Added GPIO_0 module and decimal delay support

doc_and_examples/README.md

@@ -1,11 +1,31 @@
 #Examples and documentations
 
 ##Pin mappings
-DIO[0] to DIO[8] => pru0_r30_0 to pru0_r30_8
+DIO[0] to DIO[7] => pru0_r30_0 to pru0_r30_7
 pinmux.pdf contains the pru0_r30_x (pru format) GPIOy_z (GPIO format) mappings.
 beaglebone_headers.png has the pin number in GPIO format to header pin mapping.
 
 eg. searching for 'pru0_pru_r30_0' [ i.e. DIO[0] ] in pinmux.pdf gives us a corresponding 'gpio3_14'
 looking up 'gpio3_14' in beaglebone_headers.png gives us header pin 'P9.31'. 
 Hence DIO[0] corresponds to 'P9.31'
 
+Added support for access GPIOs other than __R30. Has to expanded for other GPIO modules (Currently GPIO0)
+
+DIO[8] -> GPIO0_2 -> P9.22
+
+DIO[9] -> GPIO0_3 -> P9.21
+
+DIO[10] -> GPIO0_4 -> P9.18
+
+DIO[11] -> GPIO0_5 -> P9.17
+
+DIO[12] -> GPIO0_7 -> P9.42
+
+DIO[13] -> GPIO0_8 -> P8.35
+
+DIO[14] -> GPIO0_9 -> P8.33
+
+DIO[15] -> GPIO0_10 -> P8.31
+
+DIO[16] -> GPIO0_11 -> P8.32
+

src/dts/BB-PRUSPEAK-00A0.dts

@@ -55,6 +55,8 @@
 		"P8.46",	/* pru1: pr1_pru1_pru_r30_1 */
 				/* pru1: pr1_pru1_pru_r30_14 is on UART0_RXD */
 				/* pru1: pr1_pru1_pru_r30_15 is on UART0_TXD */
+		"P9.18",	/*gpio0_4*/
+		"P9.17",	/*gpio0_5*/		
 		/* the hardware IP uses */
 		"pru0",
 		"pru1";
@@ -83,7 +85,9 @@
 					0x190 0x25	/* mcasp0_aclkx.pr1_pru0_pru_r30_0, MODE5 | OUTPUT | PRU */
 					0x03c 0x26	/* GPMC_AD15.pr1_pru0_pru_r31_15, MODE6 | INPUT | PRU*/
 					0x038 0x26	/* GPMC_AD14.pr1_pru0_pru_r31_14, MODE6 | INPUT | PRU*/
-
+					0x158 0x37	/* gpio0_4 -> P9.18 */
+					0x15c 0x37	/* gpio0_5 -> P9.17 */
+					0x164 0x37	/* gpio0_7 -> P9.42 */
 					//0x084 0x25	/* gpmc_csn2.pr1_pru1_pru_r30_13, MODE5 | OUTPUT | PRU */ --conflict with eMMC
 					//0x080 0x25	/* gpmc_csn1.pr1_pru1_pru_r30_12, MODE5 | OUTPUT | PRU */
 					0x0e0 0x25	/* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU */

src/pru-firmware/pru0_firmware.c

@@ -2,7 +2,7 @@
 #include "pru0_firmware.h"
 
 int var_loc[256];
-void wait(int);
+void wait(int,int);
 int pwm_val = 0;
 
 static void send_ret_value(int val)
@@ -73,12 +73,22 @@ int get_var_val(int addr)
 
 	return 0;
 }
-
+/*maps value to gpio modules*/
+int map_gpio(int val)
+{
+	if(val>7 && val<12){
+		return (val-6); // This is done because SET DIO[8], maps to GPIO0_2, thus 8 - 6 = 2
+	 }
+	if(val>11 && val < 19){ // GPIO0_6 missing ? can't find on headers.
+		return (val-5); // SET DIO[12] onwards maps to GPIO0_7, 12 - 5 = 7.
+	}
+}
 /*instruction handlers*/
 
 void dio_handler(int opcode, u32 inst)
 {
-	int val1, val2;
+	int val1, val2,val3;
+	PRUCFG_SYSCFG = PRUCFG_SYSCFG & (~SYSCFG_STANDBY_INIT);
 	if(opcode == SET_DIO_a){
 	/* SET DIO[c/v], c/v */
 
