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Thanks for the replies everyone--looks like some nice libraries to check out.Regarding memory mapped GPIO, check out this nice blog post for more info: http://vabi-robotics.blogspot.com/2013/10/register-access-to-gpios-of-beaglebone.html You can effectively map the GPIO registers to a process' memory space and directly access them so there's no overhead of making the system calls to read, write, etc. the sysfs-based GPIO.I actually just tried out a couple quick tests and saw toggling a pin high and low in a tight loop with sysfs is pretty slow, only a few hunded khz. However using memory mapped GPIO registers it's much, much faster. I'm seeing around 2.8 mhz toggling a pin with this approach. Now neither approach is technically going to ever give you a real time guarantee of course, but it's nice to have the ability to read and write GPIO fairly quickly in some cases with memory mapped GPIO.
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