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https://github.com/ArduPilot/ardupilot
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Tools:HAL_Linux_Essentials: Add PRU side of code for RCinput to run on PRU0
PRU0 with rcinpru0 firmware will be timing pin state changes and loading it inside ring buffer maintained inside SHARED_RAM at 0x12000 offset
This commit is contained in:
bugobliterator
Andrew Tridgell
parent
072c39ea6a
commit
d8e36fee41
Binary file not shown.
@ -20,7 +20,7 @@
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/* the pin header uses */
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/* the pin header uses */
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// "P9.27", /* pru0: pr1_pru0_pru_r30_5 */
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// "P9.27", /* pru0: pr1_pru0_pru_r30_5 */
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// "P8.11", /* pru0: pr1_pru0_pru_r30_15 */
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"P8.15", /* pru0: pr1_pru0_pru_r30_15 */
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// "P8.12", /* pru0: pr1_pru0_pru_r30_14 */
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// "P8.12", /* pru0: pr1_pru0_pru_r30_14 */
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// "P9.25", /* pru0: pr1_pru0_pru_r30_7 */
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// "P9.25", /* pru0: pr1_pru0_pru_r30_7 */
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// "P9.41", /* pru0: pr1_pru0_pru_r30_6 */
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// "P9.41", /* pru0: pr1_pru0_pru_r30_6 */
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@ -70,7 +70,7 @@
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pru_pru_pins: pinmux_pru_pru_pins {
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pru_pru_pins: pinmux_pru_pru_pins {
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pinctrl-single,pins = <
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pinctrl-single,pins = <
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// 0x1a4 0x25 /* mcasp0_fsr.pr1_pru0_pru_r30_5, MODE5 | OUTPUT | PRU */
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// 0x1a4 0x25 /* mcasp0_fsr.pr1_pru0_pru_r30_5, MODE5 | OUTPUT | PRU */
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// 0x034 0x26 /* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | OUTPUT | PRU */
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0x03c 0x26 /* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | OUTPUT | PRU */
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// 0x030 0x26 /* gpmc_ad12.pr1_pru0_pru_r30_14, MODE6 | OUTPUT | PRU */
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// 0x030 0x26 /* gpmc_ad12.pr1_pru0_pru_r30_14, MODE6 | OUTPUT | PRU */
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// 0x1ac 0x25 /* mcasp0_ahclkx.pr1_pru0_pru_r30_7, MODE5 | OUTPUT | PRU */
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// 0x1ac 0x25 /* mcasp0_ahclkx.pr1_pru0_pru_r30_7, MODE5 | OUTPUT | PRU */
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// 0x1a8 0x25 /* mcasp0_axr1.pr1_pru0_pru_r30_6, MODE5 | OUTPUT | PRU */
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// 0x1a8 0x25 /* mcasp0_axr1.pr1_pru0_pru_r30_6, MODE5 | OUTPUT | PRU */
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@ -251,7 +251,7 @@
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pdbg = <0x22400>;
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pdbg = <0x22400>;
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firmware-elf;
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firmware-elf;
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firmware = "testpru0";
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firmware = "rcinpru0";
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/* sysevents signaling ring activity (host, pru)*/
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/* sysevents signaling ring activity (host, pru)*/
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vring-sysev = <24 25>;
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vring-sysev = <24 25>;
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60
Tools/Linux_HAL_Essentials/rcinpru/Makefile
Normal file
60
Tools/Linux_HAL_Essentials/rcinpru/Makefile
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@ -0,0 +1,60 @@
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#
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# Makefile for PWM PRU program
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# It is assumed that the PRU compiler environment has been set
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#
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.PHONY: all clean
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all: rcinpru0.stripped rcinpru0.lst
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CC=clpru
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LD=lnkpru
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AR=arpru
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OBJDUMP=dispru
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STRIP=strippru
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# -v3 PRU version 3
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# --c99 C99 support
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# --gcc Enable GCC extensions
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# -O3 Optimization level maximum
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# --printf_support=minimal Minimal printf
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# -ppd Generate dependencies *.pp
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# -ppa Continue after generating deps
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# -DDEBUG Enable debug
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# CFLAGS= -v3 --c99 --gcc -O3 --printf_support=minimal -ppd -ppa -DDEBUG
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CFLAGS= -v3 -s -al -O3 --c99 --gcc --printf_support=minimal --symdebug:none
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# -cr Link using RAM auto init model (loader assisted)
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# -x Reread libs until no unresolved symbols found
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LDFLAGS=-cr --diag_warning=225 -llnk-am33xx.cmd -x
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STRIPFLAGS=-p
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OBJS1:=rcinpru0.obj
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%.obj: %.c
