Am 335 X Pru Reference Guide

AM335x PRU-ICSS Reference Guide
Capabilities not supported by TI but "Community" support may be offered at BeagleBoard.org/discuss
Literature Number: SPRUHF8A May 2012 Revised June 2013
Contents
1 2
4 5
7 8
10
...................................................................................................................... 13 ................................................................................................................. 15 Integration ........................................................................................................................ 16 2.1 PRU-ICSS Connectivity Attributes ................................................................................... 17 2.2 PRU-ICSS Clock and Reset Management ......................................................................... 17 2.3 PRU-ICSS Pin List ..................................................................................................... 18 PRU-ICSS Register Overview .............................................................................................. 19 3.1 Local Memory Map .................................................................................................... 19 3.2 Global Memory Map ................................................................................................... 20 PRU-ICSS Internal Pinmux Overview .................................................................................... 21 PRU ................................................................................................................................. 23 5.1 Introduction ............................................................................................................. 23 5.2 Functional Description ................................................................................................. 25 5.3 Basic Programming Model ............................................................................................ 36 5.4 PRUSS_PRU_CTRL Registers ...................................................................................... 75 5.5 PRU_ICSS_PRU_DEBUG Registers ............................................................................... 85 Interrupt Controller .......................................................................................................... 152 6.1 Introduction ............................................................................................................ 152 6.2 Functional Description ............................................................................................... 153 6.3 Basic Programming Model .......................................................................................... 156 6.4 PRU_ICSS_INTC Registers ........................................................................................ 156 PRU-ICSS Interrupts ......................................................................................................... 222 Universal Asynchronous Receiver/Transmitter .................................................................... 224 8.1 Introduction ............................................................................................................ 224 8.2 Functional Description ............................................................................................... 226 8.3 Registers .............................................................................................................. 237 Industrial Ethernet Peripheral (IEP) .................................................................................... 256 9.1 Introduction ............................................................................................................ 256 9.2 Functional Description ............................................................................................... 256 9.3 PRU_ICSS_IEP Registers .......................................................................................... 256 CFG ................................................................................................................................ 272 10.1 PRU_ICSS_CFG Registers ......................................................................................... 272
Introduction
1.1 Features
SPRUHF8A May 2012 Revised June 2013
List of Figures
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 Block Diagram PRU-ICSS Internal Signal Muxing: pin_mux_sel[0] ................................................................... 21 PRU-ICSS Internal Signal Muxing: pin_mux_sel[1] ................................................................... 22 PRU-ICSS Integration..................................................................................................... 16
.............................................................................................................
14
PRU R31 (GPI) Direct Connection Mode Block Diagram ............................................................ 28
PRU Block Diagram ....................................................................................................... 24 PRU R31 (GPI) 16-Bit Parallel Capture Mode Block Diagram ...................................................... 28
PRU R31 (GPI) 28-Bit Shift Mode ....................................................................................... 29 PRU R30 (GPO) Direct Connection Mode Block Diagram ........................................................... 30 Integration of the PRU and MAC ........................................................................................ 32 Multiply-Only Mode Functional Diagram................................................................................ 33 Multiply and Accumulate Mode Functional Diagram .................................................................. 33 PRU Peripherals Mapped to PRU Transfer Bus PRU R30 (GPO) Shift Out Mode Block Diagram...................................................................... 30
...................................................................... 68 Possible Implementations of a 32-Byte Data Window Peripheral ................................................... 68 PRU Registers Mapped into Multiple Internal Device Registers .................................................... 69 CONTROL Register ....................................................................................................... 76 STATUS Register ......................................................................................................... 78 WAKEUP_EN Register ................................................................................................... 79 CYCLE Register ........................................................................................................... 80 STALL Register ............................................................................................................ 81 CTBIR0 Register........................................................................................................... 82 CTBIR1 Register........................................................................................................... 83 CTPPR0 Register ......................................................................................................... 84 CTPPR1 Register ......................................................................................................... 85 GPREG0 Register ......................................................................................................... 88 GPREG1 Register ......................................................................................................... 89 GPREG2 Register ......................................................................................................... 90 GPREG3 Register ......................................................................................................... 91 GPREG4 Register ......................................................................................................... 92 GPREG5 Register ......................................................................................................... 93 GPREG6 Register ......................................................................................................... 94 GPREG7 Register ......................................................................................................... 95 GPREG8 Register ......................................................................................................... 96 GPREG9 Register ......................................................................................................... 97 GPREG10 Register ....................................................................................................... 98 GPREG11 Register ....................................................................................................... 99 GPREG12 Register ...................................................................................................... 100 GPREG13 Register ...................................................................................................... 101 GPREG14 Register ...................................................................................................... 102 GPREG15 Register ...................................................................................................... 103 GPREG16 Register ...................................................................................................... 104 GPREG17 Register ...................................................................................................... 105 GPREG18 Register ...................................................................................................... 106 GPREG19 Register ...................................................................................................... 107 GPREG20 Register ...................................................................................................... 108
3
Integration of PRU and Scratch Pad .................................................................................... 34
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96
4
GPREG21 Register ...................................................................................................... 109 GPREG22 Register ...................................................................................................... 110 GPREG23 Register ...................................................................................................... 111 GPREG24 Register ...................................................................................................... 112 GPREG25 Register ...................................................................................................... 113 GPREG26 Register ...................................................................................................... 114 GPREG27 Register ...................................................................................................... 115 GPREG28 Register ...................................................................................................... 116 GPREG29 Register ...................................................................................................... 117 GPREG30 Register ...................................................................................................... 118 GPREG31 Register ...................................................................................................... 119 CT_REG0 Register ...................................................................................................... 120
CT_REG1 Register ...................................................................................................... 121 CT_REG2 Register ...................................................................................................... 122 CT_REG3 Register ...................................................................................................... 123 CT_REG4 Register ...................................................................................................... 124 CT_REG5 Register ...................................................................................................... 125 CT_REG6 Register ...................................................................................................... 126 CT_REG7 Register ...................................................................................................... 127 CT_REG8 Register ...................................................................................................... 128 CT_REG9 Register ...................................................................................................... 129 CT_REG10 Register ..................................................................................................... 130 CT_REG11 Register ..................................................................................................... 131 CT_REG12 Register ..................................................................................................... 132 CT_REG13 Register ..................................................................................................... 133 CT_REG14 Register ..................................................................................................... 134 CT_REG15 Register ..................................................................................................... 135 CT_REG16 Register ..................................................................................................... 136 CT_REG17 Register ..................................................................................................... 137 CT_REG18 Register ..................................................................................................... 138 CT_REG19 Register ..................................................................................................... 139 CT_REG20 Register ..................................................................................................... 140 CT_REG21 Register ..................................................................................................... 141 CT_REG22 Register ..................................................................................................... 142 CT_REG23 Register ..................................................................................................... 143 CT_REG24 Register ..................................................................................................... 144 CT_REG25 Register ..................................................................................................... 145 CT_REG26 Register ..................................................................................................... 146 CT_REG27 Register ..................................................................................................... 147 CT_REG28 Register ..................................................................................................... 148 CT_REG29 Register ..................................................................................................... 149 CT_REG30 Register ..................................................................................................... 150 CT_REG31 Register ..................................................................................................... 151
.................................................................................... Flow of System Interrupts to Host ..................................................................................... REVID Register .......................................................................................................... CR Register ............................................................................................................... GER Register ............................................................................................................. GNLR Register ...........................................................................................................
Interrupt Controller Block Diagram
153 154 159 160 161 162
97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145
SISR Register ............................................................................................................ 163 SICR Register ............................................................................................................ 164 EICR Register ............................................................................................................ 166 EISR Register ............................................................................................................ 165 HIEISR Register .......................................................................................................... 167 HIDISR Register 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211
5
......................................................................................................... GPIR Register ............................................................................................................ SRSR0 Register .......................................................................................................... SRSR1 Register .......................................................................................................... SECR0 Register .......................................................................................................... SECR1 Register .......................................................................................................... ESR0 Register............................................................................................................ ERS1 Register............................................................................................................ ECR0 Register ........................................................................................................... ECR1 Register ........................................................................................................... CMR0 Register ........................................................................................................... CMR1 Register ........................................................................................................... CMR2 Register ........................................................................................................... CMR3 Register ........................................................................................................... CMR4 Register ........................................................................................................... CMR5 Register ........................................................................................................... CMR6 Register ........................................................................................................... CMR7 Register ........................................................................................................... CMR8 Register ........................................................................................................... CMR9 Register ........................................................................................................... CMR10 Register ......................................................................................................... CMR11 Register ......................................................................................................... CMR12 Register ......................................................................................................... CMR13 Register ......................................................................................................... CMR14 Register ......................................................................................................... CMR15 Register ......................................................................................................... HMR0 Register ........................................................................................................... HMR1 Register ........................................................................................................... HMR2 Register ........................................................................................................... HIPIR0 Register .......................................................................................................... HIPIR1 Register .......................................................................................................... HIPIR2 Register .......................................................................................................... HIPIR3 Register .......................................................................................................... HIPIR4 Register .......................................................................................................... HIPIR5 Register .......................................................................................................... HIPIR6 Register .......................................................................................................... HIPIR7 Register .......................................................................................................... HIPIR8 Register .......................................................................................................... HIPIR9 Register .......................................................................................................... SIPR0 Register ........................................................................................................... SIPR1 Register ........................................................................................................... SITR0 Register ........................................................................................................... SITR1 Register ........................................................................................................... HINLR0 Register .........................................................................................................
146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194
6
HINLR2 Register ......................................................................................................... 213 HINLR3 Register ......................................................................................................... 214 HINLR4 Register ......................................................................................................... 215 HINLR5 Register ......................................................................................................... 216 HINLR6 Register ......................................................................................................... 217 HINLR7 Register ......................................................................................................... 218 HINLR8 Register ......................................................................................................... 219 HINLR9 Register ......................................................................................................... 220 HIER Register ............................................................................................................ 221 UART Block Diagram .................................................................................................... 225
HINLR1 Register ......................................................................................................... 212
..................................................................................... .................................................. UART Protocol Formats ................................................................................................. UART Interface Using Autoflow Diagram ............................................................................. Autoflow Functional Timing Waveforms for UARTn_RTS ......................................................... Autoflow Functional Timing Waveforms for UARTn_CTS ......................................................... UART Interrupt Request Enable Paths ............................................................................... Receiver Buffer Register (RBR) ........................................................................................ Transmitter Holding Register (THR) ................................................................................... Interrupt Enable Register (IER) ........................................................................................ Interrupt Identification Register (IIR)................................................................................... FIFO Control Register (FCR) ........................................................................................... Line Control Register (LCR) ............................................................................................ Modem Control Register (MCR) ....................................................................................... Line Status Register (LSR) ............................................................................................. Modem Status Register (MSR)......................................................................................... Scratch Pad Register (SCR)............................................................................................ Divisor LSB Latch (DLL) ................................................................................................ Divisor MSB Latch (DLH) ............................................................................................... Revision Identification Register 1 (REVID1) .......................................................................... Revision Identification Register 2 (REVID2) .......................................................................... Power and Emulation Management Register (PWREMU_MGMT) ................................................ Mode Definition Register (MDR) ....................................................................................... GLOBAL_CFG Register ................................................................................................. GLOBAL_STATUS Register ............................................................................................ COMPEN Register ....................................................................................................... COUNT Register ......................................................................................................... CMP_CFG Register ..................................................................................................... CMP_STATUS Register ................................................................................................ CMP0 Register ........................................................................................................... CMP1 Register ........................................................................................................... CMP2 Register ........................................................................................................... CMP3 Register ........................................................................................................... CMP4 Register ........................................................................................................... CMP5 Register ........................................................................................................... CMP6 Register ........................................................................................................... CMP7 Register ........................................................................................................... REVID Register ..........................................................................................................
UART Clock Generation Diagram Relationships Between Data Bit, BCLK, and UART Input Clock
226 227 229 232 233 233 235 238 239 240 241 243 244 246 247 250 251 252 252 253 253 254 255 258 259 260 261 262 263 264 265 266 267 268 269 270 271 273
195 196 197 198 199 200 201 202 203 204 205 206 207
GPCFG0 Register........................................................................................................ 275 GPCFG1 Register........................................................................................................ 277 CGR Register ............................................................................................................. 279 ISRP Register ............................................................................................................ 281 IESP Register ISP Register .............................................................................................................. 282 IECP Register ............................................................................................................ 284
SYSCFG Register........................................................................................................ 274
............................................................................................................
283
PMAO Register ........................................................................................................... 285 MII_RT Register .......................................................................................................... 286 IEPCLK Register ......................................................................................................... 287 PIN_MX Register......................................................................................................... 289 SPP Register ............................................................................................................. 288
List of Tables
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
8
PRU-ICSS Connectivity Attributes PRU-ICSS Pin List
PRU-ICSS Clock Signals ................................................................................................. 17 Local Instruction Memory Map ........................................................................................... 19 19 20 21 21 25 26 26 27 27 28 29 29 30 32 35 35 53 53 53 54 75 76 78 79 80 81 82 83 84 85 85 88 89 90 91 92 93 94 95 96 97 98 99
......................................................................................
17 18
........................................................................................................
................................................................................................. Global Memory Map....................................................................................................... PRU-ICSS Internal Signal Muxing: pin_mux_sel[0] ................................................................... PRU-ICSS Internal Signal Muxing: pin_mux_sel[1] ................................................................... PRU0/1 Constant Table .................................................................................................. Real-Time Status Interface Mapping (R31) Field Descriptions ...................................................... Event Interface Mapping (R31) Field Descriptions .................................................................... PRU 31 (GPI) Modes ..................................................................................................... GPI Mode Descriptions ................................................................................................... Effective Clock Values .................................................................................................... PRU R30 (GPO) Output Mode .......................................................................................... GPO Mode Descriptions .................................................................................................. Effective Clock Values .................................................................................................... MAC_CTRL_STATUS Register (R25) Field Descriptions............................................................ Scratch Pad XFR ID ...................................................................................................... Scratch Pad XFR Collision Conditions ................................................................................. Register Byte Mapping in Little Endian ................................................................................. SBBO Result for Little Endian Mode .................................................................................... First Byte Affected in Little Endian Mode ............................................................................... Register Addressing in Little Endian .................................................................................... PRUSS_PRU_CTRL REGISTERS...................................................................................... CONTROL Register Field Descriptions ................................................................................. STATUS Register Field Descriptions ................................................................................... WAKEUP_EN Register Field Descriptions ............................................................................. CYCLE Register Field Descriptions ..................................................................................... STALL Register Field Descriptions...................................................................................... CTBIR0 Register Field Descriptions .................................................................................... CTBIR1 Register Field Descriptions .................................................................................... CTPPR0 Register Field Descriptions ................................................................................... CTPPR1 Register Field Descriptions ................................................................................... PRU_ICSS_PRU_DEBUG REGISTERS ............................................................................... GPREG0 Register Field Descriptions................................................................................... GPREG1 Register Field Descriptions................................................................................... GPREG2 Register Field Descriptions................................................................................... GPREG3 Register Field Descriptions................................................................................... GPREG4 Register Field Descriptions................................................................................... GPREG5 Register Field Descriptions................................................................................... GPREG6 Register Field Descriptions................................................................................... GPREG7 Register Field Descriptions................................................................................... GPREG8 Register Field Descriptions................................................................................... GPREG9 Register Field Descriptions................................................................................... GPREG10 Register Field Descriptions ................................................................................. GPREG11 Register Field Descriptions .................................................................................
Local Data Memory Map
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96
GPREG12 Register Field Descriptions................................................................................ 100 GPREG13 Register Field Descriptions................................................................................ 101 GPREG14 Register Field Descriptions................................................................................ 102 GPREG15 Register Field Descriptions................................................................................ 103 GPREG16 Register Field Descriptions................................................................................ 104 GPREG17 Register Field Descriptions................................................................................ 105 GPREG18 Register Field Descriptions................................................................................ 106 GPREG19 Register Field Descriptions................................................................................ 107 GPREG20 Register Field Descriptions................................................................................ 108 GPREG21 Register Field Descriptions................................................................................ 109 GPREG22 Register Field Descriptions................................................................................ 110 GPREG23 Register Field Descriptions................................................................................ 111 GPREG24 Register Field Descriptions................................................................................ 112 GPREG25 Register Field Descriptions................................................................................ 113 GPREG26 Register Field Descriptions................................................................................ 114 GPREG27 Register Field Descriptions................................................................................ 115 GPREG28 Register Field Descriptions................................................................................ 116 GPREG29 Register Field Descriptions................................................................................ 117 GPREG30 Register Field Descriptions................................................................................ 118 GPREG31 Register Field Descriptions................................................................................ 119 CT_REG0 Register Field Descriptions ................................................................................ 120 CT_REG1 Register Field Descriptions ................................................................................ 121 CT_REG2 Register Field Descriptions ................................................................................ 122 CT_REG3 Register Field Descriptions ................................................................................ 123 CT_REG4 Register Field Descriptions ................................................................................ 124 CT_REG5 Register Field Descriptions ................................................................................ 125 CT_REG6 Register Field Descriptions ................................................................................ 126 CT_REG7 Register Field Descriptions ................................................................................ 127 CT_REG8 Register Field Descriptions ................................................................................ 128 CT_REG9 Register Field Descriptions ................................................................................ 129 CT_REG10 Register Field Descriptions 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148
9
.............................................................................. CT_REG11 Register Field Descriptions .............................................................................. CT_REG12 Register Field Descriptions .............................................................................. CT_REG13 Register Field Descriptions .............................................................................. CT_REG14 Register Field Descriptions .............................................................................. CT_REG15 Register Field Descriptions .............................................................................. CT_REG16 Register Field Descriptions .............................................................................. CT_REG17 Register Field Descriptions .............................................................................. CT_REG18 Register Field Descriptions .............................................................................. CT_REG19 Register Field Descriptions .............................................................................. CT_REG20 Register Field Descriptions .............................................................................. CT_REG21 Register Field Descriptions .............................................................................. CT_REG22 Register Field Descriptions .............................................................................. CT_REG23 Register Field Descriptions .............................................................................. CT_REG24 Register Field Descriptions .............................................................................. CT_REG25 Register Field Descriptions .............................................................................. CT_REG26 Register Field Descriptions .............................................................................. CT_REG27 Register Field Descriptions .............................................................................. CT_REG28 Register Field Descriptions ..............................................................................
97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145
10
.............................................................................. CT_REG30 Register Field Descriptions .............................................................................. CT_REG31 Register Field Descriptions .............................................................................. PRU_ICSS_INTC REGISTERS ........................................................................................ REVID Register Field Descriptions .................................................................................... CR Register Field Descriptions ........................................................................................ GER Register Field Descriptions ...................................................................................... GNLR Register Field Descriptions ..................................................................................... SISR Register Field Descriptions ...................................................................................... SICR Register Field Descriptions ...................................................................................... EISR Register Field Descriptions ...................................................................................... EICR Register Field Descriptions ...................................................................................... HIEISR Register Field Descriptions ................................................................................... HIDISR Register Field Descriptions ................................................................................... GPIR Register Field Descriptions ...................................................................................... SRSR0 Register Field Descriptions ................................................................................... SRSR1 Register Field Descriptions ................................................................................... SECR0 Register Field Descriptions ................................................................................... SECR1 Register Field Descriptions ................................................................................... ESR0 Register Field Descriptions ..................................................................................... ERS1 Register Field Descriptions ..................................................................................... ECR0 Register Field Descriptions ..................................................................................... ECR1 Register Field Descriptions ..................................................................................... CMR0 Register Field Descriptions ..................................................................................... CMR1 Register Field Descriptions ..................................................................................... CMR2 Register Field Descriptions ..................................................................................... CMR3 Register Field Descriptions ..................................................................................... CMR4 Register Field Descriptions ..................................................................................... CMR5 Register Field Descriptions ..................................................................................... CMR6 Register Field Descriptions ..................................................................................... CMR7 Register Field Descriptions ..................................................................................... CMR8 Register Field Descriptions ..................................................................................... CMR9 Register Field Descriptions ..................................................................................... CMR10 Register Field Descriptions ................................................................................... CMR11 Register Field Descriptions ................................................................................... CMR12 Register Field Descriptions ................................................................................... CMR13 Register Field Descriptions ................................................................................... CMR14 Register Field Descriptions ................................................................................... CMR15 Register Field Descriptions ................................................................................... HMR0 Register Field Descriptions ..................................................................................... HMR1 Register Field Descriptions ..................................................................................... HMR2 Register Field Descriptions ..................................................................................... HIPIR0 Register Field Descriptions .................................................................................... HIPIR1 Register Field Descriptions .................................................................................... HIPIR2 Register Field Descriptions .................................................................................... HIPIR3 Register Field Descriptions .................................................................................... HIPIR4 Register Field Descriptions .................................................................................... HIPIR5 Register Field Descriptions .................................................................................... HIPIR6 Register Field Descriptions ....................................................................................
CT_REG29 Register Field Descriptions
149 150 151 156 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203
146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194
HIPIR8 Register Field Descriptions .................................................................................... 205 HIPIR9 Register Field Descriptions .................................................................................... 206
HIPIR7 Register Field Descriptions .................................................................................... 204
.................................................................................... SIPR1 Register Field Descriptions .................................................................................... SITR0 Register Field Descriptions ..................................................................................... SITR1 Register Field Descriptions ..................................................................................... HINLR0 Register Field Descriptions ................................................................................... HINLR1 Register Field Descriptions ................................................................................... HINLR2 Register Field Descriptions ................................................................................... HINLR3 Register Field Descriptions ................................................................................... HINLR4 Register Field Descriptions ................................................................................... HINLR5 Register Field Descriptions ................................................................................... HINLR6 Register Field Descriptions ................................................................................... HINLR7 Register Field Descriptions ................................................................................... HINLR8 Register Field Descriptions ................................................................................... HINLR9 Register Field Descriptions ................................................................................... HIER Register Field Descriptions ...................................................................................... PRU-ICSS Interrupts .................................................................................................... Baud Rate Examples for 150-MHZ UART Input Clock and 16 Over-sampling Mode ......................... Baud Rate Examples for 150-MHZ UART Input Clock and 13 Over-sampling Mode ......................... UART Signal Descriptions .............................................................................................. Character Time for Word Lengths ..................................................................................... UART Interrupt Requests Descriptions ............................................................................... UART Registers .......................................................................................................... Receiver Buffer Register (RBR) Field Descriptions ................................................................. Transmitter Holding Register (THR) Field Descriptions............................................................. Interrupt Enable Register (IER) Field Descriptions .................................................................. Interrupt Identification Register (IIR) Field Descriptions ............................................................ Interrupt Identification and Interrupt Clearing Information .......................................................... FIFO Control Register (FCR) Field Descriptions .................................................................... Line Control Register (LCR) Field Descriptions ...................................................................... Relationship Between ST, EPS, and PEN Bits in LCR ............................................................. Number of STOP Bits Generated ...................................................................................... Modem Control Register (MCR) Field Descriptions ................................................................. Line Status Register (LSR) Field Descriptions ....................................................................... Modem Status Register (MSR) Field Descriptions .................................................................. Scratch Pad Register (MSR) Field Descriptions ..................................................................... Divisor LSB Latch (DLL) Field Descriptions .......................................................................... Divisor MSB Latch (DLH) Field Descriptions ......................................................................... Revision Identification Register 1 (REVID1) Field Descriptions ................................................... Revision Identification Register 2 (REVID2) Field Descriptions ................................................... Power and Emulation Management Register (PWREMU_MGMT) Field Descriptions ......................... Mode Definition Register (MDR) Field Descriptions ................................................................. PRU_ICSS_IEP REGISTERS .......................................................................................... GLOBAL_CFG Register Field Descriptions .......................................................................... GLOBAL_STATUS Register Field Descriptions ..................................................................... COMPEN Register Field Descriptions ................................................................................ COUNT Register Field Descriptions ...................................................................................
SIPR0 Register Field Descriptions
207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 227 227 228 231 235 237 238 239 240 241 242 243 244 245 245 246 247 250 251 252 252 253 253 254 255 256 258 259 260 261
11
195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219
CMP_STATUS Register Field Descriptions .......................................................................... 263
CMP_CFG Register Field Descriptions ............................................................................... 262
CMP0 Register Field Descriptions ..................................................................................... 264 CMP1 Register Field Descriptions ..................................................................................... 265 CMP2 Register Field Descriptions ..................................................................................... 266 CMP3 Register Field Descriptions ..................................................................................... 267 CMP4 Register Field Descriptions ..................................................................................... 268 CMP5 Register Field Descriptions ..................................................................................... 269 CMP6 Register Field Descriptions ..................................................................................... 270 CMP7 Register Field Descriptions ..................................................................................... 271
........................................................................................ REVID Register Field Descriptions .................................................................................... SYSCFG Register Field Descriptions ................................................................................. GPCFG0 Register Field Descriptions ................................................................................. GPCFG1 Register Field Descriptions ................................................................................. CGR Register Field Descriptions ...................................................................................... ISRP Register Field Descriptions ...................................................................................... ISP Register Field Descriptions ........................................................................................ IESP Register Field Descriptions ...................................................................................... IECP Register Field Descriptions ...................................................................................... PMAO Register Field Descriptions .................................................................................... MII_RT Register Field Descriptions ................................................................................... IEPCLK Register Field Descriptions ................................................................................... SPP Register Field Descriptions ....................................................................................... PIN_MX Register Field Descriptions ..................................................................................
PRU_ICSS_CFG REGISTERS
272 273 274 275 277 279 281 282 283 284 285 286 287 288 289
12
The hardware module(s) and the features described in this Reference Guide are not supported by Texas Instruments. "Community" support may be offered at BeagleBoard.org/discuss. The information contained in this Reference Guide is for informational purpose only and any use of the information contained herein is done so at the user's own risk. The Reference Guide, including the hardware module(s) and associated features, are provided "AS IS" and Texas Instruments disclaims all warranties, express or implied, including but not limited to any implied warranties of merchantability or fitness for a particular purpose.
Introduction
The Programmable Real-Time Unit and Industrial Communication Subsystem (PRU-ICSS) consists of dual 32-bit RISC cores (Programmable Real-Time Units, or PRUs), shared, data, and instruction memories, internal peripheral modules, and an interrupt controller (INTC). The programmable nature of the PRUs, along with their access to pins and events, provide flexibility in implementing custom peripheral interfaces, fast real-time responses, power saving techniques, specialized data handling and DMA operations, and in offloading tasks from the other processor cores of the system-on-chip (SoC). Figure 1 shows the PRU-ICSS details. The subsystem available on this device is the next-generation PRU (PRUSSv2). Compared to the previous generation available on AM1x and OMAP-L13x, this version includes the following enhancements: Additional data memory (8 KB compared with 512 B) and instruction memory (8 KB compared with 4 KB) 12 KB Shared RAM Enhanced GPIO (EGPIO), adding serial, parallel, and MII capture of the PRU input/output pins Scratch pad (SPAD) shared by the PRU cores Multiplier with optional accumulation (MAC) Internal peripheral modules (UART, eCAP, MII_RT, MDIO, and IEP) Similar to the previous generation, the PRUs have access to all resources on the SoC through the Interface/OCP master port, and the external host processors can access the PRU-ICSS resources through the Interface/OCP Master port. The Switched Central Resource (SCR) connects the various internal and external masters to the resources inside the PRU-ICSS. The INTC handles system input events and posts events back to the device-level host CPU. The PRU cores are programmed with a small, deterministic instruction set. Each PRU can operate independently or in coordination with each other and can also work in coordination with the device-level host CPU. This interaction between processors is determined by the nature of the firmware loaded into the PRUs instruction memory.
13
Introduction
Figure 1. Block Diagram

PRU-ICSS PRU0 Core (8KB Program) SPAD PRU1 Core (8KB Program) EGP MAC 32-Bit Interconnect Bus EGP MAC Data Mem0 (8KB) Data Mem1 (8KB) Shared RAM (12KB) eCAP0 MII0_RT IEP UART0 CFG
INTC
The subsystem available on this device is the next-generation PRU (PRUSSv2).
14
Introduction
1.1
Features
The PRU subsystem includes the following main features: Two PRUs each with: 8KB program memory 8KB data memory High Performance Interface/OCP Master port for accessing external memories Enhanced GPIO (EGPIO) with async capture and serial support Multiplier with optional accumulation (MAC) One scratch pad (SPAD) memory and broadside direct connect 3 Banks of 30 32-bit registers 12 KB general purpose shared memory One Interrupt Controller (INTC) Up to 64 input events supported Interrupt mapping to 10 interrupt channels 10 Host interrupts (2 to PRU0 and PRU1, 8 output to chip level) Each system event can be enabled and disabled Each host event can be enabled and disabled Hardware prioritization of events 16 software Events generation by 2 PRUs One Ethernet MII_RT module with two MII ports and configurable connections to PRUs* One MDIO Port* One Industrial Ethernet Peripheral (IEP) to manage/generate Industrial Ethernet functions One Industrial Ethernet timer with 10 capture* and eight compare events Two Industrial Ethernet sync signals* Two Industrial Ethernet 16-bit watchdog timers* Industrial Ethernet digital IOs* One 16550-compatible UART with a dedicated 192-MHz clock One Enhanced Capture Module (ECAP) Flexible power management support Integrated switched central resource (SCR) bus for connecting the various internal and external masters to the resources inside the PRU-ICSS Interface/OCP Slave port for external masters to access PRU-ICSS memories Optional address translation for PRU transaction to External Host All memories within the PRU-ICSS support parity
NOTE: * Module or feature is used by EtherCAT. For availability of EtherCAT and these features, see the device features in Chapter 1, Introduction, in the AM335x ARM CortexA8 Microprocessors (MPUs) Technical Reference Manual (literature number SPRUH73).
15
Integration
Integration
The device includes a programmable real-time unit subsystem (PRU-ICSS) consisting of two independent Programmable Real-time Units (PRUs). Each PRU is a 32-bit Load/Store RISC processor with dedicated memories. The PRU-ICSS integration is shown in Figure 2. Figure 2. PRU-ICSS Integration
pr1_mii_mt0_clk pr1_mii0_rxlink pr1_mii0_crs pr1_mii0_col pr1_mii0_rxer pr1_mii0_txen pr1_mii0_txd3 pr1_mii0_txd2 pr1_mii0_txd1 pr1_mii0_txd0 pr1_mii_mr0_clk pr1_mii0_rxdv pr1_mii0_rxd3 pr1_mii0_rxd2 pr1_mii0_rxd1 pr1_mii0_rxd0 pr1_mdio_data pr1_mdio_mdclk pr1_mii_mt1_clk pr1_mii1_rxlink pr1_mii1_crs pr1_mii1_col pr1_mii1_rxer pr1_mii1_txen pr1_mii1_txd3 pr1_mii1_txd2 pr1_mii1_txd1 pr1_mii1_txd0 pr1_mii_mr1_clk pr1_mii1_rxdv pr1_mii1_rxd3 pr1_mii1_rxd2 pr1_mii1_rxd1 pr1_mii1_rxd0 pr1_edio_sof pr1_edio_latch_in pr1_edio_data_in/out[7:0] pr1_edc_latch0_in pr1_edc_latch1_in pr1_edc_sync0_rxd pr1_edc_sync1_txd pr1_uart0_cts_n pr1_uart0_rts_n pr1_uart0_rxd pr1_uart0_txd pr1_ecap0_ecap_capin_apwm_o
PRU-ICSS
Async Bridge Interface/ OCP Slave port
L4 Fast
L3 Fast
OCP_HP0 (Interface/OCP Master port)
Async Bridge
PRU0 Core (8KB Program RAM)
MII_RT
Data RAM0 (8KB)

pr1_pru0_pru_r31[16:0] pr1_pru0_pru_r30[15:0]
Enhanced GPIO
MAC Scratch Pad 32-bit Interconnect SCR
Data RAM1 (8KB) Shared RAM (12KB)
PRCM
ocp_clk uart_clk iep_clk rst_main_arst_n
Clocks/Reset
CFG
Industrial Ethernet Peripheral (IEP)
L3 Fast
OCP_HP1 (Interface/OCP Master port)
Async Bridge
PRU1 Core (8KB Program RAM)
pr1_pru1_pru_r31[16:0] pr1_pru1_pru_r30[15:0] To Host ARM Interrupts To EDMA Events To TSC_ADC Event Events from Select Peripherals
Enhanced GPIO
MAC
UART0
INTC
eCAP
For the availability of all features, see the device features in Chapter 1, Introduction, in the AM335x ARM CortexA8 Microprocessors (MPUs) Technical Reference Manual (literature number SPRUH73).
16
Integration
2.1
PRU-ICSS Connectivity Attributes

The general connectivity attributes for the PRU subsystem are shown in Table 1. Table 1. PRU-ICSS Connectivity Attributes
Attributes Power Domain Clock Domain Type Peripheral Domain PD_PER_PRU_ICSS_OCP_GCLK (OCP clock) PD_PER_PRU_ICSS_IEP_GCLK (IEP clock) PD_PER_PRU_ICSS_UART_GCLK (UART clock) PRU_ICSS_LRST_N Standby Idle 8 Interrupts pr1_host_intr[7:1] (1) to MPU Subsystem pr1_host_intr[0] (1) to MPU Subsystem and TSC_ADC No dedicated DMA events but pr1_host_intr[7:6] (1) interrupt outputs also connected as DMA events L4 Fast Slave Port
Reset Signals Idle/Wakeup Signals Interrupt Requests
DMA Requests Physical Address

(1)
pr1_host_intr[0:7] corresponds to Host-2 to Host-9 of the PRU-ICSS interrupt controller.
2.2
PRU-ICSS Clock and Reset Management

The PRU-ICSS module uses the following functional and OCP interface clocks. Table 2. PRU-ICSS Clock Signals
Clock Signal l3_clk Interface Clock Max Freq 200 MHz Reference / Source CORE_CLKOUTM4 or Display PLL CLKOUT Comments pd_per_pru_icss_ocp_gclk from PRCM Clocks both L3 master and L4F slave pd_per_pru_icss_uart_gclk from PRCM UART Clock pd_per_pru_icss_iep_gclk from PRCM Industrial Ethernet Peripheral Clock
uart_clk Functional Clock iep_clk Functional Clock
192 MHz
PER_CLKOUTM2
200 MHz
CORE_CLKOUTM4
17
Integration
2.3
PRU-ICSS Pin List

