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