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$(CC) $(CFLAGS) -c $< -ea=.s
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%.obj: %.asm
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$(CC) $(CFLAGS) -c $<
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rcinpru0: $(OBJS1)
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$(CC) $(CFLAGS) $^ -q -z $(LDFLAGS) -o $@
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rcinpru0.stripped: rcinpru0
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$(STRIP) $(STRIPFLAGS) $< -o $@
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rcinpru0.lst: rcinpru0
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$(OBJDUMP) -1 $< > $@
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clean:
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rm -f \
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rcinpru0 rcinpru0.asm \
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*.obj *.lst *.out *.stripped \
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tags
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distclean: clean
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rm -f *.pp
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# include any generated deps
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-include $(patsubst %.obj,%.pp,$(OBJS))
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19
Tools/Linux_HAL_Essentials/rcinpru/linux_types.h
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19
Tools/Linux_HAL_Essentials/rcinpru/linux_types.h
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@ -0,0 +1,19 @@
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#ifndef LINUX_TYPES_H
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#define LINUX_TYPES_H
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#include <stdint.h>
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typedef uint8_t __u8;
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typedef uint16_t __u16;
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typedef uint32_t __u32;
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typedef uint64_t __u64;
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typedef uint8_t u8;
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typedef uint16_t u16;
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typedef uint32_t u32;
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typedef uint64_t u64;
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#define __packed __attribute__((packed))
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#endif
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46
Tools/Linux_HAL_Essentials/rcinpru/lnk-am33xx.cmd
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46
Tools/Linux_HAL_Essentials/rcinpru/lnk-am33xx.cmd
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@ -0,0 +1,46 @@
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/******************************************************************************/
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/* lnk-am33xx.cmd */
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/* Linker Script */
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/******************************************************************************/
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-cr /* LINK USING C CONVENTIONS */
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-stack 0x0200 /* SOFTWARE STACK SIZE */
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-heap 0x0200 /* HEAP AREA SIZE */
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/*--args 0x100 */
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/* SPECIFY THE SYSTEM MEMORY MAP */
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/* memory map for am335x (8K data, 8K code) */
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MEMORY
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{
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PAGE 0:
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P_MEM : org = 0x00000000 len = 0x00002000
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PAGE 1:
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D_MEM : org = 0x00000000 len = 0x00000800
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C0 : org = 0x00020000 len = 0x00000300 CREGISTER=0
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C4 : org = 0x00026000 len = 0x00000100 CREGISTER=4
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C26 : org = 0x0002E000 len = 0x00000100 CREGISTER=26
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}
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/* SPECIFY THE SECTIONS ALLOCATION INTO MEMORY */
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SECTIONS
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{
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.bss : {} > D_MEM, PAGE 1 /* GLOBAL & STATIC VARS */
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.data : {} > D_MEM, PAGE 1
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.rodata : {} > D_MEM, PAGE 1 /* CONSTANT DATA */
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.sysmem : {} > D_MEM, PAGE 1 /* DYNAMIC MEMORY ALLOCATION AREA */
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.stack : {} > D_MEM, PAGE 1 /* SOFTWARE SYSTEM STACK */
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.cinit : {} > D_MEM, PAGE 1 /* INITIALIZATION TABLES */
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.const : {} > D_MEM, PAGE 1 /* CONSTANT DATA */
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.args : {} > D_MEM, PAGE 1
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.init_array : {} > D_MEM, PAGE 1 /* C++ CONSTRUCTOR TABLES */
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.farbss : {} > D_MEM, PAGE 1
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.fardata : {} > D_MEM, PAGE 1
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.rofardata : {} > D_MEM, PAGE 1
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.text : {} > P_MEM, PAGE 0 /* CODE */
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}
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649
Tools/Linux_HAL_Essentials/rcinpru/pru_defs.h
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649
Tools/Linux_HAL_Essentials/rcinpru/pru_defs.h
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@ -0,0 +1,649 @@
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#ifndef PRU_DEFS_H
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#define PRU_DEFS_H
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volatile register unsigned int __R31;
