pratimugale

# this program function must be added to the prussd.py daemon and then a seperate userspace program will be written in cpp

import struct

'''frequency = input("Frequency of PWM in Hz (from 1Hz to 1Mhz): ")
multiplier = 1000000.0/frequency

duty_cycle = input("Duty Cycle of PWM ")

on_samples = duty_cycle * 100

pratimugale

#include <stdint.h>
#include <pru_cfg.h>
#include <math.h>
#include "resource_table_empty.h"

#define PRU_SHARED 0x00010000

extern void start(void);

void main(void){

pratimugale

;* Source written by Pratim Ugale <pratim.ugale@gmail.com>
;* This example is used to control a stepper motor by sending out precise number of pulse trains at required frequency(RPM). 
;* The 4 byte ON_Cycles input must be in memory location 0x00010000 - 0x00010003 in little-endian byte order
;* The 4 byte Total_Cycles input must be in memory location 0x00010004 - 0x00010007 in little endian byte order
;* The 4 byte Number of Pulses input must be in memory location 0x00010008 - 0x000100011 in little-endian byte order

	.cdecls "main_pru0.c"

PRU_SRAM .set 0x00010000            ; Set the location of PRU Shared Memory

pratimugale

;* Source written by Pratim Ugale <pratim.ugale@gmail.com>
;* This example is used to control a stepper motor by sending out precise number of pulse trains at required frequency(RPM). 
;* The 4 byte ON_Cycles input must be in memory location 0x00010000 - 0x00010003 in little-endian byte order
;* The 4 byte Total_Cycles input must be in memory location 0x00010004 - 0x00010007 in little endian byte order
;* The 4 byte Number of Pulses input must be in memory location 0x00010008 - 0x000100011 in little-endian byte order

	.cdecls "main_pru0.c"

PRU_SRAM .set 0x00010000            ; Set the location of PRU Shared Memory

pratimugale

#include "driver_lib.h"
#include <iostream>

using namespace std;

int main(){
    Driver& d = Driver::get();

    d.wake();
    d.activateMotor(360.0, 60.0, FULL, ANTICLOCKWISE); // 360 degrees at 60 RPM in full step mode in anticlockwise direction

pratimugale

;******************************************************************************
;* PRU C/C++ Codegen                                              Unix v2.1.5 *
;* Date/Time created: Wed Jul 17 08:36:15 2019                                *
;******************************************************************************
	.compiler_opts --abi=eabi --endian=little --hll_source=on --object_format=elf --silicon_version=3 --symdebug:dwarf --symdebug:dwarf_version=3 

$C$DW$CU	.dwtag  DW_TAG_compile_unit
	.dwattr $C$DW$CU, DW_AT_name("main_pru0.c")
	.dwattr $C$DW$CU, DW_AT_producer("TI PRU C/C++ Codegen Unix v2.1.5 Copyright (c) 2012-2017 Texas Instruments Incorporated")
	.dwattr $C$DW$CU, DW_AT_TI_version(0x01)

pratimugale

/*
 * Copyright (C) 2016-2018 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.

pratimugale

/*
 * Copyright (C) 2016-2018 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.

pratimugale

#ifndef PRUSS_H_
#define PRUSS_H_

#include <stdlib.h>
#include <linux/limits.h> // realpath
#include <string> // string handling
#include <sys/socket.h> // socket
#include <sys/un.h> // socket
#include <unistd.h> // close()
#include <errno.h> // error codes

pratimugale

#include "pruss.h"

using namespace std;

Socket::Socket()
{
	this->fd = -1;
	this->socketpath = "/tmp/prussd.sock";
}