algo2cmds.h

//  PRUSS_MAGIC is in the reserved opcodes list, so there is
//  less chance of finding it by accident. It identifies valid
//  microcode for the BeagleBone. It should be located immediately
//  after the first instruction (that should be jump to code start).
//  UCODE_MAGIC identifies the application, in this case code for
//  the BeBoPr (2191) board.

#define PRUSS_MAGIC             0xbeb0c0de
#define UCODE_MAGIC             0xba512191

//  PRUSS code and C-code must have the same FW_VERSION to be compatible
#define FW_VERSION              3

#define NR_CMD_FIFO_ENTRIES	16

//
// The stepper code uses a 32-bit unsigned integer to keep track of position.
// This gives a usable range of a little more than 4000 mm.
// To split this range from -2000 .. +2000, set the virtual origin midscale:
//
#define VIRT_POS_MID_SCALE	0x80000000

#define	CMD_AXIS_SET_ORIGIN	0
#define CMD_AXIS_RAMP_UP	1
#define CMD_AXIS_DWELL		2
#define CMD_AXIS_RAMP_DOWN	3
#define CMD_AXES_EXECUTE	4
#define	CMD_AXIS_SET_ACCEL	5
#define	CMD_AXIS_SET_PULSE_LENGTH 6
#define	CMD_AXIS_CONFIG_AXIS	7
#define	CMD_AXIS_ADJUST_ORIGIN	8
#define CMD_AXIS_ADJUST_FOR_RAMP 9

#define CMD_SET_IDLE_TIMEOUT	11
#define CMD_SET_ENABLE		12

#define CMD_HALT_PRU		15