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volatile register unsigned int __R30;
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__far volatile char C0[0x300] __attribute__((cregister("C0", far)));
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__far volatile char C26[0x100] __attribute__((cregister("C26", near))); /* PRUIEP */
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__far volatile char C4[0x100] __attribute__((cregister("C4", near))); /* PRUCFG */
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#define PRUCFG(_reg) \
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(*(volatile u32 *)((char *)C4 + (_reg)))
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/* fast access to the registers using the constants */
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#define PRUCFG_REVID PRUCFG(0x0000)
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#define PRUCFG_SYSCFG PRUCFG(0x0004)
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#define SYSCFG_IDLE_MODE_S 0
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#define SYSCFG_IDLE_MODE_W 2
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#define SYSCFG_IDLE_MODE_M ((SYSCFG_IDLE_MODE_W - 1) << SYSCFG_IDLE_MODE_S)
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#define SYSCFG_IDLE_MODE_FORCE (0 << SYSCFG_IDLE_MODE_S)
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#define SYSCFG_IDLE_MODE_NO (1 << SYSCFG_IDLE_MODE_S)
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#define SYSCFG_IDLE_MODE_SMART (2 << SYSCFG_IDLE_MODE_S)
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#define SYSCFG_STANDBY_MODE_S 2
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#define SYSCFG_STANDBY_MODE_W 2
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#define SYSCFG_STANDBY_MODE_M ((SYSCFG_STANDBY_MODE_W - 1) << SYSCFG_STANDBY_MODE_S)
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#define SYSCFG_STANDBY_MODE_FORCE (0 << SYSCFG_STANDBY_MODE_S)
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#define SYSCFG_STANDBY_MODE_NO (1 << SYSCFG_STANDBY_MODE_S)
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#define SYSCFG_STANDBY_MODE_SMART (2 << SYSCFG_STANDBY_MODE_S)
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#define SYSCFG_STANDBY_INIT (1 << 4)
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#define SYSCFG_SUB_MWAIT (1 << 5)
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#define PRUCFG_SPP PRUCFG(0x0034)
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#define SPP_PRU1_PAD_HP_EN (1 << 0)
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#define SPP_XFR_SHIFT_EN (1 << 1)
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#define PRUCFG_GPCFG0 PRUCFG(0x0008)
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#define CPCFG0_PRU0_GPI_MODE_S 0
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#define CPCFG0_PRU0_GPI_MODE_W 2
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#define CPCFG0_PRU0_GPI_MODE_M ((CPCFG0_PRU0_GPI_MODE_W - 1) << CPCFG0_PRU0_GPI_MODE_S)
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#define CPCFG0_PRU0_GPI_MODE_DIRECT (0 << CPCFG0_PRU0_GPI_MODE_S)
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#define CPCFG0_PRU0_GPI_MODE_PARALLEL (1 << CPCFG0_PRU0_GPI_MODE_S)
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#define CPCFG0_PRU0_GPI_MODE_SHIFT (2 << CPCFG0_PRU0_GPI_MODE_S)
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#define CPCFG0_PRU0_GPI_MODE_MII_RT (3 << CPCFG0_PRU0_GPI_MODE_S)
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#define CPCFG0_PRU0_GPI_CLK_MODE (1 << 2)
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#define CPCFG0_PRU0_GPI_DIV0_S 3
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#define CPCFG0_PRU0_GPI_DIV0_W 5
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#define CPCFG0_PRU0_GPI_DIV0_M ((CPCFG0_PRU0_GPI_DIV0_W - 1) << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_1 (0 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_1_5 (1 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_2 (2 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_2_5 (3 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_3 (4 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_3_5 (5 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_4 (6 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_4_5 (7 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_5 (8 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_5_5 (9 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_6 (10 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_6_5 (11 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_7 (12 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_7_5 (13 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_8 (14 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_8_5 (15 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_9 (16 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_9_5 (17 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_10 (18 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_10_5 (19 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_11 (20 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_11_5 (21 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_12 (22 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_12_5 (23 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_13 (24 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_13_5 (25 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_14 (26 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_14_5 (27 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_15 (28 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_15_5 (29 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV0_16 (30 << CPCFG0_PRU0_GPI_DIV0_S)
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#define CPCFG0_PRU0_GPI_DIV1_S 8
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#define CPCFG0_PRU0_GPI_DIV1_W 5
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#define CPCFG0_PRU0_GPI_DIV1_M ((CPCFG0_PRU0_GPI_DIV1_W - 1) << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_1 (0 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_1_5 (1 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_2 (2 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_2_5 (3 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_3 (4 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_3_5 (5 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_4 (6 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_4_5 (7 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_5 (8 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_5_5 (9 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_6 (10 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_6_5 (11 << CPCFG0_PRU0_GPI_DIV1_S)