The PRU-ICSS external interface signals are shown in Table 3. The PRU-ICSS has a large number of available I/O signals. Most of these are multiplexed with other functional signals at the chip level. Please refer to the device's System Reference Guide or datasheet for specific signal availability through pin muxing. Table 3. PRU-ICSS Pin List
Pin pr1_mii_mr0_clk pr1_mii0_rxdv pr1_mii0_rxd[3:0] pr1_mii0_rxlink pr1_mii0_rxer pr1_mii0_crs pr1_mii0_col pr1_mii_mt0_clk pr1_mii0_txen pr1_mii0_txd[3:0] pr1_mii_mr1_clk pr1_mii1_rxdv pr1_mii1_rxd[3:0] pr1_mii1_rxlink pr1_mii1_rxer pr1_mii1_crs pr1_mii1_col pr1_mii_mt1_clk pr1_mii1_txen pr1_mii1_txd[3:0] pr1_mdio_mdclk pr1_mdio_data pr1_edio_sof pr1_edio_latch_in pr1_edio_data_in[7:0] pr1_edio_data_out[7:0] pr1_edc_sync0_out pr1_edc_sync1_out pr1_edc_latch0_in pr1_edc_latch1_in pr1_uart0_cts_n pr1_uart0_rts_n pr1_uart0_rxd pr1_uart0_txd pr1_ecap0_ecap_capin_apwm_o pr1_pru0_pru_r30[15:0] pr1_pru0_pru_r31[16:0] pr1_pru1_pru_r30[15:0] pr1_pru1_pru_r31[16:0] Type I I I I I I I I O O I I I I I I I I O O O I/O O I I O O O I I I O I O IO O I O I Description MII0 Receive Clock MII0 Receive Data Valid MII0 Receive Data MII0 Receive Link MII0 Receive Data Error MII0 Carrier Sense MII0 Carrier Sense MII0 Transmit Clock MII0 Transmit Enable MII0 Transmit Data MII1 Receive Clock MII1 Receive Data Valid MII1 Receive Data MII1 Receive Link MII1 Receive Data Error MII1 Carrier Sense MII1 Carrier Sense MII1 Transmit Clock MII1 Transmit Enable MII1 Transmit Data MDIO Clk MDIO Data ECAT Digital I/O Start of Frame ECAT Digital I/O Latch In ECAT Digital I/O Data In ECAT Digital I/O Data Out ECAT Distributed Clock Sync Out ECAT Distributed Clock Sync Out ECAT Distributed Clock Latch In ECAT Distributed Clock Latch In UART Clear to Send UART Request to Send UART Receive Data UART Transmit Data Enhanced capture (ECAP) input or Auxiliary PWM out PRU0 Register R30 Outputs PRU0 Register R31 Inputs PRU1 Register R30 Outputs PRU1 Register R31 Inputs
18
PRU-ICSS Register Overview

The PRU-ICSS comprises various distinct addressable regions that are mapped to both a local and global memory map. The local memory maps are maps with respect to the PRU point of view. The global memory maps are maps with respect to the Host point of view, but can also be accessed by the PRUICSS.
3.1
Local Memory Map

The PRU-ICSS memory map is documented in Table 4 (Instruction Space) and in Table 5 (Data Space). Note that these two memory maps are implemented inside the PRU-ICSS and are local to the components of the PRU-ICSS.
3.1.1
Local Instruction Memory Map Each PRU has a dedicated 8KB of Instruction Memory which needs to be initialized by a Host processor before the PRU executes instructions. This region is only accessible to masters via the interface/ OCP slave port when the PRU is not running. Table 4. Local Instruction Memory Map
Start Address 0x0000_0000 PRU0 8KB IRAM PRU1 8KB IRAM
3.1.2
Local Data Memory Map The local data memory map in Table 5 allows each PRU core to access the PRU-ICSS addressable regions and the external hosts memory map. The PRU accesses the external Host memory map through the Interface/OCP Master port (System OCP_HP0/1) starting at address 0x0008_0000. By default, memory addresses between 0x0000_0000 0x0007_FFFF will correspond to the PRU-ICSS local address in Table 5. To access an address between 0x0000_00000x0007_FFFF of the external Host map, the address offset of 0x0008_0000 feature is enabled through the PMAO register of the PRU-ICSS CFG register space. Table 5. Local Data Memory Map
Start Address 0x0000_0000 0x0000_2000 0x0001_0000 0x0002_0000 0x0002_2000 0x0002_2400 0x0002_4000 0x0002_4400 0x0002_6000 0x0002_8000 0x0002_A000 0x0002_C000 0x0002_E000 0x0003_0000 0x0003_2000 0x0003_2400 0x0003_4000
(1)
PRU0 Data 8KB RAM 0 Data 8KB RAM 1 INTC PRU0 Control Registers Reserved PRU1 Control Reserved CFG UART 0 Reserved Reserved IEP eCAP 0 MII_RT_CFG MII_MDIO Reserved
(1) (1)
PRU1 Data 8KB RAM 1 (1) Data 8KB RAM 0 (1) Data 12KB RAM2 (Shared) INTC PRU0 Control Registers Reserved PRU1 Control Reserved CFG UART 0 Reserved Reserved IEP eCAP 0 MII_RT_CFG MII_MDIO Reserved
Data 12KB RAM2 (Shared)
When PRU0 accesses Data RAM0 at address 0x00000000, PRU1 also accesses Data RAM1 at address 0x00000000. Data RAM0 is intended to be the primary data memory for PRU0 and Data RAM1 for PRU1. However, for passing information between PRUs, each PRU can access the data ram of the other PRU at address 0x0001_0000. 19
Table 5. Local Data Memory Map (continued)

Start Address 0x0003_8000 0x0004_0000 0x0008_0000 PRU0 Reserved Reserved System OCP_HP0 PRU1 Reserved Reserved System OCP_HP1
3.2
Global Memory Map

The global view of the PRU-ICSS internal memories and control ports is shown in Table 6. The offset addresses of each region are implemented inside the PRU-ICSS but the global device memory mapping places the PRU-ICSS slave port in the address range shown in the external Host top-level memory map. The global memory map is with respect to the Host point of view, but it can also be accessed by the PRUICSS. Note that PRU0 and PRU1 can use either the local or global addresses to access their internal memories, but using the local addresses will provide access time several cycles faster than using the global addresses. This is because when accessing via the global address the access needs to be routed through the switch fabric outside PRU-ICSS and back in through the PRU-ICSS slave port. Each of the PRUs can access the rest of the device memory (including memory mapped peripheral and configuration registers) using the global memory space addresses. See Table 6, Memory Map, for base addresses of each module in the device. Table 6. Global Memory Map
Offset Address 0x0000_0000 0x0000_2000 0x0001_0000 0x0002_0000 0x0002_2000 0x0002_2400 0x0002_4000 0x0002_4400 0x0002_6000 0x0002_8000 0x0002_A000 0x0002_C000 0x0002_E000 0x0003_0000 0x0003_2000 0x0003_2400 0x0003_4000 0x0003_8000 0x0004_0000 PRU-ICSS Data 8KB RAM 0 Data 8KB RAM 1 Data 12KB RAM 2 (Shared) INTC PRU0 Control PRU0 Debug PRU1 Control PRU1 Debug CFG UART 0 Reserved Reserved IEP eCAP 0 MII_RT_CFG MII_MDIO PRU0 8KB IRAM PRU1 8KB IRAM Reserved
20
PRU-ICSS Internal Pinmux Overview

The PRU-ICSS supports an internal pinmux selection option that expands the device-level pinmuxing. The internal pinmuxing is programmable through the PIN_MX register of the PRU-ICSS CFG register space. The pin_mux_sel[0] determines the external signals routed to the internal input signals, mii0_rxd[3:0]. The pin_mux_sel[1] determines the internal output signals routed to the external signals, pr1_pru0_pru_r30[13:8], and the external signals routed to the internal input signals, pru0_r30[5:0]. Note: pin_mux_sel[x] = 0 is always the standard pin mapping (default). Table 7. PRU-ICSS Internal Signal Muxing: pin_mux_sel[0]
pin_mux_sel[0] = 1 Internal PRU-ICSS Signal Name mii0_rxd[3:0] pr1_pru1_pru_r31[11:8] pin_mux_sel[0] = 0 External Chip Level Signal Name pr1_mii0_rxd[3:0]
Figure 3. PRU-ICSS Internal Signal Muxing: pin_mux_sel[0]

pr1_mii0_rxd[3:0] 0
PRU-ICSS
mii0_rxd[3:0]
pr1_pru1_pru_r31[11:8] 1
pin_mux_sel[0]
pru1_r31[11:8]
Table 8. PRU-ICSS Internal Signal Muxing: pin_mux_sel[1]

pin_mux_sel[1] = 1 External Chip Level Signal Name pr1_pru0_pru_r30[13:8] Internal PRU-ICSS Signal Name pru1_r31[5:0] pr1_pru0_pru_r31[13:8] pru1_r30[5:0] pin_mux_sel[1] = 0 Internal PRU-ICSS Signal Name pru0_r30[13:8] External Chip Level Signal Name pr1_pru1_pru_r31[5:0]
21
Figure 4. PRU-ICSS Internal Signal Muxing: pin_mux_sel[1]

PRU-ICSS pr1_pru1_pru_r30[5:0]
pru1_r30[5:0] 1
pr1_pru0_pru_r30[13:8]
pru0_r30[13:8] 0
pin_mux_sel[1]
pr1_pru1_pru_r31[5:0] 0
pru1_r31[5:0]
pr1_pru0_pru_r31[13:8] 1
pin_mux_sel[1] pru0_r31[13:8]
22
PRU
5 5.1
PRU Introduction
The PRU is a processor optimized for performing embedded tasks that require manipulation of packed memory mapped data structures, handling of system events that have tight real-time constraints and interfacing with systems external to the SoC. The PRU is both very small and very efficient at handling such tasks. The major attributes of the PRU are as follows.
Attribute IO Architecture Data Flow Architecture Core Level Bus Architecture Type Instruction I/F Memory I/F 0 Memory I/F 1 Execution Model Issue Type Pipelining Ordering ALU Type Registers General Purpose (GP) External Status GP / Indexing Addressability in Instruction Addressing Modes Load Immediate Load / Store Memory 16-bit Immediate Register Base + Register Offset Register Base + 8-bit Immediate Offset Register Base with auto increment / decrement Constant Table Base + Register Offset Constant Table Base + 8-bit Immediate Offset Constant Table Base with auto increment / decrement Data Path Width Instruction Width Accessibility to Internal PRU Structures 32-Bits 32-Bits Provides 32-bit slave with three regions: Instruction RAM Control / Status registers Debug access to internal registers (R0-R31) and constant table 29 (R1 R30) 1 (R31) 1 (R0) Bit, Byte (8-bit), Halfword (16-bit), Word (32-bit), Pointer Scalar None (Purposefully) In Order Unsigned Integer 4-Bus Harvard (1 Instruction, 3 Data) 32-Bit 32-Bit 32-Bit Value Load / Store Register to Register
23
PRU
The processor is based on a four-bus architecture which allows instructions to be fetched and executed concurrently with data transfers. In addition, an input is provided in order to allow external status information to be reflected in the internal processor status register. Figure 5 shows a block diagram of the processing element and the associated instruction RAM/ROM that contains the code that is to be executed. Figure 5. PRU Block Diagram
Op4 i_data[31:0] Instruction RAM/ROM (Clocked) i_addr[31:0]
iram_XXX
R0 R0 op1 Mux R1 ... R30 R31 R0 op2 Mux R1 ... R30 R31 R29 R0 op3 Mux R30 R1 ... R30 R31
Decode and Control Output Shifter Shift/Mask Program Counter ALU Data Path
R1
R2 Destination Selector
const_base_sel[4:0] Constants I/F Constants Table const_base[31:0]
...
Shift/Mask
Shift/Mask
Memory I/F
mem0_XXX mem1_XXX
R31(Status)
Coprocessor I/F Register File Output Multiplexers events_out[31:0] Execution Unit PRU Core PRU
regs_XXX
R31(Event)
status_in[31:0]
24
PRU
5.2
Functional Description
This section describes the supported functionality of the PRU by describing the constant table, module interface and enhanced GPIOs.
5.2.1
Constant Table The PRU Constants Table is a structure connected to a dedicated interface on the PRU core within the PRU that is used to provide the base address for the Load Burst Constant + Offset (LBCO) and Store Burst Constant + Offset (SBCO). The PRU constants table is provided in order to maximize the usage of the PRU register file for embedded processing applications by moving many of the commonly used constant or deterministically calculated base addresses from the internal register file to an external table. Since this table is accessed using a dedicated interface, no performance difference is realized between the LBCO and LBBO or SBCO and SBBO instructions. Table 9. PRU0/1 Constant Table
Entry No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Region Pointed To PRU0/1 Local INTC DMTIMER2 I2C1 eCAP (local) PRU-ICSS CFG (local) MMCHS 0 MCSPI 0 UART 0(local) McASP0 DMA GEMAC Reserved UART1 UART2 Reserved DCAN0 DCAN1 MCSPI 1 I2C2 eHRPWM1/eCAP1/eQEP1 eHRPWM2/eCAP2/ePWM2 eHRPWM3/eCAP3/ePWM3 MDIO (local) Mailbox 0 Spinlock PRU0/1 Local Data PRU1/0 Local Data IEP (local) MII_RT (local) Shared PRU RAM (local) TPCC L3 OCMC0 EMIF0 DDR Base Value [31:0] 0x0002_0000 0x4804_0000 0x4802_A000 0x0003_0000 0x0002_6000 0x4806_0000 0x4803_0000 0x0002_8000 0x4600_0000 0x4A10_0000 0x4831_8000 0x4802_2000 0x4802_4000 0x4831_0000 0x481C_C000 0x481D_0000 0x481A_0000 0x4819_C000 0x4830_0000 0x4830_2000 0x4830_4000 0x0003_2400 0x480C_8000 0x480C_A000 0x0000_0n00, n = c24_blk_index[3:0] 0x0000_2n00, n = c25_blk_index[3:0] 0x0002_En00, n = c26_blk_index[3:0] 0x0003_2n00, n = c27_blk_index[3:0] 0x00nn_nn00, nnnn = c28_pointer[15:0] 0x49nn_nn00, nnnn = c29_pointer[15:0] 0x40nn_nn00, nnnn = c30_pointer[15:0] 0x80nn_nn00, nnnn = c31_pointer[15:0]
25
PRU
NOTE: Constants not in this table can be created on the fly by two consecutive LDI #16 instructions. These constants are just ones that are expected to be commonly used, enough so to be hard-coded in the PRU constants table. Constants entries 2431 are not fully hardcoded. They contain a programmable bit field (e.g., c24_blk_index[3:0]) that is programmable through the PRU control register space.
5.2.2
PRU Module Interface The PRU module interface consists of the PRU internal registers 30 and 31 (R30 and R31). The register R31 serves as an interface with the dedicated PRU general purpose input (GPI) pins and INTC. Reading R31 returns status information from the GPI pins and INTC via the PRU Real Time Status Interface. Writing to R31generates PRU system events via the PRU Event Interface. The register R30 serves as an interface with the dedicated PRU general purpose output (GPO) pins.
5.2.2.1
Real-Time Status Interface Mapping (R31): Interrupt Events Input
The PRU Real Time Status Interface directly feeds information into register 31 (R31) of the PRUs internal register file. The firmware on the PRU uses the status information to make decisions during execution. The status interface is comprised of signals from different modules inside of the PRU-ICSS which require some level of interaction with the PRU. More details on the Host interrupts imported into bit 30 and 31 of register R31 of both the PRUs is provided in Section 6, Interrupt Controller. Table 10. Real-Time Status Interface Mapping (R31) Field Descriptions
Bit 31 30 29-0 Field pru_intr_in[1] pru_intr_in[0] pru<n>_r31_statu s[29:0] Value Description PRU Interrupt 1 from local INTC PRU Interrupt 0 from local INTC Status inputs from primary input via Enhanced GPI port
5.2.2.2
Event Interface Mapping (R31): PRU System Events
This PRU Event Interface directly feeds pulsed event information out of the PRUs internal ALU. These events are exported out of the PRU-ICSS and need to be connected to the system interrupt controller at the SoC level. The event interface can be used by the firmware to create software interrupts from the PRU to the Host processor. Table 11. Event Interface Mapping (R31) Field Descriptions
Bit 31-6 5 4 3-0 Field Reserved pru<n>_r31_vec_ valid Reserved pru<n>_r31_vec[3 :0] Vector output Valid strobe for vector output Value Description
Writing a 1 to pru<n>_r31_vec_valid (R31 bit 5) simultaneously with a channel number from 0 to 16 written to pru<n>_r31_vec[3:0] (R31 bits 3:0) creates a pulse on the output of the appropriate demultiplexer output. For example, writing 100000 will generate a pulse on demux channel 0, writing 100001 will generate a pulse on demux channel 1, and so on to where writing 101111 will generate a pulse on demux channel 15 and writing 0xxxxx will not generate any pulse on the demux output. The demultiplexed values from both PRU are ORed together. The composite demultiplexed output channels 015 are connected to system interrupts 1631, respectively.
26
PRU
This allows the PRU to assert one of the system interrupts 16-31 by writing to its own R31 register. The system interrupt is used to either post a completion event to one of the host CPUs (ARM) or to signal the other PRU. The host to be signaled is determined by the system interrupt to interrupt channel mapping (programmable). The 16 events are named as pr<0/1>_pru_mst_intr<15:0>_intr_req. See the PRU-ICSS Interrupt Controller (INTC) for more details. 5.2.2.3 General-Purpose Inputs (R31): Enhanced PRU GP Module
The PRU-ICSS implements an enhanced General Purpose Input Output (GPIO) module that supports direct connection, 16-bit parallel capture, 28-bit serial shift, and MII_RT modes for general purpose inputs. Register R31 serves as an interface with the general purpose inputs. Table 12 describes the four input modes in detail. Table 12. PRU 31 (GPI) Modes
Mode Direct connection 16-bit parallel capture Function PRU<n>_DATAIN (pru<n>_r31_status [16:0]) feeds directly into the PRU PRU<n>_DATAIN (pru<n>_r31_status [15:0]) is captured by posedge of PRU<n>_CLOCK (pru<n>_r31_status [16]) or the negedge of PRU<n>_CLOCK Configuration Default state Enabled by CFG
28-bit shift
PRU<n>_DATAIN (pru<n>_r31_status [0]) Enabled by CFG is sampled and shifted into a 28-bit shift Start Bit (SB) is cleared by CFG register. Cnt_16 is cleared by CFG Shift Counter (Cnt_16) feature uses pru<n>_r31_status [28]. Start Bit detection (SB) feature uses pru<n>_r31_status [29]. mii_rt_r31_status [29:0] internally driven by the MII_RT module Enabled by CFG
MII_RT
Only one GPI mode is active at a time. Each mode uses the same R31 signals and internal register bits for different purposes. A summary of the naming convention for each mode and corresponding signal names and aliases are found in the following table Table 13. GPI Mode Descriptions
Function Data input Data input Clock Data input Shift counter Start bit detection Alias Direct Mode PRU<n>_DATAIN Parallel Capture Mode PRU<n>_DATAIN PRU<n>_CLOCK Shift Mode PRU<n>_DATAIN PRU<n>_CNT_16 PRU<n>_GPI_SB pru<n>_r31_status[0] pru<n>_r31_status[28] pru<n>_r31_status[29] pru<n>_r31_status[15:0] pru<n>_r31_status[16] pru<n>_r31_status[16:0] Internal Signal Name
5.2.2.3.1
Direct Connection
The pru<n>_r31_status [16:0] (PRU<n>_DATAIN) signals are mapped out of the PRU-ICSS and are brought out as general purpose input pins. Each PRU of the PRU-ICSS has a separate mapping to pins so that there are 34 total general purpose inputs to the PRU-ICSS. See the device's system reference guide or datasheet for device specific pin mapping.
27
PRU
Figure 6. PRU R31 (GPI) Direct Connection Mode Block Diagram

PRU<n>_R31 0 1 15 16
PR1_PRU<n>_PRU_R31[16:0]
PRU<n>DATAIN 17
5.2.2.3.2
16-Bit Parallel Capture
The pru<n>_r31_status [16:0] are mapped out of the PRU-ICSS and are brought out as general-purpose input pins. The pru<n>_r31_status [16] (PRU<n>_CLOCK) is designated for an external strobe clock and is used to capture pru<n>_r31_status [15:0] (PRU<n>_DATAIN). The PRU<n>_DATAIN can be captured either by the positive or the negative edge of PRU<n>_CLOCK, programmable through the PRU-ICSS CFG register space. If the clocking is configured through the PRU-ICSS CFG register to be positive, then it will equal PRU<n>_CLOCK. However, if the clocking is configured to be negative, then it will equal PRU<n>_CLOCK inverted. Figure 7. PRU R31 (GPI) 16-Bit Parallel Capture Mode Block Diagram
PRU<n>_R31 PR1_PRU<n>_PRU_R31[15:0] PR1_PRU<n>_PRU_R31[16] PRU<n>DATAIN PRU<n>CLOCK 200 MHz Sync Flop 16 0 1 14 15 16
200 MHz 200 MHz Sync Flop Sync Flop
5.2.2.3.3
28-Bit Shift
The pru<n>_r31_status [0] (PRU<n>_DATAIN) is sampled and shifted into a 28-bit shift register on an internal clock pulse. The register fills in LSB order (from bit 0 to 27) and then overflows into a bit bucket. The 28-bit register can be cleared in software through the PRU-ICSS CFG register space. The shift rate is controlled by the effective divisor of two cascaded dividers applied to the 200-MHz clock. These cascaded dividers can each be configured through the PRU-ICSS CFG register space to a value of {1, 1.5, , 16}. Table 14 shows sample effective clock values and the divisor values that can be used to generate these clocks. Table 14. Effective Clock Values
Generated clock 8-MHz 10-MHz 16-MHz 20-MHz 28 PRU<n>_GPI_DIV0 12.5 (0x15) 10 (0x10) 16 (0x1e) 10 (0x10) PRU<n>_GPI_DIV1 2 (0x02) 2 (0x02) 1 (0x00) 1 (0x00) SPRUHF8A May 2012 Revised June 2013
PRU
The 28-bit shift mode also supports the following features: Start Bit (PRU<n>_GPI_SB or pru<n>_r31_status [29]) is set when the first 1 is captured on PRUn_DATAIN. PRUn_GPI_SB is cleared in software through the PRU-ICSS CFG register space. Cnt_16 (PRU<n>_CNT_16 or pru<n>_r31_status [28]) is set on every 16 shift clock samples after the Start Bit has been received. PRU<n>_CNT_16 is self clearing and is connected to the PRU-ICSS INTC. See the PRU-ICSS Interrupt Controller (INTC) section for more details. Figure 8. PRU R31 (GPI) 28-Bit Shift Mode
PRU<n>_R31 PR1_PRU<n>_PRU_R31[0] PRU<n>DATAIN 27 28-bit shift register 0 27 28 (Cnt_16) 29 (GPI_SB) Bit Bucket Bit 0 Bit 27
200 MHz
PRU<n> GPO_DIV0
PRU<n> GPO_DIV1
5.2.2.3.4
General-Purpose Outputs (R30): Enhanced PRU GP Module
The PRU-ICSS implements an enhanced General Purpose Input Output (GPIO) module that supports direct connection and shift out modes for general purpose outputs. Table 15 describes these modes in detail. Table 15. PRU R30 (GPO) Output Mode
Mode Direct connection Shift out Function PRU<n>_DATAOUT (pru<n>_r30 [15:0]) feeds directly out of the PRU PRU<n>_DATAOUT (pru<n>r30 [0]) is shifted out on every rising edge of PRU<n>_CLOCK (pru<n>r30 [1]) Configuration Default state Enabled by CFG
Only one GPO mode is active at a time. Each mode uses the same R30 signals and internal register bits for different purposes. A summary of the naming convention for each mode and corresponding signal names and aliases are found in the following table. Table 16. GPO Mode Descriptions
Function Data output Data output Clock Load gpo_sh0 Load gpo_sh1 Enable shift SPRUHF8A May 2012 Revised June 2013 Alias Direct Mode PRU<n>_DATAOUT Shift Mode PRU<n>_DATAOUT PRU<n>_CLOCK PRU<n>_LOAD_GPO_SH0 PRU<n>_LOAD_GPO_SH1 PRU<n>_ENABLE_SHIFT pru<n>_r30 [0] pru<n>_r30 [1] pru<n>_r30 [29] pru<n>_r30 [30] pru<n>_r30 [31] 29 pru<n>_r30 [15:0] Internal Signal Name
PRU
5.2.2.3.4.1 Direct Connction The pru<n>_r30 [15:0] (PRU<n>_DATAOUT) bits are exported out of the PRU-ICSS and are brought out as general purpose output pins. Each PRU of the PRU-ICSS has a separate mapping to pins, so that there are 32 total general-purpose outputs from the PRU-ICSS. See the device's system reference guide or datasheet for device-specific pin mapping. Figure 9. PRU R30 (GPO) Direct Connection Mode Block Diagram
PRU<n>_R30 0 1 15
PRU<n>DATAOUT 16
PR1_PRU<n>_PRU_R30[15:0]
5.2.2.3.4.2 Shift Out In shift out mode, data is shifted out of pru<n>_r30[0] (PRU<n>_DATAOUT) on every rising edge of pru<n>_r30[1] (PRU<n>_CLOCK). The shift rate is controlled by the effective divisor of two cascaded dividers applied to the 200-MHz clock. These cascaded dividers can each be configured through the PRUICSS CFG register space to a value of {1, 1.5, , 16}. Table 17 shows sample effective clock values and the divisor values that can be used to generate these clocks. Table 17. Effective Clock Values
Generated Clock 8 MHz 10 MHz 16 MHz 20 MHz PRU<n>_GPO_DIV0 12.5 (0x15) 10 (0x10) 16 (0x1e) 10 (0x10) PRU<n>_GPO_DIV1 2 (0x02) 2 (0x02) 1 (0x00) 1 (0x00)
Shift out mode uses two 16-bit shadow registers (gpo_sh0 and gpo_sh1) to support ping-pong buffers. Each shadow register has independent load controls programmable through pru<n>_r30[29:30] (PRU<n>_LOAD_GPO_SH [0:1]). The data shift will start from gpo_sh0 when pru<n>_r30[31] (PRU<n>_ENABLE_SHIFT) is set. Note that if no new data is loaded into gpo_shn<n> after shift operation, the shift operation will continue looping and shifting out the pre-loaded data. The shift operation will stop and reset when PRU<n>_ENABLE_SHIFT is cleared. Figure 10. PRU R30 (GPO) Shift Out Mode Block Diagram
GP_SH0 16 PRU<n>_R30
0 1 15 29 (gp_sh0_load) 30 (gp_sh1_load) 31 (enable_shift)
16
16 GP_SH1 16 16
PRU<n>DATAOUT
PR1_PRU<n>_PRU_R30[0]
PRU<n>CLOCK 200 MHz

PRU<n> GPO_DIV0 PRU<n> GPO_DIV1
PR1_PRU<n>_PRU_R30[1]
30
PRU
Follow these steps to use the GPO shift out mode: Initialization: Load 16-bits of data into gpo_sh0 Set R30[29] = 1 (PRU<n>_LOAD_GPO_SH0) Load data in R30[15:0] Clear R30[29] to turn off load controller Load 16-bits of data into gpo_sh1 Set R30[30] = 1 (PRU<n>_LOAD_GPO_SH1) Load data in R30[15:0] Clear R30[30] to turn off load controller Start shift operation Set R30[31] = 1 (PRU<n>_ENABLE_SHIFT) Shift Loop: Monitor when a shadow register has finished shifting out data and can be loaded with new data Poll PRU<n>_GPI_SH_SEL bit of the GPCFG<n> register Load new 16-bits of data into gpo_sh0 if PRU<n>_GPI_SH_SEL = 1 Load new 16-bits of data into gpo_sh1 if PRU<n>_GPI_SH_SEL = 0 If more data to be shifted out, loop to Shift Loop If no more data, exit loop Exit: End shift operation Clear R30[31] to turn off shift operation
NOTE: Until the shift operation is disabled, the shift loop will continue looping and shifting out the pre-loaded data if no new data has been loaded into gpo_sh<n>.
5.2.3
Multiplier With Optional Accumulation Each PRU core has a designated multiplier with optional accumulation (MAC). The MAC has two modes of operation: Multiply Only or Multiply and Accumulate. The MAC is directly connected with the PRU internal registers R25R29 and uses the broadside load/store PRU interface and XFR instructions to both control the mode of the MAC and import the multiplication results into the PRU.
5.2.3.1
Features Configurable Multiply Only and Multiply and Accumulate functionality via PRU register R25 32-bit operands with direct connection to PRU registers R29 and R28 64-bit result (with carry flag) with direct connection to PRU registers R26 and R27 PRU broadside interface and XFR instructions (XIN, XOUT) allow for importing multiplication results and initiating accumulate function PRU and MAC Interface
5.2.3.2
The MAC directly connects with the PRU internal registers R25R29 through use of the PRU broadside interface and XFR instructions. Figure 11 shows the functionality of each register.
31
PRU
Figure 11. Integration of the PRU and MAC

Function Bit [0] loads current state of MAC_mode [1] loads the current state of ACC_carry Lower 32 bit product PRU XIN R25 MAC mode /status R26 R26 Lower product R27 R27 Upper product R28 R28 Operand R29 R29 Operand Auto-sampled or XOUT Auto-sampled or XOUT 32 operands: sampled every clock in multiply mode or sampled every XOUT in multiply and accumulate mode XOUT Function Bit [0] Loads MAC_mode, if set to 1, the MAC will perform one multiply and accumulate function. [1] write 1 clears ACC_carry
XIN
Upper 32 bit product
XIN
MAC XFR device ID for MAC = 0
The XFR instructions (XIN and XOUT) are used to load/store register contents between the PRU core and the MAC. These instructions define the start, size, direction of the operation, and device ID. The device ID number corresponding to the MAC is 0. The PRU register R25 is mapped to the MAC_CTRL_STATUS register (Table 18). The MACs current status (MAC_mode and ACC_carry states) is loaded into R25 using the XIN command on R25. The PRU sets the MACs mode and clears the ACC_carry using the XOUT command on R25. Table 18. MAC_CTRL_STATUS Register (R25) Field Descriptions
Bit 7-2 1 Field Reserved ACC_carry 0 1 0 MAC_mode 0 1 Value Description Reserved Write 1 to clear 64-bit accumulator carry has not occurred 64-bit accumulator carry occurred Accumulation mode disabled and accumulator is cleared Accumulation mode enabled
The two 32-bit operands for the multiplication are loaded into R28 and R29. These registers have a direction connection with the MAC. Therefore, XOUT is not required to load the MAC. In multiply mode, the MAC samples these registers every clock cycle. In multiply and accumulate mode, the MAC samples these registers every XOUT R25[7:0] transaction when MAC_mode = 1. The product from the MAC is linked to R26 (lower 32 bits) and R27 (upper 32 bits). The product is loaded into register R26 and R27 using XIN. 5.2.3.2.1 Multiply-Only Mode (Default State), MAC_mode = 0
On every clock cycle, the MAC multiplies the contents of R28 and R29.
32
PRU
Figure 12. Multiply-Only Mode Functional Diagram

R28 X 32-bit operand 32-bit operand R29 = Upper 32-bit product Lower 32-bit operand R27 R26
: Multiply mode sampled every clock cycle MAC
XIN
The following steps are performed by the PRU firmware for multiply-only mode: 1. Enable multiply only MAC_mode. Clear R25[0] for multiply only mode. Store MAC_mode to MAC using XOUT instruction on R25. For example: XOUT 0, R25, 1. 2. Load operands into R29 and R28. 3. Load product into PRU using XIN instruction on R27, R26. Repeat steps 2 and 3 for each new operand. 5.2.3.2.2 Multiply and Accumulate Mode, MAC_mode = 1
On every XOUT R25_reg[7:0] transaction, the MAC multiplies the contents of R28 and R29, adds the product to its accumulated result, and sets ACC_carry if an accumulation overflow occurs. Figure 13. Multiply and Accumulate Mode Functional Diagram
R28 X 32-bit operand 32-bit operand R29 = Upper 32-bit product Lower 32-bit operand R27 R26
Multiply and Accumulate mode : sampled every XOUT of R25 MAC
XIN
The following steps are performed by the PRU firmware for multiply and accumulate mode: 1. Enable multiply and accumulate MAC_mode. Set R25[1:0] = 1 for accumulate mode. Store MAC_mode to MAC using XOUT instruction on R25. For example: XOUT 0, R25, 1. 2. Clear accumulator and carry flag. Set R25[1:0] = 3 to clear accumulator. Store accumlator to MAC using XOUT instruction on R25. For example: XOUT 0, R25, 1. 3. Load operands into R29 and R28. 4. Multiply and accumulate, XOUT R25_reg[1:0] = 1 Repeat step 4 for each multiply and accumulate using same operands. Repeat step 3 and 4 for each multiply and accumulate for new operands. 5. Load the accumulated product into R27_reg, R26_reg and the ACC_carry status into R25_reg using the XIN instruction. Note: Steps one and two are required to set the accumulator mode and clear the accumulator and carry flag.
SPRUHF8A May 2012 Revised June 2013 33
PRU
5.2.4
PRU0/1 Scratch Pad The PRU-ICSS supports a scratch pad with three independent banks accessible by the PRU cores. The PRU cores interact with the scratch pad through broadside load/store PRU interface and XFR instructions. The scratch pad can be used as a temporary place holder for the register contents of the PRU cores. Direct connection between the PRU cores is also supported for transferring register contents directly between the cores.
5.2.4.1
Features
The PRU-ICSS scratch pad supports the following features: Three scratch pad banks of 30, 32-bit registers (R29:0) Flexible load/store options User-defined start byte and length of the transfer Length of transfer ranges from one byte of a register to the entire register content (R29 to R0) Simultaneous transactions supported between PRU0 Bank<n> and PRU1 Bank<m> Direct connection of PRU0 PRU1 or PRU1 PRU0 for all registers R29R0 XFR instruction operate in one clock cycle Optional XIN/XOUT shift functionality allows remapping of registers (R<n> R<m>) during load/store operation Figure 14. Integration of PRU and Scratch Pad
Bank0 R0 R1 R2 R28 R29
broadside interface
PRU0 R0 R1 R2 R28 R29
broadside interface
PRU1 R0 R1 R2 R28 R29
5.2.4.2
Implementations and Operations
XFR instructions are used to load/store register contents between the PRU cores and the scratch pad banks. These instructions define the start, size, direction of the operation, and device ID. The device ID corresponds to the external source or destination (either a scratch pad bank or the other PRU core). The device ID numbers are shown in Table 19. Note the direct connect mode (device ID 14) can be used to synchronize the PRU cores.
34
PRU
Table 19. Scratch Pad XFR ID

