Add support for BeagleBone AI

Makefile

@@ -87,8 +87,9 @@ ifeq ($(RUN_WITH_PRU_BIN),true)
 ifndef PROJECT
 $(warning PROJECT is not defined, so RUN_WITH_PRU_BIN will be ignored)
 endif # ifndef PROJECT
-COMMAND_LINE_OPTIONS := --pru-file $(BASE_DIR)/pru_rtaudio.bin $(COMMAND_LINE_OPTIONS)
-run: pru_rtaudio.bin
+COMMAND_LINE_OPTIONS := --pru-file build/pru/pru_rtaudio_irq.bin $(COMMAND_LINE_OPTIONS)
+run: build/pru/pru_rtaudio.bin
+run: build/pru/pru_rtaudio_irq.bin
 else
 build/core/PruBinary.o: build/pru/pru_rtaudio_bin.h build/pru/pru_rtaudio_irq_bin.h
 endif #ifeq($(RUN_WITH_PRU_BIN),true)
@@ -287,17 +288,63 @@ LEGACY_INCLUDE_PATH := ./include/legacy
 
 INCLUDES := -I$(PROJECT_DIR) -I$(LEGACY_INCLUDE_PATH)  -I./include -I./build/pru/ -I./
 ifeq ($(XENOMAI_VERSION),2.6)
-  BELA_USE_DEFINE=BELA_USE_POLL
+  BELA_USE_DEFINE?=BELA_USE_POLL
 endif
 ifeq ($(XENOMAI_VERSION),3)
-  BELA_USE_DEFINE=BELA_USE_RTDM
+  BELA_USE_DEFINE?=BELA_USE_RTDM
 endif
 
-DEFAULT_COMMON_FLAGS := $(DEFAULT_XENOMAI_CFLAGS) -O3 -g -march=armv7-a -mtune=cortex-a8 -mfloat-abi=hard -mfpu=neon -ftree-vectorize -ffast-math -DNDEBUG -D$(BELA_USE_DEFINE) -I$(BASE_DIR)/resources/$(DEBIAN_VERSION)/include -save-temps=obj
+IS_AM572x ?= $(shell grep -q AI /proc/device-tree/model && echo 1 || echo 0)
+
+#	Flag for using/ not using (UIO+prussdrv)/(RPROC+Mmap)
+ifeq (1,$(strip $(IS_AM572x)))
+  ENABLE_PRU_UIO = 0
+  ENABLE_PRU_RPROC = 1
+  BOARD_COMMON_FLAGS = -DIS_AM572x
+else
+  ENABLE_PRU_UIO = 1
+  ENABLE_PRU_RPROC = 0
+  BOARD_COMMON_FLAGS =
+endif
+
+ifeq (,$(AT))
+  $(info BOARD IS_AM572x? $(IS_AM572x))
+endif
+
+ifeq (1,$(strip $(ENABLE_PRU_RPROC)))
+  firmwareBelaRProcNoMcaspIrqRelative ?= build/pru/pru_rtaudio.out
+  firmwareBelaRProcMcaspIrqRelative ?= build/pru/pru_rtaudio_irq.out
+  firmwareBelaRProcNoMcaspIrq ?=$(BELA_DIR)/$(strip $(firmwareBelaRProcNoMcaspIrqRelative))
+  firmwareBelaRProcMcaspIrq ?=$(BELA_DIR)/$(strip $(firmwareBelaRProcMcaspIrqRelative))
+  BOARD_CORE_LDLIBS =
+  BOARD_CORE_CORE_OBJS =
+  RPROC_BUILD_DIR = build/pru/rproc
