Added pruss halt function to pruss_stepper code API.

Cleanup, removal of duplicate code.
Dump now shows whether the PRUSS was already halted at entry.

Author: modmaker

pruss.c

@@ -539,18 +539,23 @@ int pruss_init( const char* ucodename, struct ucode_signature* signature)
   return 0;
 }
 
+int pruss_is_halted( void)
+{
+  return ((pruss_rd32( PRUSS_PRU_CTRL_CONTROL) & PRUSS_PRU_CTRL_CONTROL_RUNSTATE) == 0);
+}
+
 void pruss_wait_for_halt( void)
 {
   do {
     // The microcode is running, wait for HALT
-  } while (pruss_rd32( PRUSS_PRU_CTRL_CONTROL) & PRUSS_PRU_CTRL_CONTROL_RUNSTATE);
+  } while (!pruss_is_halted());
 }
 
 // return old 'enable' state
 int pruss_stop_pruss( void)
 {
-  uint32_t pruss_ctrl = pruss_rd32( PRUSS_PRU_CTRL_CONTROL);
-  if (pruss_ctrl & PRUSS_PRU_CTRL_CONTROL_RUNSTATE) {
+  if (!pruss_is_halted()) {
+    uint32_t pruss_ctrl = pruss_rd32( PRUSS_PRU_CTRL_CONTROL);
     pruss_ctrl &= ~ PRUSS_PRU_CTRL_CONTROL_ENABLE;  	// clear enable bit
     pruss_wr32( PRUSS_PRU_CTRL_CONTROL, pruss_ctrl);
     pruss_wait_for_halt();
@@ -588,9 +593,13 @@ void pruss_start_pruss( void)
 int pruss_dump_state( void)
 {
   int i;
-  int pruss_ena = pruss_stop_pruss();
+  int pruss_ena = 0;
 
-  printf( "PRUSS was halted, extracting debug info...\n");
+  if (!pruss_is_halted()) {
+    pruss_stop_pruss();
+    pruss_ena = 1;
+  }
+  printf( "PRUSS %shalted, extracting debug info...\n", (pruss_ena) ? "is temporarily " : "was found ");
   for (i = 0 ; i < 32 ; ++i) {
     uint32_t reg = pruss_rd32( PRUSS_DBG_OFFSET + 4 * i);
     printf( "    R%-2d = 0x%08x (%10u)", i, reg, reg);
@@ -610,11 +619,7 @@ int pruss_dump_state( void)
 
   if (pruss_ena) {
     pruss_start_pruss();
+    printf( "PRUSS is enabled again\n");
   }
   return 0;
 }
-
-int pruss_is_halted( void)
-{
-  return ((pruss_rd32( PRUSS_PRU_CTRL_CONTROL) & PRUSS_PRU_CTRL_CONTROL_RUNSTATE) == 0);
-}

pruss_stepper.c

@@ -357,6 +357,12 @@ int pruss_queue_empty( void)
   return (pruss_get_nr_of_free_buffers() == PRUSS_FIFO_LENGTH - 1);
 }
 
+// Simple wrapper prevents need for pruss.h inclusion
+int pruss_stepper_halted( void)
+{
+  return pruss_is_halted();
+}
+
 int pruss_wait_for_queue_space( void)
 {
   while (pruss_queue_full()) {

pruss_stepper.h

@@ -23,5 +23,6 @@ extern int pruss_queue_config_axis( int axis, uint32_t ssi, uint16_t sst, uint16
 extern int pruss_queue_set_enable( int on);
 extern int pruss_dump_position( int axis);
 extern int pruss_stepper_busy( void);
+extern int pruss_stepper_halted( void);
 
 #endif