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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/Linux_HAL_Essentials/pru/rangefinderpru/pru_ctrl.h
Views: 1800
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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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