#!/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
 from time import sleep
 from sys import exit

 pruss = Icss( "/dev/uio/pruss/module" )
 pruss.initialize()
 ddr = pruss.ddr
 pruss.uart.initialize(baudrate = 460800)


 core_1 = pruss.core1
 core_1.load( 'fw-c/stream.out' )


 core_0 = pruss.core0
 core_0.load( 'fw/decoder.bin' )

 class Message( ctypes.Structure ):
     _fields_ = [
             ( 'id',     u32 ),
             ('timestamp',u32),
             ('position',   u32),
             ('force', int32),
         ]

 # used to communicate ddr layout to C program
 class DDRLayout( ctypes.Structure ):
     _fields_ = [
             ( 'msgbuf',      u32 ),
             ( 'num_msgs',    u16 ),
             ( 'msg_size',    u16 ),
         ]

 # volatile variables in pruss shared memory
 class SharedVars( ctypes.Structure ):
     _fields_ = [
             ( 'abort_file', u32 ),
             ( 'abort_line', u32 ),
             ( 'ridx',       u16 ),
         ]

 # if you don't want the ringbuffer at the start of the ddr region, specify offset here
 MSGBUF_OFFSET = 0

 # you can use a fixed ringbuffer size:
 #NUM_MSGS = 1024
 # or you can scale the ringbuffer to fit the size of the ddr region:
 NUM_MSGS = ( ddr.size - MSGBUF_OFFSET - ctypes.sizeof( u16 ) ) // ctypes.sizeof( Message )
 NUM_MSGS = min( NUM_MSGS, 65535 )  # make sure number of messages fits in u16

 # map shared memory variables