public static void WarmUp()
{
_WarmUp = true;
Pru1Aio.Configure(10, Channels.AllChannels, 15, 16, 1000);
Pru1Aio.Start(500, 100, BufferMode.Ring);
_WarmUp = false;
}
public static void Configure(int BufferSize, Channels ChannelEnabledMask, int SampleSoc, int SampleAverage, int SampleRate)
{
if (Status != InitMode.Initialized)
{
throw new Exception("Pru1Aio must be initialized prior to Configuration.");
}
lock (Locker)
{
unsafe
{
AsynchCall = new AsynchronousCallBack(ProcessBuffer);
PruMemory->Control.BufferCount = 0;
PruMemory->Control.BufferSize = (byte)BufferSize; // 40;
PruMemory->Control.ChannelEnabledMask = (byte)ChannelEnabledMask; // 0x7F;
PruMemory->Control.SampleSoc = (byte)SampleSoc; // 15;
PruMemory->Control.SampleAverage = (byte)SampleAverage; // 16;
PruMemory->Control.SampleRate = (uint)SampleRate; // 1000;
IBuffer = Pru1Aio.pru_rta_init_capture_buffer(PruMemory);
CaptureBuffer = (Pru1AioReading *)IBuffer.ToPointer();
}
_IsCapturing = false;
_Status = InitMode.Configured;
_TotalRecords = 0;
CurrentBufferIndex = 0;
}
}
public static void Initialize()
{
if (Status != InitMode.NotReady)
{
throw new Exception("Pru1Aio may only be Initialized once.");
}
lock (Locker)
{
unsafe
{
if (Pru1Aio.Aio == null)
{
Pru1Aio.Aio = new Pru1Aio();
}
IPruMem = Pru1Aio.pru_rta_init();
ICallState = Pru1Aio.pru_rta_init_call_state();
PruMemory = (PruSharedMemory *)IPruMem.ToPointer();
CallState = (CallState *)ICallState.ToPointer();
}
_IsCapturing = false;
_Status = InitMode.Initialized;
}
}
public static void Stop()
{
_IsCapturing = false;
_Status = InitMode.Initialized;
unsafe
{
Pru1Aio.pru_rta_stop_capture(PruMemory);
MessageInvoker(MessageType.Stop, new Reading(), 0, 0);
}
}
public static void PrintControl(bool Addresses = false)
{
if (Status == InitMode.NotReady)
{
throw new Exception("Pru1Aio not Initialized()");
}
unsafe
{
if (Addresses)
{
Pru1Aio.print_pru_map_address(PruMemory);
}
else
{
Pru1Aio.print_pru_map(PruMemory);
}
}
}
public static void Hello(string World)
{
Pru1Aio.pru_printf_hello(World);
}
public static void ClearPru(int PRU)
{
Pru1Aio.Stop();
Pru1Aio.pru_rta_clear_pru(PRU);
}
private static unsafe void ProcessBuffer(uint BufferCount, ushort BufferSize, Pru1AioReading *CapturedBuffer, CallState *CallState, PruSharedMemory *PruMemory)
{
Signals++;
LastBufferCount = (int)PruMemory->Control.BufferCount;
Reading mread = new Reading();
for (int i = 0; i < 8; i++)
{
mread.Readings[i] = CallState->BufferMean.Readings[i];
}
mread.Buffer = CallState->BufferMean.Buffer;
mread.DigitalIn = CallState->BufferMean.DigitalIn;
_MeanReading = mread;
int LastGoodBuffer = Signals;
if (Signals < LastBufferCount)
{
do
{
DropBuffer(Signals, mread, LastGoodBuffer, (int)BufferSize);
Signals++;
} while (Signals < LastBufferCount);
}
Pru1Aio.pru_rta_set_digital_out(PruMemory, 0xF, _DigitalOutput);
if (IsCapturing && Status == InitMode.Running)
{
for (int record = 0; record < BufferSize; record++)
{
if (CurrentBufferIndex >= _Buffer.Length)
{
if (Mode == BufferMode.Ring)
{
CurrentBufferIndex = 0;
MessageInvoker(MessageType.Ring, mread, CurrentBufferIndex, (int)BufferSize);
}
else
{
MessageInvoker(MessageType.Overflow, mread, CurrentBufferIndex, (int)BufferSize);