Device ID 10 11 12 13 14 Function Selects Bank0 Selects Bank1 Selects Bank2 Reserved Selects other PRU core (Direct connect mode)
A collision occurs when two XOUT commands simultaneously access the same asset or device ID. Table 20 shows the priority assigned to each operation when a collision occurs. In direct connect mode (device ID 14), any PRU transaction will be terminated if the stall is greater than 1024 cycles. This will generate the event pr<1/0>_xfr_timeout that is connected to INTC. Table 20. Scratch Pad XFR Collision Conditions
Operation PRU<n> XOUT () bank[j] Collision Handling If both PRU cores access the same bank simultaneously, PRU0 is given priority. PRU1 will temporarily stall until the PRU0 operation completes. If PRU<n> executes XOUT before PRU<m> executes XIN, then PRU<n> will stall until either PRU<m> executes XIN or the stall is greater than 1024 cycles. If PRU<n> executes XIN before PRU<m> executes XOUT, then PRU<n> will stall until either PRU<m> executes XIN or the stall is greater than 1024 cycles.
PRU<n> XOUT () PRU<m>
PRU<n> XIN () PRU<m>
5.2.4.2.1
Optional XIN/XOUT Shift
The optional XIN/XOUT shift functionality allows register contents to be remapped or shifted within the destinations register space. For example, the contents of PRU0 R6-R8 could be remapped to Bank1 R1012. The XIN/XOUT shift feature is not supported for direct connect mode, only for transfers between a PRU core and scratch pad bank. The shift feature is enabled or disabled through the SPP register of the PRU-ICSS CFG register space. When enabled, R0[4:0] (internal to the PRU) defines the number of 32-bit registers in which content is shifted in the scratch pad bank. Note that scratch pad banks do not have registers R30 or R31. 5.2.4.2.2 Example Scratch Pad Operations
The following PRU firmware examples demonstrate the shift functionality. Note these assume the SHIFT_EN bit of the SPP register of the PRU-ICSS CFG register space has been set. XOUT Shift By 4 Registers MOV R0.b0, 4 XOUT 10, R4, 16 // Store R4:R7 to R8:R11 in bank0 XOUT Shift By 9 Registers, With Wrap Around MOV R0.b0, 9 XOUT 11, R25, 20 // Store R25:R29 to R4:R9 in bank1 XIN Shift By 10 Registers MOV R0.b0, 10 XIN 12, R4, 12 // Load R14:R16 from bank2 to R4:R6
35
PRU
5.3
5.3.1
Basic Programming Model

PASM PRU Assembler Overview PASM is a command-line-driven assembler for the programmable real-time execution unit (PRU) of the programmable real-time unit subsystem (PRUSS). It is designed to build single executable images using a flexible source code syntax and a variety of output options. PASM is available for Windows and Linux.
5.3.1.1
Calling Syntax
The command line syntax to PASM is:

pasm_2 -V3 [bcmldz] SourceFile [OutFileBasename] [-Dname=value] [-CArrayName]
Note that only the source file SourceFile is required on the command line. The assembler will default to output option "-c" which generates a C array containing the binary opcode data. The majority of the option flags select a variety of output formats. The output file OutFileBasename is a base name only. It defaults to the same name as the source file (for example "myprog.p" would have a default base name of "myprog"). Standard filename extensions are applied to the base name to create the final output filename(s), depending on the output option(s) selected. When specifying PASM options, options can be specified individually or as a group. For example, either of the two invocations below is valid:
pasm_2 -V3 pasm_2 -V3 -cdl myprog.p -c -d -l myprog.p
Filenames and options can also be mixed, for example:

pasm_2 -V3 pasm_2 -V3 myprog.p -cdl -cd myprog.p -DMYVAL=1 -l
5.3.1.1.1
Output Formats
All program images start at Programmable Real-Time Unit (PRU) address 0. For example, if a program has an internal origin of 8, the first eight 32 bit words of the program image output will be zero. The following output options are supported. The output file name shown in the table is generated assuming a base name of myprog:
Command Line Option -b -c -m -L -l -d
(1)
Output Format Little endian binary file C include file containing unsigned long array called PRUcode[] (1) Image file containing one 32 bit hex opcode per line Listing file containing original source code and generated opcodes.
Output Filename myprog.bin myprog_bin.h myprog.img myprog.txt
Listing file containing post-processed code myprog.lst and generated opcodes Debugger output file (opcodes with source myprog.dbg and label info) The name PRUcode[] can be redefined using the C option.
36
PRU
5.3.1.1.2
Additional Options
PASM supports some additional command line options that are not associated with output file format:
Command Line Option -V# -C -D -z Function PRU core version number. V3 for PRUSSv2. Rename the code array declared when using the -c option Constant definition Enable PASM assembler debug output
5.3.1.1.2.1 Rename the Code Array for the -c Option By default, the c option will create an output file with a name ending in _bin.h. Inside this created include file, the output code is defined as a C array of 32 bit values. The default name of the array is PRUcode[]. The C option allows the user to redefine this name to something more appropriate. For example the following command line will create an output file named myprog_bin.h, and the C array inside the created file will be called MyProg_Release_003a[].
pasm_2 -V3 -c myprog.p -CMyProg_Release_003a
5.3.1.1.2.2 Constant Definitions When the -D option is specified, the remaining command line argument is interpreted as a constant assignment. For example, to add an assignment 1 to the constant MYVAL, any of the following is valid:
pasm_2 -V3 pasm_2 -V3 pasm_2 -V3 -cdl myprog.p -DMYVAL=1 -c -d -l -DMYVAL=1 myprog.p myprog.p -cdlDMYVAL=1
Since the default value assigned to a constant is 1, the following is also equivalent:
pasm_2 -V3 -c -d -l -DMYVAL myprog.p
Note that constants defined on the command line do not override constants defined in the source code. 5.3.2 PASM Source File Syntax PASM is a non-linking two pass assembler. It assembles programs as a single monolithic image and directly generates executable code. As there is no linking stage in a PASM build, there are no section or segment directives, nor memory maps or command files. In PASM, there are four basic assembly operators. These include dot . commands, hash # commands, labels, and instructions (mnemonics). The user may supply comments that are invisible to the assembler. 5.3.2.1 Dot Commands
Dot commands are used to control the assembler, for example .origin and .proc. They can also be used to declare complex data types as in the .struct directive. 5.3.2.1.1 Syntax
The rules for a dot command are as follows: Must be the only assembly type on the line Can be followed by a comment Does not need to start in column 0
37
PRU
5.3.2.1.2
Origin (.origin) Command
The origin command is used to specify a code offset in the PRU source file. Typically a single origin statement is specified before any instructions, but multiple origin commands can be specified in order to insert space into the code map. Example:
.origin 8 // Start the next instruction at code offset 8
5.3.2.1.3
Entry Point (.entrypoint) Command
The entry point command is used to specify the code entry point to the debugger, and stores the information in the debug output file (*.dbg). It has no affect on any other output file type. By default PASM will set the entry point to the first instruction generated by the assembly. Examples:
.entrypoint 0 .entrypoint Start // Set code entrypoint to address 0 // Set code entrypoint to the code label "Start"
5.3.2.1.4
Set Call/Return Register (.setcallreg) Command
This command sets the call/return register that is used in the CALL and RET pseudo op instructions. If this command is not specified, a default register of R30.w0 is used. This command must appear in the source code prior to any program instructions, and it must specify a 16-bit register field. Example:
.setcallreg r15.w2 // Use R15.W2 in the CALL/RET pseudo ops
5.3.2.1.5
Start Macro Definition (.macro)
The .macro command is used to begin the definition of a macro. In the assembler, a macro can only be used in place of an opcode. There is always a single parameter to the command, being the name of the macro. Each macro section must start with a .macro and end with an .endm. See Section 5.3.3.1 for more details on using macros. Example:
.macro mov32 // Define macro "mov32"
5.3.2.1.6
Specific Macro Parameter(s) (.mparam)

param1 [= default_value] [, param2 [= default_value] ]
The .mparam command is used to add one or more parameters to a macro. The form of the command is:
.mparam
When a parameter is given a default value, it is considered an optional parameter. Any optional parameters must be the last parameters specified in the parameter list. It is acceptable to supply both required and optional parameters on the same .mparam line. See Section 5.3.3.1 for more details on using macros. Example:
.mparam .mparam dst, src temp = r0 // Define 2 required parameters, "dst" and "src" // Define an optional parameter "temp" that // defaults to the value 'r0'.
5.3.2.1.7
End Macro Definition (.endm)
The .endm command is used to complete the definition of a macro. It is required at the end of any macro specification. There are no parameters. See Section 5.3.3.1 for more details on using macros. Example:
.endm 38 // Completed defining macro SPRUHF8A May 2012 Revised June 2013
PRU
5.3.2.1.8
Structure (.struct) Command
The structure command is used to open a declaration to a new structure in PASM. PASM uses structures to generate standard equates, and allow the user to perform register allocation to private structure instances. See Section 5.3.3.2 for more details on using scope and structures. Example:
.struct myStruct // Declare a structure template called "myStruct"
5.3.2.1.9
End Structure (.ends) Command
The end structure command is used to close a structure declaration. PASM uses structures to generate standard equates, and allow the user to perform register allocation to private structure instances. See Section 5.3.3.2 for more details on using scope and structures. Example:
.ends
5.3.2.1.10 Field Directives (.u8, .u16, .u32) Field directives are used within an open structure declaration to define fields within the structure. See Section 5.3.3.2 for more details on using scope and structures. Example:
.struct MyStruct .u32 MyInt .u16 MyShort .u8 MyByte1 .u8 MyByte2 .ends // // // // 32-bit field 16-bit field 8-bit field 8-bit field
5.3.2.1.11 Assignment Directive (.assign) The assignment directive is used to map a defined structure onto the PRU register file. An assign statement can begin on any register boundary. The programmer may declare the full assignment span manually (both starting and ending register), or leave the ending register blank. When the programmer declares a full register span, PASM will generate an error when the specified span is incorrect. This allows the programmer to formally map structures to specific register spans, reducing the chance that register assignments will accidentally overlap. Some structures will also require specific alignments due to how their fields are arranged within the structure. PASM will generate an error if the structure alignment requirements can not be met with the specified starting register. See Section 5.3.3.2 for more details on using scope and structures. Example:
.assign MyStruct, R4, R5, MyName1 .assign MyStruct, R6, *, MyName2 // Make sure this uses R4 thru R5 // Dont need to validate the range
5.3.2.1.12 Enter New Variable Scope (.enter) The .enter command is used to create and enter a new variable scope. There is a single parameter to the command that specifies the name of the scope. Any structures that are assigned inside a named scope can only be accessed when the scope is open. Use of variable scopes is optional. See Section 5.3.3.2 for more details on using scope and structures. Example:
.enter Scope1 // Create and enter scope named "Scope1"
39
PRU
5.3.2.1.13 Leave a Variable Scope (.leave) The .leave command is used to leave a specific variable scope. There is a single parameter to the command that specifies the name of the scope to leave. Scopes do not need to be entered or left in any particular order, but a natural ordering can be enforced by the programmer. See Section 5.3.3.2 for more details on using scope and structures. Example:
.enter Scope1 .enter Scope2 .leave Scope2 .leave Scope1 // Create and enter scope named "Scope1" // Create and enter scope named "Scope2" // Leave scope named "Scope2" // Leave scope named "Scope1"
5.3.2.1.14 Referencing an Existing Variable Scope (.using) The .using command is used to enter a specific variable scope that has been previously created and left. There is a single parameter to the command that specifies the name of the scope to enter. The .leave command is then used to leave the scope after being entered with .using. See Section 5.3.3.2 for more details on using scope and structures. Example:
.using Scope1 .using Scope2 .leave Scope2 .leave Scope1 // Enter existing scope named "Scope1" // Enter existing scope named "Scope2" // Leave scope named "Scope2" // Leave scope named "Scope1"
5.3.2.2
Hash Commands
Hash commands are used to control the assembler pre-processor. They are quite similar to their C counterparts. 5.3.2.2.1 Syntax
The rules for a hash command are as follows: Must be the only assembly type on the line Can be followed by a comment Does not need to start in column 0 5.3.2.2.2 Include (#include) Command
The #include command is used to include additional source files in the assembly process. When a #include is specified, the included file is immediately opened, parsed, and processed. The calling syntax for #include can use quotes or brackets < >". Specifying quotes is functionally equivalent to specifying brackets. For example:
#include "localInclude.h" #include "c:\include\myInclude.h" #include <inc\myInclude.h>
As PASM uses a monolithic single source approach, the #include statement can be used to specify external source files. This allows a developer to break up a complicated application into several smaller source files. For example, an application may consist of a master source file myApp.p which itself contains nothing but include commands for including sub source files. The contents of myApp.p may appear as follows:
#include "myInitialization.p" #include "myMainLoop.p" #include "mySubroutines.p"
40
PRU
The above lines would include each source file in turn, concatenating one after the other in the final code image. Each of these included source files may have additional include files of their own. Including the same include file multiple times will not result in an error, however including files recursively will result in an error. 5.3.2.2.3 Define (#define) Command
The #define command is used to specify a simple text substitution. Any text defined in a #define is substituted for the defined name within the code. For example, if the programmer writes:
#define BUFFER_ADDRESS 0x08001000 ldi r1.w0, BUFFER_ADDRESS & 0xFFFF ldi r1.w2, BUFFER_ADDRESS >> 16
This would load 0x1000 into register r1.w0 and then 0x0800 into register r1.w2. Equates are expanded recursively, so the value of the define does not need to be resolved until it is used. For example:
#define B A #define A 1 ldi r1, B
The above will load 1 in register r1. 5.3.2.2.4 Undefine (#undef) Command
The #undef command is used to undefined a constant that was previously assigned via #define. For example:
// Redefine our buffer address without generating an assmbler warning #undef BUFFER_ADDRESS #define BUFFER_ADDRESS 0x08001000
5.3.2.2.5
Error (#error) Command
The #error command is used to specify an error during assembly. For example, if the programmer wishes to verify the constant value MYMODE is defined, they can write:
#ifndef MYMODE #error Mode not specified #endif
The above will produce an error if the program is assembled and MYMODE is not defined. 5.3.2.2.6 Warning (#warn) Command
The #warn command is used to specify a warning during pass 1 of the assembly. For example, if the programmer wishes to verify the constant value MYMODE is defined, but still allow a default mode, they can write:
#ifndef MYMODE #warn Mode not specified - setting default #define MYMODE DEFAULT_MODE #endif
The above will produce an assembler warning if the program is assembled and MYMODE is not defined.
41
PRU
5.3.2.2.7
Notation (#note) Command
The #note command is used to specify a notation during pass 1 of the assembly. For example, if the programmer wishes to allow a default setting of the constant value MYMODE, but still notify the programmer what is happening, they can write:
#ifndef MYMODE #note Using default MYMODE #define MYMODE DEFAULT_MODE #endif
The above will produce an assembler notation if the program is assembled and MYMODE is not defined, but it is not counted as an error or a warning. 5.3.2.2.8 If Defined (#ifdef) Command
The #ifdef command is used to specify a block of conditional code based on whether the supplied constant is defined. Here, the code inside the #ifdef block will be assembled only if the constant is defined, regardless of its defined value. Every #ifdef must be followed by a #endif. For example:
#define MYVAL 1 #ifdef MYVAL // This code in this block will be assembled #endif #undef MYVAL #ifdef MYVAL // This code in this block will NOT be assembled #endif
5.3.2.2.9
If Not Defined (#ifndef) Command
The #ifndef command is used to specify a block of conditional code based on whether the supplied constant is defined. Here, the code inside the #ifndef block will be assembled only if the constant is not defined. Every #ifndef must be followed by a #endif. For example:
#define MYVAL 1 #ifndef MYVAL // This code in this block will NOT be assembled #endif #undef MYVAL #ifndef MYVAL // This code in this block will be assembled #endif
5.3.2.2.10 End If (#endif) Command The #endif command is used to close a previously open #ifdef or #ifndef, thus closing the conditional assembly block. 5.3.2.2.11 Else (#else) Command The #else command is used to specify a block of conditional code based on a previous #ifdef or #ifndef, allowing for the opposite case. For example:
#define MYVAL 1 #ifdef MYVAL // This code in this block will be assembled #else // This code in this block will NOT be assembled #endif
42
PRU
5.3.2.3
Labels
Labels are used denote program addresses. When placed at the beginning of a source line and immediately followed by a colon :, they mark a program address location. When referenced by an instruction, the corresponding marked address is substituted for the label. The syntax rules for labels are as follows: A label definition must be immediately followed by a colon. Only instructions and/or comments can occupy the same source line as a label. Labels can use characters A-Z, a-z, 0-9 plus underscores _ and dots .. A label can not begin with a number (0-9). The following illustrates defining and using the label named loop_label:
ldi loop_label: sub qbne ret r0, 100 r0, r0, 1 loop_label, r0, 0
5.3.2.4
Comments
In PASM comments are transparent to all other operations, thus they can appear anywhere on any source line. However, since comments are terminated by the end of line, they are by definition, the last field on a line. The syntax rules for comments are as follows: Comments must be preceded by '//'. Comments are always the last field to appear on a line. The following illustrates defining a comment:
//------------------------// This is a comment //------------------------ldi r0, 100 // This is a comment
5.3.2.5
PRU Assembly Instructions
Instruction lines include a PRU mnemonic, followed by a list of parameters appropriate for the mnemonic. See Section 5.3.4, PRU Instruction Set, for supported instructions. Note that some of these are pseudo ops, which do not affect their use, but may affect how they are displayed when disassembled by a debugger. 5.3.2.5.1 Syntax
An instruction line consists of a mnemonic is followed by a specific number of parameters appropriate for the instruction. Parameters are always separated by commas. For example:
mnemonic parameter1, parameter2, parameter3, parameter4
Each instruction accepts either a fixed or varying number of parameters. Those that use a varying number of parameters do so for either flexibility in formatting, or to adjust to different use cases. In most cases, at least one of the parameters can be one of a couple different types. For example, on many instructions the third parameter can be either a register or an immediate value. All parameters take the form a register, label, or immediate value. There exists both a formal and informal syntax for instruction lines. The formal syntax was inherited from an earlier assembler. Modern applications typically use the informal syntax. These are discussed in more detail later in section dealing with parameter type, but here are some examples of both formal and informal syntax.
43
PRU
Formal Syntax:
LDI LDI ADD QBNE JMP R2, #5 R3, #3 R1, R2, R3 (LABEL), R1, #8 (LABEL)
Informal Syntax:
ldi ldi add qbne jmp r2, 5 r3, 3 r1, r2, r3 label, r1, 8 label
5.3.2.5.2
Registers
The PASM assembler treats PRU registers as bit fields within the register file. All registers start with a base register (R0 through R31). A base register defines an unsigned 32 bit quantity. This 32 bit base field can be modified by appending different register modifier suffixes. The modifier suffix selects which portion of the register on which to operate. The suffixes are as follows:
Suffix .wn .bn .tn Range of n 0 to 2 0 to 3 0 to 31 Meaning 16 bit field with a byte offset of n within the parent field 8 bit field with a byte offset of n within the parent field 1 bit field with a bit offset of n within the parent field
Multiple suffixes may appear on a base register to further modify the desired field. For example:
Register R5 R5.w0 R5.w1 R5.b1 R5.t7 R5.w1.b1 R5.w1.b1.t7 Meaning 32 bit value, bits 0 to 32 of register R5 16 bit value, bits 0 to 15 of register R5 16 bit value, bits 8 to 23 of register R5 8 bit value, bits 8 to 15 of register R5 1 bit value, bit 7 of register R5 8 bit value, bits 8 to 15 of R5.w1 (this corresponds to bits 16 to 23 of register R5) 1 bit value, bit 7 of R5.w1.b1 (since R5.w1.b1 is bits 16 to 23 of R5, this is bit 23 of register R5)
Note that some suffix combinations are illegal. A combination is illegal when a modifier attempts to extract a field that is not contained in the parent field. For example:
Illegal Register R5.t0.b0 R5.w2.b2 R5.b0.t8 R5.w0.w1 Reason for Illegality A byte field can be extracted from a single bit field Bits 16 to 23 can not be extracted out of a 16 bit field Bit 8 can not be extracted out of an 8 bit field Bits 8 to 23 can not be extracted out of a 16 bit field. Note that R5.w1.w0 would be legal, but not of much use as R5.w1.w0 == R5.w1
44
PRU
5.3.2.5.3
Loop/Byte Count Registers
Register R0 is used in some instructions to specify a loop count or byte count value. A count of this type is always the last parameter in the parameter list. A loop/byte count is always an 8 bit sub-field of R0. For legacy reasons, the register is expressed only by its modifier suffix. For example: b0 is taken to mean R0.b0 and b2 is taken to mean R0.b2. Register loop/byte counts are allowed only in very specific circumstances which are detailed in the appropriate instruction description. 5.3.2.5.4 Labels
Labels are used to reference code locations in a program. In PASM, labels are used to specify targets of jump instructions, but can also be used in an instruction that calls for an immediate value (so long as the labels value fits in the immediate fields specified bit width). When specifying a label, the user has the option of enclosing it in parenthesis ( ) for legacy concerns, but it is not required or recommended. For example:
QBNE JMP LDI qbne jmp ldi (MyLabel), R1, #8 (MyLabel) R1.W0, #MyLabel MyLabel, r1, 8 MyLabel r1.w0, MyLabel
5.3.2.5.5
Immediate Values
Immediate values are simple numbers or expressions that compute to constant values. Immediate values or expressions can be preceded by a hash character # for legacy concerns, but this is not required or recommended. For example:
LDI and ldi ldi add R1, #0x25 r2, r1, 0b1001011 r1.w0, 0x12345678 & 0xFFFF r1.w2, 0x12345678 >> 16 r2, r3, (6*(5-3)/2) << 2
Note that if an immediate value is lead by a 0 without a format notation of x or b, then the base is assumed to be in octal format. 5.3.2.5.6 Syntax Terms and Definitions
The following terms are definitions are used to specify parameters in a formal instruction definition.
Field Name REG, REG1, REG2, Meaning Any register field from 8 to 32 bits Examples r0 r1.w0 r3.b2 r0 r1 r0.t23 r1.b1.t4 c0 c1 b0
Rn, Rn1, Rn2, Rn.tx Cn, Cn1, Cn2, bn
Any 32 bit register field (r0 through r31) Any 1 bit register field (x denotes the bit position) Any 32 bit constant register entry (c0 through c31) Specifies a field that must be b0, b1, b2, or b3 denoting r0.b0, r0.b1, r0.b2, and r0.b3 respectively. Any valid label, specified with or without parenthesis. An immediate value denoting an instruction address is also acceptable. An immediate value from 0 to n. Immediate values can be specified with or without a leading hash # character. Immediate values, labels, and register addresses are all acceptable.
LABEL
loop1 (loop1) 0 #23 0b0110 2+2 &r3.w2
IM(n)
45
PRU
Field Name OP(n) Meaning This is a combination (or the union) of REG and IM(n). It specifies a register field from 8 to 32 bits, or an immediate value from 0 to n. A label or register address that resolves to a value within the denoted range is also acceptable. Examples r0 r1.w0 #0x7F 1<<3 loop1 &r1.w0
For example the following is the definition for the ADD instruction:
ADD REG1, REG2, OP(255)
This means that the first and second parameters can be any register field from 8 to 32 bits. The third parameter can be any register field from 8 to 32 bits or an immediate value from 0 to 255. Thus the following are all legal ADD instructions:
ADD ADD ADD ADD ADD R1, R1, #0x25 r1, r1, 0x25 r3, r1, r2 r1.b0, r1.b0, 0b100 r2, r1.w0, 1<<3 // // // // // r1 += 37 r1 += 37 r3 = r1 + r2 r1.b0 += 4 r2 = r1.w0 + 8
5.3.3 5.3.3.1
Advanced Topics Using Macros
Macros are used to define custom instructions for the CPU. They are similar to in-line subroutines in C. 5.3.3.1.1 Defining a Macro
A macro is defined by first declaring the start of a macro block and specifying the macro name, then specifying the assembly code to implement the intended function, and finally closing the macro block.
.macro macro name .mparam macro parameters < lines of assembly code > < lines of assembly code > < lines of assembly code > .endm
The assembly code within a macro block is identical to that used outside a macro block with minor variances: Macros cannot be nested No dot commands may appear within a macro block other than .mparam. Pre-processor definitions and conditional assembly are processed when the macro is defined. Structure references are expanded when the macro is used. Labels defined within a macro are considered local and can only be referenced from within the macro. References to external labels from within a macro are allowed.
46
PRU
5.3.3.1.2
Macro Parameters
The macro parameters can be specified on one .mparam line or multiple. They are processed in the order that they are encountered. There are two types of parameters, mandatory and optional. Optional parameters are assigned a default value that is used in the event that they are not specified when the macro is used. Since parameters are always processed in order, any optional parameters must come last, and once an optional parameter is used, none of the remaining parameters may be specified. For example:
.macro mv1 .mparam dst=r0, src=5 mov dst, src .endm // Define macro "mv1" // Two optional parameters
For the above macro, the following expansions are possible:

Macro Invocation mv1 r1, 7 mv1 r2 mv1 Result mov r1, 7 mov r2, 5 mov r0, 5
Note that optional parameters can not be passed by using empty delimiters. For example, the following invocation of mv1 is illegal:
mv1 , 7 // Illegal attempt to do mov r0, 7
5.3.3.1.3
Example Macros
5.3.3.1.3.1 Example 1: Move 32-bit Value (mov32) The mov32 macro is a good example of a simple macro that saves some typing and makes a source code look a little cleaner. Note: The latest assembler supports 32-bit immediate values natively, making this MACRO undesirable for general use (but it makes a good macro example). Specification:
// // mov32 : Move a 32bit value to a register // // Usage: // mov32 dst, src // // Sets dst = src. Src must be a 32 bit immediate value. // .macro mov32 .mparam dst, src mov dst.w0, (src) & 0xFFFF mov dst.w2, (src) >> 16 .endm
Example Invocation: The invocation for this macro is the same as the standard mov pseudo op:
mov32 r0, 0x12345678
Example Expansion: The expansion of the above invocation uses to immediate value moves to accomplish the 32-bit load.
mov mov r0.w0, (0x12345678) & 0xFFFF r0.w2, (0x12345678) >> 16
47
PRU
5.3.3.1.3.2 Example 2: Quick Branch If in Range (qbir) Any label defined within a macro is altered upon expansion to be unique. Thus internal labels are local to the macro and code defined outside of a macro cannot make direct use of a label that is defined inside a macro. However code contained within a macro can make free use of externally defined labels. The qbir macro is a simple example that uses a local label. The macro instruction will jump to the supplied label if the test value is within the specified range. Specification:
// // qbir : Quick branch in range // // Usage: // qbir label, test, low, high // // Jumps to label if (low <= test <= high). // Test must be a register. Low and high can be // a register or a 8 bit immediate value. // .macro qbir .mparam label, test, low, high qbgt out_of_range, test, low qbge label, test, high out_of_range: .endm
Example Invocation: The example below checks the value in R5 for membership of two different ranges. Note that the range low and high values could also come from registers. They do not need to be immediate values:
qbir qbir range1, r5, 1, 9 range2, r5, 25, 50 // Jump if (1 <= r5 <= 9) // Jump if (25 <= r5 <= 50)
Example Expansion: The expansion of the above invocation illustrates how external labels are used unmodified while internal labels are altered on expansion to make them unique.
qbgt _out_of_range_1_, R5, 1 qbge range1, r5, 9 _out_of_range_1_: qbgt _out_of_range_2_, R5, 25 qbge range2, r5, 50 _out_of_range_2_:
48
PRU
5.3.3.2 5.3.3.2.1
Using Structures and Scope Basic Structures
Structures are used in PASM to eliminate the tedious process of defining structure offset fields for using in LBBO/SBBO, and the even more painful process of mapping structures to registers. 5.3.3.2.1.1 Declaring Structure Types Structures are declared in PASM using the .struct dot command. This is similar to using a typedef in C. PASM automatically processes each declared structure template and creates an internal structure type. The named structure type is not yet associated with any registers or storage. For example, say the application programmer has the following structure in C:
typedef struct _PktDesc { struct _PktDesc *pNext; char *pBuffer; unsigned short Offset; unsigned short BufLength; unsigned short Flags; unsigned short PktLength; } PKTDESC;
The equivalent PASM structure type is created using the following syntax:
.struct PktDesc .u32 pNext .u32 pBuffer .u16 Offset .u16 BufLength .u16 Flags .u16 PktLength .ends
5.3.3.2.1.2 Assigning Structure Interfaces to Registers The second function of the PASM structure is to allow the application developer to map structures onto the PRU register file without the need to manually allocate registers to each field. This is done through the .assign dot command. For example, say the application programmer performs the following assignment:
.assign PktDesc, R4, R7, RxDesc // Make sure this uses R4 thru R7
When PASM sees this assignment, it will perform three tasks for the application developer: 1. PASM will verify that the structure perfectly spans the declared range (in this case R4 through R7). The application developer can avoid the formal range declaration by substituting * for R7 above. 2. PASM will verify that all structure fields are able to be mapped onto the declared range without any alignment issues. If an alignment issue is found, it is reported as an error along with the field in question. Note that assignments can begin on any register boundary. 3. PASM will create an internal data type named RxDesc, which is of type PktDesc. For the above assignment, PASM will use the following variable equivalencies. Note that PASM will automatically adjust for endian mode.
Variable RxDesc RxDesc.pNext RxDesc.pBuffer RxDesc.Offset RxDesc.BufLength RxDesc.Flags RxDesc.PktLength Little Endian R4 R4 R5 R6.w0 R6.w2 R7.w0 R7.w2
49
PRU
For example the source line below will be converted to the output shown:
// Input Source Line ADD r20, RxDesc.pBuffer, RxDesc.Offset // Output Source Line ADD r20, R5, R6.w0
5.3.3.2.2
SIZE and OFFSET Operators
SIZE and OFFSET are two useful operators that can be applied to either structure types or structure assignments. The SIZE operator returns the byte size of the supplied structure or structure field. The OFFSET operator returns the byte offset of the supplied field from the start of the structure. 5.3.3.2.2.1 SIZE Operator Example Using the assignment example from the previous section, the following SIZE equivalencies would apply:
Variable Operation SIZE(PktDesc) SIZE(PktDesc.pNext) SIZE(PktDesc.pBuffer) SIZE(PktDesc.Offset) SIZE(PktDesc.BufLength) SIZE(PktDesc.Flags) SIZE(PktDesc.PktLength) SIZE(RxDesc) SIZE(RxDesc.pNext) SIZE(RxDesc.pBuffer) SIZE(RxDesc.Offset) SIZE(RxDesc.BufLength) SIZE(RxDesc.Flags) SIZE(RxDesc.PktLength) Results 16 4 4 2 2 2 2 16 4 4 2 2 2 2
5.3.3.2.2.2 OFFSET Operator Example Using the assignment example from the previous section, the following OFFSET equivalencies would apply:
Variable Operation OFFSET(PktDesc) OFFSET(PktDesc.pNext) OFFSET(PktDesc.pBuffer) OFFSET(PktDesc.Offset) OFFSET(PktDesc.BufLength) OFFSET(PktDesc.Flags) OFFSET(PktDesc.PktLength) OFFSET(RxDesc) OFFSET(RxDesc.pNext) OFFSET(RxDesc.pBuffer) OFFSET(RxDesc.Offset) OFFSET(RxDesc.BufLength) OFFSET(RxDesc.Flags) OFFSET(RxDesc.PktLength) Results 0 0 4 8 10 12 14 0 0 4 8 10 12 14
50
PRU
5.3.3.2.3
Using Variable Scopes
On larger PASM applications, it is common for different structures to be applied to the same register range for use at different times in the code. For example, assume the programmer uses three structures, one called global, one called init and one called work. Assume that the global structure is always valid, but that the init and work structures do not need to be used at the same time. The programmer could assign the structures as follows:
.assign struct_global, .assign struct_init .assign struct_work R2, R8, myGlobal R9, R12, init R9, R13, work // Registers shared with "work" // Registers shared with "init"
The program code may look something like the following:

Start: call InitGlobalData mov init.suff, myGlobal.data Using R9 to R12 for "init" structure
call InitProcessing qbbs InitComplete, init.flags.fComplete DoWork: call LoadWorkRecord mov r0, myGlobal.Status ... InitProcessing: mov set ret init.start, init.stuff init.flags.fComplete Using R9 to R12 for "init" structure Using R9 to R13 for "work" structure
qbeq type1, work.type, myGlobal.WorkType1
The code has been shaded to emphasize when the shared registers are being used for the init structure and when they are been used for the work structure. The above is quite legal, but in this example, PASM does not provide any enforcement for the register sharing. For example, assume the work section of the code contained a reference to the init structure:
DoWork: call LoadWorkRecord mov r0, myGlobal.Status The reference to "init" would not cause an assembly error.
set init.flags.fWorkStarted qbeq type1, work.type, myGlobal.WorkType1 ...
The above example would not result in an assembly error even though using the same registers for two different purposes at the same time would result in a functional error.
51
PRU
To solve this potential problem, named variable scopes can be defined in which the register assignments are to be made. For example, the above shared assignments can be revised to as shown below to include the creation of variable scopes:
.assign struct_global, .enter Init_Scope .assign struct_init .leave Init_Scope .enter Work_Scope .assign struct_work .leave Work_Scope R2, R8, myGlobal // Available in all scopes // Create new scope Init_Scope // Only available in Init_Scope // Leave scope Init_Scope // Create new scope Work_Scope // Only available in Work_Scope // Leave scope Work_Scope
R9, R12, init
R9, R13, work
Once the scopes have been defined, the structures assigned within can only be accessed while the scope is open. Previously defined scopes can be reopened via the .using command.
.using Init_Scope Start: call InitGlobalData mov init.suff, myGlobal.data Using "Init_Scope"
call InitProcessing qbbs InitComplete, init.flags.fComplete .leave Init_Scope .using Work_Scope DoWork: call LoadWorkRecord mov r0, myGlobal.Status ... .leave Work_Scope .using Init_Scope InitProcessing: mov set ret .leave Init_Scope init.start, init.stuff init.flags.fComplete Using "Init_Scope" Using "Work_Scope"
qbeq type1, work.type, myGlobal.WorkType1
When using scopes as in the above example, any attempted reference to a structure assignment made outside a currently open scope will result in an assembly error. 5.3.3.3 Register Addressing and Spanning
Certain PRU instructions act upon or affect more than a single register field. These include MVIx, ZERO, SCAN, LBxO, and SBxO. It is important to understand how register fields are packed into registers, and how these fields are addressed when using one of these PRU functions. 5.3.3.3.1 Little Endian Register Mapping
The registers of the PRU are memory mapped with the little endian byte ordering scheme. For example, say we have the following registers set to the given values: R0 = 0x80818283 R1 = 0x84858687 Table 21 is the register mapping to byte offset in little endian:
52 SPRUHF8A May 2012 Revised June 2013
PRU
Table 21. Register Byte Mapping in Little Endian

