ardupilot/Tools/Linux_HAL_Essentials/pru/rcinpru/rcinpru0.c

71 lines
1.6 KiB
C

/*
* testpru
*
*/
#define PRU0
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <stdio.h>
#include <strings.h>
#include "linux_types.h"
#include "pru_defs.h"
#include "prucomm.h"
void add_to_ring_buffer(uint8_t v, uint16_t deltat)
{
RBUFF->buffer[RBUFF->ring_tail].pin_value = v;
RBUFF->buffer[RBUFF->ring_tail].delta_t = deltat;
RBUFF->ring_tail = (RBUFF->ring_tail + 1) % NUM_RING_ENTRIES;
}
static inline u32 read_PIEP_COUNT(void)
{
return PIEP_COUNT;
}
uint32_t read_pin(void){
return ((__R31&(1<<15)) != 0);
}
void main()
{
uint32_t last_time_us = 0;
uint8_t last_pin_value = 0;
/*PRU Initialisation*/
PRUCFG_SYSCFG &= ~SYSCFG_STANDBY_INIT;
PRUCFG_SYSCFG = (PRUCFG_SYSCFG &
~(SYSCFG_IDLE_MODE_M | SYSCFG_STANDBY_MODE_M)) |
SYSCFG_IDLE_MODE_NO | SYSCFG_STANDBY_MODE_NO;
/* our PRU wins arbitration */
PRUCFG_SPP |= SPP_PRU1_PAD_HP_EN;
/* configure timer */
PIEP_GLOBAL_CFG = GLOBAL_CFG_DEFAULT_INC(1) |
GLOBAL_CFG_CMP_INC(1);
PIEP_CMP_STATUS = CMD_STATUS_CMP_HIT(1); /* clear the interrupt */
PIEP_CMP_CMP1 = 0x0;
PIEP_CMP_CFG |= CMP_CFG_CMP_EN(1);
PIEP_GLOBAL_CFG |= GLOBAL_CFG_CNT_ENABLE;
RBUFF->ring_tail = 20;
while (1) {
uint32_t v;
while ((v=read_pin()) == last_pin_value) {
// noop
}
uint32_t now = read_PIEP_COUNT()/200;
uint32_t delta_time_us = now - last_time_us;
last_time_us = now;
add_to_ring_buffer(last_pin_value, delta_time_us);
last_pin_value = v;
}
}