mirror of https://github.com/ArduPilot/ardupilot
120 lines
2.1 KiB
C
120 lines
2.1 KiB
C
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/* PRU_CTRL register set */
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typedef struct{
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/* PRU_CTRL_CONTROL register bit field */
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union {
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volatile uint32_t CTRL;
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volatile struct{
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unsigned SOFT_RST_N : 1;
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unsigned EN : 1;
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unsigned SLEEPING : 1;
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unsigned CTR_EN : 1;
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unsigned rsvd4 : 4;
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unsigned SINGLE_STEP : 1;
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unsigned rsvd9 : 6;
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unsigned RUNSTATE : 1;
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unsigned PCTR_RST_VAL : 16;
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} CONTROL_bit;
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} ; // 0x0
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/* PRU_CTRL_STATUS register bit field */
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union {
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volatile uint32_t STS;
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volatile struct{
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unsigned PCTR : 16;
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unsigned rsvd16 : 16;
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} STATUS_bit;
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} ; // 0x4
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/* PRU_CTRL_WAKEUP_EN register bit field */
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union {
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volatile uint32_t WAKEUP_EN;
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volatile struct{
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unsigned BITWISE_ENS : 32;
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} WAKEUP_EN_bit;
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} ; // 0x8
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/* PRU_CTRL_CYCLE register bit field */
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union {
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volatile uint32_t CYCLE;
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volatile struct{
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unsigned CYCLECOUNT : 32;
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} CYCLE_bit;
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} ; // 0xC
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/* PRU_CTRL_STALL register bit field */
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union {
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volatile uint32_t STALL;
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volatile struct{
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unsigned STALLCOUNT : 32;
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} STALL_bit;
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} ; // 0x10
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uint32_t rsvd14[3]; // 0x14 - 0x1C
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/* PRU_CTRL_CTBIR0 register bit field */
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union {
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volatile uint32_t CTBIR0;
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volatile struct{
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unsigned C24_BLK_IDX : 8;
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unsigned rsvd8 : 8;
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unsigned C25_BLK_IDX : 8;
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unsigned rsvd24 : 8;
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} CTBIR0_bit;
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} ; // 0x20
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/* PRU_CTRL_CTBIR1 register bit field */
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union {
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volatile uint32_t CTBIR1;
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volatile struct{
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unsigned C26_BLK_IDX : 8;
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unsigned rsvd8 : 8;
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unsigned C27_BLK_IDX : 8;
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unsigned rsvd24 : 8;
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} CTBIR1_bit;
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} ; // 0x24
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/* PRU_CTRL_CTPPR0 register bit field */
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union {
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volatile uint32_t CTPPR0;
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volatile struct{
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unsigned C28_BLK_POINTER : 16;
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unsigned C29_BLK_POINTER : 16;
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} CTPPR0_bit;
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} ; // 0x28
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/* PRU_CTRL_CTPPR1 register bit field */
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union {
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volatile uint32_t CTPPR1;
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volatile struct{
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unsigned C30_BLK_POINTER : 16;
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unsigned C31_BLK_POINTER : 16;
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} CTPPR1_bit;
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} ; // 0x2C
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} pruCtrl;
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/* Definition of control register structures. */
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#define PRU0_CTRL (*((volatile pruCtrl*)0x22000))
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#define PRU1_CTRL (*((volatile pruCtrl*)0x24000))
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