pass in the data to the PRU. The
// single byte will act as a toggle flag. Because we are only
// transmitting a byte (an atomic value) we do not need to set
// up any complicated semaphore system.
// The size of this array is the number of
byte[] dataBytes = new byte[NUM_DATA_UINTS * sizeof(UInt32)];
// sanity checks
if (pruID == PRUEnum.PRU_NONE)
{
throw new Exception("No such PRU: " + pruID.ToString());
}
if ((binaryToRun == null) || (binaryToRun.Length == 0))
{
throw new Exception("Null or zero length binary file name specified");
}
// build the driver
PRUDriver pruDriver = new PRUDriver(pruID);
// initialize the dataBytes array. the PRU code expects to see a
// zero semaphore, and enable flags when it starts
Array.Clear(dataBytes, 0, dataBytes.Length);
// run the binary, pass in our initial array
pruDriver.ExecutePRUProgram(binaryToRun, dataBytes);
Console.WriteLine("Now toggling. Press 0, 1 or 2 to quit");
// our outer loop we operate until the user quits
while (true)
{
Console.WriteLine("Enter value: ");
string inputStr = Console.ReadLine();
try
{
tmpInt = Convert.ToUInt32(inputStr);
}
catch (Exception)
{
Console.WriteLine("The value " + inputStr + " is not an integer");
continue;
}
// write the allstep_enable flag
pruDriver.WritePRUDataUInt32(tmpInt, ALLSTEP_ENABLE_OFFSET);
// write the STEP0 enable/disable flag
pruDriver.WritePRUDataUInt32(1, STEP0_ENABLED_OFFSET);
// write the STEP0 fullcount value
pruDriver.WritePRUDataUInt32(5000000, STEP0_FULLCOUNT);
// write the STEP0 direction flag
pruDriver.WritePRUDataUInt32(1, STEP0_DIRSTATE);
// write the semaphore. This must come last
pruDriver.WritePRUDataUInt32(1, SEMAPHORE_OFFSET);
// wait for a bit,
Thread.Sleep(100);
if (tmpInt == 0)
{
Console.WriteLine("Pin low");
}
else if (tmpInt == 1)
{
Console.WriteLine("Pin high");
}
else
{
// it is time to go
// tell the user
Console.WriteLine("Done ");
break;
}
}
// close the driver, the code in the PRU remains running
pruDriver.Dispose();
}