Byte Offset Register Field Example Value 0 R0.b0 0x83 1 R0.b1 0x82 2 R0.b2 0x81 3 R0.b3 0x80 4 R1.b0 0x87 5 R1.b1 0x86 6 R1.b2 0x85 7 R1.b3 0x84
There are three factors affected by register mapping and little endian mapping. There are register spans, the first byte affected in a register field, and register addressing. In addition, there are some alterations in PRU opcode encoding. 5.3.3.3.1.1 Register Spans The concept of how the register file is spanned can be best viewed using the tables created in the example from section 3.3.1. Registers are spanned by incrementing the byte offset from the start of the register file for each subsequent byte. For example assume we have the following registers set to their indicated values: R0 = 0x80818283 R1 = 0x84858687 R2 = 0x00001000 If the instruction SBBO R0.b2, R2, 0, 5 is executed, it will result in a memory write to memory address 0x1000 as shown in little endian: Table 22. SBBO Result for Little Endian Mode
Byte Address Value 0x1000 0x81 0x1001 0x80 0x1002 0x87 0x1003 0x86 0x1004 0x85
5.3.3.3.1.2 First Byte Affected The first affected byte in a register field is literally the first byte to be altered when executing a PRU instruction. For example, in the instruction LBBO R0, R1, 0, 4, the first byte to be affected by the LBBO is R0.b0 in little endian. The width of a field in a register span operation is almost irrelevant in little endian, since the first byte affected is independent of field width. For example, consider the following table: Table 23. First Byte Affected in Little Endian Mode
Register Expression R0 R0.w0 R0.w1 R0.w2 R0.b0 R0.b1 R0.b2 R0.b3 First Byte Affected R0.b0 R0.b0 R0.b1 R0.b2 R0.b0 R0.b1 R0.b2 R0.b3
As can be seen in the table above, for any expression the first byte affected is always the byte offset of the field within the register. Thus in little endian, the expressions listed below all result in identical behavior. LBBO R0, R1, 0, 4 LBBO R0.w0, R1, 0, 4 LBBO R0.b0, R1, 0, 4
PRU
5.3.3.3.1.3 Register Address The MVIx, ZERO, SCAN, LBxO, and SBxO instructions may use or require a register address instead of the direct register field in the instruction. In the assembler a leading & character is used to specify that a register address is to be used. The address of a register is defined to be the byte offset within the register file of the first affected byte in the supplied field. Given the information already presented in this chapter, it should be straight forward to verify the following register address mappings: Table 24. Register Addressing in Little Endian
Register Address Expression First Byte Affected &Rn &Rn.w0 &Rn.w1 &Rn.w2 &Rn.b0 &Rn.b1 &Rn.b2 &Rn.b3 Rn.b0 Rn.b0 Rn.b1 Rn.b2 Rn.b0 Rn.b1 Rn.b2 Rn.b3 Little Endian Register Address (n*4) (n*4) (n*4) + 1 (n*4) + 2 (n*4) (n*4) + 1 (n*4) + 2 (n*4) + 3
Register addresses are very useful for writing endian agnostic code, or for overriding the declared field widths in a structure element. 5.3.3.3.1.4 PRU Opcode Generation The PRU binary opcode formats for LBBO, SBBO, LBCO, and SBCO use a byte offset for the source/destination register in the PRU register file. For example, only the following destination fields can actually be encoded into a PRU opcode for register R1: LBBO R1.b0, R0, 0, 4 LBBO R1.b1, R0, 0, 4 LBBO R1.b2, R0, 0, 4 LBBO R1.b3, R0, 0, 4
54
PRU
5.3.4 5.3.4.1
PRU Instruction Set Arithmetic and Logical
All operations are 32 bits wide (with a 33-bit result in the case of arithmetic). The source values are zero extended prior to the operation. If the destination is too small to accept the result, the result is truncated. On arithmetic operations, the first bit to the right of the destination width becomes the carry value. Thus if the destination register is an 8 bit field, bit 8 of the result becomes the carry. For 16 and 32 bit destinations, bit 16 and bit 32 are used as the carry bit respectively. 5.3.4.1.1 Unsigned Integer Add (ADD)
Performs 32-bit add on two 32 bit zero extended source values. Definition:
ADD REG1, REG2, OP(255)
Operation:
REG1 = REG2 + OP(255) carry = (( REG2 + OP(255) ) >> bitwidth(REG1)) & 1
Example:
add add add r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
5.3.4.1.2
Unsigned Integer Add with Carry (ADC)
Performs 32-bit add on two 32 bit zero extended source values, plus a stored carry bit. Definition:
ADC REG1, REG2, OP(255)
Operation:
REG1 = REG2 + OP(255) + carry carry = (( REG2 + OP(255) + carry ) >> bitwidth(REG1)) & 1
Example:
adc adc adc r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
5.3.4.1.3
Unsigned Integer Subtract (SUB)
Performs 32-bit subtract on two 32 bit zero extended source values. Definition:
SUB REG1, REG2, OP(255)
Operation:
REG1 = REG2 - OP(255) carry = (( REG2 - OP(255) ) >> bitwidth(REG1)) & 1
Example:
sub sub sub r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
55
PRU
5.3.4.1.4
Unsigned Integer Subtract with Carry (SUC)
Performs 32-bit subtract on two 32 bit zero extended source values with carry (borrow). Definition:
SUC REG1, REG2, OP(255)
Operation:
REG1 = REG2 - OP(255) - carry carry = (( REG2 - OP(255) - carry ) >> bitwidth(REG1)) & 1
Example:
suc suc suc r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
5.3.4.1.5
Reverse Unsigned Integer Subtract (RSB)
Performs 32-bit subtract on two 32 bit zero extended source values. Source values reversed. Definition:
RSB REG1, REG2, OP(255)
Operation:
REG1 = OP(255) - REG2 carry = (( OP(255) - REG2 ) >> bitwidth(REG1)) & 1
Example:
rsb rsb rsb r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
5.3.4.1.6
Reverse Unsigned Integer Subtract with Carry (RSC)
Performs 32-bit subtract on two 32 bit zero extended source values with carry (borrow). Source values reversed. Definition:
RSC REG1, REG2, OP(255)
Operation:
REG1 = OP(255) - REG2 - carry carry = (( OP(255) - REG2 - carry ) >> bitwidth(REG1)) & 1
Example:
rsc rsc rsc r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
5.3.4.1.7
Logical Shift Left (LSL)
Performs 32-bit shift left of the zero extended source value. Definition:
LSL REG1, REG2, OP(31)
Operation:
REG1 = REG2 << ( OP(31) & 0x1f )
Example:
lsl lsl lsl r3, r3, 2 r3, r3, r1.b0 r3, r3.b0, 10
56
PRU
5.3.4.1.8
Logical Shift Right (LSR)
Performs 32-bit shift right of the zero extended source value. Definition:
LSR REG1, REG2, OP(31)
Operation:
REG1 = REG2 >> ( OP(31) & 0x1f )
Example:
lsr lsr lsr r3, r3, 2 r3, r3, r1.b0 r3, r3.b0, 10
5.3.4.1.9
Bitwise AND (AND)
Performs 32-bit logical AND on two 32 bit zero extended source values. Definition:
AND REG1, REG2, OP(255)
Operation:
REG1 = REG2 & OP(255)
Example:
and and and r3, r1, r2 r3, r1.b0, r2.w2 r3.b0, r3.b0, ~(1<<3) // Clear bit 3
5.3.4.1.10 Bitwise OR (OR) Performs 32-bit logical OR on two 32 bit zero extended source values. Definition:
OR REG1, REG2, OP(255)
Operation:
REG1 = REG2 | OP(255)
Example:
or or or r3, r1, r2 r3, r1.b0, r2.w2 r3.b0, r3.b0, 1<<3 // Set bit 3
5.3.4.1.11 Bitwise Exclusive OR (XOR) Performs 32-bit logical XOR on two 32 bit zero extended source values. Definition:
XOR REG1, REG2, OP(255)
Operation:
REG1 = REG2 ^ OP(255)
Example:
xor xor xor r3, r1, r2 r3, r1.b0, r2.w2 r3.b0, r3.b0, 1<<3 // Toggle bit 3
57
PRU
5.3.4.1.12 Bitwise NOT (NOT) Performs 32-bit logical NOT on the 32 bit zero extended source value. Definition:
NOT REG1, REG2
Operation:
REG1 = ~REG2
Example:
not not r3, r3 r1.w0, r1.b0
5.3.4.1.13 Copy Minimum (MIN) Compares two 32 bit zero extended source values and copies the minimum value to the destination register. Definition:
MIN REG1, REG2, OP(255)
Operation:
if( OP(255) > REG2 ) REG1 = REG2; else REG1 = OP(255);
Example:
min min r3, r1, r2 r1.w2, r1.b0, 127
5.3.4.1.14 Copy Maximum (MAX) Compares two 32 bit zero extended source values and copies the maximum value to the destination register. Definition:
MAX REG1, REG2, OP(255)
Operation:
if( OP(255) > REG2 ) REG1 = REG2; else REG1 = OP(255);
Example:
max max r3, r1, r2 r1.w2, r1.b0, 127
58
PRU
5.3.4.1.15 Clear Bit (CLR) Clears the specified bit in the source and copies the result to the destination. Various calling formats are supported: Format 1: Definition:
CLR REG1, REG2, OP(255)
Operation:
REG1 = REG2 & ~( 1 << (OP(31) & 0x1f) )
Example:
clr clr r3, r1, r2 r1.b1, r1.b0, 5 // r3 = r1 & ~(1<<r2) // r1.b1 = r1.b0 & ~(1<<5)
Format 2 (same source and destination): Definition:

CLR REG1, OP(255)
Operation:
REG1 = REG1 & ~( 1 << (OP(31) & 0x1f) )
Example:
clr clr r3, r1 r1.b1, 5 // r3 = r3 & ~(1<<r1) // r1.b1 = r1.b1 & ~(1<<5)
Format 3 (source abbreviated): Definition:

CLR REG1, Rn.tx
Operation:
REG1 = Rn & ~Rn.tx
Example:
clr clr r3, r1.t2 r1.b1, r1.b0.t5 // r3 = r1 & ~(1<<2) // r1.b1 = r1.b0 & ~(1<<5)
Format 4 (same source and destination abbreviated): Definition:

CLR Rn.tx
Operation:
Rn = Rn & ~Rn.tx
Example:
clr r3.t2 // r3 = r3 & ~(1<<2)
5.3.4.1.16 Set Bit Sets the specified bit in the source and copies the result to the destination. Various calling formats are supported. Note: Whenever R31 is selected as the source operand to a SET, the resulting source bits will be NULL, and not reflect the current input event flags that are normally obtained by reading R31. Format 1: Definition:
SET REG1, REG2, OP(255)
Operation:
REG1 = REG2 | ( 1 << (OP(31) & 0x1f) ) SPRUHF8A May 2012 Revised June 2013 59
PRU
Example:
set set r3, r1, r2 r1.b1, r1.b0, 5 // r3 = r1 | (1<<r2) // r1.b1 = r1.b0 | (1<<5)
Format 2 (same source and destination): Definition:

SET REG1, OP(255)
Operation:
REG1 = REG1 | ( 1 << (OP(31) & 0x1f) )
Example:
set set r3, r1 r1.b1, 5 // r3 = r3 | (1<<r1) // r1.b1 = r1.b1 | 1<<5)
Format 3 (source abbreviated): Definition:

SET REG1, Rn.tx
Operation:
REG1 = Rn | Rn.tx
Example:
set set r3, r1.t2 r1.b1, r1.b0.t5 // r3 = r1 | (1<<2) // r1.b1 = r1.b0 | (1<<5)
Format 4 (same source and destination abbreviated): Definition:

SET Rn.tx
Operation:
Rn = Rn | Rn.tx
Example:
set r3.t2 // r3 = r3 | (1<<2)
5.3.4.1.17 Left-Most Bit Detect (LMBD) Scans REG2 from its left-most bit for a bit value matching bit 0 of OP(255), and writes the bit number in REG1 (writes 32 to REG1 if the bit is not found). Definition:
LMBD REG1, REG2, OP(255)
Operation:
for( i=(bitwidth(REG2)-1); i>=0; i-- ) if( !((( REG2>>i) ^ OP(255))&1) ) break; if( i<0 ) REG1 = 32; else REG1 = i;
Example:
lmbd lmbd lmbd r3, r1, r2 r3, r1, 1 r3.b3, r3.w0, 0
60
PRU
5.3.4.1.18 NULL Operation (NOPn) This instruction performs no standard operation. The instruction may or may not provide custom functionality that will vary from platform to platform. There are 16 forms of the instruction including NOP0 through NOP9, and NOPA through NOPF. Definition:
NOPn REG1, REG2, OP(255)
Operation:
NULL operation or Platform dependent
Example:
nop0 nop9 nopf r3, r1, r2 r3, r1.b0, r2.w2 r3, r3, 10
5.3.4.2 5.3.4.2.1
Register Load and Store Copy Value (MOV)
The MOV instruction moves the value from OP(0xFFFFFFFF), zero extends it, and stores it into REG1. The instruction is a pseudo op, and is coded with different PRU instructions, depending on how it is used. When used with a constant, it is similar to the LDI instruction except that it allows for moving values up to 32-bits by automatically inserting two LDI instructions. It will always select the optimal coding method to perform the desired operation. Definition:
MOV REG1, OP(0xFFFFFFFF)
Operation:
REG1 = OP(0xFFFFFFFF)
Example:
mov mov mov mov mov mov mov r3, r1 r3, r1.b0 r1, 10 r1, #10 r1, 0b10 + 020/2 r1, 0x12345678 r30.b0, &r2 // // // // // // Zero Move Move Move Move Move extend r1.b0 into r3 10 into r1 10 into r1 10 into r1 0x12345678 into r1 the offset of r2 into r30.b0
5.3.4.2.2
Load Immediate (LDI)
The LDI instruction moves the value from IM(65535), zero extends it, and stores it into REG1. This instruction is one form of MOV (the MOV pseudo op uses LDI when the source data is an immediate value). Definition:
LDI REG1, IM(65535)
Operation:
REG1 = IM(65535)
Example:
ldi ldi ldi ldi r1, 10 r1, #10 r1, 0b10 + 020/2 r30.b0, &r2 // // // // Load Load Load Load 10 into r1 10 into r1 10 into r1 the offset of r2 into r30.b0
61
PRU
5.3.4.2.3
Move Register File Indirect (MVIx)
The MVIx instruction family moves an 8-, 16-, or 32-bit value from the source to the destination. The size of the value is determined by the exact instruction used; MVIB, MVIW, and MVID, for 8-, 16-, and 32-bit values respectively. The source, destination, or both can be register pointers. There is an option for autoincrement and auto-decrement on register pointers. Definition:
MVIB MVIW MVID [*][&][--]REG1[++], [*][&][--]REG2[++] [*][&][--]REG1[++], [*][&][--]REG2[++] [*][&][--]REG1[++], [*][&][--]REG2[++]
Operation: Register pointers are byte offsets into the register file Auto increment and decrement operations are done by the byte width of the operation Increments are post-increment; incremented after the register offset is used Decrements are pre-decrement; decremented before the register offset is used When the destination register is not expressed as register pointer, the size of the data written is determined by the field width of the destination register. If the data transfer size is less than the width of the destination, the data is zero extended. Size conversion occurs after indirect reads, and before indirect writes. When the source register is not expressed as a register pointer, the size of the data read is the lesser of register source width and the instruction width. For example, a MVIB from R0 will read only 8 bits from R0.b3, and a MVID from R0.b3 will read 8 bits from R0.b3 (and then zero extend it to a 32-bit value). Note that register pointer registers are restricted to r1.b0, r1.b1, r1.b2, and r1.b3. 5.3.4.2.3.1 Notes on Endian Mode and Size Conversion On an indirect read operation, the data is first read indirectly using the source pointer. The resulting data size is the size specified by the MVIx opcode. It is then converted to the destination register size using truncation or zero extend. Say we have the following registers set:
R1.b0 = 8 (this is &R2) R2 = 0x01020304 R3 = 0
The following are some indirect read examples:

Operation mvib r3, *r1.b0 mviw r3, *r1.b0 mvid r3, *r1.b0 mvid r3.w0, *r1.b0 mvid r3.b0, *r1.b0 Result Little Endian R3 = 0x00000004 R3 = 0x00000304 R3 = 0x01020304 R3 = 0x00000304 R3 = 0x00000004
On an indirect write operation, the data is first converted to the size as specified by the MVIx opcode using zero extend or truncation. It is then written indirectly using the destination pointer. Say we have the following registers set:
R1.b0 = 8 (this is &R2) R2 = 0 R3 = 0x01020304
The following are some indirect write examples:
62
PRU
Operation mvib *r1.b0, r3 mviw *r1.b0, r3 mvid *r1.b0, r3 mvid *r1.b0, r3.w0 mvid *r1.b0, r3.b0 Result Little Endian R2 = 0x00000004 R2 = 0x00000304 R2 = 0x01020304 R2 = 0x00000304 R2 = 0x00000004
5.3.4.2.4
Load Byte Burst (LBBO)
The LBBO instruction is used to read a block of data from memory into the register file. The memory address to read from is specified by a 32 bit register (Rn2), using an optional offset. The destination in the register file can be specified as a direct register, or indirectly through a register pointer. Note: Either the traditional direct register syntax or the more recent register address offset syntax can be used for the first parameter. Format 1 (immediate count): Definition:
LBBO REG1, Rn2, OP(255), IM(124)
Operation:
memcpy( offset(REG1), Rn2+OP(255), IM(124) );
Example:
lbbo r2, r1, 5, 8 // Copy 8 bytes into r2/r3 from the // memory address r1+5 // Copy 8 bytes into r2/r3 from the // memory address r1+5
lbbo
&r2, r1, 5, 8
Format 2 (register count): Definition:

LBBO REG1, Rn2, OP(255), bn
Operation:
memcpy( offset(REG1), Rn2+OP(255), bn );
Example:
lbbo r3, r1, r2.w0, b0 // Copy "r0.b0" bytes into r3 from the // memory address r1+r2.w0 &r3, r1, r2.w0, b0 // Copy "r0.b0" bytes into r3 from the // memory address r1+r2.w0
lbbo
5.3.4.2.5
Store Byte Burst (SBBO)
The SBBO instruction is used to write a block of data from the register file into memory. The memory address to write to is specified by a 32 bit register (Rn2), using an optional offset. The source in the register file can be specified as a direct register, or indirectly through a register pointer. Note: Either the traditional direct register syntax or the more recent register address offset syntax can be used for the first parameter. Format 1 (immediate count): Definition:
SBBO REG1, Rn2, OP(255), IM(124)
Operation:
memcpy( Rn2+OP(255), offset(REG1), IM(124) ); SPRUHF8A May 2012 Revised June 2013 63
PRU
Example:
sbbo r2, r1, 5, 8 // Copy 8 bytes from r2/r3 to the // memory address r1+5 // Copy 8 bytes from r2/r3 to the // memory address r1+5
sbbo
&r2, r1, 5, 8

SBBO REG1, Rn2, OP(255), bn
Operation:
memcpy( Rn2+OP(255), offset(REG1), bn );
Example:
sbbo r3, r1, r2.w0, b0 // Copy "r0.b0" bytes from r3 to the // memory address r1+r2.w0 &r3, r1, r2.w0, b0 // Copy "r0.b0" bytes from r3 to the // memory address r1+r2.w0
sbbo
5.3.4.2.6
Load Byte Burst with Constant Table Offset (LBCO)
The LBCO instruction is used to read a block of data from memory into the register file. The memory address to read from is specified by a 32 bit constant register (Cn2), using an optional offset from an immediate or register value. The destination in the register file is specified as a direct register. Note: Either the traditional direct register syntax or the more recent register address offset syntax can be used for the first parameter. Format 1 (immediate count): Definition:
LBCO REG1, Cn2, OP(255), IM(124)
Operation:
memcpy( offset(REG1), Cn2+OP(255), IM(124) );
Example:
lbco r2, c1, 5, 8 // Copy 8 bytes into r2/r3 from the // memory address c1+5 // Copy 8 bytes into r2/r3 from the // memory address c1+5
lbco
&r2, c1, 5, 8

LBCO REG1, Cn2, OP(255), bn
Operation:
memcpy( offset(REG1), Cn2+OP(255), bn );
Example:
lbco r3, c1, r2.w0, b0 // Copy "r0.b0" bytes into r3 from the // memory address c1+r2.w0 &r3, c1, r2.w0, b0 // Copy "r0.b0" bytes into r3 from the // memory address c1+r2.w0
lbco
64
PRU
5.3.4.2.7
Store Byte Burst with Constant Table Offset (SBCO)
The SBCO instruction is used to write a block of data from the register file into memory. The memory address to write to is specified by a 32 bit constant register (Cn2), using an optional offset from an immediate or register value. The source in the register file is specified as a direct register. Note: Either the traditional direct register syntax or the more recent register address offset syntax can be used for the first parameter. Format 1 (immediate count): Definition:
SBCO REG1, Cn2, OP(255), IM(124)
Operation:
memcpy( Cn2+OP(255), offset(REG1), IM(124) );
Example:
sbco r2, c1, 5, 8 // Copy 8 bytes from r2/r3 to the // memory address c1+5 // Copy 8 bytes from r2/r3 to the // memory address c1+5
sbco
&r2, c1, 5, 8

SBCO REG1, Cn2, OP(255), bn
Operation:
SBCO REG1, Cn2, OP(255), bn
Example:
sbco r3, c1, r2.w0, b0 // Copy "r0.b0" bytes from r3 to the // memory address c1+r2.w0 &r3, c1, r2.w0, b0 // Copy "r0.b0" bytes from r3 to the // memory address c1+r2.w0
sbco
65
PRU
5.3.4.2.8
Clear Register Space (ZERO)
Clear space in the register file (set to zero). Definition:

ZERO IM(123), IM(124) ZERO &REG1, IM(124)
Operation: The register file data starting at offset IM(123) (or &REG1) with a length of IM(124) is cleared to zero. Example:
zero 0, 8 // Set R0 and R1 to zero zero &r0, 8 // Set R0 and R1 to zero // Set all elements in myStruct zero zero &myStruct, SIZE(myStruct)
This pseudo-op is implemented using a form of the XFR instruction, and always completes in a single clock cycle. 5.3.4.2.9 Fill Register Space (FILL)
Set all bits in a register file range. Definition:

FILL IM(123), IM(124) FILL &REG1, IM(124)
Operation: The register file data starting at offset IM(123) (or &REG1) with a length of IM(124) is set to one. Example:
fill 0, 8 // Set R0 and R1 to 0xFFFFFFFF fill &r0, 8 // Set R0 and R1 to 0xFFFFFFFF // Set all elements in myStruct 0xFF fill &myStruct, SIZE(myStruct)
This pseudo-op will generate the necessary XFR instruction and will always complete in a single clock cycle. 5.3.4.2.10 Register Transfer In, Out, and Exchange (XIN, XOUT, XCHG) These XFR pseudo-ops use the XFR wide transfer bus to read in a range of bytes into the register file, write out a range of bytes from the register file, or exchange the range of bytes to/from the register file. Definition:
XIN XIN XOUT XOUT XCHG XCHG IM(253), IM(253), IM(253), IM(253), IM(253), IM(253), REG, REG, REG, REG, REG, REG, IM(124) bn IM(124) bn IM(124) bn
Operation: On XIN, the register file data starting at the register REG with a length of IM(124) is read in from the parallel XFR interface from the hardware device with the device id specified in IM(253). On XOUT, the register file data starting at the register REG with a length of IM(124) is written out to the parallel XFR interface to the hardware device with the device id specified in IM(253). On XCHG, the register file data starting at the register REG with a length of IM(124) is exchanged on the parallel XFR interface between the register file and the hardware device with the device id specified in IM(253).
66
PRU
Example:
XIN XOUT XCHG XIN XID_SCRATCH, R2, 8 XID_SCRATCH, R2, b2 XID_SCRATCH, R2, 8 XID_PKTFIFO, R6, 24 // // // // // // Read 8 bytes from scratch to R2:R3 Write b2 byte to scratch starting at R2 Exchange the values of R2:R3 with 8 bytes from scratch Read 24 bytes from the "Packet FIFO" info R6:R7:R8:R9
5.3.4.2.11 Register and Status Transfer In, Out, and Exchange (SXIN, SXOUT, SXCHG) These XFR pseudo-ops use the XFR wide transfer bus to read in a range of bytes into the register file, write out a range of bytes from the register file, or exchange the range of bytes to/from the register file. This version also transfers status along with any specified registers. Definition:
SXIN SXIN SXOUT SXOUT SXCHG SXCHG IM(253), IM(253), IM(253), IM(253), IM(253), IM(253), REG, REG, REG, REG, REG, REG, IM(124) bn IM(124) bn IM(124) bn
Operation: Operation of their instructions is identical to their non-status counterparts, except that core status is transferred along with any specified registers. Status includes things such as instruction pointer and the carry/borrow bit. 5.3.4.2.11.1 Notes on the Register Transfer Bus All register transfers use the same fixed alignment. For example, the contents of R0.b3 may only be transferred to the exact byte location that is mapped to R0.b3 on the destination device. Although transfers ideally complete in one cycle, peripherals have the ability to stall the PRU when a transfer can not be completed. A transfer can start and end on a register byte boundary, but must be contiguous. For example, a transfer of 9 bytes starting at R0.b1 will transfer the following bytes:
Endian Mode Little Endian Bytes Transferred (9 bytes starting with R0.b1) R0.b1, R0.b2, R0.b3, R1.b0, R1.b1, R1.b2, R1.b3, R2.b0, R2.b1
Some peripherals may limit transfers to multiples of 4 bytes on word boundaries. 5.3.4.2.11.2 Transfer Bus Hardware Connection The transfer bus coming out of the PRU consists of 124 bytes of data and a sufficient number of control lines to control the transfer. Any given transfer will consist of a direction (in or out of the PRU), a peripheral ID, a starting byte offset, and a length. These can be represented in hardware as register and byte enable signals as needed for a proper implementation (which is beyond the scope of this description). How the bus transfer is used is entirely up to the peripherals that connect to it. The number of registers that are implemented on the peripheral and how they align to the PRU register file is determined by the peripheral connection. For example, the system below connects PRU registers R1::R3 to peripheral A registers A0::A2, and connects PRU registers R2::R4 to peripheral B registers B0::B2.
67
PRU
Figure 15. PRU Peripherals Mapped to PRU Transfer Bus
PDSP Registers
Two PRU Peripherals Mapped onto the PRU Transfer Bus
R0 R1 R2 R3 R4 R5 ...
A0 A1 A2
Peripheral A Peripheral ID = 1
B0 B1 B2
Peripheral B Peripheral ID = 2
5.3.4.2.11.3 Device Register Mappings Using the XFR command, the PRU can transfer register contents between its register file and externally connected peripherals. The transfer id used for the source and destination allows for up to 253 additional peripherals to be connected to the PRU with register transfer capability. Not all peripherals will implement the entire 32 PRU register space, and any transfer from space that is not implemented on the peripheral will return undefined results. Peripherals that do not implement the full space can define which register range to implement, and can even replicated a smaller set of registers across the PRU register space. The example below shows two possible implementations of a peripheral that only contains a 32 byte data window (8 registers). The first example has a straight register mapping. The second example maps three PRU register spans onto the same local peripheral space. This allows the PRU to transfer peripheral data to or from any one of the three possible spans, allowing for much greater flexibility in using the peripheral. Figure 16. Possible Implementations of a 32-Byte Data Window Peripheral
Peripheral with Single Range Register Mapping PRU Registers

R0 R5 R6
Peripheral with Replicated Register Mapping PRU Registers

R0 R5 R6
Peripheral Register Space

32 byte data window

32 byte data window
IDn
R13 R14
IDn
R13 R14
R21 R22
R30 R31
R29 R30 R31
68
PRU
It is also possible for a peripheral to map the same PRU registers into multiple internal device registers by using more that one peripheral ID. For example, below are two possible implementations of a peripheral with a 64 byte register space. The first uses a standard transfer, while the second makes use of 2 transfer ID values to allow the same PRU register span to be mapped to both of its internal register sets. Mapping the same PRU register space into multiple peripheral registers can benefit the PRU when the entire space need not be valid at any particular time. For example, a network packet search engine may map the Layer 2 fields to the same PRU register space at the Layer 3 fields, knowing that they both do not need to be valid at the same time and thus freeing up addition PRU registers for other use. Figure 17. PRU Registers Mapped into Multiple Internal Device Registers
Peripheral with Single Range Register Mapping PRU Registers

R0 R5 R6 64 byte data window R21 R22
Peripheral with Dual Register Mapping using 2 Transfer ID values PRU Registers
R0 R5 R6

32 byte data window 32 byte data window
IDn
IDn
R13 R14
IDn+1
R29 R30 R31
R29 R30 R31
5.3.4.3 5.3.4.3.1
Flow Control Unconditional Jump (JMP)
Unconditional jump to a 16 bit instruction address, specified by register or immediate value. Definition:
JMP OP(65535)
Operation:
PRU Instruction Pointer = OP(65535)
Example:
jmp jmp r2.w0 myLabel // Jump to the address stored in r2.w0 // Jump to the supplied code label
69
PRU
5.3.4.3.2
Unconditional Jump and Link (JAL)
Unconditional jump to a 16 bit instruction address, specified by register or immediate value. The address following the JAL instruction is stored into REG1, so that REG1 can later be used as a return address. Definition:
JAL REG1, OP(65535)
Operation:
REG1 = Current PRU Instruction Pointer + 1 PRU Instruction Pointer = OP(65535)
Example:
jal jal r2.w2, r2.w0 r30.w0, myLabel // // // // Jump to the address stored in r2.w0 put return location in r2.w2 Jump to the supplied code label and put the return location in r30.w0
5.3.4.3.3
Call Procedure (CALL)
The CALL instruction is a pseudo op designed to emulate a subroutine call on a stack based processor. Here, the JAL instruction is used with a specific call/ret register being the location to save the return pointer. The default register is R30.w0, but this can be changed by using the .setcallreg dot command. This instruction works in conjunction with the .ret dot command (deprecated) or the RET pseudo op instruction. Definition:
CALL OP(65535)
Operation:
JAL call register, OP(65535) (where call register defaults to r30.w0)
Example:
call call r2.w0 myLabel // Call to the address stored in r2.w0 // Call to the supplied code label
5.3.4.3.4
Return from Procedure (RET)
The RET instruction is a pseudo op designed to emulate a subroutine return on a stack based processor. Here, the JMP instruction is used with a specific call/ret register being the location of the return pointer. The default register is R30.w0, but this can be changed by using the .setcallreg dot command. This instruction works in conjunction with the CALL pseudo op instruction. Definition:
RET
Operation:
JMP call register (where call register defaults to r30.w0)
Example:
ret // Return address stored in our call register
5.3.4.3.5
Quick Branch if Greater Than (QBGT)
Jumps if the value of OP(255) is greater than REG1. Definition:

QBGT LABEL, REG1, OP(255)
Operation: Branch to LABEL if OP(255) > REG1 Example:

qbgt qbgt 70 myLabel, r2.w0, 5 myLabel, r3, r4 // Branch if 5 > r2.w0 // Branch if r4 > r3 SPRUHF8A May 2012 Revised June 2013
PRU
5.3.4.3.6
Quick Branch if Greater Than or Equal (QBGE)
Jumps if the value of OP(255) is greater than or equal to REG1. Definition:

QBGE LABEL, REG1, OP(255)
Operation:
Branch to LABEL if OP(255) >= REG1
Example:
qbge qbge myLabel, r2.w0, 5 myLabel, r3, r4 // Branch if 5 >= r2.w0 // Branch if r4 >= r3
5.3.4.3.7
Quick Branch if Less Than (QBLT)
Jumps if the value of OP(255) is less than REG1. Definition:

QBLT LABEL, REG1, OP(255)
Operation:
Branch to LABEL if OP(255) < REG1
Example:
qblt qblt myLabel, r2.w0, 5 myLabel, r3, r4 // Branch if 5 < r2.w0 // Branch if r4 < r3
5.3.4.3.8
Quick Branch if Less Than or Equal (QBLE)
Jumps if the value of OP(255) is less than or equal to REG1. Definition:

QBLE LABEL, REG1, OP(255)
Operation:
Branch to LABEL if OP(255) <= REG1
Example:
qble qble myLabel, r2.w0, 5 myLabel, r3, r4 // Branch if 5 <= r2.w0 // Branch if r4 <= r3
5.3.4.3.9
Quick Branch if Equal (QBEQ)
Jumps if the value of OP(255) is equal to REG1. Definition:

QBGT LABEL, REG1, OP(255)
Operation:
Branch to LABEL if OP(255) == REG1
Example:
qbeq qbeq myLabel, r2.w0, 5 myLabel, r3, r4 // Branch if r2.w0==5 // Branch if r4==r3
71
PRU
5.3.4.3.10 Quick Branch if Not Equal (QBNE) Jumps if the value of OP(255) is NOT equal to REG1. Definition:
QBNE LABEL, REG1, OP(255)
Operation:
Branch to LABEL if OP(255) != REG1
Example:
qbne qbne myLabel, r2.w0, 5 myLabel, r3, r4 // Branch if r2.w0==5 // Branch if r4!=r3
5.3.4.3.11 Quick Branch Always (QBA) Jump always. This is similar to the JMP instruction, only QBA uses an address offset and thus can be relocated in memory. Definition:
QBA LABEL
Operation:
Branch to LABEL
Example:
qba myLabel // Branch
5.3.4.3.12 Quick Branch if Bit is Set (QBBS) Jumps if the bit OP(31) is set in REG1. Format 1: Definition:
QBBS LABEL, REG1, OP(255)
Operation:
Branch to LABEL if( REG1 & ( 1 << (OP(31) & 0x1f) ) )
Example:
qbbs qbbs myLabel r3, r1 myLabel, r1.b1, 5 // Branch if( r3&(1<<r1) ) // Branch if( r1.b1 & 1<<5 )
Format 2: Definition:
QBBS LABEL, Rn.tx
Operation:
Branch to LABEL if( Rn & Rn.tx )
Example:
qbbs qbbs myLabel, r1.b1.t5 // Branch if( r1.b1 & 1<<5 ) myLabel, r0.t0 // Brach if bit 0 in R0 is set
72
PRU
5.3.4.3.13 Quick Branch if Bit is Clear (QBBC) Jumps if the bit OP(31) is clear in REG1. Format 1: Definition:
QBBC LABEL, REG1, OP(255)
Operation:
Branch to LABEL if( !(REG1 & ( 1 << (OP(31) & 0x1f) )) )
Example:
qbbc qbbc myLabel r3, r1 myLabel, r1.b1, 5 // Branch if( !(r3&(1<<r1)) ) // Branch if( !(r1.b1 & 1<<5) )
QBBC LABEL, Rn.tx
Operation:
Branch to LABEL if( !(Rn & Rn.tx) )
Example:
qbbc qbbc myLabel, r1.b1.t5 // Branch if( !(r1.b1 & 1<<5) ) myLabel, r0.t0 // Brach if bit 0 in R0 is clear
5.3.4.3.14 Wait Until Bit Set (WBS) The WBS instruction is a pseudo op that uses the QBBC instruction. It is used to poll on a status bit, spinning until the bit is set. In this case, REG1 is almost certainly R31, else this instruction could lead to an infinite loop. Format 1: Definition:
WBS REG1, OP(255)
Operation:
QBBC $, REG1, OP(255)
Example:
wbs wbs r31, r1 r31.b1, 5 // Spin here while ( !(r31&(1<<r1)) ) // Spin here while ( !(r31.b1 & 1<<5) )
WBS Rn.tx
Operation:
QBBC $, Rn.tx
Example:
wbs wbs r31.b1.t5 r31.t0 // Spin here while ( !(r31.b1 & 1<<5) ) // Spin here while bit 0 in R31 is clear
73
PRU
5.3.4.3.15 Wait Until Bit Clear (WBC) The WBC instruction is a pseudo op that uses the QBBS instruction. It is used to poll on a status bit, spinning until the bit is clear. In this case, REG1 is almost certainly R31, else this instruction could lead to an infinite loop. Format 1: Definition:
WBC REG1, OP(255)
Operation:
QBBS $, REG1, OP(255)
Example:
wbc wbc r31, r1 r31.b1, 5 // Spin here while ( r31&(1<<r1) ) // Spin here while ( r31.b1 & 1<<5 )
WBC Rn.tx
Operation:
QBBS $, Rn.tx
Example:
wbc wbc r31.b1.t5 r31.t0 // Spin here while ( r31.b1 & 1<<5 ) // Spin here while bit 0 in R31 is set
5.3.4.3.16 Halt Operation (HALT) The HALT instruction disables the PRU. This instruction is used to implement software breakpoints in a debugger. The PRU program counter remains at its current location (the location of the HALT). When the PRU is re-enabled, the instruction is re-fetched from instruction memory. Definition: HALT Operation: Disable PRU Example: halt 5.3.4.3.17 Sleep Operation (SLP) The SLP instruction will sleep the PRU, causing it to disable its clock. This instruction can specify either a permanent sleep (requiring a PRU reset to recover) or a wake on event. When the wake on event option is set to 1, the PRU will wake on any event that is enabled in the PRU Wakeup Enable register. Definition: SLP IM(1) Operation: Sleep the PRU with operational "wake on event" flag. Example:
SLP SLP 0 1 // Sleep without wake events // Sleep until wake event set
74
PRU
5.3.4.3.18 Hardware Loop Assist (LOOP, ILOOP) Defines a hardware-assisted loop operation. The loop can be non-interruptible (LOOP), or can be interruptible based on an external break signal (ILOOP). The loop operation works by detecting when the instruction pointer would normal hit the instruction at the designated target label, and instead decrementing a loop counter and jumping back to the instruction immediately following the loop instruction. Definition:
LOOP LABEL, OP(256) ILOOP LABEL, OP(256)
Operation:
LoopCounter = OP(256) LoopTop = $+1 While (LoopCounter>0) { If (InstructionPointer==LABEL) { LoopCounter--; InstructionPointer = LoopTop; } }
Example 1:
loop EndLoop, 5 // Peform the loop 5 times mvi r2, *r1.b0 // Get value xor r2, r2, r3 // Change value mvi *r1.b0++, r1 // Save value EndLoop:
Example 2:
mvi r2, *r1.b0++ // Get the number of elements loop EndLoop, r2 // Peform the loop for each element mvi r2, *r1.b0 // Get value call ProcessValue // It is legal to jump outside the loop mvi *r1.b0++, r1 // Save value EndLoop:
Note: When the loop count is set from a register, only the 16 LS bits are used (regardless of the field size). If this 16-bit value is zero, the instruction jumps directly to the end of loop.
5.4
PRUSS_PRU_CTRL Registers
Table 25 lists the memory-mapped registers for the PRUSS_PRU_CTRL. All register offset addresses not listed in Table 25 should be considered as reserved locations and the register contents should not be modified. Table 25. PRUSS_PRU_CTRL REGISTERS
Offset 0h 4h 8h Ch 10h 20h 24h 28h 2Ch Acronym CONTROL STATUS WAKEUP_EN CYCLE STALL CTBIR0 CTBIR1 CTPPR0 CTPPR1 Register Name Section Section 5.4.1 Section 5.4.2 Section 5.4.3 Section 5.4.4 Section 5.4.5 Section 5.4.6 Section 5.4.7 Section 5.4.8 Section 5.4.9
75
PRU
5.4.1
CONTROL Register (offset = 0h) [reset = 1h] CONTROL is shown in Figure 18 and described in Table 26. CONTROL REGISTER Figure 18. CONTROL Register
31 30 29 28 27 26 25 24 PCOUNTER_RST_VAL R/W-0h 23 22 21 20 19 18 17 16
PCOUNTER_RST_VAL R/W-0h 15 RUNSTATE R-0h 7 14 Reserved R-0h 6 Reserved 5 4 3 COUNTER_ENABLE R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset 2 SLEEPING R/W-0h 1 ENABLE R/W-0h 13 12 11 Reserved 10 9 8 SINGLE_STEP R/W-0h 0 SOFT_RST_N R-1h
Table 26. CONTROL Register Field Descriptions

Bit 31-16 15 Field PCOUNTER_RST_VAL RUNSTATE Type R/W R Reset 0h 0h Description Program Counter Reset Value: This field controls the address where the PRU will start executing code from after it is taken out of reset. Run State: This bit indicates whether the PRU is currently executing an instruction or is halted. 0 = PRU is halted and host has access to the instruction RAM and debug registers regions. 1 = PRU is currently running and the host is locked out of the instruction RAM and debug registers regions. This bit is used by an external debug agent to know when the PRU has actually halted when waiting for a HALT instruction to execute, a single step to finish, or any other time when the pru_enable has been cleared. Reserved. Single Step Enable: This bit controls whether or not the PRU will only execute a single instruction when enabled. 0 = PRU will free run when enabled. 1 = PRU will execute a single instruction and then the pru_enable bit will be cleared. Note that this bit does not actually enable the PRU, it only sets the policy for how much code will be run after the PRU is enabled. The pru_enable bit must be explicitly asserted. It is legal to initialize both the single_step and pru_enable bits simultaneously. (Two independent writes are not required to cause the stated functionality.) PRU Cycle Counter Enable: Enables PRU cycle counters. 0 = Counters not enabled 1 = Counters enabled PRU Sleep Indicator: This bit indicates whether or not the PRU is currently asleep. 0 = PRU is not asleep 1 = PRU is asleep If this bit is written to a 0, the PRU will be forced to power up from sleep mode.
14 8
Reserved SINGLE_STEP
R R/W
0h 0h
COUNTER_ENABLE
R/W
0h
SLEEPING
R/W
0h
76
PRU
Table 26. CONTROL Register Field Descriptions (continued)

Bit 1 Field ENABLE Type R/W Reset 0h Description Processor Enable: This bit controls whether or not the PRU is allowed to fetch new instructions. 0 = PRU is disabled. 1 = PRU is enabled. If this bit is de-asserted while the PRU is currently running and has completed the initial cycle of a multi-cycle instruction (LBxO,SBxO,SCAN, etc.), the current instruction will be allowed to complete before the PRU pauses execution. Otherwise, the PRU will halt immediately. Because of the unpredictability/timing sensitivity of the instruction execution loop, this bit is not a reliable indication of whether or not the PRU is currently running. The pru_state bit should be consulted for an absolute indication of the run state of the core. When the PRU is halted, its internal state remains coherent therefore this bit can be reasserted without issuing a software reset and the PRU will resume processing exactly where it left off in the instruction stream. Soft Reset: When this bit is cleared, the PRU will be reset. This bit is set back to 1 on the next cycle after it has been cleared.
SOFT_RST_N
1h
77
PRU
5.4.2
STATUS Register (offset = 4h) [reset = 0h] STATUS is shown in Figure 19 and described in Table 27. STATUS REGISTER Figure 19. STATUS Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
PCOUNTER R-0h
LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 27. STATUS Register Field Descriptions

Bit 15-0 Field PCOUNTER Type R Reset 0h Description Program Counter: This field is a registered (1 cycle delayed) reflection of the PRU program counter. Note that the PC is an instruction address where each instruction is a 32 bit word. This is not a byte address and to compute the byte address just multiply the PC by 4 (PC of 2 = byte address of 0x8, or PC of 8 = byte address of 0x20).
78
PRU
5.4.3
WAKEUP_EN Register (offset = 8h) [reset = 0h] WAKEUP_EN is shown in Figure 20 and described in Table 28. WAKEUP ENABLE REGISTER Figure 20. WAKEUP_EN Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
BITWISE_ENABLES R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 28. WAKEUP_EN Register Field Descriptions

Bit 31-0 Field BITWISE_ENABLES Type R/W Reset 0h Description Wakeup Enables: This field is ANDed with the incoming R31 status inputs (whose bit positions were specified in the stmap parameter) to produce a vector which is unary ORed to produce the status_wakeup source for the core. Setting any bit in this vector will allow the corresponding status input to wake up the core when it is asserted high. The PRU should set this enable vector prior to executing a SLP (sleep) instruction to ensure that the desired sources can wake up the core.
79
PRU
5.4.4
CYCLE Register (offset = Ch) [reset = 0h] CYCLE is shown in Figure 21 and described in Table 29. CYCLE COUNT. This register counts the number of cycles for which the PRU has been enabled. Figure 21. CYCLE Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CYCLECOUNT 0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 29. CYCLE Register Field Descriptions

Bit 31-0 Field CYCLECOUNT Type Reset 0h Description This value is incremented by 1 for every cycle during which the PRU is enabled and the counter is enabled (both bits ENABLE and COUNTENABLE set in the PRU control register). Counting halts while the PRU is disabled or counter is disabled, and resumes when re-eneabled. Counter clears the COUNTENABLE bit in the PRU control register when the count reaches 0xFFFFFFFF. (Count does does not wrap). The register can be read at any time. The register can be cleared when the counter or PRU is disabled. Clearing this register also clears the PRU Stall Count Register.
80
PRU
5.4.5
STALL Register (offset = 10h) [reset = 0h] STALL is shown in Figure 22 and described in Table 30. STALL COUNT. This register counts the number of cycles for which the PRU has been enabled, but unable to fetch a new instruction. It is linked to the Cycle Count Register (0x0C) such that this register reflects the stall cycles measured over the same cycles as counted by the cycle count register. Thus the value of this register is always less than or equal to cycle count. Figure 22. STALL Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
STALLCOUNT 0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 30. STALL Register Field Descriptions

Bit 31-0 Field STALLCOUNT Type Reset 0h Description This value is incremented by 1 for every cycle during which the PRU is enabled and the counter is enabled (both bits ENABLE and COUNTENABLE set in the PRU control register), and the PRU was unable to fetch a new instruction for any reason.
81
PRU
5.4.6
CTBIR0 Register (offset = 20h) [reset = 0h] CTBIR0 is shown in Figure 23 and described in Table 31. CONSTANT TABLE BLOCK INDEX REGISTER 0. This register is used to set the block indices which are used to modify entries 24 and 25 in the PRU Constant Table. This register can be written by the PRU whenever it needs to change to a new base pointer for a block in the State / Scratchpad RAM. This function is useful since the PRU is often processing multiple processing threads which require it to change contexts. The PRU can use this register to avoid requiring excessive amounts of code for repetitive context switching. The format of this register is as follows: Figure 23. CTBIR0 Register
31 30 29 28 Reserved 23 22 21 20 C25_BLK_INDEX R/W-0h 15 14 13 12 Reserved 7 6 5 4 C24_BLK_INDEX R/W-0h 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 31. CTBIR0 Register Field Descriptions

Bit 23-16 Field C25_BLK_INDEX Type R/W Reset 0h Description PRU Constant Entry 25 Block Index: This field sets the value that will appear in bits 11:8 of entry 25 in the PRU Constant Table. PRU Constant Entry 24 Block Index: This field sets the value that will appear in bits 11:8 of entry 24 in the PRU Constant Table.
7-0
C24_BLK_INDEX
R/W
0h
82
PRU
5.4.7
CTBIR1 Register (offset = 24h) [reset = 0h] CTBIR1 is shown in Figure 24 and described in Table 32. CONSTANT TABLE BLOCK INDEX REGISTER 1. This register is used to set the block indices which are used to modify entries 24 and 25 in the PRU Constant Table. This register can be written by the PRU whenever it needs to change to a new base pointer for a block in the State / Scratchpad RAM. This function is useful since the PRU is often processing multiple processing threads which require it to change contexts. The PRU can use this register to avoid requiring excessive amounts of code for repetitive context switching. The format of this register is as follows: Figure 24. CTBIR1 Register
31 30 29 28 Reserved 23 22 21 20 C27_BLK_INDEX R/W-0h 15 14 13 12 Reserved 7 6 5 4 C26_BLK_INDEX R/W-0h 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 32. CTBIR1 Register Field Descriptions

Bit 23-16 Field C27_BLK_INDEX Type R/W Reset 0h Description PRU Constant Entry 27 Block Index: This field sets the value that will appear in bits 11:8 of entry 27 in the PRU Constant Table. PRU Constant Entry 26 Block Index: This field sets the value that will appear in bits 11:8 of entry 26 in the PRU Constant Table.
7-0
C26_BLK_INDEX
R/W
0h
83
PRU
5.4.8
CTPPR0 Register (offset = 28h) [reset = 0h] CTPPR0 is shown in Figure 25 and described in Table 33. CONSTANT TABLE PROGRAMMABLE POINTER REGISTER 0. This register allows the PRU to set up the 256-byte page index for entries 28 and 29 in the PRU Constant Table which serve as general purpose pointers which can be configured to point to any locations inside the session router address map. This register is useful when the PRU needs to frequently access certain structures inside the session router address space whose locations are not hard coded such as tables in scratchpad memory. This register is formatted as follows: Figure 25. CTPPR0 Register
31 30 29 28 C29_POINTER R/W-0h 23 22 21 20 C29_POINTER R/W-0h 15 14 13 12 C28_POINTER R/W-0h 7 6 5 4 C28_POINTER R/W-0h 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 33. CTPPR0 Register Field Descriptions

Bit 31-16 Field C29_POINTER Type R/W Reset 0h Description PRU Constant Entry 29 Pointer: This field sets the value that will appear in bits 23:8 of entry 29 in the PRU Constant Table. PRU Constant Entry 28 Pointer: This field sets the value that will appear in bits 23:8 of entry 28 in the PRU Constant Table.
15-0
C28_POINTER
R/W
0h
84
PRU
5.4.9
CTPPR1 Register (offset = 2Ch) [reset = 0h] CTPPR1 is shown in Figure 26 and described in Table 34. CONSTANT TABLE PROGRAMMABLE POINTER REGISTER 1. This register functions the same as the PRU Constant Table Programmable Pointer Register 0 but allows the PRU to control entries 30 and 31 in the PRU Constant Table. This register is formatted as follows: Figure 26. CTPPR1 Register
31 30 29 28 C31_POINTER R/W-0h 23 22 21 20 C31_POINTER R/W-0h 15 14 13 12 C30_POINTER R/W-0h 7 6 5 4 C30_POINTER R/W-0h 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 34. CTPPR1 Register Field Descriptions

Bit 31-16 Field C31_POINTER Type R/W Reset 0h Description PRU Constant Entry 31 Pointer: This field sets the value that will appear in bits 23:8 of entry 31 in the PRU Constant Table. PRU Constant Entry 30 Pointer: This field sets the value that will appear in bits 23:8 of entry 30 in the PRU Constant Table.
15-0
C30_POINTER
R/W
0h
5.5 PRU_ICSS_PRU_DEBUG Registers

Table 35 lists the memory-mapped registers for the PRU_ICSS_PRU_DEBUG. All register offset addresses not listed in Table 35 should be considered as reserved locations and the register contents should not be modified. Table 35. PRU_ICSS_PRU_DEBUG REGISTERS
Offset 0h 4h 8h Ch 10h 14h 18h 1Ch 20h 24h 28h 2Ch 30h 34h Acronym GPREG0 GPREG1 GPREG2 GPREG3 GPREG4 GPREG5 GPREG6 GPREG7 GPREG8 GPREG9 GPREG10 GPREG11 GPREG12 GPREG13 Register Name Section Section 5.5.1 Section 5.5.2 Section 5.5.3 Section 5.5.4 Section 5.5.5 Section 5.5.6 Section 5.5.7 Section 5.5.8 Section 5.5.9 Section 5.5.10 Section 5.5.11 Section 5.5.12 Section 5.5.13 Section 5.5.14 85
PRU
Table 35. PRU_ICSS_PRU_DEBUG REGISTERS (continued)

Offset 38h 3Ch 40h 44h 48h 4Ch 50h 54h 58h 5Ch 60h 64h 68h 6Ch 70h 74h 78h 7Ch 80h 84h 88h 8Ch 90h 94h 98h 9Ch A0h A4h A8h ACh B0h B4h B8h BCh C0h C4h C8h CCh D0h D4h D8h DCh E0h E4h E8h ECh F0h 86 Acronym GPREG14 GPREG15 GPREG16 GPREG17 GPREG18 GPREG19 GPREG20 GPREG21 GPREG22 GPREG23 GPREG24 GPREG25 GPREG26 GPREG27 GPREG28 GPREG29 GPREG30 GPREG31 CT_REG0 CT_REG1 CT_REG2 CT_REG3 CT_REG4 CT_REG5 CT_REG6 CT_REG7 CT_REG8 CT_REG9 CT_REG10 CT_REG11 CT_REG12 CT_REG13 CT_REG14 CT_REG15 CT_REG16 CT_REG17 CT_REG18 CT_REG19 CT_REG20 CT_REG21 CT_REG22 CT_REG23 CT_REG24 CT_REG25 CT_REG26 CT_REG27 CT_REG28 Register Name Section Section 5.5.15 Section 5.5.16 Section 5.5.17 Section 5.5.18 Section 5.5.19 Section 5.5.20 Section 5.5.21 Section 5.5.22 Section 5.5.23 Section 5.5.24 Section 5.5.25 Section 5.5.26 Section 5.5.27 Section 5.5.28 Section 5.5.29 Section 5.5.30 Section 5.5.31 Section 5.5.32 Section 5.5.33 Section 5.5.34 Section 5.5.35 Section 5.5.36 Section 5.5.37 Section 5.5.38 Section 5.5.39 Section 5.5.40 Section 5.5.41 Section 5.5.42 Section 5.5.43 Section 5.5.44 Section 5.5.45 Section 5.5.46 Section 5.5.47 Section 5.5.48 Section 5.5.49 Section 5.5.50 Section 5.5.51 Section 5.5.52 Section 5.5.53 Section 5.5.54 Section 5.5.55 Section 5.5.56 Section 5.5.57 Section 5.5.58 Section 5.5.59 Section 5.5.60 Section 5.5.61
PRU
Table 35. PRU_ICSS_PRU_DEBUG REGISTERS (continued)

Offset F4h F8h FCh Acronym CT_REG29 CT_REG30 CT_REG31 Register Name Section Section 5.5.62 Section 5.5.63 Section 5.5.64
87
PRU
5.5.1
GPREG0 Register (offset = 0h) [reset = 0h] GPREG0 is shown in Figure 27 and described in Table 36. DEBUG PRU GENERAL PURPOSE REGISTER 0. This register allows an external agent to debug the PRU while it is disabled. Reading or writing to these registers will have the same effect as a read or write to these registers from an internal instruction in the PRU. For R30, this includes generation of the pulse outputs whenever the register is written. Figure 27. GPREG0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
GP_REGISTER0 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 36. GPREG0 Register Field Descriptions

Bit 31-0 Field GP_REGISTER0 Type R/W Reset 0h Description PRU Internal GP Register n: Reading / writing this field directly inspects/modifies the corresponding internal register in the PRU internal regfile.
88
PRU
5.5.2
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

89
PRU
5.5.3
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

90
PRU
5.5.4
GPREG3 Register (offset = Ch) [reset = 0h] GPREG3 is shown in Figure 30 and described in Table 39. DEBUG PRU GENERAL PURPOSE REGISTER 3. This register allows an external agent to debug the PRU while it is disabled. Reading or writing to these registers will have the same effect as a read or write to these registers from an internal instruction in the PRU. For R30, this includes generation of the pulse outputs whenever the register is written. Figure 30. GPREG3 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

91
PRU
5.5.5
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

92
PRU
5.5.6
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

93
PRU
5.5.7
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

94
PRU
5.5.8
GPREG7 Register (offset = 1Ch) [reset = 0h] GPREG7 is shown in Figure 34 and described in Table 43. DEBUG PRU GENERAL PURPOSE REGISTER 7. This register allows an external agent to debug the PRU while it is disabled. Reading or writing to these registers will have the same effect as a read or write to these registers from an internal instruction in the PRU. For R30, this includes generation of the pulse outputs whenever the register is written. Figure 34. GPREG7 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

95
PRU
5.5.9
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

96
PRU
5.5.10
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

97
PRU
5.5.11
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

98
PRU
5.5.12
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

99
PRU
5.5.13
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

100
PRU
5.5.14
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

101
PRU
5.5.15
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

102
PRU
5.5.16
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

103
PRU
5.5.17
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

104
PRU
5.5.18
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

105
PRU
5.5.19
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

106
PRU
5.5.20
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

107
PRU
5.5.21
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

108
PRU
5.5.22
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

109
PRU
5.5.23
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

110
PRU
5.5.24
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

111
PRU
5.5.25
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

112
PRU
5.5.26
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

113
PRU
5.5.27
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

114
PRU
5.5.28
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

115
PRU
5.5.29
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

116
PRU
5.5.30
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

117
PRU
5.5.31
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

118
PRU
5.5.32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
GPREG31 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field GPREG31 Type R/W Reset 0h Description
119
PRU
5.5.33
CT_REG0 Register (offset = 80h) [reset = 20000h] CT_REG0 is shown in Figure 59 and described in Table 68. DEBUG PRU CONSTANTS TABLE ENTRY 0. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 59. CT_REG0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER0 R-20000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 68. CT_REG0 Register Field Descriptions

Bit 31-0 Field CT_REGISTER0 Type R Reset 20000h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
120
PRU
5.5.34
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

121
PRU
5.5.35
CT_REG2 Register (offset = 88h) [reset = 4802A000h] CT_REG2 is shown in Figure 61 and described in Table 70. DEBUG PRU CONSTANTS TABLE ENTRY 2. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 61. CT_REG2 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER2 R-4802A000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field CT_REGISTER2 Type R Reset 4802A000h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
122
PRU
5.5.36
CT_REG3 Register (offset = 8Ch) [reset = 30000h] CT_REG3 is shown in Figure 62 and described in Table 71. DEBUG PRU CONSTANTS TABLE ENTRY 3. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 62. CT_REG3 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

123
PRU
5.5.37
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

124
PRU
5.5.38
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

125
PRU
5.5.39
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

126
PRU
5.5.40
CT_REG7 Register (offset = 9Ch) [reset = 28000h] CT_REG7 is shown in Figure 66 and described in Table 75. DEBUG PRU CONSTANTS TABLE ENTRY 7. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 66. CT_REG7 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

127
PRU
5.5.41
CT_REG8 Register (offset = A0h) [reset = 46000000h] CT_REG8 is shown in Figure 67 and described in Table 76. DEBUG PRU CONSTANTS TABLE ENTRY 8. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 67. CT_REG8 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

128
PRU
5.5.42
CT_REG9 Register (offset = A4h) [reset = 4A100000h] CT_REG9 is shown in Figure 68 and described in Table 77. DEBUG PRU CONSTANTS TABLE ENTRY 9. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 68. CT_REG9 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

129
PRU
5.5.43
CT_REG10 Register (offset = A8h) [reset = 48318000h] CT_REG10 is shown in Figure 69 and described in Table 78. DEBUG PRU CONSTANTS TABLE ENTRY 10. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 69. CT_REG10 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

130
PRU
5.5.44
CT_REG11 Register (offset = ACh) [reset = 48022000h] CT_REG11 is shown in Figure 70 and described in Table 79. DEBUG PRU CONSTANTS TABLE ENTRY 11. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 70. CT_REG11 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

131
PRU
5.5.45
CT_REG12 Register (offset = B0h) [reset = 48024000h] CT_REG12 is shown in Figure 71 and described in Table 80. DEBUG PRU CONSTANTS TABLE ENTRY 12. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 71. CT_REG12 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

132
PRU
5.5.46
CT_REG13 Register (offset = B4h) [reset = 48310000h] CT_REG13 is shown in Figure 72 and described in Table 81. DEBUG PRU CONSTANTS TABLE ENTRY 13. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 72. CT_REG13 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

133
PRU
5.5.47
CT_REG14 Register (offset = B8h) [reset = 481CC000h] CT_REG14 is shown in Figure 73 and described in Table 82. DEBUG PRU CONSTANTS TABLE ENTRY 14. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 73. CT_REG14 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER14 R-481CC000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field CT_REGISTER14 Type R Reset Description 481CC000h PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
134
PRU
5.5.48
CT_REG15 Register (offset = BCh) [reset = 481D0000h] CT_REG15 is shown in Figure 74 and described in Table 83. DEBUG PRU CONSTANTS TABLE ENTRY 15. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 74. CT_REG15 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER15 R-481D0000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field CT_REGISTER15 Type R Reset 481D0000h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
135
PRU
5.5.49
CT_REG16 Register (offset = C0h) [reset = 481A0000h] CT_REG16 is shown in Figure 75 and described in Table 84. DEBUG PRU CONSTANTS TABLE ENTRY 16. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 75. CT_REG16 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

136
PRU
5.5.50
CT_REG17 Register (offset = C4h) [reset = 4819C000h] CT_REG17 is shown in Figure 76 and described in Table 85. DEBUG PRU CONSTANTS TABLE ENTRY 17. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 76. CT_REG17 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER17 R-4819C000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field CT_REGISTER17 Type R Reset 4819C000h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
137
PRU
5.5.51
CT_REG18 Register (offset = C8h) [reset = 48300000h] CT_REG18 is shown in Figure 77 and described in Table 86. DEBUG PRU CONSTANTS TABLE ENTRY 18. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 77. CT_REG18 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

138
PRU
5.5.52
CT_REG19 Register (offset = CCh) [reset = 48302000h] CT_REG19 is shown in Figure 78 and described in Table 87. DEBUG PRU CONSTANTS TABLE ENTRY 19. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 78. CT_REG19 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

139
PRU
5.5.53
CT_REG20 Register (offset = D0h) [reset = 48304000h] CT_REG20 is shown in Figure 79 and described in Table 88. DEBUG PRU CONSTANTS TABLE ENTRY 20. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 79. CT_REG20 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

140
PRU
5.5.54
CT_REG21 Register (offset = D4h) [reset = 32400h] CT_REG21 is shown in Figure 80 and described in Table 89. DEBUG PRU CONSTANTS TABLE ENTRY 21. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 80. CT_REG21 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

141
PRU
5.5.55
CT_REG22 Register (offset = D8h) [reset = 480C8000h] CT_REG22 is shown in Figure 81 and described in Table 90. DEBUG PRU CONSTANTS TABLE ENTRY 22. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 81. CT_REG22 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER22 R-480C8000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field CT_REGISTER22 Type R Reset 480C8000h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
142
PRU
5.5.56
CT_REG23 Register (offset = DCh) [reset = 480CA000h] CT_REG23 is shown in Figure 82 and described in Table 91. DEBUG PRU CONSTANTS TABLE ENTRY 23. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 82. CT_REG23 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CT_REGISTER23 R-480CA000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset

Bit 31-0 Field CT_REGISTER23 Type R Reset 480CA000h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table.
143
PRU
5.5.57
CT_REG24 Register (offset = E0h) [reset = 0h] CT_REG24 is shown in Figure 83 and described in Table 92. DEBUG PRU CONSTANTS TABLE ENTRY 24. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 83. CT_REG24 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

Bit 31-0 Field CT_REGISTER24 Type R Reset 0h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table. This entry is partially programmable through the C24_BLK_INDEX in the PRU Control register. The reset value for this Constant Table Entry is 0x00000n00, n=C24_BLK_INDEX [3:0].
144
PRU
5.5.58
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

145
PRU
5.5.59
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

Bit 31-0 Field CT_REGISTER26 Type R Reset 0h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table. This entry is partially programmable through the C26_BLK_INDEX in the PRU Control register. The reset value for this Constant Table Entry is 0x0002En00, n=C26_BLK_INDEX [3:0].
146
PRU
5.5.60
CT_REG27 Register (offset = ECh) [reset = 0h] CT_REG27 is shown in Figure 86 and described in Table 95. DEBUG PRU CONSTANTS TABLE ENTRY 27. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 86. CT_REG27 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

147
PRU
5.5.61
CT_REG28 Register (offset = F0h) [reset = 0h] CT_REG28 is shown in Figure 87 and described in Table 96. DEBUG PRU CONSTANTS TABLE ENTRY 28. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 87. CT_REG28 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

Bit 31-0 Field CT_REGISTER28 Type R Reset 0h Description PRU Internal Constants Table Entry n: Reading this field directly inspects the corresponding entry in the PRU internal constants table. This entry is partially programmable through the C28_POINTER in the PRU Control register. The reset value for this Constant Table Entry is 0x00nnnn00, nnnn=C28_POINTER [15:0].
148
PRU
5.5.62
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

149
PRU
5.5.63
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

150
PRU
5.5.64
CT_REG31 Register (offset = FCh) [reset = 0h] CT_REG31 is shown in Figure 90 and described in Table 99. DEBUG PRU CONSTANTS TABLE ENTRY 31. This register allows an external agent to debug the PRU while it is disabled. Since some of the constants table entries may actually depend on system inputs / and or the internal state of the PRU, these registers are provided to allow an external agent to easily determine the state of the constants table. Figure 90. CT_REG31 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

