add draft pru support

src/index.js

@@ -18,6 +18,7 @@ var autorun = require('./autorun');
 var server = require('./server');
 var socketHandlers = require('./socket_handlers');
 var ffi = require('./ffiimp');
+var pru = require('./pru');
 //var rc = require('./rc');
 
 var debug = process.env.DEBUG ? true : false;
@@ -646,6 +647,9 @@ for (var x in socketHandlers) {
 for (var x in ffi) {
     f[x] = ffi[x];
 }
+for (var x in pru) {
+    f[x] = pru[x];
+}
 /*for(var x in rc) {
     exports[x] = rc[x];
 }*/

src/pru.js

@@ -0,0 +1,135 @@
+var fs = require('fs');
+var shell = require('shelljs');
+var winston = require('winston');
+var child_process = require('child_process');
+var node_path = require('path');
+var events = require('events');
+var debug = process.env.DEBUG ? true : false;
+
+var rproc_path = '/sys/class/remoteproc/remoteproc';
+var fw_path = '/lib/firmware/am335x-pru';
+
+//modprobe/unprobe
+var modProbe = function (mod, probe) {
+    mod = mod || 'pru_rproc'; //default pru_rproc
+    probe = typeof probe !== 'undefined' ? probe : true;
+    if (probe)
+        var cmd = 'modprobe ' + mod; //for modprobe
+    else
+        var cmd = 'modprobe -r ' + mod; //for  modunprobe
+    if (debug) winston.debug('running modprobe');
+    code = shell.exec(cmd).code;
+    if (code > 0)
+        winston.error("modprobe/modunprobe failed");
+}
+//pru enable/disable
+var pruEnable = function (pruno, enable) {
+    var pruno = typeof pruno !== 'undefined' ? pruno : '0';
+    if (pruno != 0 && pruno != 1) {
+        winston.error('PRU Core No. should be 0 or 1');
+        return false;
+    } else
+        pruno += 1;
+    var path = rproc_path + pruno + '/state';
+    var enable = typeof enable !== 'undefined' ? enable : true;
+    var currentState = (fs.readFileSync(path).toString());
+    var state;
+    if (currentState == 'offline\n' && enable) state = 'start\n'; //start only if offline
+    else if (currentState == 'running\n' && !enable) state = 'stop\n'; //stop only if running
+    if (typeof state != 'undefined') {
+        if (debug) winston.debug('Changing PRU' + pruno + 'state from' + currentState);
+        fs.writeFileSync(path, state);
+    }
+}
+//pru reset
+var pruReset = function (pruno) {
+    if (pruno != 0 && pruno != 1) {
+        winston.error('PRU Core No. should be 0 or 1');
+        return false;
+    }
+    pruEnable(pruno, false);
+    pruEnable(pruno, true);
+}
+// loadFirmware
+var loadPRUFirmware = function (filepath, pruno) {
+    var pruno = typeof pruno !== 'undefined' ? pruno : '0';
+    if (pruno != 0 && pruno != 1) {
+        winston.error('PRU Core No. should be 0 or 1');
+        return false;
+    }
+    if ((filepath).indexOf('.out') == -1) {
+        var filename = node_path.basename(filepath);
+        var directory = filepath.replace(filename, '');
+        if (debug) winston.debug('compiling and loading firmware: ' + filepath + 'to pru' + pruno) //compile the source using bone101 makefile
+        var make = child_process.spawn('/usr/bin/make', [
+            "-f",
+            "/usr/share/bone101/examples/extras/pru/Makefile",
+            "TARGET=" + filename.replace(/\.c$/, ''),
+            "PRUN=" + 'pru' + pruno
+        ], {
+            'cwd': directory
+        });
+        make.stdout.on('data', (data) => {
+            if (debug) winston.debug(`stdout: ${data}`);
+        });
+        make.stderr.on('data', (data) => {
+            winston.error(`stderr: ${data}`);
+        });
+        return true; //the makfile handles loading of firmware
+    } else {
+        if (!(fs.existsSync(directory + filename))) {
+            winston.error('Firmware file not found');
+            return false;
+        }
+        if (debug) winston.debug('loading firmware: ' + filepath + ' to pru' + pruno)
+        pruEnable(pruno, false); //disable PRU before loading firmware if not already disabled
+        var path = fw_path + pruno + ' -fw';
+        shell.cp(filepath, path); //used because fs.copyFile() not supported, fast enough
+        pruEnable(pruno, true); //enable PRU after loading firmware
+        return true;
+    }
+}
+//sendmsg
+var sendrpMsg = function (message, pruno) {
+    var pruno = typeof pruno !== 'undefined' ? pruno : '0';
+    if (pruno != 0 && pruno != 1) {
+        winston.error('PRU Core No. should be 0 or 1');
+        return false;
+    }
+    pruno += 1;
+    var channel = 'rpmsg_pru3' + pruno;
+    var path = '/dev/' + channel; //default is rpmsg_pru31
+    fs.writeFileSync(path, message + '\n');
+}
+//getmsg
+var getrpMsg = function (pruno) {
+    var pruno = typeof pruno !== 'undefined' ? pruno : '0';
+    if (pruno != 0 && pruno != 1) {
+        winston.error('PRU Core No. should be 0 or 1');
+        return false;
+    }
+    pruno += 1;
+    var channel = 'rpmsg_pru3' + pruno;
+    var path = '/dev/' + channel;
+    if (!(fs.existsSync(path))) {
+        winston.error('getMsg failed to fetch message');
+        return false;
+    } else {
+        var rpmsgEmitter = new events.EventEmitter();
+        fs.watch(path, function (curr, prev) {
+            fs.readFile(path, 'utf8', function (err, data) {
+                rpmsgEmitter.emit('rpmsg', data);
+            });
+        });
+        return rpmsgEmitter;
+    }
+}
+
+module.exports = {
+    modProbe: modProbe,
+    pruEnable: pruEnable,
+    pruReset: pruReset,
+    loadPRUFirmware: loadPRUFirmware,
+    sendrpMsg: sendrpMsg,
+    getrpMsg: getrpMsg
+}