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https://github.com/andreili/klipper.git
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e8356afa26
Change the command dispatch and response generation so that most of the work is done on pru0 instead of pru1. This allows more code to fit into the limited space on pru1. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
77 lines
1.8 KiB
C
77 lines
1.8 KiB
C
#ifndef __PRU_INTERNAL_H
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#define __PRU_INTERNAL_H
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// Local definitions for PRU code
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#include <stdint.h> // uint32_t
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#define IEP_EVENT 7
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#define KICK_ARM_EVENT 16
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#define KICK_PRU0_FROM_ARM_EVENT 17
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#define KICK_PRU0_EVENT 18
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#define KICK_PRU1_EVENT 19
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#define WAKE_PRU0_IRQ 0
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#define WAKE_PRU1_IRQ 1
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#define WAKE_ARM_IRQ 2
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#define R31_IRQ_OFFSET 30
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#define R31_WRITE_IRQ_SELECT (1<<5)
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#define R31_WRITE_IRQ_OFFSET 16
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#define ALT_PRU_PTR(ptr) ((typeof(ptr))((uint32_t)(ptr) ^ 0x2000))
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// Layout of shared memory
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struct shared_mem {
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uint32_t signal;
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const struct command_parser *next_command;
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uint32_t next_command_args[16];
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uint32_t send_push_pos, send_pop_pos;
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struct {
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uint32_t count;
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char data[64];
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} send_data[4];
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const struct command_parser *command_index;
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uint32_t command_index_size;
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const struct command_parser *shutdown_handler;
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char read_data[512];
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};
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#define SIGNAL_PRU0_WAITING 0xefefefef
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#define SIGNAL_PRU1_READY 0xabababab
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#define SHARED_MEM ((struct shared_mem *)0x10000)
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// Hardware ADC registers
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struct beaglebone_adc {
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uint32_t pad_00[10];
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uint32_t irqstatus;
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uint32_t irqenable_set;
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uint32_t irqenable_clr;
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uint32_t irqwakeup;
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uint32_t dmaenable_set;
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uint32_t dmaenable_clr;
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uint32_t ctrl;
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uint32_t adcstat;
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uint32_t adcrange;
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uint32_t adc_clkdiv;
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uint32_t adc_misc;
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uint32_t stepenable;
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uint32_t idleconfig;
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uint32_t ts_charge_stepconfig;
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uint32_t ts_charge_delay;
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struct {
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uint32_t config;
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uint32_t delay;
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} step[16];
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uint32_t fifo0count;
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uint32_t pad_e8[6];
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uint32_t fifo0data;
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uint32_t pad_104[63];
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uint32_t fifo1data;
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};
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#define ADC ((struct beaglebone_adc *)0x44e0d000)
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#endif // internal.h
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