151
Interrupt Controller
6 6.1
Interrupt Controller Introduction

The PRU-ICSS interrupt controller (INTC) is an interface between interrupts coming from different parts of the system (referred to as system events) and the PRU-ICSS interrupt interface. The PRU-ICSS INTC has the following features: Capturing up to 64 System Events Supports up to 10 interrupt channels. Generation of 10 Host Interrupts 2 Host Interrupts for the PRUs. 8 Host Interrupts exported from the PRU-ICSS for signaling the ARM interrupt controllers. Each system event can be enabled and disabled. Each host event can be enabled and disabled. Hardware prioritization of events.
152
6.2
The PRU-ICSS INTC supports up to 64 system interrupts from different peripherals and PRUs to be mapped to 10 channels inside the INTC (see Figure 91). Interrupts from these 10 channels are further mapped to 10 Host Interrupts. Any of the 64 system interrupts can be mapped to any of the 10 channels. Multiple interrupts can be mapped to a single channel. An interrupt should not be mapped to more than one channel. Any of the 10 channels can be mapped to any of the 10 host interrupts. It is recommended to map channel x to host interrupt x, where x is from 0 to 9 A channel should not be mapped to more than one host interrupt For channels mapping to the same host interrupt, lower number channels have higher priority. For interrupts on same channel, priority is determined by the hardware interrupt number. The lower the interrupt number, the higher the priority. Host Interrupt 0 is connected to bit 30 in register 31 of PRU0 and PRU1. Host Interrupt 1 is connected to bit 31 in register 31 for PRU0 and PRU1. Host Interrupts 2 through 9 exported from PRU-ICSS for signaling ARM interrupt controllers or other machines like EDMA. Figure 91. Interrupt Controller Block Diagram
Host Mapping of channels Channel Mapping of System events
PRU0/1 R31 bit 30 PRU0/1 R31 bit 31
Host-0 Host-1 Host-2 Host-3 Host-4 Host-5 Host-6 Host-7 Host-8 Host-9
Channel-0 Channel-1 Channel-2 Channel-3 Channel-4 Channel-5 Channel-6 Channel-7 Channel-8 Channel-9
Sys_event 1 Sys_event 2 Peripheral A
Sys_event 30 Sys_event 31 Sys_event 34
Peripheral Z Sys_event 58
6.2.1
PRU-ICSS System Events The PRU-ICSS system events can be found in the interrupt section of TRM. The device includes a internal mux that selects the Non Ethercat (default) or Ethercat mode system events. The mux control signal is controlled by MIIRTEEN [MII_RT_EVENT_EN], which can be modified by software in PRU-ICSS CFG register space.
6.2.2
INTC Methodology The INTC module controls the system event mapping to the host interrupt interface. System events are generated by the device peripherals or PRUs. The INTC receives the system interrupts and maps them to internal channels. The channels are used to group interrupts together and to prioritize them. These channels are then mapped onto the host interrupts. Interrupts from the system side are active high in polarity. They are also pulse type of interrupts.
153
The INTC encompasses many functions to process the system interrupts and prepare them for the host interface. These functions are: processing, enabling, status, channel mapping, host interrupt mapping, prioritization, and host interfacing. Figure 92 illustrates the flow of system interrupts through the functions to the host. The following subsections describe each part of the flow. Figure 92. Flow of System Interrupts to Host
Status Enabling Processing System Interrupts
Prioritization Channel Mapping Debug Int Host Interfacing Debug Ints
Vectorization Host Int Mapping
Host Ints
6.2.2.1
Interrupt Processing
This block does following tasks: Synchronization of slower and asynchronous interrupts Conversion of polarity to active high Conversion of interrupt type to pulse interrupts After the processing block, all interrupts will be active high pulses. 6.2.2.1.1 Interrupt Enabling
The next stage of INTC is to enable system interrupts based on programmed settings. The following sequence is to be followed to enable interrupts: Enable all host interrupts: By setting the ENABLE bit in the global enable register (GER) to 1, all host interrupts will be enabled. Individual host interrupts are still enabled or disabled from their individual enables and are not overridden by the global enable. Enable required host interrupts: By writing to the INDEX field in the host interrupt enable indexed set register (HIEISR), enable the required host interrupts. The host interrupt to enable is the index value written. This enables the host interrupt output or triggers the output again if that host interrupt is already enabled. Enable required system interrupts: System interrupts that are required to get propagated to host are to be enabled individually by writing to INDEX field in the system interrupt enable indexed set register (EISR). The interrupt to enable is the index value written. This sets the Enable Register bit of the given index. 6.2.2.2 Interrupt Status Checking
The next stage is to capture which system interrupts are pending. There are two kinds of pending status: raw status and enabled status. Raw status is the pending status of the system interrupt without regards to the enable bit for the system interrupt. Enabled status is the pending status of the system interrupts with the enable bits active. When the enable bit is inactive, the enabled status will always be inactive. The enabled status of system interrupts is captured in system interrupt status enabled/clear registers (SECR1SECR2). Status of system interrupt 'N' is indicated by the Nth bit of SECR1-SECR2. Since there are 64 system interrupts, two 32-bit registers are used to capture the enabled status of interrupts. The pending status reflects whether the system interrupt occurred since the last time the status register bit was cleared. Each bit in the status register can be individually cleared.
154
6.2.2.3
Interrupt Channel Mapping
The INTC has 10 internal channels to which enabled system interrupts can be mapped. Channel 0 has highest priority and channel 9 has the lowest priority. Channels are used to group the system interrupts into a smaller number of priorities that can be given to a host interface with a very small number of interrupt inputs. When multiple system interrupts are mapped to the same channel their interrupts are ORed together so that when either is active the output is active. The channel map registers (CMRm) define the channel for each system interrupt. There is one register per 4 system interrupts; therefore, there are16 channel map registers for a system of 64 interrupts. The channel for each system interrupt can be set using these registers. 6.2.2.3.1 Host Interrupt Mapping
The hosts can be the PRUs or ARM CPU. The 10 channels from the INTC can mapped to any of the 10 Host interrupts. The Host map registers (HMRm) define the channel for each system interrupt. There is one register per 4 channels; therefore, there are 3 host map registers for 10 channels. When multiple channels are mapped to the same host interrupt, then prioritization is done to select which interrupt is in the highest-priority channel and which should be sent first to the host. 6.2.2.3.2 Interrupt Prioritization
The next stage of the INTC is prioritization. Since multiple interrupts can feed into a single channel and multiple channels can feed into a single host interrupt, it is to read the status of all system interrupts to determine the highest priority interrupt that is pending. The INTC provides hardware to perform this prioritization with a given scheme so that software does not have to do this. There are two levels of prioritizations: The first level of prioritization is between the active channels for a host interrupt. Channel 0 has the highest priority and channel 9 has the lowest. So the first level of prioritization picks the lowest numbered active channel. The second level of prioritization is between the active system interrupts for the prioritized channel. The system interrupt in position 0 has the highest priority and system interrupt 63 has the lowest priority. So the second level of prioritization picks the lowest position active system interrupt. This is the final prioritized system interrupt for the host interrupt and is stored in the global prioritized index register (GPIR). The highest priority pending interrupt with respect to each host interrupts can be obtained using the host interrupt prioritized index registers (HIPIRn). 6.2.2.4 Interrupt Nesting
The INTC can also perform a nesting function in its prioritization. Nesting is a method of disabling certain interrupts (usually lower-priority interrupts) when an interrupt is taken so that only those desired interrupts can trigger to the host while it is servicing the current interrupt. The typical usage is to nest on the current interrupt and disable all interrupts of the same or lower priority (or channel). Then the host will only be interrupted from a higher priority interrupt. The nesting is done in one of three methods: 1. Nesting for all host interrupts, based on channel priority: When an interrupt is taken, the nesting level is set to its channel priority. From then, that channel priority and all lower priority channels will be disabled from generating host interrupts and only higher priority channels are allowed. When the interrupt is completely serviced, the nesting level is returned to its original value. When there is no interrupt being serviced, there are no channels disabled due to nesting. The global nesting level register (GNLR) allows the checking and setting of the global nesting level across all host interrupts. The nesting level is the channel (and all of lower priority channels) that are nested out because of a current interrupt. 2. Nesting for individual host interrupts, based on channel priority: Always nest based on channel priority for each host interrupt individually. When an interrupt is taken on a host interrupt, then, the nesting level is set to its channel priority for just that host interrupt, and other host interrupts do not have their nesting affected. Then for that host interrupt, equal or lower priority channels will not interrupt the host but may on other host interrupts if programmed. When the interrupt is completely serviced the nesting
level for the host interrupt is returned to its original value. The host interrupt nesting level registers (HINLR1 and HINLR2) display and control the nesting level for each host interrupt. The nesting level controls which channel and lower priority channels are nested. There is one register per host interrupt. 3. Software manually performs the nesting of interrupts. When an interrupt is taken, the software will disable all the host interrupts, manually update the enables for any or all the system interrupts, and then re-enables all the host interrupts. This now allows only the system interrupts that are still enabled to trigger to the host. When the interrupt is completely serviced the software must reverse the changes to re-enable the nested out system interrupts. This method requires the most software interaction but gives the most flexibility if simple channel based nesting mechanisms are not adequate. 6.2.2.5 Interrupt Status Clearing
After servicing the interrupt (after execution of the ISR), interrupt status is to be cleared. If a system interrupt status is not cleared, then another host interrupt may not be triggered or another host interrupt may be triggered incorrectly. It is also essential to clear all system interrupts before the PRU is halted as the PRU does not power down unless all the interrupt status are cleared. For clearing the status of an interrupt, whose interrupt number is N, write a 1 to the Nth bit position in the system interrupt status enabled/clear registers (SECR1-SECR2). System interrupt N can also be cleared by writing the value N into the system interrupt status indexed clear register (SICR). 6.2.3 Interrupt Disabling At any time, if any interrupt is not to be propagated to the host, then that interrupt should be disabled. For disabling an interrupt whose interrupt number is N, write a 1 to the Nth bit in the system interrupt enable clear registers (ECR1-ECR2). System interrupt N can also be disabled by writing the value N in the system interrupt enable indexed clear register (EICR).
6.3
Basic Programming Model

Follow these steps to configure the interrupt controller. 1. Set polarity and type of system event through the System Interrupt Polarity Registers (SIPR1 and SPIR2) and the System Interrupt Type Registers (SITR1 and SITR2). Polarity of all system interrupts is always high. Type of all system interrupts is always pulse. 2. Map system event to INTC channel through CHANMAP registers. 3. Map channel to host interrupt through HOSTMAP registers. Recommend channel x be mapped to host interrupt x. 4. Clear system interrupt by writing 1s to SECR registers. 5. Enable host interrupt by writing index value to HOSTINTENIDX register. 6. Enable interrupt nesting if desired. 7. Globally enable all interrupts through GLBLEN register.
6.4
PRU_ICSS_INTC Registers
Table 100 lists the memory-mapped registers for the PRU_ICSS_INTC. All register offset addresses not listed in Table 100 should be considered as reserved locations and the register contents should not be modified. Table 100. PRU_ICSS_INTC REGISTERS
Offset 0h 4h 10h 1Ch 20h 24h 28h Acronym REVID CR GER GNLR SISR SICR EISR Register Name Section Section 6.4.1 Section 6.4.2 Section 6.4.3 Section 6.4.4 Section 6.4.5 Section 6.4.6 Section 6.4.7 SPRUHF8A May 2012 Revised June 2013
156
Table 100. PRU_ICSS_INTC REGISTERS (continued)

Offset 2Ch 34h 38h 80h 200h 204h 280h 284h 300h 304h 380h 384h 400h 404h 408h 40Ch 410h 414h 418h 41Ch 420h 424h 428h 42Ch 430h 434h 438h 43Ch 800h 804h 808h 900h 904h 908h 90Ch 910h 914h 918h 91Ch 920h 924h D00h D04h D80h D84h 1100h 1104h Acronym EICR HIEISR HIDISR GPIR SRSR0 SRSR1 SECR0 SECR1 ESR0 ERS1 ECR0 ECR1 CMR0 CMR1 CMR2 CMR3 CMR4 CMR5 CMR6 CMR7 CMR8 CMR9 CMR10 CMR11 CMR12 CMR13 CMR14 CMR15 HMR0 HMR1 HMR2 HIPIR0 HIPIR1 HIPIR2 HIPIR3 HIPIR4 HIPIR5 HIPIR6 HIPIR7 HIPIR8 HIPIR9 SIPR0 SIPR1 SITR0 SITR1 HINLR0 HINLR1 Register Name Section Section 6.4.8 Section 6.4.9 Section 6.4.10 Section 6.4.11 Section 6.4.12 Section 6.4.13 Section 6.4.14 Section 6.4.15 Section 6.4.16 Section 6.4.17 Section 6.4.18 Section 6.4.19 Section 6.4.20 Section 6.4.21 Section 6.4.22 Section 6.4.23 Section 6.4.24 Section 6.4.25 Section 6.4.26 Section 6.4.27 Section 6.4.28 Section 6.4.29 Section 6.4.30 Section 6.4.31 Section 6.4.32 Section 6.4.33 Section 6.4.34 Section 6.4.35 Section 6.4.36 Section 6.4.37 Section 6.4.38 Section 6.4.39 Section 6.4.40 Section 6.4.41 Section 6.4.42 Section 6.4.43 Section 6.4.44 Section 6.4.45 Section 6.4.46 Section 6.4.47 Section 6.4.48 Section 6.4.49 Section 6.4.50 Section 6.4.51 Section 6.4.52 Section 6.4.53 Section 6.4.54 157
Table 100. PRU_ICSS_INTC REGISTERS (continued)

Offset 1108h 110Ch 1110h 1114h 1118h 111Ch 1120h 1124h 1500h Acronym HINLR2 HINLR3 HINLR4 HINLR5 HINLR6 HINLR7 HINLR8 HINLR9 HIER Register Name Section Section 6.4.55 Section 6.4.56 Section 6.4.57 Section 6.4.58 Section 6.4.59 Section 6.4.60 Section 6.4.61 Section 6.4.62 Section 6.4.63
158
6.4.1
REVID Register (offset = 0h) [reset = 4E82A900h] REVID is shown in Figure 93 and described in Table 101. Revision ID Register Figure 93. REVID Register
31 REV_SCHEME R-1h 23 22 21 20 REV_MODULE R-E82h 15 14 13 REV_RTL R-15h 7 REV_CUSTOM R-0h 6 5 4 3 REV_MINOR R-0h 2 12 11 10 9 REV_MAJOR R-1h 1 0 8 19 18 30 29 Reserved 28 27 26 REV_MODULE R-E82h 17 16 25 24
Table 101. REVID Register Field Descriptions

Bit 31-30 27-16 15-11 10-8 7-6 5-0 Field REV_SCHEME REV_MODULE REV_RTL REV_MAJOR REV_CUSTOM REV_MINOR Type R R R R R R Reset 1h E82h 15h 1h 0h 0h Description SCHEME MODULE ID RTL REVISIONS MAJOR REVISION CUSTOM REVISION MINOR REVISION
159
6.4.2
CR Register (offset = 4h) [reset = 0h] CR is shown in Figure 94 and described in Table 102. The Control Register holds global control parameters and can forces a soft reset on the module. Figure 94. CR Register
31 30 29 28 Reserved 23 22 21 20 Reserved 15 14 13 12 Reserved 7 6 Reserved 5 4 Reserved R-0h 3 NEST_MODE R/W-0h 2 1 Reserved R/W-0h 0 Reserved 11 10 9 8 19 18 17 16 27 26 25 24
Table 102. CR Register Field Descriptions

Bit 4 3-2 Field Reserved NEST_MODE Type R R/W Reset 0h 0h Description Reserved. The nesting mode. 0 = no nesting 1 = automatic individual nesting (per host interrupt) 2 = automatic global nesting (over all host interrupts) 3 = manual nesting Reserved.
Reserved
R/W
0h
160
6.4.3
GER Register (offset = 10h) [reset = 0h] GER is shown in Figure 95 and described in Table 103. The Global Host Interrupt Enable Register enables all the host interrupts. Individual host interrupts are still enabled or disabled from their individual enables and are not overridden by the global enable. Figure 95. GER Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
0 ENA BLE _HI NT_ ANY R/ W0h
Reserved
Table 103. GER Register Field Descriptions

Bit 0 Field ENABLE_HINT_ANY Type R/W Reset 0h Description The current global enable value when read. Writes set the global enable.
161
6.4.4
GNLR Register (offset = 1Ch) [reset = 100h] GNLR is shown in Figure 96 and described in Table 104. The Global Nesting Level Register allows the checking and setting of the global nesting level across all host interrupts when automatic global nesting mode is set. The nesting level is the channel (and all of lower priority) that are nested out because of a current interrupt. This register is only available when nesting is configured. Figure 96. GNLR Register
31 30 29 28 27 Reserved 26 25 24
AUTO_OVERRIDE W-0h 23 22 21 20 Reserved 15 14 13 12 Reserved
19
18
17
16
11
10
8 GLB_NEST_LEVEL R/W-100h
4 GLB_NEST_LEVEL R/W-100h
Table 104. GNLR Register Field Descriptions

Bit 31 Field AUTO_OVERRIDE Type W Reset 0h Description Always read as 0. Writes of 1 override the automatic nesting and set the nesting_level to the written data. The current global nesting level (highest channel that is nested). Writes set the nesting level. In auto nesting mode this value is updated internally unless the auto_override bit is set.
8-0
GLB_NEST_LEVEL
R/W
100h
162
6.4.5
SISR Register (offset = 20h) [reset = 0h] SISR is shown in Figure 97 and described in Table 105. The System Interrupt Status Indexed Set Register allows setting the status of an interrupt. The interrupt to set is the index value written. This sets the Raw Status Register bit of the given index. Figure 97. SISR Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
STATUS_SET_INDEX W-0h
Table 105. SISR Register Field Descriptions

Bit 9-0 Field STATUS_SET_INDEX Type W Reset 0h Description Writes set the status of the interrupt given in the index value. Reads return 0.
163
6.4.6
SICR Register (offset = 24h) [reset = 0h] SICR is shown in Figure 98 and described in Table 106. The System Interrupt Status Indexed Clear Register allows clearing the status of an interrupt. The interrupt to clear is the index value written. This clears the Raw Status Register bit of the given index. Figure 98. SICR Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
STATUS_CLR_INDEX W-0h
Table 106. SICR Register Field Descriptions

Bit 9-0 Field STATUS_CLR_INDEX Type W Reset 0h Description Writes clear the status of the interrupt given in the index value. Reads return 0.
164
6.4.7
EISR Register (offset = 28h) [reset = 0h] EISR is shown in Figure 99 and described in Table 107. The System Interrupt Enable Indexed Set Register allows enabling an interrupt. The interrupt to enable is the index value written. This sets the Enable Register bit of the given index. Figure 99. EISR Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
ENABLE_SET_INDEX W-0h
Table 107. EISR Register Field Descriptions

Bit 9-0 Field ENABLE_SET_INDEX Type W Reset 0h Description Writes set the enable of the interrupt given in the index value. Reads return 0.
165
6.4.8
EICR Register (offset = 2Ch) [reset = 0h] EICR is shown in Figure 100 and described in Table 108. The System Interrupt Enable Indexed Clear Register allows disabling an interrupt. The interrupt to disable is the index value written. This clears the Enable Register bit of the given index. Figure 100. EICR Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
ENABLE_CLR_INDEX W-0h
Table 108. EICR Register Field Descriptions

Bit 9-0 Field ENABLE_CLR_INDEX Type W Reset 0h Description Writes clear the enable of the interrupt given in the index value. Reads return 0.
166
6.4.9
HIEISR Register (offset = 34h) [reset = 0h] HIEISR is shown in Figure 101 and described in Table 109. The Host Interrupt Enable Indexed Set Register allows enabling a host interrupt output. The host interrupt to enable is the index value written. This enables the host interrupt output or triggers the output again if already enabled. Figure 101. HIEISR Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
HINT_ENABLE_SET_INDEX R/W-0h
Table 109. HIEISR Register Field Descriptions

Bit 9-0 Field Type Reset 0h Description Writes set the enable of the host interrupt given in the index value. Reads return 0. HINT_ENABLE_SET_IND R/W EX
167
6.4.10
HIDISR Register (offset = 38h) [reset = 0h] HIDISR is shown in Figure 102 and described in Table 110. The Host Interrupt Enable Indexed Clear Register allows disabling a host interrupt output. The host interrupt to disable is the index value written. This disables the host interrupt output. Figure 102. HIDISR Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
HINT_ENABLE_CLR_INDEX R/W-0h
Table 110. HIDISR Register Field Descriptions

Bit 9-0 Field Type Reset 0h Description Writes clear the enable of the host interrupt given in the index value. Reads return 0. HINT_ENABLE_CLR_IND R/W EX
168
6.4.11
GPIR Register (offset = 80h) [reset = 80000000h] GPIR is shown in Figure 103 and described in Table 111. The Global Prioritized Index Register shows the interrupt number of the highest priority interrupt pending across all the host interrupts. Figure 103. GPIR Register
31 30 29 28 27 Reserved 26 25 24
GLB_NONE R-1h 23 22 21 20 Reserved 15 14 13 Reserved 12
19
18
17
16
11
10
9 GLB_PRI_INTR R-0h
4 GLB_PRI_INTR R-0h
Table 111. GPIR Register Field Descriptions

Bit 31 Field GLB_NONE Type R Reset 1h Description No Interrupt is pending. Can be used by host to test for a negative value to see if no interrupts are pending. The currently highest priority interrupt index pending across all the host interrupts.
9-0
GLB_PRI_INTR
0h
169
6.4.12
SRSR0 Register (offset = 200h) [reset = 0h] SRSR0 is shown in Figure 104 and described in Table 112. The System Interrupt Status Raw/Set Register0 show the pending enabled status of the system interrupts 0 to 31. Software can write to the Status Set Registers to set a system interrupt without a hardware trigger. There is one bit per system interrupt. Figure 104. SRSR0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
RAW_STATUS_31_0 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 112. SRSR0 Register Field Descriptions

Bit 31-0 Field RAW_STATUS_31_0 Type R/W Reset 0h Description System interrupt raw status and setting of the system interrupts 0 to 31. Reads return the raw status. Write a 1 in a bit position to set the status of the system interrupt. Writing a 0 has no effect.
170
6.4.13
SRSR1 Register (offset = 204h) [reset = 0h] SRSR1 is shown in Figure 105 and described in Table 113. The System Interrupt Status Raw/Set Register1 show the pending enabled status of the system interrupts 32 to 63. Software can write to the Status Set Registers to set a system interrupt without a hardware trigger. There is one bit per system interrupt. Figure 105. SRSR1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
RAW_STATUS_63_32 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 113. SRSR1 Register Field Descriptions

Bit 31-0 Field RAW_STATUS_63_32 Type R/W Reset 0h Description System interrupt raw status and setting of the system interrupts 32 to 63. Reads return the raw status. Write a 1 in a bit position to set the status of the system interrupt. Writing a 0 has no effect.
171
6.4.14
SECR0 Register (offset = 280h) [reset = 0h] SECR0 is shown in Figure 106 and described in Table 114. The System Interrupt Status Enabled/Clear Register0 show the pending enabled status of the system interrupts 0 to 31. Software can write to the Status Clear Registers to clear a system interrupt after it has been serviced. If a system interrupt status is not cleared then another host interrupt may not be triggered or another host interrupt may be triggered incorrectly. There is one bit per system interrupt. Figure 106. SECR0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
ENA_STATUS_31_0 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 114. SECR0 Register Field Descriptions

Bit 31-0 Field ENA_STATUS_31_0 Type R/W Reset 0h Description System interrupt enabled status and clearing of the system interrupts 0 to 31. Reads return the enabled status (before enabling with the Enable Registers). Write a 1 in a bit position to clear the status of the system interrupt. Writing a 0 has no effect.
172
6.4.15
SECR1 Register (offset = 284h) [reset = 0h] SECR1 is shown in Figure 107 and described in Table 115. The System Interrupt Status Enabled/Clear Register1 show the pending enabled status of the system interrupts 32 to 63. Software can write to the Status Clear Registers to clear a system interrupt after it has been serviced. If a system interrupt status is not cleared then another host interrupt may not be triggered or another host interrupt may be triggered incorrectly. There is one bit per system interrupt. Figure 107. SECR1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
ENA_STATUS_63_32 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 115. SECR1 Register Field Descriptions

Bit 31-0 Field ENA_STATUS_63_32 Type R/W Reset 0h Description System interrupt enabled status and clearing of the system interrupts 32 to 63. Reads return the enabled status (before enabling with the Enable Registers). Write a 1 in a bit position to clear the status of the system interrupt. Writing a 0 has no effect.
173
6.4.16
ESR0 Register (offset = 300h) [reset = 0h] ESR0 is shown in Figure 108 and described in Table 116. The System Interrupt Enable Set Register0 enables system interrupts 0 to 31 to trigger outputs. System interrupts that are not enabled do not interrupt the host. There is a bit per system interrupt. Figure 108. ESR0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
ENABLE_SET_31_0 0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 116. ESR0 Register Field Descriptions

Bit 31-0 Field ENABLE_SET_31_0 Type Reset 0h Description System interrupt enables system interrupts 0 to 31. Read returns the enable value ( 0 = disabled, 1 = enabled). Write a 1 in a bit position to set that enable. Writing a 0 has no effect.
174
6.4.17
ERS1 Register (offset = 304h) [reset = 0h] ERS1 is shown in Figure 109 and described in Table 117. The System Interrupt Enable Set Register1 enables system interrupts 32 to 63 to trigger outputs. System interrupts that are not enabled do not interrupt the host. There is a bit per system interrupt. Figure 109. ERS1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
ENABLE_SET_63_32 0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 117. ERS1 Register Field Descriptions

Bit 31-0 Field ENABLE_SET_63_32 Type Reset 0h Description System interrupt enables system interrupts 32 to 63. Read returns the enable value ( 0 = disabled, 1 = enabled). Write a 1 in a bit position to set that enable. Writing a 0 has no effect.
175
6.4.18
ECR0 Register (offset = 380h) [reset = 0h] ECR0 is shown in Figure 110 and described in Table 118. The System Interrupt Enable Clear Register0 disables system interrupts 0 to 31 to map to channels. System interrupts that are not enabled do not interrupt the host. There is a bit per system interrupt. Figure 110. ECR0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
ENABLE_CLR_31_0 0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 118. ECR0 Register Field Descriptions

Bit 31-0 Field ENABLE_CLR_31_0 Type Reset 0h Description System interrupt enables system interrupts 0 to 31. Read returns the enable value ( 0 = disabled, 1 = enabled). Write a 1 in a bit position to clear that enable. Writing a 0 has no effect.
176
6.4.19
ECR1 Register (offset = 384h) [reset = 0h] ECR1 is shown in Figure 111 and described in Table 119. The System Interrupt Enable Clear Register1 disables system interrupts 32 to 63 to map to channels. System interrupts that are not enabled do not interrupt the host. There is a bit per system interrupt. Figure 111. ECR1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
ENABLE_CLR_63_32 0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 119. ECR1 Register Field Descriptions

Bit 31-0 Field ENABLE_CLR_63_32 Type Reset 0h Description System interrupt enables system interrupts 32 to 63. Read returns the enable value ( 0 = disabled, 1 = enabled). Write a 1 in a bit position to clear that enable. Writing a 0 has no effect.
177
6.4.20
CMR0 Register (offset = 400h) [reset = 0h] CMR0 is shown in Figure 112 and described in Table 120. The Channel Map Register0 specify the channel for the system interrupts 0 to 3. There is one register per 4 system interrupts. Figure 112. CMR0 Register
31 30 Reserved 29 28 27 26 CH_MAP_3 R/W-0h 23 22 Reserved 21 20 19 18 CH_MAP_2 R/W-0h 15 14 Reserved 13 12 11 10 CH_MAP_1 R/W-0h 7 6 Reserved 5 4 3 2 CH_MAP_0 R/W-0h 1 0 9 8 17 16 25 24
Table 120. CMR0 Register Field Descriptions

Bit 27-24 19-16 11-8 3-0 Field CH_MAP_3 CH_MAP_2 CH_MAP_1 CH_MAP_0 Type R/W R/W R/W R/W Reset 0h 0h 0h 0h Description Sets the channel for the system interrupt 3 Sets the channel for the system interrupt 2 Sets the channel for the system interrupt 1 Sets the channel for the system interrupt 0
178
6.4.21

179
6.4.22

180
6.4.23
CMR3 Register (offset = 40Ch) [reset = 0h] CMR3 is shown in Figure 115 and described in Table 123. The Channel Map Register3 specify the channel for the system interrupts 12 to 15. There is one register per 4 system interrupts. Figure 115. CMR3 Register

181
6.4.24

182
6.4.25

183
6.4.26

184
6.4.27

185
6.4.28

186
6.4.29

187
6.4.30

188
6.4.31

189
6.4.32

190
6.4.33

191
6.4.34

192
6.4.35

193
6.4.36
HMR0 Register (offset = 800h) [reset = 0h] HMR0 is shown in Figure 128 and described in Table 136. The Host Interrupt Map Register0 define the host interrupt for channels 0 to 3. There is one register per 4 channels. Channels with forced host interrupt mappings will have their fields read-only. Figure 128. HMR0 Register
31 30 Reserved 29 28 27 26 HINT_MAP_3 R/W-0h 23 22 Reserved 21 20 19 18 HINT_MAP_2 R/W-0h 15 14 Reserved 13 12 11 10 HINT_MAP_1 R/W-0h 7 6 Reserved 5 4 3 2 HINT_MAP_0 R/W-0h 1 0 9 8 17 16 25 24
Table 136. HMR0 Register Field Descriptions

Bit 27-24 19-16 11-8 3-0 Field HINT_MAP_3 HINT_MAP_2 HINT_MAP_1 HINT_MAP_0 Type R/W R/W R/W R/W Reset 0h 0h 0h 0h Description HOST INTERRUPT MAP FOR CHANNEL 3 HOST INTERRUPT MAP FOR CHANNEL 2 HOST INTERRUPT MAP FOR CHANNEL 1 HOST INTERRUPT MAP FOR CHANNEL 0
194
6.4.37
31 30 Reserved 29 28 27 26 HINT_MAP_7 R/W-0h 23 22 Reserved 21 20 19 18 HINT_MAP_6 R/W-0h 15 14 Reserved 13 12 11 10 HINT_MAP_5 R/W-0h 7 6 Reserved 5 4 3 2 HINT_MAP_4 R/W-0h 1 0 9 8 17 16 25 24

Bit 27-24 19-16 11-8 3-0 Field HINT_MAP_7 HINT_MAP_6 HINT_MAP_5 HINT_MAP_4 Type R/W R/W R/W R/W Reset 0h 0h 0h 0h Description HOST INTERRUPT MAP FOR CHANNEL 7 HOST INTERRUPT MAP FOR CHANNEL 6 HOST INTERRUPT MAP FOR CHANNEL 5 HOST INTERRUPT MAP FOR CHANNEL 4
195
6.4.38
31 30 29 28 Reserved 23 22 21 20 Reserved 15 14 Reserved 13 12 11 10 HINT_MAP_9 R/W-0h 7 6 Reserved 5 4 3 2 HINT_MAP_8 R/W-0h 1 0 9 8 19 18 17 16 27 26 25 24

Bit 11-8 3-0 Field HINT_MAP_9 HINT_MAP_8 Type R/W R/W Reset 0h 0h Description HOST INTERRUPT MAP FOR CHANNEL 9 HOST INTERRUPT MAP FOR CHANNEL 8
196
6.4.39
HIPIR0 Register (offset = 900h) [reset = 80000000h] HIPIR0 is shown in Figure 131 and described in Table 139. The Host Interrupt Prioritized Index Register0 shows the highest priority current pending interrupt for the host interrupt 0. There is one register per host interrupt. Figure 131. HIPIR0 Register
31 30 29 28 27 Reserved 26 25 24
NONE_HINT_0 R-1h 23 22 21 20 Reserved 15 14 13 Reserved 12
19
18
17
16
11
10
9 PRI_HINT_0 R-0h
4 PRI_HINT_0 R-0h
Table 139. HIPIR0 Register Field Descriptions

Bit 31 9-0 Field NONE_HINT_0 PRI_HINT_0 Type R R Reset 1h 0h Description No pending interrupt. HOST INT 0 PRIORITIZED INTERRUPT. Interrupt number of the highest priority pending interrupt for this host interrupt.
197
6.4.40
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_1 R-0h
4 PRI_HINT_1 R-0h

198
6.4.41
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_2 R-0h
4 PRI_HINT_2 R-0h

199
6.4.42
HIPIR3 Register (offset = 90Ch) [reset = 80000000h] HIPIR3 is shown in Figure 134 and described in Table 142. The Host Interrupt Prioritized Index Register3 shows the highest priority current pending interrupt for the host interrupt 3. There is one register per host interrupt. Figure 134. HIPIR3 Register
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_3 R-0h
4 PRI_HINT_3 R-0h

200
6.4.43
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_4 R-0h
4 PRI_HINT_4 R-0h

201
6.4.44
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_5 R-0h
4 PRI_HINT_5 R-0h

202
6.4.45
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_6 R-0h
4 PRI_HINT_6 R-0h

203
6.4.46
HIPIR7 Register (offset = 91Ch) [reset = 80000000h] HIPIR7 is shown in Figure 138 and described in Table 146. The Host Interrupt Prioritized Index Register7 shows the highest priority current pending interrupt for the host interrupt 7. There is one register per host interrupt. Figure 138. HIPIR7 Register
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_7 R-0h
4 PRI_HINT_7 R-0h

204
6.4.47
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_8 R-0h
4 PRI_HINT_8 R-0h

205
6.4.48
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
9 PRI_HINT_9 R-0h
4 PRI_HINT_9 R-0h

206
6.4.49
SIPR0 Register (offset = D00h) [reset = 1h] SIPR0 is shown in Figure 141 and described in Table 149. The System Interrupt Polarity Register0 define the polarity of the system interrupts 0 to 31. There is a polarity for each system interrupt. The polarity of all system interrupts is active high; always write 1 to the bits of this register. Figure 141. SIPR0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
POLARITY_31_0 R/W-1h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 149. SIPR0 Register Field Descriptions

Bit 31-0 Field POLARITY_31_0 Type R/W Reset 1h Description Interrupt polarity of the system interrupts 0 to 31. 0 = active low. 1 = active high.
207
6.4.50
SIPR1 Register (offset = D04h) [reset = 1h] SIPR1 is shown in Figure 142 and described in Table 150. The System Interrupt Polarity Register1 define the polarity of the system interrupts 32 to 63. There is a polarity for each system interrupt. The polarity of all system interrupts is active high; always write 1 to the bits of this register. Figure 142. SIPR1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
POLARITY_63_32 R/W-1h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 150. SIPR1 Register Field Descriptions

Bit 31-0 Field POLARITY_63_32 Type R/W Reset 1h Description Interrupt polarity of the system interrupts 32 to 63. 0 = active low. 1 = active high.
208
6.4.51
SITR0 Register (offset = D80h) [reset = 0h] SITR0 is shown in Figure 143 and described in Table 151. The System Interrupt Type Register0 define the type of the system interrupts 0 to 31. There is a type for each system interrupt. The type of all system interrupts is pulse; always write 0 to the bits of this register. Figure 143. SITR0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
TYPE_31_0 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 151. SITR0 Register Field Descriptions

Bit 31-0 Field TYPE_31_0 Type R/W Reset 0h Description Interrupt type of the system interrupts 0 to 31. 0 = level or pulse interrupt. 1 = edge interrupt (required edge detect).
209
6.4.52
SITR1 Register (offset = D84h) [reset = 0h] SITR1 is shown in Figure 144 and described in Table 152. The System Interrupt Type Register1 define the type of the system interrupts 32 to 63. There is a type for each system interrupt. The type of all system interrupts is pulse; always write 0 to the bits of this register. Figure 144. SITR1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
TYPE_63_32 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 152. SITR1 Register Field Descriptions

Bit 31-0 Field TYPE_63_32 Type R/W Reset 0h Description Interrupt type of the system interrupts 32 to 63. 0 = level or pulse interrupt. 1 = edge interrupt (required edge detect).
210
6.4.53
HINLR0 Register (offset = 1100h) [reset = 100h] HINLR0 is shown in Figure 145 and described in Table 153. The Host Interrupt Nesting Level Register0 display and control the nesting level for host interrupt 0. The nesting level controls which channel and lower priority channels are nested. There is one register per host interrupt. Figure 145. HINLR0 Register
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10
8 NEST_HINT_0 R/W-100h
Table 153. HINLR0 Register Field Descriptions

Bit 31 Field AUTO_OVERRIDE Type W Reset 0h Description Reads return 0. Writes of a 1 override the auto updating of the nesting_level and use the write data. Reads return the current nesting level for the host interrupt. Writes set the nesting level for the host interrupt. In auto mode the value is updated internally unless the auto_override is set and then the write data is used.
8-0
NEST_HINT_0
R/W
100h
211
6.4.54
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_1
R/W
100h
212
6.4.55
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_2
R/W
100h
213
6.4.56
HINLR3 Register (offset = 110Ch) [reset = 100h] HINLR3 is shown in Figure 148 and described in Table 156. The Host Interrupt Nesting Level Register3 display and control the nesting level for host interrupt 3. The nesting level controls which channel and lower priority channels are nested. There is one register per host interrupt. Figure 148. HINLR3 Register
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_3
R/W
100h
214
6.4.57
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_4
R/W
100h
215
6.4.58
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_5
R/W
100h
216
6.4.59
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_6
R/W
100h
217
6.4.60
HINLR7 Register (offset = 111Ch) [reset = 100h] HINLR7 is shown in Figure 152 and described in Table 160. The Host Interrupt Nesting Level Register7 display and control the nesting level for host interrupt 7. The nesting level controls which channel and lower priority channels are nested. There is one register per host interrupt. Figure 152. HINLR7 Register
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_7
R/W
100h
218
6.4.61
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_8
R/W
100h
219
6.4.62
31 30 29 28 27 Reserved 26 25 24
19
18
17
16
11
10

8-0
NEST_HINT_9
R/W
100h
220
6.4.63
HIER Register (offset = 1500h) [reset = 0h] HIER is shown in Figure 155 and described in Table 163. The Host Interrupt Enable Registers enable or disable individual host interrupts. These work separately from the global enables. There is one bit per host interrupt. These bits are updated when writing to the Host Interrupt Enable Index Set and Host Interrupt Enable Index Clear registers. Figure 155. HIER Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
Reserved
ENABLE_HINT R/W-0h
Table 163. HIER Register Field Descriptions

Bit 9-0 Field ENABLE_HINT Type R/W Reset 0h Description The enable of the host interrupts (one per bit). 0 = disabled 1 = enabled
221
PRU-ICSS Interrupts
PRU-ICSS Interrupts
Table 164. PRU-ICSS Interrupts
Int Number 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23
(1)
Signal Name (Non-Ethercat Mode) tpcc_int_pend_po1 tpcc_errint_pend_po tptc_erint_pend_po initiator_sinterrupt_q_n1 initiator_sinterrupt_q_n2 Emulation Suspend Signal (software use) POINTRPEND1 pwm_trip_zone mcasp_x_intr_pend mcasp_r_intr_pend gen_intr_pend nirq nirq c0_rx_thresh_pend c0_rx_pend c0_tx_pend c0_misc_pend epwm_intr_intr_pend eqep_intr_intr_pend SINTERRUPTN epwm_intr_intr_pend ecap_intr_intr_pend POINTRPEND dcan_intr dcan_int1 dcan_uerr epwm_intr_intr_pend ecap_intr_intr_pend ecap_intr_intr_pend mcasp_r_intr_pend mcasp_x_intr_pend nirq pr1_pru_mst_intr[15]_intr_req pr1_pru_mst_intr[14]_intr_req pr1_pru_mst_intr[13]_intr_req pr1_pru_mst_intr[12]_intr_req pr1_pru_mst_intr[11]_intr_req pr1_pru_mst_intr[10]_intr_req pr1_pru_mst_intr[9]_intr_req pr1_pru_mst_intr[8]_intr_req pr1_pru_mst_intr[7]_intr_req
Source TPCC (EDMA) TPCC (EDMA) TPTC0 (EDMA) Mbox0 - mail_u1_irq (mailbox interrupt for pru0) Mbox0 - mail_u2_irq (mailbox interrupt for pru1) Debugss GPIO0 eHRPWM0/eHRPWM1/eHRP WM2 McASP0 Tx McASP0 Rx ADC_TSC UART2 UART0 3PGSW (GEMAC) 3PGSW (GEMAC) 3PGSW (GEMAC) 3PGSW (GEMAC) eHRPWM1 eQEP0 McSPI0 eHRPWM0 eCAP0 I2C0 DCAN0 DCAN0 DCAN0 eHRPWM2 eCAP2 eCAP1 McASP1 Rx McASP1 Tx UART1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1
Signal Name (Ethercat Mode) (1)
pr1_mii1_crs(external) PRU1_RX_EOF MDIO_MII_LINK[1] PORT1_TX_OVERFLOW PORT1_TX_UNDERFLOW PRU1_RX_OVERFLOW PRU1_RX_NIBBLE_ODD PRU1_RX_CRC PRU1_RX_SOF PRU1_RX_SFD PRU1_RX_ERR32 PRU1_RX_ERR pr1_mii0_crs(external) PRU0_RX_EOF MDIO_MII_LINK[0] PORT0_TX_OVERFLOW PORT0_TX_UNDERFLOW PRU0_RX_OVERFLOW PRU0_RX_NIBBLE_ODD PRU0_RX_CRC PRU0_RX_SOF PRU0_RX_SFD PRU0_RX_ERR32 PRU0_RX_ERR
PRU-ICSS Internal Interrupts
Signals 6356 and 310 for Ethercat Mode are the same as for Non-Ethercat Mode. SPRUHF8A May 2012 Revised June 2013
22
PRU-ICSS Interrupts
Table 164. PRU-ICSS Interrupts (continued)

Int Number 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Signal Name (Non-Ethercat Mode) pr1_pru_mst_intr[6]_intr_req pr1_pru_mst_intr[5]_intr_req pr1_pru_mst_intr[4]_intr_req pr1_pru_mst_intr[3]_intr_req pr1_pru_mst_intr[2]_intr_req pr1_pru_mst_intr[1]_intr_req pr1_pru_mst_intr[0]_intr_req pr1_ecap_intr_req sync0_out_pend sync1_out_pend latch0_in (input to PRU-ICSS) latch1_in (input to PRU-ICSS) pdi_wd_exp_pend pd_wd_exp_pend digio_event_req pr1_iep_tim_cap_cmp_pend pr1_uart_uint_intr_req pr1_uart_utxevt_intr_req pr1_uart_urxevt_intr_req pr1_xfr_timeout pr1_pru1_r31_status_cnt16 pr1_pru0_r31_status_cnt16 pr1_parity_err_intr_pend Source pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 pru0 or pru1 PRU-ICSS eCAP PRU-ICSS IEP (Ethercat) PRU-ICSS IEP (Ethercat) PRU-ICSS IEP (Ethercat) PRU-ICSS IEP (Ethercat) PRU-ICSS IEP (Ethercat) PRU-ICSS IEP (Ethercat) PRU-ICSS IEP (Ethercat) PRU-ICSS IEP PRU-ICSS UART PRU-ICSS UART PRU-ICSS UART PRU-ICSS Scratch Pad PRU1 (Shift Capture) PRU0 (Shift Capture) PRU-ICSS Parity Logic PRU-ICSS Internal Interrupts Signal Name (Ethercat Mode) (1)
Note: For the availability of EtherCAT and non-EtherCAT mode, see Chapter 1, Introduction, in the AM335x ARM Cortex-A8 Microprocessors (MPUs) Technical Reference Manual (literature number SPRUH73).
223
Universal Asynchronous Receiver/Transmitter
8 8.1
8.1.1
Universal Asynchronous Receiver/Transmitter Introduction

Purpose of the Peripheral The UART peripheral is based on the industry standard TL16C550 asynchronous communications element, which in turn is a functional upgrade of the TL16C450. Functionally similar to the TL16C450 on power up (single character or TL16C450 mode), the UART can be placed in an alternate FIFO (TL16C550) mode. This relieves the CPU of excessive software overhead by buffering received and transmitted characters. The receiver and transmitter FIFOs store up to 16 bytes including three additional bits of error status per byte for the receiver FIFO. The UART performs serial-to-parallel conversions on data received from a peripheral device and parallelto-serial conversion on data received from the CPU. The CPU can read the UART status at any time. The UART includes control capability and a processor interrupt system that can be tailored to minimize software management of the communications link. The UART includes a programmable baud generator capable of dividing the UART input clock by divisors from 1 to 65535 and producing a 16 reference clock or a 13 reference clock for the internal transmitter and receiver logic. For detailed timing and electrical specifications for the UART, see your device-specific data manual.
8.1.2
Features Check your device-specific data manual to see the list of features that are supported and that are not supported by the UART.
8.1.3
Functional Block Diagram A functional block diagram of the UART is shown in Figure 156.
8.1.4
Industry Standard(s) Compliance Statement The UART peripheral is based on the industry standard TL16C550 asynchronous communications element, which is a functional upgrade of the TL16C450. The information in this chapter assumes you are familiar with these standards.
224
Figure 156. UART Block Diagram

S e l e c t Peripheral Bus Data Bus Buffer 16 Line Control Register Receiver Timing and Control
8 8
Receiver FIFO
Receiver Buffer Register
Receiver Shift Register
UARTn_RXD signal
Divisor Latch (LS) Divisor Latch (MS)
16
Baud Generator
Line Status Register 8 Transmitter FIFO 8 8 S e l e c t
Transmitter Timing and Control
Transmitter Holding Register Modem Control Register Interrupt Enable Register Interrupt Identification Register FIFO Control Register
Transmitter Shift Register
UARTn_TXD signal
Control Logic
Interrupt/ Event Control Logic
Interrupt to CPU Event to DMA controller
8 Power and Emulation Control Register
NOTE: The value n indicates the applicable UART where there are multiple instances. For the PRU-ICSS, there is only one instance and all UART signals should reflect this (e.g., UART0_TXD instead of UARTn_TXD).
225
8.2
8.2.1
Clock Generation and Control The UART bit clock is derived from an input clock to the UART. See your device-specific data manual to check the maximum data rate supported by the UART. Figure 157 is a conceptual clock generation diagram for the UART. The processor clock generator receives a signal from an external clock source and produces a UART input clock with a programmed frequency. The UART contains a programmable baud generator that takes an input clock and divides it by a divisor in the range between 1 and (216 - 1) to produce a baud clock (BCLK). The frequency of BCLK is sixteen times (16) the baud rate (each received or transmitted bit lasts 16 BCLK cycles) or thirteen times (13) the baud rate (each received or transmitted bit lasts 13 BCLK cycles). When the UART is receiving, the bit is sampled in the 8th BCLK cycle for 16 over sampling mode and on the 6th BCLK cycle for 13 over-sampling mode. The 16 or 13 reference clock is selected by configuring the OSM_SEL bit in the mode definition register (MDR). The formula to calculate the divisor is:
Divisor = Divisor = UART input clock frequency Desired baud rate 16 UART input clock frequency Desired baud rate 13 MDR.OSM _ SEL = 0 MDR.OSM _ SEL = 1
Two 8-bit register fields (DLH and DLL), called divisor latches, hold this 16-bit divisor. DLH holds the most significant bits of the divisor, and DLL holds the least significant bits of the divisor. For information about these register fields, see the UART register descriptions. These divisor latches must be loaded during initialization of the UART in order to ensure desired operation of the baud generator. Writing to the divisor latches results in two wait states being inserted during the write access while the baud generator is loaded with the new value. Figure 158 summarizes the relationship between the transferred data bit, BCLK, and the UART input clock. Note that the timing relationship depicted in Figure 158 shows that each bit lasts for 16 BCLK cycles . This is in case of 16x over-sampling mode. For 13 over-sampling mode each bit lasts for 13 BCLK cycles . Example baud rates and divisor values relative to a 150-MHz UART input clock and 16 over-sampling mode are shown in Table 165.
Figure 157. UART Clock Generation Diagram

PRU-ICSS UART DLH:DLL Receiver timing and control
Input clock
Clock generator
UART input clock
Baud generator
BCLK
Other logic
Transmitter timing and control
Figure 158. Relationships Between Data Bit, BCLK, and UART Input Clock
n UART input clock cycles, where n = divisor in DLH:DLL UART input clock n BCLK
Each bit lasts 16 BCLK cycles. When receiving, the UART samples the bit in the 8th cycle.
BCLK UARTn_TXD, UARTn_RXD D0
D1
D2
UARTn_TXD, UARTn_RXD
START
D0
D1
D2
D3
D4
D5
D6
D7
PARITY STOP1 STOP2
Table 165. Baud Rate Examples for 150-MHZ UART Input Clock and 16 Over-sampling Mode
Baud Rate 2400 4800 9600 19200 38400 56000 128000 3000000 Divisor Value 3906 1953 977 488 244 167 73 3 Actual Baud Rate 2400.154 4800.372 9595.701 19211.066 38422.131 56137.725 129807.7 3125000 Error (%) 0.01 0.01 -0.04 0.06 0.06 0.25 0.33 4.00
Table 166. Baud Rate Examples for 150-MHZ UART Input Clock and 13 Over-sampling Mode
Baud Rate 2400 4800 9600 19200 38400 56000 128000 3000000 Divisor Value 4808 2404 1202 601 300 206 90 4 Actual Baud Rate 2399 4799.646 9599.386 19198.771 38461.538 56011.949 128205.128 2884615.385 Error (%) -0.01 -0.01 -0.01 -0.01 0.16 0.02 0.16 -4.00
227
8.2.2
Signal Descriptions The UARTs utilize a minimal number of signal connections to interface with external devices. The UART signal descriptions are included in Table 167. Note that the number of UARTs and their supported features vary on each device, see your device-specific data manual for more details. Table 167. UART Signal Descriptions
Signal Name (1) UARTn_TXD UARTn_RXD UARTn_CTS UARTn_RTS
(1) (2) (2) (2)
Signal Type Output Input Input Output
Function Serial data transmit Serial data receive Clear-to-Send handshaking signal Request-to-Send handshaking signal
The value n indicates the applicable UART; that is, UART0, UART1, etc. This signal is not supported in all UARTs. See your device-specific data manual to check if it is supported.
8.2.3
Pin Multiplexing Extensive pin multiplexing is used to accommodate the largest number of peripheral functions in the smallest possible package. Pin multiplexing is controlled using a combination of hardware configuration at device reset and software programmable register settings. See your device-specific data manual to determine how pin multiplexing affects the UART.
8.2.4 8.2.4.1
Protocol Description Transmission
The UART transmitter section includes a transmitter hold register (THR) and a transmitter shift register (TSR). When the UART is in the FIFO mode, THR is a 16-byte FIFO. Transmitter section control is a function of the UART line control register (LCR). Based on the settings chosen in LCR, the UART transmitter sends the following to the receiving device: 1 START bit 5, 6, 7, or 8 data bits 1 PARITY bit (optional) 1, 1.5, or 2 STOP bits 8.2.4.2 Reception
The UART receiver section includes a receiver shift register (RSR) and a receiver buffer register (RBR). When the UART is in the FIFO mode, RBR is a 16-byte FIFO. Receiver section control is a function of the UART line control register (LCR). Based on the settings chosen in LCR, the UART receiver accepts the following from the transmitting device: 1 START bit 5, 6, 7, or 8 data bits 1 PARITY bit (optional) 1 STOP bit (any other STOP bits transferred with the above data are not detected)
228
8.2.4.3
Data Format
The UART transmits in the following format: 1 START bit + data bits (5, 6, 7, 8) + 1 PARITY bit (optional) + STOP bit (1, 1.5, 2) It transmits 1 START bit; 5, 6, 7, or 8 data bits, depending on the data width selection; 1 PARITY bit, if parity is selected; and 1, 1.5, or 2 STOP bits, depending on the STOP bit selection. The UART receives in the following format: 1 START bit + data bits (5, 6, 7, 8) + 1 PARITY bit (optional) + 1 STOP bit It receives 1 START bit; 5, 6, 7, or 8 data bits, depending on the data width selection; 1 PARITY bit, if parity is selected; and 1 STOP bit. The protocol formats are shown in Figure 159. Figure 159. UART Protocol Formats
Transmit/Receive for 5-bit data, parity Enable, 1 STOP bit D0 D1 D2 D3 D4 PARITY STOP1
Transmit/Receive for 6-bit data, parity Enable, 1 STOP bit D0 D1 D2 D3 D4 D5 PARITY STOP1
Transmit/Receive for 7-bit data, parity Enable, 1 STOP bit D0 D1 D2 D3 D4 D5 D6 PARITY STOP1
Transmit/Receive for 8-bit data, parity Enable, 1 STOP bit D0 D1 D2 D3 D4 D5 D6 D7 PARITY STOP1
229
8.2.5 8.2.5.1
Operation Transmission
The UART transmitter section includes a transmitter hold register (THR) and a transmitter shift register (TSR). When the UART is in the FIFO mode, THR is a 16-byte FIFO. Transmitter section control is a function of the UART line control register (LCR). Based on the settings chosen in LCR, the UART transmitter sends the following to the receiving device: 1 START bit 5, 6, 7, or 8 data bits 1 PARITY bit (optional) 1, 1.5, or 2 STOP bits THR receives data from the internal data bus, and when TSR is ready, the UART moves the data from THR to TSR. The UART serializes the data in TSR and transmits the data on the UARTn_TXD pin. In the non-FIFO mode, if THR is empty and the THR empty (THRE) interrupt is enabled in the interrupt enable register (IER), an interrupt is generated. This interrupt is cleared when a character is loaded into THR or the interrupt identification register (IIR) is read. In the FIFO mode, the interrupt is generated when the transmitter FIFO is empty, and it is cleared when at least one byte is loaded into the FIFO or IIR is read. 8.2.5.2 Reception
The UART receiver section includes a receiver shift register (RSR) and a receiver buffer register (RBR). When the UART is in the FIFO mode, RBR is a 16-byte FIFO. Timing is supplied by the 16 receiver clock. Receiver section control is a function of the UART line control register (LCR). Based on the settings chosen in LCR, the UART receiver accepts the following from the transmitting device: 1 START bit 5, 6, 7, or 8 data bits 1 PARITY bit (optional) 1 STOP bit (any other STOP bits transferred with the above data are not detected) RSR receives the data bits from the UARTn_RXD pin. Then RSR concatenates the data bits and moves the resulting value into RBR (or the receiver FIFO). The UART also stores three bits of error status information next to each received character, to record a parity error, framing error, or break. In the non-FIFO mode, when a character is placed in RBR and the receiver data-ready interrupt is enabled in the interrupt enable register (IER), an interrupt is generated. This interrupt is cleared when the character is read from RBR. In the FIFO mode, the interrupt is generated when the FIFO is filled to the trigger level selected in the FIFO control register (FCR), and it is cleared when the FIFO contents drop below the trigger level.
230
8.2.5.3
FIFO Modes
The following two modes can be used for servicing the receiver and transmitter FIFOs: FIFO interrupt mode. The FIFO is enabled and the associated interrupts are enabled. Interrupts are sent to the CPU to indicate when specific events occur. FIFO poll mode. The FIFO is enabled but the associated interrupts are disabled. The CPU polls status bits to detect specific events. Because the receiver FIFO and the transmitter FIFO are controlled separately, either one or both can be placed into the interrupt mode or the poll mode. 8.2.5.3.1 FIFO Interrupt Mode
When the receiver FIFO is enabled in the FIFO control register (FCR) and the receiver interrupts are enabled in the interrupt enable register (IER), the interrupt mode is selected for the receiver FIFO. The following are important points about the receiver interrupts: The receiver data-ready interrupt is issued to the CPU when the FIFO has reached the trigger level that is programmed in FCR. It is cleared when the CPU or the DMA controller reads enough characters from the FIFO such that the FIFO drops below its programmed trigger level. The receiver line status interrupt is generated in response to an overrun error, a parity error, a framing error, or a break. This interrupt has higher priority than the receiver data-ready interrupt. For details, see Section 8.2.8. The data-ready (DR) bit in the line status register (LSR) indicates the presence or absence of characters in the receiver FIFO. The DR bit is set when a character is transferred from the receiver shift register (RSR) to the empty receiver FIFO. The DR bit remains set until the FIFO is empty again. A receiver time-out interrupt occurs if all of the following conditions exist: At least one character is in the FIFO, The most recent character was received more than four continuous character times ago. A character time is the time allotted for 1 START bit, n data bits, 1 PARITY bit, and 1 STOP bit, where n depends on the word length selected with the WLS bits in the line control register (LCR). See Table 168. The most recent read of the FIFO has occurred more than four continuous character times before. Character times are calculated by using the baud rate. When a receiver time-out interrupt has occurred, it is cleared and the time-out timer is cleared when the CPU or the EDMA controller reads one character from the receiver FIFO. The interrupt is also cleared if a new character is received in the FIFO or if the URRST bit is cleared in the power and emulation management register (PWREMU_MGMT). If a receiver time-out interrupt has not occurred, the time-out timer is cleared after a new character is received or after the CPU or EDMA reads the receiver FIFO. When the transmitter FIFO is enabled in FCR and the transmitter holding register empty (THRE) interrupt is enabled in IER, the interrupt mode is selected for the transmitter FIFO. The THRE interrupt occurs when the transmitter FIFO is empty. It is cleared when the transmitter hold register (THR) is loaded (1 to 16 characters may be written to the transmitter FIFO while servicing this interrupt) or the interrupt identification register (IIR) is read. Table 168. Character Time for Word Lengths
Word Length (n) 5 6 7 8 Character Time Time for 8 bits Time for 9 bits Time for 10 bits Time for 11 bits Four Character Times Time for 32 bits Time for 36 bits Time for 40 bits Time for 44 bits
231
8.2.5.3.2
FIFO Poll Mode
When the receiver FIFO is enabled in the FIFO control register (FCR) and the receiver interrupts are disabled in the interrupt enable register (IER), the poll mode is selected for the receiver FIFO. Similarly, when the transmitter FIFO is enabled and the transmitter interrupts are disabled, the transmitted FIFO is in the poll mode. In the poll mode, the CPU detects events by checking bits in the line status register (LSR): The RXFIFOE bit indicates whether there are any errors in the receiver FIFO. The TEMT bit indicates that both the transmitter holding register (THR) and the transmitter shift register (TSR) are empty. The THRE bit indicates when THR is empty. The BI (break), FE (framing error), PE (parity error), and OE (overrun error) bits specify which error or errors have occurred. The DR (data-ready) bit is set as long as there is at least one byte in the receiver FIFO. Also, in the FIFO poll mode: The interrupt identification register (IIR) is not affected by any events because the interrupts are disabled. The UART does not indicate when the receiver FIFO trigger level is reached or when a receiver timeout occurs. 8.2.5.4 Autoflow Control
The UART can employ autoflow control by connecting the UARTn_CTS and UARTn_RTS signals. Note that all UARTs do not support autoflow control, see your device-specific data manual for supported features. The UARTn_CTS input must be active before the transmitter FIFO can transmit data. The UARTn_RTS becomes active when the receiver needs more data and notifies the sending device. When UARTn_RTS is connected to UARTn_CTS, data transmission does not occur unless the receiver FIFO has space for the data. Therefore, when two UARTs are connected as shown in Figure 160 with autoflow enabled, overrun errors are eliminated. Figure 160. UART Interface Using Autoflow Diagram
UART Serial to Parallel Flow Control Parallel to Serial Flow Control UARTn_RXD UARTn_RTS tx cts Parallel to Serial Flow Control Serial to Parallel Flow Control UART
Receiver FIFO D[7:0]
Transmitter FIFO D[7:0] Receiver FIFO
UARTn_TXD UARTn_CTS
rx rts
Transmitter FIFO
Device
Off-chip
232
8.2.5.4.1
UARTn_RTS Behavior
UARTn_RTS data flow control originates in the receiver block (see Figure 156). When the receiver FIFO level reaches a trigger level of 1, 4, 8, or 14 (see Figure 161), UARTn_RTS is deasserted. The sending UART may send an additional byte after the trigger level is reached (assuming the sending UART has another byte to send), because it may not recognize the deassertion of UARTn_RTS until after it has begun sending the additional byte. For trigger level 1, 4, and 8, UARTn_RTS is automatically reasserted once the receiver FIFO is emptied. For trigger level 14, UARTn_RTS is automatically reasserted once the receiver FIFO drops below the trigger level. Figure 161. Autoflow Functional Timing Waveforms for UARTn_RTS
UARTn_RXD UARTn_RTS
(1) (2) N = Receiver FIFO trigger level. The two blocks in dashed lines cover the case where an additional byte is sent.
Start
Bits N
Stop
Start Bits N+1 Stop
Start
8.2.5.4.2
UARTn_CTS Behavior
The transmitter checks UARTn_CTS before sending the next data byte. If UARTn_CTS is active, the transmitter sends the next byte. To stop the transmitter from sending the following byte, UARTn_CTS must be released before the middle of the last STOP bit that is currently being sent (see Figure 162). When flow control is enabled, UARTn_CTS level changes do not trigger interrupts because the device automatically controls its own transmitter. Without autoflow control, the transmitter sends any data present in the transmitter FIFO and a receiver overrun error may result. Figure 162. Autoflow Functional Timing Waveforms for UARTn_CTS
UARTn_TXD UARTn_CTS
(1) (2) (3) When UARTn_CTS is active (low), the transmitter keeps sending serial data out. When UARTn_CTS goes high before the middle of the last STOP bit of the current byte, the transmitter finishes sending the current byte but it does not send the next byte. When UARTn_CTS goes from high to low, the transmitter begins sending data again.
Start
Bits07 Stop
Start Bits 07 Stop
Start
Bits 07 Stop
8.2.5.5
Loopback Control
The UART can be placed in the diagnostic mode using the LOOP bit in the modem control register (MCR), which internally connects the UART output back to the UART input. In this mode, the transmit and receive data paths, the transmitter and receiver interrupts, and the modem control interrupts can be verified without connecting to another UART.
233
8.2.6 8.2.6.1
Reset Considerations Software Reset Considerations
Two bits in the power and emulation management register (PWREMU_MGMT) control resetting the parts of the UART: The UTRST bit controls resetting the transmitter only. If UTRST = 1, the transmitter is active; if UTRST = 0, the transmitter is in reset. The URRST bit controls resetting the receiver only. If URRST = 1, the receiver is active; if URRST = 0, the receiver is in reset. In each case, putting the receiver and/or transmitter in reset will reset the state machine of the affected portion but does not affect the UART registers. 8.2.6.2 Hardware Reset Considerations
When the processor RESET pin is asserted, the entire processor is reset and is held in the reset state until the RESET pin is released. As part of a device reset, the UART state machine is reset and the UART registers are forced to their default states. The default states of the registers are shown in . 8.2.7 Initialization The following steps are required to initialize the UART: 1. Perform the necessary device pin multiplexing setup (see your device-specific data manual). 2. Set the desired baud rate by writing the appropriate clock divisor values to the divisor latch registers (DLL and DLH). 3. If the FIFOs will be used, select the desired trigger level and enable the FIFOs by writing the appropriate values to the FIFO control register (FCR). The FIFOEN bit in FCR must be set first, before the other bits in FCR are configured. 4. Choose the desired protocol settings by writing the appropriate values to the line control register (LCR). 5. If autoflow control is desired, write appropriate values to the modem control register (MCR). Note that all UARTs do not support autoflow control, see your device-specific data manual for supported features. 6. Choose the desired response to emulation suspend events by configuring the FREE bit and enable the UART by setting the UTRST and URRST bits in the power and emulation management register (PWREMU_MGMT). 8.2.8 8.2.8.1 Interrupt Support Interrupt Events and Requests
The UART generates the interrupt requests described in Table 169. All requests are multiplexed through an arbiter to a single UART interrupt request to the CPU, as shown in Figure 163. Each of the interrupt requests has an enable bit in the interrupt enable register (IER) and is recorded in the interrupt identification register (IIR). If an interrupt occurs and the corresponding enable bit is set to 1, the interrupt request is recorded in IIR and is forwarded to the CPU. If an interrupt occurs and the corresponding enable bit is cleared to 0, the interrupt request is blocked. The interrupt request is neither recorded in IIR nor forwarded to the CPU. 8.2.8.2 Interrupt Multiplexing
The UARTs have dedicated interrupt signals to the CPU and the interrupts are not multiplexed with any other interrupt source.
234
Table 169. UART Interrupt Requests Descriptions

UART Interrupt Request THREINT Interrupt Source THR-empty condition: The transmitter holding register (THR) or the transmitter FIFO is empty. All of the data has been copied from THR to the transmitter shift register (TSR). Receive data available in non-FIFO mode or trigger level reached in the FIFO mode. Comment If THREINT is enabled in IER, by setting the ETBEI bit, it is recorded in IIR. As an alternative to using THREINT, the CPU can poll the THRE bit in the line status register (LSR). If RDAINT is enabled in IER, by setting the ERBI bit, it is recorded in IIR. As an alternative to using RDAINT, the CPU can poll the DR bit in the line status register (LSR). In the FIFO mode, this is not a functionally equivalent alternative because the DR bit does not respond to the FIFO trigger level. The DR bit only indicates the presence or absence of unread characters. The receiver time-out interrupt prevents the UART from waiting indefinitely, in the case when the receiver FIFO level is below the trigger level and thus does not generate a receiver data-ready interrupt. If RTOINT is enabled in IER, by setting the ERBI bit, it is recorded in IIR. There is no status bit to reflect the occurrence of a time-out condition.
RDAINT
RTOINT
Receiver time-out condition (in the FIFO mode only): No characters have been removed from or input to the receiver FIFO during the last four character times (see Table 168), and there is at least one character in the receiver FIFO during this time.
RLSINT
Receiver line status condition: An overrun error, parity If RLSINT is enabled in IER, by setting the ELSI bit, it error, framing error, or break has occurred. is recorded in IIR. As an alternative to using RLSINT, the CPU can poll the following bits in the line status register (LSR): overrun error indicator (OE), parity error indicator (PE), framing error indicator (FE), and break indicator (BI).
Figure 163. UART Interrupt Request Enable Paths

Conditions Transmitter holding register empty Receiver data ready IER(ERBI) RTOINT Receiver time-out Overrun error Parity error Framing error Break IER(ELSI) Enable bits UART interrupt requests THREINT IER(ETBEI) RDRINT Arbiter
UART interrupt request to CPU
RLSINT
235
8.2.9
DMA Event Support In the FIFO mode, the UART generates the following two DMA events: Receive event (URXEVT): The trigger level for the receiver FIFO (1, 4, 8, or 14 characters) is set with the RXFIFTL bit in the FIFO control register (FCR). Every time the trigger level is reached or a receiver time-out occurs, the UART sends a receive event to the EDMA controller. In response, the EDMA controller reads the data from the receiver FIFO by way of the receiver buffer register (RBR). Note that the receive event is not asserted if the data at the top of the receiver FIFO is erroneous even if the trigger level has been reached. Transmit event (UTXEVT): When the transmitter FIFO is empty (when the last byte in the transmitter FIFO has been copied to the transmitter shift register), the UART sends an UTXEVT signal to the EDMA controller. In response, the EDMA controller refills the transmitter FIFO by way of the transmitter holding register (THR). The UTXEVT signal is also sent to the DMA controller when the UART is taken out of reset using the UTRST bit in the power and emulation management register (PWREMU_MGMT). Activity in DMA channels can be synchronized to these events. In the non-FIFO mode, the UART generates no DMA events. Any DMA channel synchronized to either of these events must be enabled at the time the UART event is generated. Otherwise, the DMA channel will miss the event and, unless the UART generates a new event, no data transfer will occur.
8.2.10
Power Management The UART peripheral can be placed in reduced-power modes to conserve power during periods of low activity. The power management of the UART peripheral is controlled by the processor Power and Clock Management (PRCM). The PRCM acts as a master controller for power management for all of the peripherals on the device. For detailed information on power management procedures using the PSC, see the chapter Power, Reset, and Clock Management (PRCM) in the device reference manual.
8.2.11
Emulation Considerations The FREE bit in the power and emulation management register (PWREMU_MGMT) determines how the UART responds to an emulation suspend event such as an emulator halt or breakpoint. If FREE = 0 and a transmission is in progress, the UART halts after completing the one-word transmission; if FREE = 0 and a transmission is not in progress, the UART halts immediately. If FREE = 1, the UART does not halt and continues operating normally. Note also that most emulator accesses are transparent to UART operation. Emulator read operations do not affect any register contents, status bits, or operating states, with the exception of the interrupt identification register (IIR). Emulator writes, however, may affect register contents and may affect UART operation, depending on what register is accessed and what value is written. The UART registers can be read from or written to during emulation suspend events, even if the UART activity has stopped.
8.2.12 8.2.12.1
Exception Processing Divisor Latch Not Programmed
Since the processor reset signal has no effect on the divisor latch, the divisor latch will have an unknown value after power up. If the divisor latch is not programmed after power up, the baud clock (BCLK) will not operate and will instead be set to a constant logic 1 state. The divisor latch values should always be reinitialized following a processor reset. 8.2.12.2 Changing Operating Mode During Busy Serial Communication
Since the serial link characteristics are based on how the control registers are programmed, the UART will expect the control registers to be static while it is busy engaging in a serial communication. Therefore, changing the control registers while the module is still busy communicating with another serial device will most likely cause an error condition and should be avoided.
236 SPRUHF8A May 2012 Revised June 2013
8.3
Registers
The system programmer has access to and control over any of the UART registers that are listed in Table 170. These registers, which control UART operations, receive data, and transmit data, are available at 32-bit addresses in the device memory map. RBR, THR, and DLL share one address. When the DLAB bit in LCR is 0, reading from the address gives the content of RBR, and writing to the address modifies THR. When DLAB = 1, all accesses at the address read or modify DLL. DLL can also be accessed with address offset 20h. IER and DLH share one address. When DLAB = 0, all accesses read or modify IER. When DLAB = 1, all accesses read or modify DLH. DLH can also be accessed with address offset 24h. IIR and FCR share one address. Regardless of the value of the DLAB bit, reading from the address gives the content of IIR, and writing modifies FCR. Table 170. UART Registers
Offset 0h 0h 4h 8h 8h Ch 10h 14h 18h 1Ch 20h 24h 28h 2Ch 30h 34h Acronym RBR THR IER IIR FCR LCR MCR LSR MSR SCR DLL DLH REVID1 REVID2 PWREMU_MGMT MDR Register Description Receiver Buffer Register (read only) Transmitter Holding Register (write only) Interrupt Enable Register Interrupt Identification Register (read only) FIFO Control Register (write only) Line Control Register Modem Control Register Line Status Register Modem Status Register Scratch Pad Register Divisor LSB Latch Divisor MSB Latch Revision Identification Register 1 Revision Identification Register 2 Power and Emulation Management Register Mode Definition Register Section Section 8.3.1 Section 8.3.2 Section 8.3.3 Section 8.3.4 Section 8.3.5 Section 8.3.6 Section 8.3.7 Section 8.3.8 Section 8.3.9 Section 8.3.10 Section 8.3.11 Section 8.3.11 Section 8.3.12 Section 8.3.12 Section 8.3.13 Section 8.3.14
237
8.3.1
Receiver Buffer Register (RBR) The receiver buffer register (RBR) is shown in Figure 164 and described in Table 171. The UART receiver section consists of a receiver shift register (RSR) and a receiver buffer register (RBR). When the UART is in the FIFO mode, RBR is a 16-byte FIFO. Timing is supplied by the 16x receiver clock or 13x receiver clock by programming OSM_SEL bit field of MDR register. Receiver section control is a function of the line control register (LCR). RSR receives serial data from the UARTn_RXD pin. Then RSR concatenates the data and moves it into RBR (or the receiver FIFO). In the non-FIFO mode, when a character is placed in RBR and the receiver data-ready interrupt is enabled (DR = 1 in IER), an interrupt is generated. This interrupt is cleared when the character is read from RBR. In the FIFO mode, the interrupt is generated when the FIFO is filled to the trigger level selected in the FIFO control register (FCR), and it is cleared when the FIFO contents drop below the trigger level. Access considerations: RBR, THR, and DLL share one address. To read RBR, write 0 to the DLAB bit in LCR, and read from the shared address. When DLAB = 0, writing to the shared address modifies THR. When DLAB = 1, all accesses at the shared address read or modify DLL. DLL also has a dedicated address. If you use the dedicated address, you can keep DLAB = 0, so that RBR and THR are always selected at the shared address. Figure 164. Receiver Buffer Register (RBR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; -n = value after reset 8 7 DATA R-0
16
Table 171. Receiver Buffer Register (RBR) Field Descriptions

