src/pru_loader.c

   1 /*
   2  * Copyright (c) 2016, Ian Sutton <ian@kremlin.cc>
   3  *
   4  * Permission to use, copy, modify, and/or distribute this software for
   5  * any purpose with or without fee is hereby granted, provided that the
   6  * above copyright notice and this permission notice appear in all
   7  * copies.
   8  *
   9  * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
  10  * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
  11  * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
  12  * AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
  13  * DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
  14  * PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
  15  * TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
  16  * PERFORMANCE OF THIS SOFTWARE.
  17  */
  18
  19 #include <stdio.h>
  20 #include <stdlib.h>
  21 #include <unistd.h>
  22 #include <errno.h>
  23
  24 #include <pruss/prussdrv.h>
  25 #include <pruss/pruss_intc_mapping.h>
  26
  27 #define PRU_NUM 1
  28
  29 int main(int argc, char *argv[]) {
  30
  31         tpruss_intc_initdata init_data = PRUSS_INTC_INITDATA;
  32
  33         if(argc < 2) {
  34             printf("usage: %s <obj>\n", argv[0]);
  35             return EINVAL;
  36         } else if(geteuid()) {
  37             printf("%s\n", "run as root");
  38             return EACCES;
  39         }
  40
  41         /* init pru drv */
  42         if(prussdrv_init())
  43             return ENXIO;
  44
  45         /* open, bind intr */
  46         if(prussdrv_open(PRU_EVTOUT_0))
  47             return ENXIO;
  48         if(prussdrv_pruintc_init(&init_data))
  49             return ENXIO;
  50
  51         /* exec */
  52         if(prussdrv_exec_program(PRU_NUM, argv[1]))
  53             return ENXIO;
  54
  55         /* block until intr */
  56         prussdrv_pru_wait_event(PRU_EVTOUT_0);
  57
  58         /* clean up, halt & disable pru, terminate pru drv */
  59         prussdrv_pru_clear_event(PRU_EVTOUT_0, PRU0_ARM_INTERRUPT);
  60         prussdrv_pru_disable(PRU_NUM);
  61         prussdrv_exit();
  62
  63         return 0;
  64 }
  65