PruManager.h

/*
 * PruManager.h
 *
 * Support for interaction with PRU via
 * (rproc+mmap) and/or (uio+libprussdrv)
 *
 *      Created on: Jul 3, 2021
 *              Author: Dhruva Gole
 */
 
#include <string>
 
#if ENABLE_PRU_UIO == 1
#include <prussdrv.h>
#endif
 
#include <vector>
#include "Mmap.h"
 
class PruManager
{
protected:
        unsigned int pruss;
        unsigned int pruCore;
        int verbose;
        std::string pruStringId;
public:
        PruManager(unsigned int pruNum, int v);
        virtual ~PruManager() = 0;
        virtual int start(bool useMcaspIrq) = 0;
        virtual int start(const std::string& path) = 0;
        virtual void stop() = 0;
        virtual void* getOwnMemory() = 0;
        virtual void* getSharedMemory() = 0;
};
 
#if ENABLE_PRU_RPROC == 1
class PruManagerRprocMmap : public PruManager
{
// use rproc for start/stop and mmap for memory sharing
public:
        PruManagerRprocMmap(unsigned int pruNum, int v);
        void stop();
        int start(bool useMcaspIrq);
        int start(const std::string& path);
        void* getOwnMemory();
        void* getSharedMemory();
private:
        std::vector<uint32_t> prussAddresses;
        std::string basePath;
        std::string statePath;
        std::string firmwarePath;
        std::string firmware;
        Mmap ownMemory;
        Mmap sharedMemory;
};
#endif // ENABLE_PRU_RPROC
 
#if ENABLE_PRU_UIO == 1
class PruManagerUio : public PruManager
{
/* wrapper for libprussdrv for both start/stop and memory sharing
 * It has the libprussdrv calls currently present in the codebase
*/
public:
        PruManagerUio(unsigned int pruNum, int v);
        int start(bool useMcaspIrq);
        int start(const std::string& path);
        void stop();
        void* getOwnMemory();
        void* getSharedMemory();
};
 
#endif // ENABLE_PRU_UIO