@@ -102,15 +112,31 @@ void dio_handler(int opcode, u32 inst)
 		int addr = GET_BYTE(inst, 1) + index + 1;
 		val2 = var_loc[addr];
 	}
-	/* set hi*/
-	if(val2 && (val1 < MAX_DIO)){ 
-        	__R30 = __R30 | ( 1 << val1);
-        }
-
+	 /* set hi*/
+	if(val2 && (val1 < MAX_DIO)){
+
+		if(val1<8){
+			__R30 = __R30 | ( 1 << val1);
+		}
+		else{
+			val3 = map_gpio(val1);
+			mmio32(GPIO_OE) = mmio32(GPIO_OE) & ~(1 << val3);
+			mmio32(GPIO_SETDATAOUT) = (1<<(val3));
+		}
+	}
 	/* set low*/
-        else{ 
-        	__R30 = __R30 & ~( 1 << val1);
-        }
+	else{
+		if(val1<8){
+			__R30 = __R30 & ~( 1 << val1);
+		}
+
+		else{
+			val3 = map_gpio(val1);
+			mmio32(GPIO_CLEARDATAOUT) = (1<<(val3));
+		}
+	}
+
+	PRUCFG_SYSCFG = PRUCFG_SYSCFG | SYSCFG_STANDBY_INIT;
 
 	if(single_command)
 		send_ret_value(val2 ? 1 : 0);
@@ -252,7 +278,7 @@ void array_dec_handler(int opcode, u32 inst)
 void wait_goto_get_handler(int opcode, u32 inst)
 {
 	int op = (GET_BYTE(inst, 2) >> 6);
-	int val;
+	int val,dec;
 	if(op == 0){
 	/* WAIT c*/
 		val = inst & 0xFFFF;
@@ -278,9 +304,14 @@ void wait_goto_get_handler(int opcode, u32 inst)
 	}
 
 	if(opcode == WAIT){
-		wait(val);
+		wait(val,0);
+	}
+
+	else if (opcode == WAIT_64){
+		inst = get_second_word();
+		dec = inst & 0xFFFF;
+		wait(val,dec);
 	}
-
 	else if (opcode == GOTO)
 		inst_pointer = val;
 
@@ -670,7 +701,7 @@ void check_event(void)
 
 }
 
-void wait(int ms)
+void wait(int ms,int us)
 {	
 	/* set the CMP0 reg value */
 	//PIEP_CMP_CMP0 =  MS * ms;
@@ -683,7 +714,7 @@ void wait(int ms)
 	PIEP_CMP_CFG |= CMP_CFG_CMP_EN(0);
 
         /* set the CMP0 reg value */
-        PIEP_CMP_CMP0 =  ((MS * ms) + PIEP_COUNT);// % 0xFFFFFFFF;//is the % op needed at all?
+        PIEP_CMP_CMP0 =  ((MS * ms) + (uS * us) + PIEP_COUNT);// % 0xFFFFFFFF;//is the % op needed at all?
 
 	/* clear the timer event for CMP0 incase it has been already set by mistake */
 	PIEP_CMP_STATUS = CMD_STATUS_CMP_HIT(0);
@@ -730,6 +761,7 @@ void execute_instruction()
 		break;
 
 		case WAIT:
+		case WAIT_64:
 		case GOTO:
 		case GET:
 			wait_goto_get_handler(opcode, inst);

src/pru-firmware/pru0_firmware.h

@@ -3,9 +3,9 @@
 #define IF_EVENT                PINTC_SRSR0 & (1 << EVENT_BIT)
 
 #define MS                      0x30d40 //number of clock cycles it takes for 1ms
-
+#define uS			0xC8    //number of clock cycles it take for 1uS
 /*max number of DIO pins*/
-#define MAX_DIO			12
+#define MAX_DIO			20
 
 /* max data area (in terms of index for var_loc[])*/
 #define MAX_DATA		239
@@ -19,6 +19,13 @@
 	Different syscall values, aliases and their meaning
 */
 
+//GPIO0 module address
+#define mmio32(x) (*(volatile unsigned long *)(x))
+#define GPIO10 (0x44E07000)
+#define GPIO_CLEARDATAOUT (GPIO10 + 0x190)
+#define GPIO_SETDATAOUT (GPIO10 + 0x194)
+#define GPIO_OE (GPIO10 + 0x134)
+
 //DEBUG - Sets all output pins to high
 #define SYS_DEBUG       0
 
@@ -98,6 +105,7 @@ extern void sc_downcall(int (*handler)(u32 nr, u32 arg0, u32 arg1, u32 arg2, u32
 #define WAIT		20
 #define GOTO		21
 #define GET		22
+#define WAIT_64		23
 
 /*arithmetic instructions*/
 #define ADD_32		48

src/userspace_lib/README.md

@@ -513,11 +513,13 @@ WAIT x
 ```
 where **x** (the only operand) can be of type **C or V or Arr[v]**
 
-This is a 32 bit instruction.
+This is a 32 bit instruction if milis argument is given and 64 bit
+instruction if millis + micros argument is given.
 
 **opcode**
 ```c
-0x14 (20)
+0x14 (20)  for WAIT 100
+0x17 (23)  for WAIT 100.345
 ```
 **operation**
 ```