+  RPROC_RESOURCES_BASE=$(BELA_DIR)/resources/rproc-build
+  RPROC_TEMPLATE=$(RPROC_RESOURCES_BASE)/rproc-template.c
+  RPROC_TMP_FILE=$(RPROC_BUILD_DIR)/temp
+  RPROC_INCLUDE=$(RPROC_RESOURCES_BASE)/common
+  RPROC_INCLUDED_ASSEMBLY = $(RPROC_BUILD_DIR)/included_assembly.h
+  ifeq (1,$(IS_AM572x))
+    RPROC_CMD:=$(RPROC_RESOURCES_BASE)/am57xx_pru.cmd
+  else
+    RPROC_CMD:=$(RPROC_RESOURCES_BASE)/am335x_pru.cmd
+  endif
+else # ENABLE_PRU_RPROC is 0
+  BOARD_CORE_CPP_SRCS_FILTER_OUT :=
+endif
+
+ifeq (1,$(strip $(ENABLE_PRU_UIO)))
+  BOARD_CORE_LDLIBS = -lprussdrv
+  BOARD_CORE_CORE_OBJS = build/core/PruBinary.o
+else # ENABLE_PRU_UIO is 0
+  BOARD_CORE_CPP_SRCS_FILTER_OUT := core/PruBinary.cpp
+endif
+
+DEFAULT_COMMON_FLAGS := $(DEFAULT_XENOMAI_CFLAGS) -O3 -g -march=armv7-a -mtune=cortex-a8 -mfloat-abi=hard -mfpu=neon -ftree-vectorize -ffast-math -DNDEBUG -D$(BELA_USE_DEFINE) -I$(BASE_DIR)/resources/$(DEBIAN_VERSION)/include -save-temps=obj -DENABLE_PRU_UIO=$(ENABLE_PRU_UIO) -DENABLE_PRU_RPROC=$(ENABLE_PRU_RPROC) -DfirmwareBelaRProcMcaspIrq='"$(firmwareBelaRProcMcaspIrq)"' -DfirmwareBelaRProcNoMcaspIrq='"$(firmwareBelaRProcNoMcaspIrq)"' $(BOARD_COMMON_FLAGS)
 DEFAULT_CPPFLAGS := $(DEFAULT_COMMON_FLAGS) -std=c++11
 DEFAULT_CFLAGS := $(DEFAULT_COMMON_FLAGS) -std=gnu11
 BELA_LDFLAGS = -Llib/
-BELA_CORE_LDLIBS = $(DEFAULT_XENOMAI_LDFLAGS) -lprussdrv -lstdc++ # libraries needed by core code (libbela.so)
+BELA_CORE_LDLIBS = $(DEFAULT_XENOMAI_LDFLAGS) $(BOARD_CORE_LDLIBS) -lstdc++ # libraries needed by core code (libbela.so)
 BELA_EXTRA_LDLIBS =$(DEFAULT_XENOMAI_LDFLAGS) -lasound -lseasocks -lNE10 # additional libraries needed by extra code (libbelaextra.so)
 BELA_LDLIBS = $(BELA_CORE_LDLIBS) $(BELA_EXTRA_LDLIBS)
 ifeq ($(PROJECT_TYPE),libpd)
@@ -346,6 +393,8 @@ else
   ifeq ($(COMPILER), gcc)
     CC=gcc
     CXX=g++
+    DEFAULT_CPPFLAGS += -Wno-psabi
+    DEFAULT_CFLAGS += -Wno-psabi
     LDFLAGS+=-fno-pie -no-pie
   endif
 endif
@@ -375,6 +424,7 @@ CPP_OBJS := $(subst $(PROJECT_DIR),$(PROJECT_DIR)/build,$(CPP_SRCS:.cpp=.o))
 
 BUILD_DIRS += $(dir $(C_OBJS))
 BUILD_DIRS += $(dir $(CPP_OBJS))
+BUILD_DIRS += $(RPROC_BUILD_DIR)
 ALL_DEPS += $(addprefix $(PROJECT_DIR)/build/,$(notdir $(CPP_SRCS:.cpp=.d)))
 endif # $(PROJECT)
 #create build directories, should probably be conditional to PROJECT or li
@@ -390,9 +440,10 @@ CORE_C_SRCS = $(wildcard core/*.c)
 CORE_OBJS := $(addprefix build/core/,$(notdir $(CORE_C_SRCS:.c=.o)))
 ALL_DEPS += $(addprefix build/core/,$(notdir $(CORE_C_SRCS:.c=.d)))
 
-CORE_CPP_SRCS = $(filter-out core/default_main.cpp core/default_libpd_render.cpp, $(wildcard core/*.cpp))
+CORE_CPP_SRCS := $(filter-out core/default_main.cpp core/default_libpd_render.cpp, $(wildcard core/*.cpp))
+CORE_CPP_SRCS := $(filter-out $(BOARD_CORE_CPP_SRCS_FILTER_OUT),$(CORE_CPP_SRCS))
 CORE_OBJS := $(CORE_OBJS) $(addprefix build/core/,$(notdir $(CORE_CPP_SRCS:.cpp=.o)))
-CORE_CORE_OBJS := build/core/RTAudio.o build/core/PRU.o build/core/RTAudioCommandLine.o build/core/I2c_Codec.o build/core/Spi_Codec.o build/core/math_runfast.o build/core/GPIOcontrol.o build/core/PruBinary.o build/core/board_detect.o build/core/DataFifo.o build/core/BelaContextFifo.o build/core/BelaContextSplitter.o build/core/MiscUtilities.o build/core/Mmap.o
+CORE_CORE_OBJS := build/core/RTAudio.o build/core/PRU.o build/core/RTAudioCommandLine.o build/core/I2c_Codec.o build/core/I2c_MultiTLVCodec.o build/core/I2c_MultiTdmCodec.o build/core/Spi_Codec.o build/core/math_runfast.o build/core/GPIOcontrol.o build/core/board_detect.o build/core/DataFifo.o build/core/BelaContextFifo.o build/core/BelaContextSplitter.o build/core/MiscUtilities.o build/core/Mmap.o build/core/Mcasp.o build/core/PruManager.o $(BOARD_CORE_CORE_OBJS)
 EXTRA_CORE_OBJS := $(filter-out $(CORE_CORE_OBJS), $(CORE_OBJS))
 ALL_DEPS += $(addprefix build/core/,$(notdir $(CORE_CPP_SRCS:.cpp=.d)))
 
@@ -412,6 +463,9 @@ ALL_DEPS += ./build/core/default_main.d
 -include libraries/*/build/*.d # dependencies for each of the libraries' object files
 
 Bela: ## Builds the Bela program with all the optimizations
+ifeq (1,$(strip $(ENABLE_PRU_RPROC)))
+Bela: $(firmwareBelaRProcNoMcaspIrqRelative) $(firmwareBelaRProcMcaspIrqRelative)
+endif
 Bela: $(OUTPUT_FILE)
 
 # all = build Bela 
@@ -460,19 +514,30 @@ ifeq (,$(SYNTAX_FLAG))
 endif
 	$(AT) echo ' '
 
-%.bin: pru/%.p
+%.out: %.bin
+ifeq (,$(SYNTAX_FLAG))
+	$(AT) echo 'Building $< into $@...'
+	$(AT) prudis $< | sed 's/^\(.*\)$$/" \1\\n"/' > $(RPROC_INCLUDED_ASSEMBLY)
+	$(AT) clpru -fe $(RPROC_TMP_FILE).o $(RPROC_TEMPLATE) -v3 --endian=little --include_path=$(RPROC_BUILD_DIR) --include_path=$(RPROC_INCLUDE) --include_path=/usr/lib/ti/pru-software-support-package/include
+	$(AT) lnkpru -o $(RPROC_TMP_FILE).out $(RPROC_TMP_FILE).o --stack_size=0x0 --heap_size=0x0 -m $(RPROC_TMP_FILE).map $(RPROC_CMD)
+	$(AT) dd if=$< of=$(RPROC_TMP_FILE).out bs=1 obs=1 seek=52 conv=notrunc status=none
+	$(AT) mv $(RPROC_TMP_FILE).out $@
+	$(AT) echo ' ...done'
+endif
+	$(AT) echo ' '
+
+build/pru/%.bin: pru/%.p include/PruArmCommon.h pru/board_specific.h
 ifeq (,$(SYNTAX_FLAG))
-	$(AT) echo 'Building $<...'
-	$(AT) pasm -V2 -b "$<" > /dev/null
+	$(AT) echo 'Building $< into $@...'
+	$(AT) cd $(dir $@) && pasm -V2 -L -c -b $(BOARD_COMMON_FLAGS) $(BELA_DIR)/$< > /dev/null
 	$(AT) echo ' ...done'
 endif
 	$(AT) echo ' '
 
-build/pru/%_bin.h: pru/%.p
+build/pru/%_bin.h: pru/%.p include/PruArmCommon.h pru/board_specific.h
 ifeq (,$(SYNTAX_FLAG))
-	$(AT) echo 'Building $<...'
-	$(AT) pasm -V2 -L -c "$<" > /dev/null
-	$(AT) mv "$(@:build/pru/%=%)" build/pru/
+	$(AT) echo 'Building $< into $@...'
+	$(AT) cd $(dir $@) && pasm -V2 -L -c $(BOARD_COMMON_FLAGS) $(BELA_DIR)/"$<" > /dev/null
 	$(AT) echo ' ...done'
 endif
 	$(AT) echo ' '
@@ -830,3 +895,4 @@ heavy-unzip-archive: stop
 
 .PHONY: all clean distclean help projectclean nostartup startup startuploop debug run runfg runscreen runscreenfg stopstartup stoprunning stop idestart idestop idestartup idenostartup ideconnect connect update checkupdate updateunsafe csoundstart scsynthstart scsynthstop scsynthstartup scsynthnostartup scsynthconnect lib c
 -include CustomMakefileBottom.in
+.SECONDARY: build/pru/pru_rtaudio.bin build/pru/pru_rtaudio_irq.bin # prevents temporary files from being deleted)

core/BelaContextSplitter.cpp

@@ -297,7 +297,7 @@ bool BelaContextSplitter::test()
 	// test the actual class
 	BelaContextSplitter spl1;
 	BelaContextSplitter spl2;
-	int factor = 4;
+	unsigned int factor = 4;
 	spl1.setup(factor, 1, (BelaContext*)&ctx1);
 	ctx2 = ctx1;
 	ctx2.audioFrames *= factor;

core/DataFifo.cpp

@@ -124,8 +124,8 @@ void fillArray(std::vector<T>& vec)
 bool DataFifo::test()
 {
 	DataFifo df;
-	size_t msgSize = 1000;
-	size_t numMsg = 100;
+	ssize_t msgSize = 1000;
+	ssize_t numMsg = 100;
 	std::vector<char> sent(msgSize * numMsg);
 	std::vector<char> received(msgSize * numMsg);
 	for(unsigned int n = 0; n < sent.size(); ++n)
@@ -146,7 +146,7 @@ bool DataFifo::test()
 	ret = df.send(sent.data(), msgSize * 2);
 	assert(-EMSGSIZE == ret);
 
-	size_t newsz = msgSize / 2;
+	ssize_t newsz = msgSize / 2;
 	ret = df.send(sent.data(), newsz);
 	assert(0 == ret);
 	fillArray(received);

core/Gpio.cpp

@@ -1,13 +1,16 @@
 #include "../include/Gpio.h"
 #include "GPIOcontrol.h"
+#include <vector>
+#include <stdexcept>
+#include <stdio.h>
 
+static const unsigned int kBitsPerGpioBank = 32;
 static const uint32_t GPIO_SIZE =  0x198;
-static const uint32_t GPIO_ADDRESSES[4] = {
-	0x44E07000,
-	0x4804C000,
-	0x481AC000,
-	0x481AE000,
-};
+#ifdef IS_AM572x
+static const int kGpioBankIndexed = 1;
+#else // IS_AM572x
+static const int kGpioBankIndexed = 0;
+#endif // IS_AM572x
 
 Gpio::Gpio() : pin(-1), gpio(nullptr)
 {}
@@ -18,7 +21,11 @@ Gpio::~Gpio()
 }
 
 int Gpio::open(unsigned int newPin, Direction direction, bool unexport){
-	if(newPin >= 128){
+	unsigned int bank = getBankNumber(newPin);
+	uint32_t gpioBase;
+	try {
+		gpioBase = getBankAddress(bank);
+	} catch (std::exception&) {
 		return -1;
 	}
 	pin = newPin;
@@ -33,10 +40,7 @@ int Gpio::open(unsigned int newPin, Direction direction, bool unexport){
 	if(gpio_set_dir(pin, direction) < 0){
 		return -1;
 	}
-	int bank = pin / 32;
-	pin = pin - bank * 32;
-	pinMask = 1 << pin;
-	uint32_t gpioBase = GPIO_ADDRESSES[bank];
+	pinMask = getMask(pin);
 	gpio = (uint32_t*)mmap.map(gpioBase, GPIO_SIZE);
 	if(!gpio)
 		return -2;
@@ -58,7 +62,37 @@ void Gpio::close(){
 	pin = -1;
 }
 
+uint32_t Gpio::getMask(unsigned int pin)
+{
+	unsigned int bit = pin % kBitsPerGpioBank;
+	return 1 << bit;
+}
+
+uint32_t Gpio::getBankNumber(unsigned int pin)
+{
+	return pin / kBitsPerGpioBank + kGpioBankIndexed;
+}
+
 uint32_t Gpio::getBankAddress(unsigned int bank)
 {
-	return GPIO_ADDRESSES[bank];
+	// GPIO_ADDRESSES is private to this function so that there is no ambiguity
+	// about whether it should be 0- or 1- indexed
+	static const std::vector<uint32_t> GPIO_ADDRESSES = {
+	#ifdef IS_AM572x
+		0x4AE10000,
+		0x48055000,
+		0x48057000,
+		0x48059000,
+		0x4805B000,
+		0x4805D000,
+		0x48051000,
+		0x48053000,
+	#else // IS_AM572x
+		0x44E07000,
+		0x4804C000,
+		0x481AC000,
+		0x481AE000,
+	#endif // IS_AM572x
+	};
+	return GPIO_ADDRESSES.at(bank - kGpioBankIndexed);
 }