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beaglebone.c
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beaglebone.c
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/*
* Lib BEAGLEBONE Pruio
* Copyright (C) 2014 Rafael Vega <[email protected]>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h>
#include <stdio.h>
#include <beaglebone_pruio_pins.h>
#ifdef IS_BEAGLEBONE
#include <beaglebone_pruio.h>
#endif
#include "beaglebone.h"
/////////////////////////////////////////////////////////////////////////
// PD library bootstrapping.
//
void gpio_input_setup(void);
void gpio_output_setup(void);
void adc_input_setup(void);
void adc_input_tilde_setup(void);
void display_7_led_setup(void);
void midi_in_setup(void);
void beaglebone_setup(void){
#ifdef IS_BEAGLEBONE
beaglebone_pruio_start();
#endif
gpio_input_setup();
gpio_output_setup();
adc_input_setup();
adc_input_tilde_setup();
display_7_led_setup();
midi_in_setup();
}
//////////////////////////////////////////////////////////////////////
// Common functions and variables
//
// The main idea here is that instances of pd objects register themselves
// to receive callbacks for their input of interest (analog or digital)
// using the beaglebone_clock_new function. This adds a new entry to the
// callbacks array. The callbacks array will be checked when a new
// message from the PRU arrives and the callback will be triggered.
#ifdef IS_BEAGLEBONE
#define CLOCK_PERIOD 0.6666 // milliseconds
#else
#define CLOCK_PERIOD 1000 // milliseconds
/* #define CLOCK_PERIOD 0.6666 // milliseconds */
#endif
typedef struct callback{
void(*callback_function)(void*, t_float);
void* instance;
} callback;
callback digital_callbacks[BEAGLEBONE_PRUIO_MAX_GPIO_CHANNELS];
callback analog_callbacks[BEAGLEBONE_PRUIO_MAX_ADC_CHANNELS];
static int beaglebone_number_of_instances = 0;
static t_clock* beaglebone_clock = NULL;
void beaglebone_clock_tick(void* x){
(void)x; // Do not use x, means nothing here,
// we're passing null to the "owner" in clock_new
callback *cbk;
#ifdef IS_BEAGLEBONE
beaglebone_pruio_message message;
while(beaglebone_pruio_messages_are_available()){
beaglebone_pruio_read_message(&message);
// Message from gpio
if(message.is_gpio){
cbk = &digital_callbacks[message.gpio_number];
// Debug
/* if(message.gpio_number >= BEAGLEBONE_PRUIO_MAX_GPIO_CHANNELS || cbk->instance == NULL || cbk->callback_function==NULL){ */
/* printf("A! i:%p cbk:%p val:%i gpio_num:%i \n", cbk->instance, cbk->callback_function, message.value, message.gpio_number); */
/* continue; //while */
/* } */
/* if(message.gpio_number<BEAGLEBONE_PRUIO_MAX_GPIO_CHANNELS && cbk->instance!=NULL && cbk->callback_function!=NULL){ */
cbk->callback_function(cbk->instance, message.value);
/* } */
}
else{ // adc
cbk = &analog_callbacks[message.adc_channel];
// Debug
/* if(message.adc_channel >= BEAGLEBONE_PRUIO_MAX_ADC_CHANNELS || cbk->instance == NULL || cbk->callback_function==NULL){ */
/* printf("A! i:%p cbk:%p val:%i chan:%i \n", cbk->instance, cbk->callback_function, message.value, message.adc_channel); */
/* continue; //while */
/* } */
/* if(message.adc_channel<BEAGLEBONE_PRUIO_MAX_ADC_CHANNELS && cbk->instance!=NULL && cbk->callback_function!=NULL){ */
cbk->callback_function(cbk->instance, (t_float)message.value);
/* } */
}
}
#else
int i;
for(i=0; i<BEAGLEBONE_PRUIO_MAX_GPIO_CHANNELS; ++i){
cbk = &digital_callbacks[i];
if(cbk->instance != NULL){
cbk->callback_function(cbk->instance, rand()%2);
}
}
for(i=0; i<BEAGLEBONE_PRUIO_MAX_ADC_CHANNELS; ++i){
cbk = &analog_callbacks[i];
if(cbk->instance != NULL){
cbk->callback_function(cbk->instance, (t_float)rand()/(t_float)RAND_MAX);
}
}
#endif
clock_delay(beaglebone_clock, CLOCK_PERIOD);
}
int beaglebone_register_callback(
int is_digital,
int channel,
void* instance,
void (*callback_function)(void*, t_float)
){
// First time here. Init arrays.
if(beaglebone_number_of_instances==0){
int i;
for(i=0; i<BEAGLEBONE_PRUIO_MAX_GPIO_CHANNELS; ++i){
callback new_callback;
new_callback.callback_function = NULL;
new_callback.instance = NULL;
digital_callbacks[i] = new_callback;
}
for(i=0; i<BEAGLEBONE_PRUIO_MAX_ADC_CHANNELS; ++i){
callback new_callback;
new_callback.callback_function = NULL;
new_callback.instance = NULL;
analog_callbacks[i] = new_callback;
}
}
// If there's already a callback for this channel, bail out.
if(is_digital){
if(digital_callbacks[channel].instance!=NULL){
return 1;
}
}
else{
if(analog_callbacks[channel].instance!=NULL){
return 1;
}
}
// All good, register the callback
callback new_callback;
new_callback.callback_function = callback_function;
new_callback.instance = instance;
if(is_digital==1){
digital_callbacks[channel] = new_callback;
}
else{
analog_callbacks[channel] = new_callback;
}
// First time here. Start the clock.
if(beaglebone_number_of_instances==0){
beaglebone_clock = clock_new(NULL, (t_method)beaglebone_clock_tick);
clock_delay(beaglebone_clock, CLOCK_PERIOD);
}
beaglebone_number_of_instances++;
return 0;
}
void beaglebone_unregister_callback(int is_digital, int channel){
// TODO uninit pin?
callback *cbk;
if(is_digital==1){
cbk = &(digital_callbacks[channel]);
}
else{
cbk = &(analog_callbacks[channel]);
}
cbk->callback_function = NULL;
cbk->instance = NULL;
beaglebone_number_of_instances--;
if(beaglebone_number_of_instances==0){
clock_free(beaglebone_clock);
beaglebone_clock = NULL;
#ifdef IS_BEAGLEBONE
beaglebone_pruio_stop();
#endif
}
}