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#define CPCFG0_PRU0_GPI_DIV1_7 (12 << CPCFG0_PRU0_GPI_DIV1_S)
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||||||
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#define CPCFG0_PRU0_GPI_DIV1_7_5 (13 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_8 (14 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_8_5 (15 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_9 (16 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_9_5 (17 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_10 (18 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_10_5 (19 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_11 (20 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_11_5 (21 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_12 (22 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_12_5 (23 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_13 (24 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_13_5 (25 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_14 (26 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_14_5 (27 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_15 (28 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_15_5 (29 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_DIV1_16 (30 << CPCFG0_PRU0_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPI_S8 (1 << 13)
|
||||||
|
#define CPCFG0_PRU0_GPO_MODE (1 << 14)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_S 15
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_W 5
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_M ((CPCFG0_PRU0_GPO_DIV0_W - 1) << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_1 (0 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_1_5 (1 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_2 (2 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_2_5 (3 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_3 (4 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_3_5 (5 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_4 (6 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_4_5 (7 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_5 (8 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_5_5 (9 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_6 (10 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_6_5 (11 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_7 (12 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_7_5 (13 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_8 (14 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_8_5 (15 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_9 (16 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_9_5 (17 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_10 (18 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_10_5 (19 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_11 (20 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_11_5 (21 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_12 (22 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_12_5 (23 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_13 (24 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_13_5 (25 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_14 (26 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_14_5 (27 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_15 (28 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_15_5 (29 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV0_16 (30 << CPCFG0_PRU0_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_S 20
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_W 5
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_M ((CPCFG0_PRU0_GPO_DIV1_W - 1) << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_1 (0 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_1_5 (1 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_2 (2 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_2_5 (3 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_3 (4 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_3_5 (5 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_4 (6 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_4_5 (7 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_5 (8 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_5_5 (9 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_6 (10 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_6_5 (11 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_7 (12 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_7_5 (13 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_8 (14 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_8_5 (15 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_9 (16 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_9_5 (17 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_10 (18 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_10_5 (19 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_11 (20 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_11_5 (21 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_12 (22 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_12_5 (23 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_13 (24 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_13_5 (25 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_14 (26 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_14_5 (27 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_15 (28 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_15_5 (29 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_DIV1_16 (30 << CPCFG0_PRU0_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU0_GPO_SH_SE (1 << 25)
|
||||||
|
|
||||||
|
#define PRUCFG_GPCFG1 PRUCFG(0x000C)
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_S 0
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_W 2
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_M ((CPCFG0_PRU1_GPI_MODE_W - 1) << CPCFG0_PRU1_GPI_MODE_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_DIRECT (0 << CPCFG0_PRU1_GPI_MODE_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_PARALLEL (1 << CPCFG0_PRU1_GPI_MODE_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_SHIFT (2 << CPCFG0_PRU1_GPI_MODE_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_MODE_MII_RT (3 << CPCFG0_PRU1_GPI_MODE_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_CLK_MODE (1 << 2)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_S 3