src/userspace_lib/pru_speak/bs_lex.py

@@ -33,11 +33,11 @@
 tokens = [
 	'VAR',
 	'INT',
-
+	'FLOAT',
 	'GTE',	# '>='
 	'LTE',	# '<='
 	'GT',	# '>'
-	'LT',		# '<'
+	'LT',	# '<'
 	'EQ',	# '=='
 	'NEQ',	# '!='
 ] + reserved
@@ -62,7 +62,13 @@ def t_HEX_INT(t):
 
 def t_INT(t):
 	'\d+'
-	t.value = int(t.value)    
+	t.value = int(t.value)
+	return t
+def t_FLOAT(t):
+	r'\.?[0-9]+'
+	t.value = float(t.value)
+	t.value = t.value*1000
+	t.value = int(t.value)
 	return t
 
 def t_VAR(t):
@@ -77,7 +83,7 @@ def t_error(t):
 	print "Illegal character '%s'" % t.value[0]
 
 lexer = lex.lex()
-data =  '''SET DIO[myvar], 1'''
+data =  '''WAIT 10.345'''
 lexer.input(data)
 
 if __name__ == '__main__':

src/userspace_lib/pru_speak/bs_parse.py

@@ -295,7 +295,7 @@ def byte_code_dec_array(name, val):
 	return pack_byte(OPCODE, byte2, byte1, byte0)
 
 
-def byte_code_single_op(cmd, val):
+def byte_code_single_op(cmd, val, flt):
 	'''
 	single operand instructions
 	e.g. WAIT, GOTO, GET
@@ -308,11 +308,10 @@ def byte_code_single_op(cmd, val):
 	}
 	OPCODE = opcode_dict[cmd]
 	byte2, byte1, byte0 = 0, 0, 0
-
+	byte7, byte6, byte5, byte4 = 0, 0, 0, 0
 	#incase wait or goto
 	if OPCODE < 22 and not script_mode:
 		return 0 #these inst only make sense in a script
-
 	if val.type == 'INT':
 	#case1 INT
 		byte2 = 0
@@ -323,9 +322,13 @@ def byte_code_single_op(cmd, val):
 		else:
 			byte0 = val.val & 0xFF #lower 8 bits
 			byte1 = (val.val >> 8) & 0xFF #higher 8 bits
+			if flt and OPCODE == 20:   #check if decimal delay (uS) is present for WAIT command
+				OPCODE = OPCODE + 3 #make WAIT opcode 23. now a 64 bit instruction
+				byte3=OPCODE
+				byte4 = flt.val & 0xFF #lower 8 bits of uS
+				byte5 = (flt.val >> 8) & 0xFF #higher 8 bits uS
+				return pack_byte(OPCODE, byte2, byte1, byte0), pack_byte(byte7, byte6, byte5, byte4)
 
-
-
 	elif val.any_var:
 	#Var or Arr[Var]
 		byte2 = 0b01 << 6
@@ -668,20 +671,25 @@ def p_inst_LBL(p):
 def add_label(byte_code, index):
 	return (byte_code & 0xFFFF0000) | (index & 0xFFFF)
 
-def p_inst_WAIT(p):
+def p_inst_WAIT_int(p):
 	'''inst : WAIT val'''
-	#print "WAIT command - val :", p[2]
-	p[0] = byte_code_single_op(p[1], p[2])
+	print "WAIT command - val :", p[2].val
+	p[0] = byte_code_single_op(p[1], p[2],0)
+
+def p_inst_WAIT_float(p):
+	'''inst : WAIT val val'''            #WAIT INT FLOAT
+	print "WAIT command - val :", p[3].val
+	p[0] = byte_code_single_op(p[1], p[2],p[3])
 
 def p_inst_GOTO(p):
 	'''inst : GOTO val'''
 	#print "GOTO command - val :", p[2]
-	p[0] = byte_code_single_op(p[1], p[2])
+	p[0] = byte_code_single_op(p[1], p[2],0)
 
 def p_inst_GET(p):
 	'''inst : GET val'''
 	#print "GET command - val :", p[2]
-	p[0] = byte_code_single_op(p[1], p[2])
+	p[0] = byte_code_single_op(p[1], p[2],0)
 
 def p_inst_IF(p):
 	'''inst : IF '(' val cond val ')' GOTO val'''
@@ -747,6 +755,11 @@ def p_val_INT(p):
 	#print p[1]
 	p[0] = Value('INT', p[1])
 
+def p_val_FLOAT(p):
+	'''val : FLOAT'''
+	#print p[1]
+	p[0] = Value('FLOAT', p[1])
+
 def p_val_VAR(p):
 	'''val : VAR'''
 	p[0] = Value('VAR', p[1])
@@ -827,7 +840,7 @@ def p_error(p):
 	try :
 		print parser.parse("SET var1, 4")
 		#print pru_var_count
-		print parser.parse("GET DIO[0]")
+		print parser.parse("WAIT 100.34")
                 #print pru_var_count
 		print parser.parse("SET var1, DIO[0]")
 	except Exception as e: