static void timer_code(void *arg)
{
long long int t1, t2, t3;
long int tdiff1, tdiff2, tdiff3;
char buf[30];
while (1) {
/* a simple counter... */
timer_count++;
/* print the results every second */
if (timer_count % 1000 == 0) {
t1 = rtapi_get_time();
t2 = rtapi_get_time();
rtapi_delay(rtapi_delay_max());
t3 = rtapi_get_time();
tdiff1 = t2 - t1;
tdiff2 = t3 - t2;
tdiff3 = t3 - t1;
long_long_to_dec_str(buf, t1);
rtapi_print("T1 = %s\n", buf);
long_long_to_dec_str(buf, t2);
rtapi_print("T2 = %s\n", buf);
long_long_to_dec_str(buf, t3);
rtapi_print("T3 = %s\n", buf);
rtapi_print("Tdiff1 = %ld\n", tdiff1);
rtapi_print("Tdiff2 = %ld\n", tdiff2);
rtapi_print("Tdiff3 = %ld\n", tdiff3);
}
/* put the task to sleep until the next interrupt */
rtapi_wait();
}
return;
}
int waitfor(void){
rtapi_u32 buff;
long long int starttime = rtapi_get_time();
do {
rtapi_delay(50000);
HM2READ(remote->command_reg_addr, buff);
if (rtapi_get_time() - starttime > 1000000000){
rtapi_print_msg(RTAPI_MSG_ERR, "Timeout waiting for CMD to clear\n");
return -1;
}
} while (buff);
return 0;
}