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_W 5
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_M ((CPCFG0_PRU1_GPI_DIV0_W - 1) << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_1 (0 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_1_5 (1 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_2 (2 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_2_5 (3 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_3 (4 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_3_5 (5 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_4 (6 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_4_5 (7 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_5 (8 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_5_5 (9 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_6 (10 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_6_5 (11 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_7 (12 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_7_5 (13 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_8 (14 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_8_5 (15 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_9 (16 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_9_5 (17 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_10 (18 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_10_5 (19 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_11 (20 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_11_5 (21 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_12 (22 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_12_5 (23 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_13 (24 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_13_5 (25 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_14 (26 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_14_5 (27 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_15 (28 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_15_5 (29 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV0_16 (30 << CPCFG0_PRU1_GPI_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_S 8
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_W 5
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_M ((CPCFG0_PRU1_GPI_DIV1_W - 1) << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_1 (0 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_1_5 (1 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_2 (2 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_2_5 (3 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_3 (4 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_3_5 (5 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_4 (6 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_4_5 (7 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_5 (8 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_5_5 (9 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_6 (10 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_6_5 (11 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_7 (12 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_7_5 (13 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_8 (14 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_8_5 (15 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_9 (16 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_9_5 (17 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_10 (18 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_10_5 (19 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_11 (20 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_11_5 (21 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_12 (22 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_12_5 (23 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_13 (24 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_13_5 (25 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_14 (26 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_14_5 (27 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_15 (28 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_15_5 (29 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_DIV1_16 (30 << CPCFG0_PRU1_GPI_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPI_S8 (1 << 13)
|
||||||
|
#define CPCFG0_PRU1_GPO_MODE (1 << 14)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_S 15
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_W 5
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_M ((CPCFG0_PRU1_GPO_DIV0_W - 1) << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_1 (0 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_1_5 (1 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_2 (2 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_2_5 (3 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_3 (4 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_3_5 (5 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_4 (6 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_4_5 (7 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_5 (8 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_5_5 (9 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_6 (10 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_6_5 (11 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_7 (12 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_7_5 (13 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_8 (14 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_8_5 (15 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_9 (16 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_9_5 (17 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_10 (18 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_10_5 (19 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_11 (20 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_11_5 (21 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_12 (22 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_12_5 (23 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_13 (24 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_13_5 (25 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_14 (26 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_14_5 (27 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_15 (28 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_15_5 (29 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV0_16 (30 << CPCFG0_PRU1_GPO_DIV0_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_S 20
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_W 5
