Chat GPT and code translation

#include <stdint.h>
#include <stdio.h>
#include <time.h>
#include <signal.h>
#include <unistd.h>
#include <pthread.h>
#include <sys/mman.h>
#include "arm_gic.h" // Include the appropriate GIC (Generic Interrupt Controller) file for your specific ARM CPU

#define GPIO_PIN_NUM 10 // The number of the GPIO pin to toggle
#define TIMER_INTERRUPT_ID 30 // The ID of the timer interrupt to use
#define CLOCK_FREQ_MHZ 100 // The frequency of the clock in MHz
#define STEPS_PER_MM 10 // Number of pulses to travel one millimeter
#define STEPS_PER_INCH 25.4 * STEPS_PER_MM // Number of pulses to travel one inch

enum MeasurementSystem {
    MEASUREMENT_SYSTEM_MM,
    MEASUREMENT_SYSTEM_INCH,
};

volatile uint32_t tick_count = 0;
volatile uint32_t step_length = 1; // The duration of the pulse in microseconds
volatile uint32_t pulse_count = 0; // The number of clock cycles the pulse has been active for
volatile enum MeasurementSystem measurement_system = MEASUREMENT_SYSTEM_MM;

void timer_interrupt_handler(int sig) {
    tick_count++; // Increment tick count on every timer interrupt
    if (pulse_count > 0) {
        // Turn off the GPIO pin if the pulse duration has been reached
        if (pulse_count == (CLOCK_FREQ_MHZ * step_length)) {
            set_gpio_pin_state(GPIO_PIN_NUM, 0);
            pulse_count = 0;
        } else {
            // Toggle the GPIO pin if the pulse is still active
            toggle_gpio_pin(GPIO_PIN_NUM);
            pulse_count++;
        }
    }
}

void set_step_length(uint32_t length_us) {
    step_length = length_us;
}

double convert_speed_to_pulse_freq(double speed) {
    double steps_per_device_unit;
    if (measurement_system == MEASUREMENT_SYSTEM_MM) {
        steps_per_device_unit = STEPS_PER_MM;
    } else {
        steps_per_device_unit = STEPS_PER_INCH;
    }
    double pulse_freq = (speed / steps_per_device_unit) * CLOCK_FREQ_MHZ;
    return pulse_freq;
}

void* timer_thread(void* arg) {
    int ret;
    struct sigaction sa;
    timer_t timer_id;
    struct sigevent sev;
    struct itimerspec its;

    // Set up the signal handler for the timer interrupt
    sa.sa_flags = SA_SIGINFO;
    sa.sa_sigaction = timer_interrupt_handler;
    sigemptyset(&sa.sa_mask);
    ret = sigaction(SIGRTMIN, &sa, NULL);
    if (ret != 0) {
        printf("Error setting up signal handler\n");
        return NULL;
    }

    // Create the timer and specify that it will generate the SIGRTMIN signal
    sev.sigev_notify = SIGEV_SIGNAL;
    sev.sigev_signo = SIGRTMIN;
    sev.sigev_value.sival_ptr = &timer_id;
    ret = timer_create(CLOCK_MONOTONIC, &sev, &timer_id);
    if (ret != 0) {
        printf("Error creating timer\n");
        return NULL;
    }

    // Set the timer to expire at a fixed interval based on the clock frequency
    its.it_value.tv_sec = 0;
    its.it_value.tv_nsec = 1000000000 / CLOCK_FREQ_MHZ;
    its.it_interval.tv_sec = 0;
    its.it_interval.tv_nsec = 1000000000 / CLOCK

    // Arm the timer and start the main loop
    ret = timer_settime(timer_id, 0, &its, NULL);
    if (ret != 0) {
        printf("Error arming timer\n");
        return NULL;
    }

    while (1) {
        // Wait for the next timer interrupt
        pause();
    }

    return NULL;
}

int main() {
    int ret;
    pthread_t timer_tid;
    void* timer_ret;

    // Set the GPIO pin to output mode
    set_gpio_pin_mode(GPIO_PIN_NUM, GPIO_PIN_MODE_OUTPUT);

    // Increase the process scheduling priority to ensure the program has real-time capabilities
    ret = mlockall(MCL_CURRENT | MCL_FUTURE);
    if (ret != 0) {
        printf("Error locking memory\n");
        return -1;
    }

    struct sched_param sched_param = {
        .sched_priority = 99,
    };
    ret = sched_setscheduler(0, SCHED_FIFO, &sched_param);
    if (ret != 0) {
        printf("Error setting scheduling priority\n");
        return -1;
    }

    // Create a new thread to handle the timer interrupt
    ret = pthread_create(&timer_tid, NULL, timer_thread, NULL);
    if (ret != 0) {
        printf("Error creating timer thread\n");
        return -1;
    }

    // Set the speed in device units per second
    double speed = 10.0; // 10 mm/s or 0.3937 inch/s
    double pulse_freq = convert_speed_to_pulse_freq(speed);

    while (1) {
        // Set the pulse frequency based on the speed and step length
        double freq = pulse_freq / step_length;
        set_timer_interrupt_frequency(TIMER_INTERRUPT_ID, freq);

        // Wait for user input to change the step length or measurement system
        printf("Enter step length in microseconds: ");
        fflush(stdout);
        scanf("%u", &step_length);

        int new_measurement_system;
        printf("Enter measurement system (0 for mm, 1 for inch): ");
        fflush(stdout);
        scanf("%d", &new_measurement_system);
        measurement_system = new_measurement_system;

        // Update the pulse frequency based on the new speed and measurement system
        pulse_freq = convert_speed_to_pulse_freq(speed);
    }

    // Join the timer thread (this will never be reached in this program)
    pthread_join(timer_tid, &timer_ret);

    return 0;
}