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// 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 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
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