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_M ((CPCFG0_PRU1_GPO_DIV1_W - 1) << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_1 (0 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_1_5 (1 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_2 (2 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_2_5 (3 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_3 (4 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_3_5 (5 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_4 (6 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_4_5 (7 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_5 (8 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_5_5 (9 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_6 (10 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_6_5 (11 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_7 (12 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_7_5 (13 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_8 (14 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_8_5 (15 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_9 (16 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_9_5 (17 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_10 (18 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_10_5 (19 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_11 (20 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_11_5 (21 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_12 (22 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_12_5 (23 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_13 (24 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_13_5 (25 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_14 (26 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_14_5 (27 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_15 (28 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_15_5 (29 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_DIV1_16 (30 << CPCFG0_PRU1_GPO_DIV1_S)
|
||||||
|
#define CPCFG0_PRU1_GPO_SH_SE (1 << 25)
|
||||||
|
|
||||||
|
#define PRUCFG_CGR PRUCFG(0x0010)
|
||||||
|
|
||||||
|
#define PRUCFG_ISRP PRUCFG(0x0014)
|
||||||
|
|
||||||
|
#define PRUCFG_ISP PRUCFG(0x0018)
|
||||||
|
|
||||||
|
#define PRUCFG_IESP PRUCFG(0x001C)
|
||||||
|
|
||||||
|
#define PRUCFG_PMAO PRUCFG(0x0028)
|
||||||
|
#define PMAO_PMAO_PRU0 (1 << 0)
|
||||||
|
#define PMAO_PMAO_PRU1 (1 << 1)
|
||||||
|
|
||||||
|
#define PRUCFG_MII_RT PRUCFG(0x002C)
|
||||||
|
|
||||||
|
#define PRUCFG_IEPCLK PRUCFG(0x0030)
|
||||||
|
|
||||||
|
#define PRUCFG_PINMX PRUCFG(0x0040)
|
||||||
|
|
||||||
|
#define PINTC(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)C0 + (_reg)))
|
||||||
|
|
||||||
|
#define PINTC_REVID PINTC(0x0000)
|
||||||
|
#define PINTC_CR PINTC(0x0004)
|
||||||
|
#define PINTC_GER PINTC(0x0010)
|
||||||
|
#define PINTC_GNLR PINTC(0x001C)
|
||||||
|
#define PINTC_SISR PINTC(0x0020)
|
||||||
|
#define PINTC_SICR PINTC(0x0024)
|
||||||
|
#define PINTC_EISR PINTC(0x0028)
|
||||||
|
#define PINTC_EICR PINTC(0x002C)
|
||||||
|
#define PINTC_HIEISR PINTC(0x0034)
|
||||||
|
#define PINTC_HIDISR PINTC(0x0038)
|
||||||
|
#define PINTC_GPIR PINTC(0x0080)
|
||||||
|
#define PINTC_SRSR0 PINTC(0x0200)
|
||||||
|
#define PINTC_SRSR1 PINTC(0x0204)
|
||||||
|
#define PINTC_SECR0 PINTC(0x0280)
|
||||||
|
#define PINTC_SECR1 PINTC(0x0284)
|
||||||
|
#define PINTC_ESR0 PINTC(0x0300)
|
||||||
|
#define PINTC_ESR1 PINTC(0x0304)
|
||||||
|
#define PINTC_ECR0 PINTC(0x0380)
|
||||||
|
#define PINTC_ECR1 PINTC(0x0384)
|
||||||
|
#define PINTC_CMR0 PINTC(0x0400)
|
||||||
|
#define PINTC_CMR1 PINTC(0x0404)
|
||||||
|
#define PINTC_CMR2 PINTC(0x0408)
|
||||||
|
#define PINTC_CMR3 PINTC(0x040C)
|
||||||
|
#define PINTC_CMR4 PINTC(0x0410)
|
||||||
|
#define PINTC_CMR5 PINTC(0x0414)
|
||||||
|
#define PINTC_CMR6 PINTC(0x0418)
|
||||||
|
#define PINTC_CMR7 PINTC(0x041C)
|
||||||
|
#define PINTC_CMR8 PINTC(0x0420)
|
||||||
|
#define PINTC_CMR9 PINTC(0x0424)
|
||||||
|
#define PINTC_CMR10 PINTC(0x0428)
|
||||||
|
#define PINTC_CMR11 PINTC(0x042C)
|
||||||
|
#define PINTC_CMR12 PINTC(0x0430)
|
||||||
|
#define PINTC_CMR13 PINTC(0x0434)
|
||||||
|
#define PINTC_CMR14 PINTC(0x0438)
|
||||||
|
#define PINTC_CMR15 PINTC(0x043C)
|
||||||
|
#define PINTC_HMR0 PINTC(0x0800)
|
||||||
|
#define PINTC_HMR1 PINTC(0x0804)
|
||||||
|
#define PINTC_HMR2 PINTC(0x0808)
|
||||||
|
#define PINTC_HIPIR0 PINTC(0x0900)
|
||||||
|
#define PINTC_HIPIR1 PINTC(0x0904)
|
||||||
|
#define PINTC_HIPIR2 PINTC(0x0908)
|
||||||
|
#define PINTC_HIPIR3 PINTC(0x090C)
|
||||||
|
#define PINTC_HIPIR4 PINTC(0x0910)
|
||||||
|
#define PINTC_HIPIR5 PINTC(0x0914)
|
||||||
|
#define PINTC_HIPIR6 PINTC(0x0918)
|
||||||
|
#define PINTC_HIPIR7 PINTC(0x091C)
|
||||||
|
#define PINTC_HIPIR8 PINTC(0x0920)
|
||||||
|
#define PINTC_HIPIR9 PINTC(0x0924)
|
||||||
|
#define PINTC_SIPR0 PINTC(0x0D00)
|
||||||
|
#define PINTC_SIPR1 PINTC(0x0D04)
|
||||||
|
#define PINTC_SITR0 PINTC(0x0D80)
|
||||||
|
#define PINTC_SITR1 PINTC(0x0D84)
|
||||||
|
#define PINTC_HINLR0 PINTC(0x1100)
|
||||||
|
#define PINTC_HINLR1 PINTC(0x1104)
|
||||||
|
#define PINTC_HINLR2 PINTC(0x1108)
|
||||||
|
#define PINTC_HINLR3 PINTC(0x110C)
|
||||||
|
#define PINTC_HINLR4 PINTC(0x1110)
|
||||||
|
#define PINTC_HINLR5 PINTC(0x1114)
|
||||||
|
#define PINTC_HINLR6 PINTC(0x1118)
|
||||||
|
#define PINTC_HINLR7 PINTC(0x111C)
|
||||||
|
#define PINTC_HINLR8 PINTC(0x1120)
|
||||||
|
#define PINTC_HINLR9 PINTC(0x1124)
|
||||||
|
#define PINTC_HIER PINTC(0x1500)
|
||||||
|
|
||||||
|
/* PRU Industrial Ethernet Peripheral */
|
||||||
|
#define PIEP(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)C26 + (_reg)))
|
||||||
|
|
||||||
|
#define PIEP_GLOBAL_CFG PIEP(0x0000)
|
||||||
|
#define GLOBAL_CFG_CNT_ENABLE (1 << 0)
|
||||||
|
#define GLOBAL_CFG_DEFAULT_INC_S 4
|
||||||
|
#define GLOBAL_CFG_DEFAULT_INC_W 4
|
||||||
|
#define GLOBAL_CFG_DEFAULT_INC_M ((GLOBAL_CFG_DEFAULT_INC_W - 1) << GLOBAL_CFG_DEFAULT_INC_S)
|
||||||
|
#define GLOBAL_CFG_DEFAULT_INC(x) (((x) << GLOBAL_CFG_DEFAULT_INC_S) & GLOBAL_CFG_DEFAULT_INC_M)
|
||||||
|
#define GLOBAL_CFG_CMP_INC_S 8
|
||||||
|
#define GLOBAL_CFG_CMP_INC_W 12
|
||||||
|
#define GLOBAL_CFG_CMP_INC_M ((GLOBAL_CFG_CMP_INC_W - 1) << GLOBAL_CFG_CMP_INC_S)
|
||||||
|
#define GLOBAL_CFG_CMP_INC(x) (((x) << GLOBAL_CFG_CMP_INC_S) & GLOBAL_CFG_CMP_INC_M)
|
||||||
|
|
||||||
|
#define PIEP_GLOBAL_STATUS PIEP(0x0004)
|
||||||
|
#define GLOBAL_STATUS_CNT_OVF (1 << 0)
|
||||||
|
|
||||||
|
#define PIEP_COMPEN PIEP(0x0008)
|
||||||
|
#define PIEP_COUNT PIEP(0x000C)
|
||||||
|
#define PIEP_CMP_CFG PIEP(0x0040)
|
||||||
|