_IsCapturing = false;
break;
}
}
for (int channel = 0; channel < PruMemory->Control.ChannelCount; channel++)
{
/*
* fixed (Pru1AioReading* readings = _Buffer)
* {
* readings[CurrentBufferIndex].Readings[channel] = CapturedBuffer[record].Readings[channel];
* }
*/
_Buffer[CurrentBufferIndex].Readings[channel] = CapturedBuffer[record].Readings[channel];
}
_Buffer[CurrentBufferIndex].DigitalIn = CapturedBuffer[record].DigitalIn;
_Buffer[CurrentBufferIndex].Buffer = CapturedBuffer[record].Buffer;
CurrentBufferIndex++;
_TotalRecords++;
}
}
MessageInvoker(MessageType.Notification, mread, CurrentBufferIndex, (int)BufferSize);
if (RunLimit)
{
_Calls--;
if (_Calls == 0)
{
Pru1Aio.pru_rta_stop_capture(PruMemory);
_Status = InitMode.Initialized;
MessageInvoker(MessageType.Stop, new Reading(), 0, 0);
}
if (CurrentBufferIndex >= _Buffer.Length && Pru1Aio.Mode == BufferMode.Fill)
{
Pru1Aio.pru_rta_stop_capture(PruMemory);
_Status = InitMode.Initialized;
MessageInvoker(MessageType.Stop, new Reading(), 0, 0);
}
}
return;
}
public static void Start(int RunTimeMs = 2000, int Readings = 0, BufferMode Mode = BufferMode.Fill)
{
if (Status != InitMode.Configured)
{
throw new Exception("Pru1Aio must be configured prior to operation.");
}
lock (Pru1Aio.Locker)
{
Pru1Aio.Mode = Mode;
Pru1Aio.RunTimeMs = RunTimeMs;
RunLimit = false;
unsafe
{
if (Readings % PruMemory->Control.BufferSize != 0)
{
throw new Exception("Readings must be a multiple of the buffer size. Inter-buffer reading limits are not supported.");
}
if (Pru1Aio.Mode == BufferMode.Fill || RunTimeMs > 0)
{
RunLimit = true;
if (RunTimeMs == 0 && Readings == 0)
{
Pru1Aio.pru_rta_stop_capture(PruMemory);
Pru1Aio.pru_rta_clear_pru((int)PRU_NUM.PRU1);
Pru1Aio.pru_rta_clear_pru((int)PRU_NUM.PRU0);
return;
}
if (RunTimeMs > 0 && Readings == 0)
{
//Pru1Aio._Buffer = new Pru1AioReading[RunTimeMs / 1000 * PruMemory->Control.SampleRate];
Pru1Aio._Buffer = Pru1Aio.InitializeArray <Reading>((int)(RunTimeMs / 1000 * PruMemory->Control.SampleRate));
_Calls = (int)(PruMemory->Control.SampleRate / PruMemory->Control.BufferSize * RunTimeMs / 1000);
}
else if (RunTimeMs == 0 && Readings > 0)
{
//Pru1Aio._Buffer = new Pru1AioReading[Readings];
Pru1Aio._Buffer = Pru1Aio.InitializeArray <Reading>((int)(Readings));
_Calls = Readings / PruMemory->Control.BufferSize;
}
else if (RunTimeMs > 0 && Readings > 0)
{
//Pru1Aio._Buffer = new Pru1AioReading[Readings];
Pru1Aio._Buffer = Pru1Aio.InitializeArray <Reading>((int)(Readings));
_Calls = (int)(PruMemory->Control.SampleRate / PruMemory->Control.BufferSize * RunTimeMs / 1000);
}
}
else if (Pru1Aio.Mode == BufferMode.Ring)
{
//Pru1Aio._Buffer = new Pru1AioReading[Readings];
Pru1Aio._Buffer = Pru1Aio.InitializeArray <Reading>((int)(Readings));
Pru1Aio.RunLimit = false;
}
_DroppedBuffers = new List <int>();
Pru1Aio.pru_rta_configure(&(PruMemory->Control));
Pru1Aio.pru_rta_start_firmware();
Signals = 0;
_IsCapturing = true;
_Status = InitMode.Running;
MessageInvoker(MessageType.Start, new Reading(), 0, 0);
Pru1Aio.pru_rta_start_capture(PruMemory, CaptureBuffer, CallState, AsynchCall);
}
}
}
private Pru1Aio()
{
// forces libprussdrv to load
Pru1Aio.prussdrv_strversion(1);
_Status = InitMode.NotReady;
}
