ardupilot/Tools/Linux_HAL_Essentials/test_codes/rcin_test.c

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#include <stdio.h>
#include <sys/time.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <stdint.h>
#define PRUSS_SHAREDRAM_BASE 0x4a312000
#define NUM_RING_ENTRIES 200
struct ring_buffer {
volatile uint16_t ring_head;
volatile uint16_t ring_tail;
struct __attribute__((__packed__)) {
uint16_t pin_value;
uint16_t delta_t;
} buffer[NUM_RING_ENTRIES];
};
static volatile struct ring_buffer *ring_buffer;
static FILE *logf;
void startup(void)
{
logf = fopen("/tmp/pintiming.dat", "w");
}
void check_for_rcin(void)
{
while (ring_buffer->ring_head != ring_buffer->ring_tail) {
fprintf(logf,"%u %u\n",
(unsigned int)ring_buffer->buffer[ring_buffer->ring_head].pin_value,
(unsigned int)ring_buffer->buffer[ring_buffer->ring_head].delta_t);
ring_buffer->ring_head = (ring_buffer->ring_head + 1) % NUM_RING_ENTRIES;
}
}
void main(){
int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, PRUSS_SHAREDRAM_BASE);
close(mem_fd);
ring_buffer->ring_head = 0;
startup();
while(1){
check_for_rcin();
}
}