#define CMP_CFG_CMP0_RST_CNT_EN (1 << 0)
|
||||||
|
#define CMP_CFG_CMP_EN_S 1
|
||||||
|
#define CMP_CFG_CMP_EN_W 8
|
||||||
|
#define CMP_CFG_CMP_EN_M ((CMP_CFG_CMP_EN_W - 1) << CMP_CFG_CMP_EN_S)
|
||||||
|
#define CMP_CFG_CMP_EN(x) ((1 << ((x) + CMP_CFG_CMP_EN_S)) & CMP_CFG_CMP_EN_M)
|
||||||
|
|
||||||
|
#define PIEP_CMP_STATUS PIEP(0x0044)
|
||||||
|
#define CMD_STATUS_CMP_HIT_S 0
|
||||||
|
#define CMD_STATUS_CMP_HIT_W 8
|
||||||
|
#define CMD_STATUS_CMP_HIT_M ((CMD_STATUS_CMP_HIT_W - 1) << CMD_STATUS_CMP_HIT_S)
|
||||||
|
#define CMD_STATUS_CMP_HIT(x) ((1 << ((x) + CMD_STATUS_CMP_HIT_S)) & CMD_STATUS_CMP_HIT_M)
|
||||||
|
|
||||||
|
#define PIEP_CMP_CMP0 PIEP(0x0048)
|
||||||
|
#define PIEP_CMP_CMP1 PIEP(0x004C)
|
||||||
|
#define PIEP_CMP_CMP2 PIEP(0x0050)
|
||||||
|
#define PIEP_CMP_CMP3 PIEP(0x0054)
|
||||||
|
#define PIEP_CMP_CMP4 PIEP(0x0058)
|
||||||
|
#define PIEP_CMP_CMP5 PIEP(0x005C)
|
||||||
|
#define PIEP_CMP_CMP6 PIEP(0x0060)
|
||||||
|
#define PIEP_CMP_CMP7 PIEP(0x0064)
|
||||||
|
#define PIEP_CMP_CMP(x) PIEP(0x0048 + ((x) << 2))
|
||||||
|
|
||||||
|
#if defined(PRU0) || defined(PRU1)
|
||||||
|
|
||||||
|
#ifdef PRU0
|
||||||
|
#define PCTRL(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)0x22000 + (_reg)))
|
||||||
|
#define PCTRL_OTHER(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)0x24000 + (_reg)))
|
||||||
|
#else
|
||||||
|
#define PCTRL(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)0x24000 + (_reg)))
|
||||||
|
#define PCTRL_OTHER(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)0x22000 + (_reg)))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define PCTRL_CONTROL PCTRL(0x0000)
|
||||||
|
#define CONTROL_SOFT_RST_N (1 << 0)
|
||||||
|
#define CONTROL_ENABLE (1 << 1)
|
||||||
|
#define CONTROL_SLEEPING (1 << 2)
|
||||||
|
#define CONTROL_COUNTER_ENABLE (1 << 3)
|
||||||
|
#define CONTROL_SINGLE_STEP (1 << 8)
|
||||||
|
#define CONTROL_RUNSTATE (1 << 15)
|
||||||
|
#define PCTRL_STATUS PCTRL(0x0004)
|
||||||
|
#define PCTRL_WAKEUP_EN PCTRL(0x0008)
|
||||||
|
#define PCTRL_CYCLE PCTRL(0x000C)
|
||||||
|
#define PCTRL_STALL PCTRL(0x0010)
|
||||||
|
#define PCTRL_CTBIR0 PCTRL(0x0020)
|
||||||
|
#define PCTRL_CTBIR1 PCTRL(0x0024)
|
||||||
|
#define PCTRL_CTPPR0 PCTRL(0x0028)
|
||||||
|
#define PCTRL_CTPPR1 PCTRL(0x002C)
|
||||||
|
|
||||||
|
/* we can't access our debug registers (since we have to be stopped) */
|
||||||
|
#ifdef PRU0
|
||||||
|
#define PDBG_OTHER(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)0x24400 + (_reg)))
|
||||||
|
#else
|
||||||
|
#define PDBG_OTHER(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)0x22400 + (_reg)))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* secondary access by C28 (which must point to 0x20200 */
|
||||||
|
#define PINTC_0200(_reg) \
|
||||||
|
(*(volatile u32 *)((char *)C28 + ((_reg) - 0x200)))
|
||||||
|
|
||||||
|
#define SIGNAL_EVENT(x) \
|
||||||
|
do { \
|
||||||
|
__R31 = (1 << 5) | ((x) - 16); \
|
||||||
|
} while(0)
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PRU_CLK
|
||||||
|
/* default PRU clock (200MHz) */
|
||||||
|
#define PRU_CLK 200000000
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* NOTE: Do no use it for larger than 5 secs */
|
||||||
|
#define PRU_200MHz_sec(x) ((u32)(((x) * 200000000)))
|
||||||
|
#define PRU_200MHz_ms(x) ((u32)(((x) * 200000)))
|
||||||
|
#define PRU_200MHz_ms_err(x) 0
|
||||||
|
#define PRU_200MHz_us(x) ((u32)(((x) * 200)))
|
||||||
|
#define PRU_200MHz_us_err(x) 0
|
||||||
|
#define PRU_200MHz_ns(x) ((u32)(((x) * 2) / 10))
|
||||||
|
#define PRU_200MHz_ns_err(x) ((u32)(((x) * 2) % 10))
|
||||||
|
|
||||||
|
#if PRU_CLK != 200000000
|
||||||
|
/* NOTE: Do no use it for larger than 5 secs */
|
||||||
|
#define PRU_sec(x) ((u32)(((u64)(x) * PRU_CLK)))
|
||||||
|
#define PRU_ms(x) ((u32)(((u64)(x) * PRU_CLK) / 1000))
|
||||||
|
#define PRU_ms_err(x) ((u32)(((u64)(x) * PRU_CLK) % 1000))
|
||||||
|
#define PRU_us(x) ((u32)(((u64)(x) * PRU_CLK) / 1000000))
|
||||||
|
#define PRU_us_err(x) ((u32)(((u64)(x) * PRU_CLK) % 1000000))
|
||||||
|
#define PRU_ns(x) ((u32)(((u64)(x) * PRU_CLK) / 1000000000))
|
||||||
|
#define PRU_ns_err(x) ((u32)(((u64)(x) * PRU_CLK) % 1000000000))
|
||||||
|
#else
|
||||||
|
/* NOTE: Do no use it for larger than 5 secs */
|
||||||
|
#define PRU_sec(x) PRU_200MHz_sec(x)
|
||||||
|
#define PRU_ms(x) PRU_200MHz_ms(x)
|
||||||
|
#define PRU_ms_err(x) PRU_200MHz_ms_err(x)
|
||||||
|
#define PRU_us(x) PRU_200MHz_us(x)
|
||||||
|
#define PRU_us_err(x) PRU_200MHz_us_err(x)
|
||||||
|
#define PRU_ns(x) PRU_200MHz_ns(x)
|
||||||
|
#define PRU_ns_err(x) PRU_200MHz_ns_err(x)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define DPRAM_SHARED 0x00012000
|
||||||
|
|
||||||
|
/* event definitions */
|
||||||
|
#define SYSEV_ARM_TO_PRU0 21
|
||||||
|
#define SYSEV_ARM_TO_PRU1 22
|
||||||
|
#define SYSEV_PRU0_TO_ARM 19
|
||||||
|
#define SYSEV_PRU0_TO_PRU1 17
|
||||||
|
#define SYSEV_PRU1_TO_ARM 20
|
||||||
|
#define SYSEV_PRU1_TO_PRU0 19
|
||||||
|
|
||||||
|
/* for communication with the host we have another set of events */
|
||||||
|
#define SYSEV_VR_ARM_TO_PRU0 24
|
||||||
|
#define SYSEV_VR_PRU0_TO_ARM 25
|
||||||
|
#define SYSEV_VR_ARM_TO_PRU1 26
|
||||||
|
#define SYSEV_VR_PRU1_TO_ARM 27
|
||||||
|
|
||||||
|
#define pru0_signal() (__R31 & (1U << 30))
|
||||||
|
#define pru1_signal() (__R31 & (1U << 31))
|
||||||
|
|
||||||
|
#ifdef PRU0
|
||||||
|
#define pru_signal() pru0_signal()
|
||||||
|
#define SYSEV_OTHER_PRU_TO_THIS_PRU SYSEV_PRU1_TO_PRU0
|
||||||
|
#define SYSEV_ARM_TO_THIS_PRU SYSEV_ARM_TO_PRU0
|
||||||
|
#define SYSEV_THIS_PRU_TO_OTHER_PRU SYSEV_PRU0_TO_PRU1
|
||||||
|
#define SYSEV_THIS_PRU_TO_ARM SYSEV_PRU0_TO_ARM
|
||||||
|
#define SYSEV_VR_ARM_TO_THIS_PRU SYSEV_VR_ARM_TO_PRU0
|
||||||
|
#define SYSEV_VR_THIS_PRU_TO_ARM SYSEV_VR_PRU0_TO_ARM
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef PRU1
|
||||||
|
#define pru_signal() pru1_signal()
|
||||||
|
#define SYSEV_OTHER_PRU_TO_THIS_PRU SYSEV_PRU0_TO_PRU1
|
||||||
|
#define SYSEV_ARM_TO_THIS_PRU SYSEV_ARM_TO_PRU1
|
||||||
|
#define SYSEV_THIS_PRU_TO_OTHER_PRU SYSEV_PRU1_TO_PRU0
|
||||||
|
#define SYSEV_THIS_PRU_TO_ARM SYSEV_PRU1_TO_ARM
|
||||||
|
#define SYSEV_VR_ARM_TO_THIS_PRU SYSEV_VR_ARM_TO_PRU1
|
||||||
|
#define SYSEV_VR_THIS_PRU_TO_ARM SYSEV_VR_PRU1_TO_ARM
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* all events < 32 */
|
||||||
|
#define SYSEV_THIS_PRU_INCOMING_MASK \
|
||||||
|
(BIT(SYSEV_ARM_TO_THIS_PRU) | \
|
||||||
|
BIT(SYSEV_OTHER_PRU_TO_THIS_PRU) | \
|
||||||
|
BIT(SYSEV_VR_ARM_TO_THIS_PRU))
|
||||||
|
|
||||||
|
#define DELAY_CYCLES(x) \
|
||||||
