#!/usr/bin/python3
from uio.utils import fix_ctypes_struct
from uio.ti.icss import Icss
import ctypes
from ctypes import c_uint32 as u32, c_uint16 as u16, c_int32 as int32, c_bool as boolean
from time import sleep
from sys import exit


pruss = Icss( "/dev/uio/pruss/module" )
pruss.initialize()

core_0 = pruss.core0
core_1 = pruss.core1

core_0.load( 'pulse_train.out' )

# volatile variables in pruss shared memory
class SharedVars( ctypes.Structure ):
    _fields_ = [
            ( 'target_pos',  u32 ),
            ( 'current_pos', u32 ),
            ( 'hault_request', boolean ),
        ]


# map shared memory variables
shmem = core_0.map( SharedVars, 0x10100 )


# ready, set, go!
pruss.ecap.pwm.initialize( 2**32 )
print(f'Initial position {shmem.current_pos} Target = {shmem.target_pos}')
core_0.run()
print('starting PRU0')

try:
    shmem.hault_request = False
    shmem.target_pos = 60
    sleep(76)

except KeyboardInterrupt:
    pass

finally:

    print( '', flush=True )
    core_0.halt()
    sleep( 0.01 )  # make sure that response has been receivedi

    print(f'Position {shmem.current_pos} Target = {shmem.target_pos}')
    print('done hopefully you moved')