|
do { \
|
||||||
|
unsigned int t = (x) >> 1; \
|
||||||
|
do { \
|
||||||
|
__asm(" "); \
|
||||||
|
} while (--t); \
|
||||||
|
} while(0)
|
||||||
|
|
||||||
|
#ifndef BIT
|
||||||
|
#define BIT(x) (1U << (x))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* access to the resources of the other PRU (halt it and have your way) */
|
||||||
|
#if defined(PRU0) || defined(PRU1)
|
||||||
|
|
||||||
|
static inline void pru_other_halt(void)
|
||||||
|
{
|
||||||
|
PCTRL_OTHER(0x0000) &= ~CONTROL_ENABLE; /* clear enable */
|
||||||
|
/* loop until RUNSTATE clears */
|
||||||
|
while ((PCTRL_OTHER(0x0000) & CONTROL_RUNSTATE) != 0)
|
||||||
|
;
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline void pru_other_resume(void)
|
||||||
|
{
|
||||||
|
PCTRL_OTHER(0x0000) |= CONTROL_ENABLE; /* set enable */
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline u32 pru_other_read_reg(u16 reg)
|
||||||
|
{
|
||||||
|
u32 val;
|
||||||
|
|
||||||
|
reg <<= 2; /* multiply by 4 */
|
||||||
|
pru_other_halt();
|
||||||
|
val = PDBG_OTHER(reg);
|
||||||
|
pru_other_resume();
|
||||||
|
return val;
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline void pru_other_write_reg(u16 reg, u32 val)
|
||||||
|
{
|
||||||
|
reg <<= 2; /* multiply by 4 */
|
||||||
|
pru_other_halt();
|
||||||
|
PDBG_OTHER(reg) = val;
|
||||||
|
pru_other_resume();
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline void pru_other_and_or_reg(u16 reg, u32 andmsk, u32 ormsk)
|
||||||
|
{
|
||||||
|
reg <<= 2; /* multiply by 4 */
|
||||||
|
pru_other_halt();
|
||||||
|
PDBG_OTHER(reg) = (PDBG_OTHER(reg) & andmsk) | ormsk;
|
||||||
|
pru_other_resume();
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
27
Tools/Linux_HAL_Essentials/rcinpru/prucomm.h
Normal file
27
Tools/Linux_HAL_Essentials/rcinpru/prucomm.h
Normal file
@ -0,0 +1,27 @@
|
|||||||
|
/*
|
||||||
|
* prucomm.h - structure definitions for communication
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef PRUCOMM_H
|
||||||
|
#define PRUCOMM_H
|
||||||
|
|
||||||
|
#include "pru_defs.h"
|
||||||
|
|
||||||
|
#define NUM_RING_ENTRIES 200
|
||||||
|
|
||||||
|
#define PWM_CMD_MAGIC 0xf00fbaaf
|
||||||
|
#define PWM_REPLY_MAGIC 0xbaaff00f
|
||||||
|
|
||||||
|
struct ring_buffer {
|
||||||
|
volatile uint16_t ring_head;
|
||||||
|
volatile uint16_t ring_tail;
|
||||||
|
struct {
|
||||||
|
uint16_t pin_value;
|
||||||
|
uint16_t delta_t;
|
||||||
|
} buffer[NUM_RING_ENTRIES];
|
||||||
|
};
|
||||||
|
|
||||||
|
/* the command is at the start of shared DPRAM */
|
||||||
|
#define RBUFF ((volatile struct ring_buffer *)DPRAM_SHARED)
|
||||||
|
|
||||||
|
#endif
|
||||||
70
Tools/Linux_HAL_Essentials/rcinpru/rcinpru0.c
Normal file
70
Tools/Linux_HAL_Essentials/rcinpru/rcinpru0.c
Normal file
@ -0,0 +1,70 @@
|
|||||||
|
/*
|
||||||
|
* testpru
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define PRU0
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <stdarg.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <strings.h>
|
||||||
|
|
||||||
|
#include "linux_types.h"
|
||||||
|
#include "pru_defs.h"
|
||||||
|
#include "prucomm.h"
|
||||||
|
|
||||||
|
|
||||||
|
void add_to_ring_buffer(uint8_t v, uint16_t deltat)
|
||||||
|
{
|
||||||
|
RBUFF->buffer[RBUFF->ring_tail].pin_value = v;
|
||||||
|
RBUFF->buffer[RBUFF->ring_tail].delta_t = deltat;
|
||||||
|
RBUFF->ring_tail = (RBUFF->ring_tail + 1) % NUM_RING_ENTRIES;
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline u32 read_PIEP_COUNT(void)
|
||||||
|
{
|
||||||
|
return PIEP_COUNT;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t read_pin(void){
|
||||||
|
return ((__R31&(1<<15)) != 0) ;
|
||||||
|
}
|
||||||
|
|
||||||
|
void main()
|
||||||
|
{
|
||||||
|
uint32_t last_time_us = 0;
|
||||||
|
uint8_t last_pin_value = 0;
|
||||||
|
|
||||||
|
/*PRU Initialisation*/
|
||||||
|
PRUCFG_SYSCFG &= ~SYSCFG_STANDBY_INIT;
|
||||||
|
PRUCFG_SYSCFG = (PRUCFG_SYSCFG &
|
||||||
|
~(SYSCFG_IDLE_MODE_M | SYSCFG_STANDBY_MODE_M)) |
|
||||||
|
SYSCFG_IDLE_MODE_NO | SYSCFG_STANDBY_MODE_NO;
|
||||||
|
|
||||||
|
/* our PRU wins arbitration */
|
||||||
|
PRUCFG_SPP |= SPP_PRU1_PAD_HP_EN;
|
||||||
|
|
||||||
|
/* configure timer */
|
||||||
|
PIEP_GLOBAL_CFG = GLOBAL_CFG_DEFAULT_INC(1) |
|
||||||
|
GLOBAL_CFG_CMP_INC(1);
|
||||||
|
PIEP_CMP_STATUS = CMD_STATUS_CMP_HIT(1); /* clear the interrupt */
|
||||||
|
PIEP_CMP_CMP1 = 0x0;
|
||||||
|
PIEP_CMP_CFG |= CMP_CFG_CMP_EN(1);
|
||||||
|
PIEP_GLOBAL_CFG |= GLOBAL_CFG_CNT_ENABLE;
|
||||||
|
|
||||||
|
|
||||||
|
RBUFF->ring_tail = 20;
|
||||||
|
while (1) {
|
||||||
|
uint32_t v;
|
||||||
|
while ((v=read_pin()) == last_pin_value) {
|
||||||
|
// noop
|
||||||
|
}
|
||||||
|
uint32_t now = read_PIEP_COUNT()/200;
|
||||||
|
uint32_t delta_time_us = now - last_time_us;
|
||||||
|
last_time_us = now;
|
||||||
|
|
||||||
|
add_to_ring_buffer(v, delta_time_us);
|
||||||
|
last_pin_value = v;
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
Tools/Linux_HAL_Essentials/rcinpru0
Normal file
BIN
Tools/Linux_HAL_Essentials/rcinpru0
Normal file
Binary file not shown.
@ -3,7 +3,7 @@ if [ "`echo $1`" = "load" ]; then
|
|||||||
cp BB-SPI0-PXF-01-00A0.dtbo /lib/firmware/
|
cp BB-SPI0-PXF-01-00A0.dtbo /lib/firmware/
|
||||||
cp BB-SPI1-PXF-01-00A0.dtbo /lib/firmware/
|
cp BB-SPI1-PXF-01-00A0.dtbo /lib/firmware/
|
||||||
cp BB-BONE-PRU-05-00A0.dtbo /lib/firmware/
|
cp BB-BONE-PRU-05-00A0.dtbo /lib/firmware/
|
||||||
cp testpru0 /lib/firmware
|
cp rcinpru0 /lib/firmware
|
||||||
cp pwmpru1 /lib/firmware
|
cp pwmpru1 /lib/firmware
|
||||||
echo BB-BONE-PRU-05 > /sys/devices/bone_capemgr.*/slots
|
echo BB-BONE-PRU-05 > /sys/devices/bone_capemgr.*/slots
|
||||||
echo BB-SPI0-PXF-01 > /sys/devices/bone_capemgr.*/slots
|
echo BB-SPI0-PXF-01 > /sys/devices/bone_capemgr.*/slots
|
||||||
@ -13,9 +13,9 @@ if [ "`echo $1`" = "load" ]; then
|
|||||||
cat /sys/devices/bone_capemgr.*/slots
|
cat /sys/devices/bone_capemgr.*/slots
|
||||||
elif [ "`echo $1`" = "reload" ]; then
|
elif [ "`echo $1`" = "reload" ]; then
|
||||||
echo "Loading Firmware..."
|
echo "Loading Firmware..."
|
||||||
cp testpru0 /lib/firmware
|
cp rcinpru0 /lib/firmware
|
||||||
cp pwmpru1 /lib/firmware
|
cp pwmpru1 /lib/firmware
|
||||||
echo 0:testpru0,1:pwmpru1 > /sys/devices/ocp.3/4a300000.prurproc/load
|
echo 0:rcinpru0,1:pwmpru1 > /sys/devices/ocp.3/4a300000.prurproc/load
|
||||||
else
|
else
|
||||||
echo "Usage:"
|
echo "Usage:"
|
||||||
echo " ./startup.sh load : to load the capes and firmware"
|
echo " ./startup.sh load : to load the capes and firmware"
|
||||||
|
|||||||
Binary file not shown.
Loading…
Reference in New Issue
Block a user