Bit 31-8 7-0 Field Reserved DATA Value 0 0-FFh Description Reserved Received data
238
8.3.2
Transmitter Holding Register (THR) The transmitter holding register (THR) is shown in Figure 165 and described in Table 172. The UART transmitter section consists of a transmitter hold register (THR) and a transmitter shift register (TSR). When the UART is in the FIFO mode, THR is a 16-byte FIFO. Transmitter section control is a function of the line control register (LCR). THR receives data from the internal data bus and when TSR is idle, the UART moves the data from THR to TSR. The UART serializes the data in TSR and transmits the data on the TX pin. In the non-FIFO mode, if THR is empty and the THR empty (THRE) interrupt is enabled (ETBEI = 1 in IER), an interrupt is generated. This interrupt is cleared when a character is loaded into THR or the interrupt identification register (IIR) is read. In the FIFO mode, the interrupt is generated when the transmitter FIFO is empty, and it is cleared when at least one byte is loaded into the FIFO or IIR is read. Access considerations: RBR, THR, and DLL share one address. To load THR, write 0 to the DLAB bit of LCR, and write to the shared address. When DLAB = 0, reading from the shared address gives the content of RBR. When DLAB = 1, all accesses at the address read or modify DLL. DLL also has a dedicated address. If you use the dedicated address, you can keep DLAB = 0, so that RBR and THR are always selected at the shared address. Figure 165. Transmitter Holding Register (THR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; W = Write only; -n = value after reset 8 7 DATA W-0
16
Table 172. Transmitter Holding Register (THR) Field Descriptions

Bit 31-8 7-0 Field Reserved DATA Value 0 0-FFh Description Reserved Data to transmit
239
8.3.3
Interrupt Enable Register (IER) The interrupt enable register (IER) is used to individually enable or disable each type of interrupt request that can be generated by the UART. Each interrupt request that is enabled in IER is forwarded to the CPU. IER is shown in Figure 166 and described in Table 173. Access considerations: IER and DLH share one address. To read or modify IER, write 0 to the DLAB bit in LCR. When DLAB = 1, all accesses at the shared address read or modify DLH. DLH also has a dedicated address. If you use the dedicated address, you can keep DLAB = 0, so that IER is always selected at the shared address. Figure 166. Interrupt Enable Register (IER)
31 Reserved R-0 15 Reserved R-0 LEGEND: R/W = Read/Write; R = Read only; -n = value after reset 4 3 Rsvd R/W-0 2 ELSI R/W-0 1 ETBEI R/W-0
16
0 ERBI R/W-0
Table 173. Interrupt Enable Register (IER) Field Descriptions

Bit 31-4 3 2 Field Reserved EDSSI ELSI 0 1 1 ETBEI 0 1 0 ERBI 0 1 Value 0 0 Description Reserved Enable Modem Status Interrupt Receiver line status interrupt enable. Receiver line status interrupt is disabled. Receiver line status interrupt is enabled. Transmitter holding register empty interrupt enable. Transmitter holding register empty interrupt is disabled. Transmitter holding register empty interrupt is enabled. Receiver data available interrupt and character timeout indication interrupt enable. Receiver data available interrupt and character timeout indication interrupt is disabled. Receiver data available interrupt and character timeout indication interrupt is enabled.
240
8.3.4
Interrupt Identification Register (IIR) The interrupt identification register (IIR) is a read-only register at the same address as the FIFO control register (FCR), which is a write-only register. When an interrupt is generated and enabled in the interrupt enable register (IER), IIR indicates that an interrupt is pending in the IPEND bit and encodes the type of interrupt in the INTID bits. Reading IIR clears any THR empty (THRE) interrupts that are pending. IIR is shown in Figure 167 and described in Figure 167. The UART has an on-chip interrupt generation and prioritization capability that permits flexible communication with the CPU. The UART provides three priority levels of interrupts: Priority 1 - Receiver line status (highest priority) Priority 2 - Receiver data ready or receiver timeout Priority 3 - Transmitter holding register empty The FIFOEN bit in IIR can be checked to determine whether the UART is in the FIFO mode or the nonFIFO mode. Access consideration: IIR and FCR share one address. Regardless of the value of the DLAB bit in LCR, reading from the address gives the content of IIR, and writing to the address modifies FCR. Figure 167. Interrupt Identification Register (IIR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; -n = value after reset 8 7 R-0 6 5 R-0 4 3 INTID R-0 1
16
0 IPEND R-1
FIFOEN
Reserved
Table 174. Interrupt Identification Register (IIR) Field Descriptions

Bit 31-8 7-6 Field Reserved FIFOEN Value 0 0-3h 0 1h-2h 3h 5-4 3-1 Reserved INTID 0 0-7h 0 1h 2h 3h 4h-5h 6h 7h 0 IPEND Description Reserved FIFOs enabled. Non-FIFO mode Reserved FIFOs are enabled. FIFOEN bit in the FIFO control register (FCR) is set to 1. Reserved Interrupt type. See Table 175. Reserved Transmitter holding register empty (priority 3) Receiver data available (priority 2) Receiver line status (priority 1, highest) Reserved Character timeout indication (priority 2) Reserved Interrupt pending. When any UART interrupt is generated and is enabled in IER, IPEND is forced to 0. IPEND remains 0 until all pending interrupts are cleared or until a hardware reset occurs. If no interrupts are enabled, IPEND is never forced to 0. 0 1 Interrupts pending. No interrupts pending.
241
Table 175. Interrupt Identification and Interrupt Clearing Information

Priority Level None 1 IIR Bits 3 0 0 2 0 1 1 0 1 0 1 0 Interrupt Type None Receiver line status Interrupt Source None Overrun error, parity error, framing error, or break is detected. Event That Clears Interrupt None For an overrun error, reading the line status register (LSR) clears the interrupt. For a parity error, framing error, or break, the interrupt is cleared only after all the erroneous data have been read. Non-FIFO mode: The receiver buffer register (RBR) is read.
Receiver data-ready
Non-FIFO mode: Receiver data is ready.
FIFO mode: Trigger level reached. If FIFO mode: The FIFO drops below four character times (see Table 168) the trigger level. (1) pass with no access of the FIFO, the interrupt is asserted again. 2 1 1 0 0 Receiver time-out FIFO mode only: No characters have One of the following events: been removed from or input to the A character is read from the receiver FIFO during the last four receiver FIFO. (1) character times (see Table 168), and A new character arrives in the there is at least one character in the receiver FIFO. receiver FIFO during this time. The URRST bit in the power and emulation management register (PWREMU_MGMT) is loaded with 0. Non-FIFO mode: Transmitter holding register (THR) is empty. FIFO mode: Transmitter FIFO is empty. A character is written to the transmitter holding register (THR) or the interrupt identification register (IIR) is read.
Transmitter holding register empty
(1)
In the FIFO mode, the receiver data-ready interrupt or receiver time-out interrupt is cleared by the CPU or by the DMA controller, whichever reads from the receiver FIFO first.
8.3.5
FIFO Control Register (FCR) The FIFO control register (FCR) is a write-only register at the same address as the interrupt identification register (IIR), which is a read-only register. Use FCR to enable and clear the FIFOs and to select the receiver FIFO trigger level FCR is shown in Figure 168 and described in Table 176. The FIFOEN bit must be set to 1 before other FCR bits are written to or the FCR bits are not programmed. Access consideration: IIR and FCR share one address. Regardless of the value of the DLAB bit, reading from the address gives the content of IIR, and writing to the address modifies FCR. CAUTION For proper communication between the UART and the EDMA controller, the DMAMODE1 bit must be set to 1. Always write a 1 to the DMAMODE1 bit, and after a hardware reset, change the DMAMODE1 bit from 0 to 1.
242
Figure 168. FIFO Control Register (FCR)

31 Reserved R-0 15 Reserved R-0 7 RXFIFTL W-0
(1)
16
5 Reserved R-0
3 DMAMODE1 (1) W-0
2 TXCLR W1C-0
1 RXCLR W1C-0
0 FIFOEN W-0
LEGEND: R = Read only; W = Write only; W1C = Write 1 to clear (writing 0 has no effect); -n = value after reset Always write 1 to the DMAMODE1 bit. After a hardware reset, change the DMAMODE1 bit from 0 to 1. DMAMODE = 1 is required for proper communication between the UART and the DMA controller.
Table 176. FIFO Control Register (FCR) Field Descriptions

Bit 31-8 7-6 Field Reserved RXFIFTL Value 0 0-3h Description Reserved Receiver FIFO trigger level. RXFIFTL sets the trigger level for the receiver FIFO. When the trigger level is reached, a receiver data-ready interrupt is generated (if the interrupt request is enabled). Once the FIFO drops below the trigger level, the interrupt is cleared. 1 byte 4 bytes 8 bytes 14 bytes Reserved DMA MODE1 enable if FIFOs are enabled. Always write 1 to DMAMODE1. After a hardware reset, change DMAMODE1 from 0 to 1. DMAMOD1 = 1 is a requirement for proper communication between the UART and the EDMA controller. 0 1 2 TXCLR 0 1 1 RXCLR 0 1 0 FIFOEN 0 1 DMA MODE1 is disabled. DMA MODE1 is enabled. Transmitter FIFO clear. Write a 1 to TXCLR to clear the bit. No effect. Clears transmitter FIFO and resets the transmitter FIFO counter. The shift register is not cleared. Receiver FIFO clear. Write a 1 to RXCLR to clear the bit. No effect. Clears receiver FIFO and resets the receiver FIFO counter. The shift register is not cleared. Transmitter and receiver FIFOs mode enable. FIFOEN must be set before other FCR bits are written to or the FCR bits are not programmed. Clearing this bit clears the FIFO counters. Non-FIFO mode. The transmitter and receiver FIFOs are disabled, and the FIFO pointers are cleared. FIFO mode. The transmitter and receiver FIFOs are enabled.
0 1h 2h 3h 5-4 3 Reserved DMAMODE1 0
243
8.3.6
Line Control Register (LCR) The line control register (LCR) is shown in Figure 169 and described in Table 177. The system programmer controls the format of the asynchronous data communication exchange by using LCR. In addition, the programmer can retrieve, inspect, and modify the content of LCR; this eliminates the need for separate storage of the line characteristics in system memory. Figure 169. Line Control Register (LCR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R/W = Read/Write; R = Read only; -n = value after reset 8 7 DLAB R/W-0 6 BC R/W-0 5 SP R/W-0 4 EPS R/W-0 3 PEN R/W-0 2 STB R/W-0 1 WLS R/W-0
16
Table 177. Line Control Register (LCR) Field Descriptions

Bit 31-8 7 Field Reserved DLAB Value 0 Description Reserved Divisor latch access bit. The divisor latch registers (DLL and DLH) can be accessed at dedicated addresses or at addresses shared by RBR, THR, and IER. Using the shared addresses requires toggling DLAB to change which registers are selected. If you use the dedicated addresses, you can keep DLAB = 0. 0 Allows access to the receiver buffer register (RBR), the transmitter holding register (THR), and the interrupt enable register (IER) selected. At the address shared by RBR, THR, and DLL, the CPU can read from RBR and write to THR. At the address shared by IER and DLH, the CPU can read from and write to IER. Allows access to the divisor latches of the baud generator during a read or write operation (DLL and DLH). At the address shared by RBR, THR, and DLL, the CPU can read from and write to DLL. At the address shared by IER and DLH, the CPU can read from and write to DLH. Break control. 0 1 5 SP 0 1 Break condition is disabled. Break condition is transmitted to the receiving UART. A break condition is a condition where the UARTn_TXD signal is forced to the spacing (cleared) state. Stick parity. The SP bit works in conjunction with the EPS and PEN bits. The relationship between the SP, EPS, and PEN bits is summarized in Table 178. Stick parity is disabled. Stick parity is enabled. When odd parity is selected (EPS = 0), the PARITY bit is transmitted and checked as set. When even parity is selected (EPS = 1), the PARITY bit is transmitted and checked as cleared. 4 EPS Even parity select. Selects the parity when parity is enabled (PEN = 1). The EPS bit works in conjunction with the SP and PEN bits. The relationship between the SP, EPS, and PEN bits is summarized in Table 178. 0 1 3 PEN 0 1 Odd parity is selected (an odd number of logic 1s is transmitted or checked in the data and PARITY bits). Even parity is selected (an even number of logic 1s is transmitted or checked in the data and PARITY bits). Parity enable. The PEN bit works in conjunction with the SP and EPS bits. The relationship between the SP, EPS, and PEN bits is summarized in Table 178. No PARITY bit is transmitted or checked. Parity bit is generated in transmitted data and is checked in received data between the last data word bit and the first STOP bit.
BC
244
Table 177. Line Control Register (LCR) Field Descriptions (continued)

Bit 2 Field STB Value Description Number of STOP bits generated. STB specifies 1, 1.5, or 2 STOP bits in each transmitted character. When STB = 1, the WLS bit determines the number of STOP bits. The receiver clocks only the first STOP bit, regardless of the number of STOP bits selected. The number of STOP bits generated is summarized in Table 179. 0 1 1 STOP bit is generated. WLS bit determines the number of STOP bits: When WLS = 0, 1.5 STOP bits are generated. When WLS = 1h, 2h, or 3h, 2 STOP bits are generated. 1-0 WLS 0-3h 0 1h 2h 3h Word length select. Number of bits in each transmitted or received serial character. When STB = 1, the WLS bit determines the number of STOP bits. 5 bits 6 bits 7 bits 8 bits
Table 178. Relationship Between ST, EPS, and PEN Bits in LCR
ST Bit x 0 0 1 1 EPS Bit x 0 1 0 1 PEN Bit 0 1 1 1 1 Parity Option Parity disabled: No PARITY bit is transmitted or checked Odd parity selected: Odd number of logic 1s Even parity selected: Even number of logic 1s Stick parity selected with PARITY bit transmitted and checked as set Stick parity selected with PARITY bit transmitted and checked as cleared
Table 179. Number of STOP Bits Generated

STB Bit 0 1 1 1 1 WLS Bits x 0h 1h 2h 3h Word Length Selected with WLS Bits Any word length 5 bits 6 bits 7 bits 8 bits Number of STOP Bits Generated 1 1.5 2 2 2 Baud Clock (BCLK) Cycles 16 24 32 32 32
245
8.3.7
Modem Control Register (MCR) The modem control register (MCR) is shown in Figure 170 and described in Table 180. The modem control register provides the ability to enable/disable the autoflow functions, and enable/disable the loopback function for diagnostic purposes. Figure 170. Modem Control Register (MCR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R/W = Read/Write; R = Read only; -n = value after reset
(1)
16
5 AFE (1) R/W-0
4 LOOP R/W-0
3 OUT2 R/W-0
2 OUT1 R/W-0
1 RTS (1) R/W-0
0 Rsvd R-0
All UARTs do not support this feature, see your device-specific data manual for supported features. If this feature is not available, this bit is reserved and should be cleared to 0.
Table 180. Modem Control Register (MCR) Field Descriptions

Bit 31-6 5 Field Reserved AFE Value 0 Description Reserved Autoflow control enable. Autoflow control allows the UARTn_RTS and UARTn_CTS signals to provide handshaking between UARTs during data transfer. When AFE = 1, the RTS bit determines the autoflow control enabled. Note that all UARTs do not support this feature, see your device-specific data manual for supported features. If this feature is not available, this bit is reserved and should be cleared to 0. 0 1 Autoflow control is disabled. Autoflow control is enabled: When RTS = 0, UARTn_CTS is only enabled. When RTS = 1, UARTn_RTS and UARTn_CTS are enabled. 4 LOOP 0 1 Loop back mode enable. LOOP is used for the diagnostic testing using the loop back feature. Loop back mode is disabled. Loop back mode is enabled. When LOOP is set, the following occur: The UARTn_TXD signal is set high. The UARTn_RXD pin is disconnected The output of the transmitter shift register (TSR) is lopped back in to the receiver shift register (RSR) input. 3 2 1 OUT2 OUT1 RTS 0 0 OUT2 Control Bit OUT1 Control Bit RTS control. When AFE = 1, the RTS bit determines the autoflow control enabled. Note that all UARTs do not support this feature, see your device-specific data manual for supported features. If this feature is not available, this bit is reserved and should be cleared to 0. 0 1 0 Reserved 0 UARTn_RTS is disabled, UARTn_CTS is only enabled. UARTn_RTS and UARTn_CTS are enabled. Reserved
246
8.3.8
Line Status Register (LSR) The line status register (LSR) is shown in Figure 171 and described in Table 181. LSR provides information to the CPU concerning the status of data transfers. LSR is intended for read operations only; do not write to this register. Bits 1 through 4 record the error conditions that produce a receiver line status interrupt. Figure 171. Line Status Register (LSR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; -n = value after reset 8 7 RXFIFOE R-0 6 TEMT R-1 5 THRE R-1 4 BI R-0 3 FE R-0 2 PE R-0 1 OE R-0
16
0 DR R-0
Table 181. Line Status Register (LSR) Field Descriptions

Bit 31-8 7 Field Reserved RXFIFOE 0 1 0 1 6 TEMT 0 1 0 1 5 THRE Value 0 Description Reserved Receiver FIFO error. In non-FIFO mode: There has been no error, or RXFIFOE was cleared because the CPU read the erroneous character from the receiver buffer register (RBR). There is a parity error, framing error, or break indicator in the receiver buffer register (RBR). In FIFO mode: There has been no error, or RXFIFOE was cleared because the CPU read the erroneous character from the receiver FIFO and there are no more errors in the receiver FIFO. At least one parity error, framing error, or break indicator in the receiver FIFO. Transmitter empty (TEMT) indicator. In non-FIFO mode: Either the transmitter holding register (THR) or the transmitter shift register (TSR) contains a data character. Both the transmitter holding register (THR) and the transmitter shift register (TSR) are empty. In FIFO mode: Either the transmitter FIFO or the transmitter shift register (TSR) contains a data character. Both the transmitter FIFO and the transmitter shift register (TSR) are empty. Transmitter holding register empty (THRE) indicator. If the THRE bit is set and the corresponding interrupt enable bit is set (ETBEI = 1 in IER), an interrupt request is generated. In non-FIFO mode: 0 1 Transmitter holding register (THR) is not empty. THR has been loaded by the CPU. Transmitter holding register (THR) is empty (ready to accept a new character). The content of THR has been transferred to the transmitter shift register (TSR). In FIFO mode: 0 1 Transmitter FIFO is not empty. At least one character has been written to the transmitter FIFO. You can write to the transmitter FIFO if it is not full. Transmitter FIFO is empty. The last character in the FIFO has been transferred to the transmitter shift register (TSR).
247
Table 181. Line Status Register (LSR) Field Descriptions (continued)

Bit 4 Field BI Value Description Break indicator. The BI bit is set whenever the receive data input (UARTn_RXD) was held low for longer than a full-word transmission time. A full-word transmission time is defined as the total time to transmit the START, data, PARITY, and STOP bits. If the BI bit is set and the corresponding interrupt enable bit is set (ELSI = 1 in IER), an interrupt request is generated. In non-FIFO mode: 0 1 0 1 3 FE No break has been detected, or the BI bit was cleared because the CPU read the erroneous character from the receiver buffer register (RBR). A break has been detected with the character in the receiver buffer register (RBR). In FIFO mode: No break has been detected, or the BI bit was cleared because the CPU read the erroneous character from the receiver FIFO and the next character to be read from the FIFO has no break indicator. A break has been detected with the character at the top of the receiver FIFO. Framing error (FE) indicator. A framing error occurs when the received character does not have a valid STOP bit. In response to a framing error, the UART sets the FE bit and waits until the signal on the RX pin goes high. Once the RX signal goes high, the receiver is ready to detect a new START bit and receive new data. If the FE bit is set and the corresponding interrupt enable bit is set (ELSI = 1 in IER), an interrupt request is generated. In non-FIFO mode: 0 1 0 1 2 PE No framing error has been detected, or the FE bit was cleared because the CPU read the erroneous data from the receiver buffer register (RBR). A framing error has been detected with the character in the receiver buffer register (RBR). In FIFO mode: No framing error has been detected, or the FE bit was cleared because the CPU read the erroneous data from the receiver FIFO and the next character to be read from the FIFO has no framing error. A framing error has been detected with the character at the top of the receiver FIFO. Parity error (PE) indicator. A parity error occurs when the parity of the received character does not match the parity selected with the EPS bit in the line control register (LCR). If the PE bit is set and the corresponding interrupt enable bit is set (ELSI = 1 in IER), an interrupt request is generated. In non-FIFO mode: 0 1 0 1 1 OE No parity error has been detected, or the PE bit was cleared because the CPU read the erroneous data from the receiver buffer register (RBR). A parity error has been detected with the character in the receiver buffer register (RBR). In FIFO mode: No parity error has been detected, or the PE bit was cleared because the CPU read the erroneous data from the receiver FIFO and the next character to be read from the FIFO has no parity error. A parity error has been detected with the character at the top of the receiver FIFO. Overrun error (OE) indicator. An overrun error in the non-FIFO mode is different from an overrun error in the FIFO mode. If the OE bit is set and the corresponding interrupt enable bit is set (ELSI = 1 in IER), an interrupt request is generated. In non-FIFO mode: 0 1 No overrun error has been detected, or the OE bit was cleared because the CPU read the content of the line status register (LSR). Overrun error has been detected. Before the character in the receiver buffer register (RBR) could be read, it was overwritten by the next character arriving in RBR. In FIFO mode: 0 1 No overrun error has been detected, or the OE bit was cleared because the CPU read the content of the line status register (LSR). Overrun error has been detected. If data continues to fill the FIFO beyond the trigger level, an overrun error occurs only after the FIFO is full and the next character has been completely received in the shift register. An overrun error is indicated to the CPU as soon as it happens. The new character overwrites the character in the shift register, but it is not transferred to the FIFO.
248
Table 181. Line Status Register (LSR) Field Descriptions (continued)

Bit 0 Field DR Value Description Data-ready (DR) indicator for the receiver. If the DR bit is set and the corresponding interrupt enable bit is set (ERBI = 1 in IER), an interrupt request is generated. In non-FIFO mode: 0 1 Data is not ready, or the DR bit was cleared because the character was read from the receiver buffer register (RBR). Data is ready. A complete incoming character has been received and transferred into the receiver buffer register (RBR). In FIFO mode: 0 1 Data is not ready, or the DR bit was cleared because all of the characters in the receiver FIFO have been read. Data is ready. There is at least one unread character in the receiver FIFO. If the FIFO is empty, the DR bit is set as soon as a complete incoming character has been received and transferred into the FIFO. The DR bit remains set until the FIFO is empty again.
249
8.3.9
Modem Status Register (MSR) The Modem status register (MSR) is shown in Figure 172 and described in Table 182. MSR provides information to the CPU concerning the status of modem control signals. MSR is intended for read operations only; do not write to this register. Figure 172. Modem Status Register (MSR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; -n = value after reset 8 7 CD R-0 6 RI R-0 5 DSR R-0 4 CTS R-0 3 DCD R-0 2 TERI R-0 1 DDSR R-0
16
0 DCTS R-0
Table 182. Modem Status Register (MSR) Field Descriptions

Bit 31-8 7 6 5 4 3 Field Reserved CD RI DSR CTS DCD Value 0 0 0 0 0 0 Description Reserved Complement of the Carrier Detect input. When the UART is in the diagnostic test mode (loopback mode MCR[4] = 1), this bit is equal to the MCR bit 3 (OUT2). Complement of the Ring Indicator input. When the UART is in the diagnostic test mode (loopback mode MCR[4] = 1), this bit is equal to the MCR bit 2 (OUT1). Complement of the Data Set Ready input. When the UART is in the diagnostic test mode (loopback mode MCR[4] = 1), this bit is equal to the MCR bit 0 (DTR). Complement of the Clear To Send input. When the UART is in the diagnostic test mode (loopback mode MCR[4] = 1), this bit is equal to the MCR bit 1 (RTS). Change in DCD indicator bit. DCD indicates that the DCD input has changed state since the last time it was read by the CPU. When DCD is set and the modem status interrupt is enabled, a modem status interrupt is generated. Trailing edge of RI (TERI) indicator bit. TERI indicates that the RI input has changed from a low to a high. When TERI is set and the modem status interrupt is enabled, a modem status interrupt is generated. Change in DSR indicator bit. DDSR indicates that the DSR input has changed state since the last time it was read by the CPU. When DDSR is set and the modem status interrupt is enabled, a modem status interrupt is generated. Change in CTS indicator bit. DCTS indicates that the CTS input has changed state since the last time it was read by the CPU. When DCTS is set (autoflow control is not enabled and the modem status interrupt is enabled), a modem status interrupt is generated. When autoflow control is enabled, no interrupt is generated.
TERI
DDSR
DCTS
250
8.3.10
Scratch Pad Register (SCR) The Scratch Pad register (SCR) is shown in Figure 173 and described in Table 183. SCR is intended for programmer's use as a scratch pad. It temporarily holds the programmer's data without affecting UART operation. Figure 173. Scratch Pad Register (SCR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; -n = value after reset 8 7 SCR R-0
16
Table 183. Scratch Pad Register (MSR) Field Descriptions

Bit 31-8 7-0 Field Reserved SCR Value 0 0 Description Reserved These bits are intended for the programmer's use as a scratch pad in the sense that it temporarily holds the programmer's data without affecting any other UART operation.
8.3.11
Divisor Latches (DLL and DLH) Two 8-bit register fields (DLL and DLH), called divisor latches, store the 16-bit divisor for generation of the baud clock in the baud generator. The latches are in DLH and DLL. DLH holds the most-significant bits of the divisor, and DLL holds the least-significant bits of the divisor. These divisor latches must be loaded during initialization of the UART in order to ensure desired operation of the baud generator. Writing to the divisor latches results in two wait states being inserted during the write access while the baud generator is loaded with the new value. Access considerations: RBR, THR, and DLL share one address. When DLAB = 1 in LCR, all accesses at the shared address are accesses to DLL. When DLAB = 0, reading from the shared address gives the content of RBR, and writing to the shared address modifies THR. IER and DLH share one address. When DLAB = 1 in LCR, accesses to the shared address read or modify to DLH. When DLAB = 0, all accesses at the shared address read or modify IER.
DLL and DLH also have dedicated addresses. If you use the dedicated addresses, you can keep the DLAB bit cleared, so that RBR, THR, and IER are always selected at the shared addresses. The divisor LSB latch (DLL) is shown in Figure 174 and described in Table 184. The divisor MSB latch (DLH) is shown in Figure 175 and described in Table 185.
251
Figure 174. Divisor LSB Latch (DLL)

31 Reserved R-0 15 Reserved R-0 LEGEND: R/W = Read/Write; R = Read only; -n = value after reset 8 7 DLL R/W-0 0 16
Table 184. Divisor LSB Latch (DLL) Field Descriptions

Bit 31-8 7-0 Field Reserved DLL Value 0 0-Fh Description Reserved The 8 least-significant bits (LSBs) of the 16-bit divisor for generation of the baud clock in the baud rate generator.
Figure 175. Divisor MSB Latch (DLH)

31 Reserved R-0 15 Reserved R-0 LEGEND: R/W = Read/Write; R = Read only; -n = value after reset 8 7 DLH R/W-0 0 16
Table 185. Divisor MSB Latch (DLH) Field Descriptions

Bit 31-8 7-0 Field Reserved DLH Value 0 0-Fh Description Reserved The 8 most-significant bits (MSBs) of the 16-bit divisor for generation of the baud clock in the baud rate generator.
252
8.3.12
Revision Identification Registers (REVID1 and REVID2) The revision identification registers (REVID1 and REVID2) contain peripheral identification data for the peripheral. REVID1 is shown in Figure 176 and described in Table 186. REVID2 is shown in Figure 177 and described in Table 187. Figure 176. Revision Identification Register 1 (REVID1)
31 REVID1 R-1102 0002h LEGEND: R = Read only; -n = value after reset
Table 186. Revision Identification Register 1 (REVID1) Field Descriptions

Bit 31-0 Field REVID1 Value 1102 0002h Description Peripheral Identification Number
Figure 177. Revision Identification Register 2 (REVID2)

31 Reserved R-0 15 Reserved R-0 LEGEND: R = Read only; -n = value after reset 8 7 REVID2 R-0 0 16
Table 187. Revision Identification Register 2 (REVID2) Field Descriptions

Bit 31-8 7-0 Field Reserved REVID2 Value 0 0 Description Reserved Peripheral Identification Number
253
8.3.13
Power and Emulation Management Register (PWREMU_MGMT) The power and emulation management register (PWREMU_MGMT) is shown in Figure 178 and described in Table 188. Figure 178. Power and Emulation Management Register (PWREMU_MGMT)
31 Reserved R-0 15 Rsvd R/W-0 14 UTRST R/W-0 13 URRST R/W-0 12 Reserved R-1 1
16
0 FREE R/W-0
LEGEND: R/W = Read/Write; R = Read only; -n = value after reset
Table 188. Power and Emulation Management Register (PWREMU_MGMT) Field Descriptions
Bit 31-16 15 14 Field Reserved Reserved UTRST 0 1 13 URRST 0 1 12-1 0 Reserved FREE 1 Value 0 0 Description Reserved Reserved. This bit must always be written with a 0. UART transmitter reset. Resets and enables the transmitter. Transmitter is disabled and in reset state. Transmitter is enabled. UART receiver reset. Resets and enables the receiver. Receiver is disabled and in reset state. Receiver is enabled. Reserved Free-running enable mode bit. This bit determines the emulation mode functionality of the UART. When halted, the UART can handle register read/write requests, but does not generate any transmission/reception, interrupts or events. 0 1 If a transmission is not in progress, the UART halts immediately. If a transmission is in progress, the UART halts after completion of the one-word transmission. Free-running mode is enabled; UART continues to run normally.
254
8.3.14
Mode Definition Register (MDR) The Mode Definition register (MDR) determines the over-sampling mode for the UART. MDR is shown in Figure 179 and described in Table 189. Figure 179. Mode Definition Register (MDR)
31 Reserved R-0 15 Reserved R-0 LEGEND: R/W = Read/Write; R = Read only; -n = value after reset 1 0
16
OSM_SEL R/W-0
Table 189. Mode Definition Register (MDR) Field Descriptions

Bit 31-1 0 Field Reserved OSM_SEL 0 1 Value 0 Description Reserved Over-Sampling Mode Select. 16 over-sampling. 13 over-sampling.
255
9 9.1
Industrial Ethernet Peripheral (IEP) Introduction

The industrial ethernet peripheral (IEP) is intended to do the hardware work required for industrial ethernet functions. The IEP module features an industrial ethernet timer with eight compare events.
9.2
9.2.1
Clock Generation The IEP has a dedicated input clock with a configurable clock source. Two clock sources are supported for the IEP input clock: iep_clk (default): Runs at 200 MHz. ocp_clk: Programmable through the IEPCLK register of the PRU-ICSS CFG register space. When software enables the ocp_clk (OCP_EN), no transactions must be accruing to the IEP block. Switching from iep_clk to ocp_clk is only supported in software. Switching back from ocp_clk to iep_clk is only supported through a hardware reset of the PRU-ICSS.
9.2.2
Industrial Ethernet Timer The industrial ethernet timer is a simple 32-bit timer. This timer is intended for use by industrial ethernet functions but can also be leveraged as a generic timer in other applications.
9.2.2.1
Features
The industrial ethernet timer supports the following features: One master 32-bit count-up counter with an overflow status bit. Runs on ocp_clk 200 MHz. Write 1 to clear status. Supports a programmable increment value from 1 to 16 (default 5). An optional compensation method allows the increment value to apply a compensation increment value from 1 to 16, counting up to 2^24 iep_clk/ocp_clk events. Eight 32-bit compare registers (CMP[8:0], CMP_STAT). Eight status bits, write 1 to clear. Eight individual event outputs. One global event (any compare event) output for interrupt generation triggered by any compare event. 16 outputs, one high level and one high pulse for each compare hit event. CMP[0], if enabled, will reset the counter.
9.3
PRU_ICSS_IEP Registers
Table 190 lists the memory-mapped registers for the PRU_ICSS_IEP. All register offset addresses not listed in Table 190 should be considered as reserved locations and the register contents should not be modified. Table 190. PRU_ICSS_IEP REGISTERS
Offset 0h 4h 8h Ch Acronym GLOBAL_CFG GLOBAL_STATUS COMPEN COUNT Register Name Section Section 9.3.1 Section 9.3.2 Section 9.3.3 Section 9.3.4
256
Table 190. PRU_ICSS_IEP REGISTERS (continued)

Offset 40h 44h 48h 4Ch 50h 54h 58h 5Ch 60h 64h Acronym CMP_CFG CMP_STATUS CMP0 CMP1 CMP2 CMP3 CMP4 CMP5 CMP6 CMP7 Register Name Section Section 9.3.5 Section 9.3.6 Section 9.3.7 Section 9.3.8 Section 9.3.9 Section 9.3.10 Section 9.3.11 Section 9.3.12 Section 9.3.13 Section 9.3.14
257
9.3.1
GLOBAL_CFG Register (offset = 0h) [reset = 550h] GLOBAL_CFG is shown in Figure 180 and described in Table 191. GLOBAL CONFIGURE Figure 180. GLOBAL_CFG Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 Reserved R-0h 7 6 DEFAULT_INC R/W-5h 5 4 3 2 Reserved R-0h 13 12 11 10 CMP_INC R/W-5h 1 0 CNT_ENABLE R/W-0h 9 8 19 18 17 16 27 26 25 24
Table 191. GLOBAL_CFG Register Field Descriptions

Bit 31-12 11-8 7-4 3-1 0 Field Reserved CMP_INC DEFAULT_INC Reserved CNT_ENABLE Type R R/W R/W R R/W Reset 0h 5h 5h 0h 0h Counter enable 0: Disables the counter. The counter maintains the current count. 1: Enables the counter. Defines the increment value when compensation is active Defines the default increment value Description
258
9.3.2
GLOBAL_STATUS Register (offset = 4h) [reset = 0h] GLOBAL_STATUS is shown in Figure 181 and described in Table 192. GLOBAL STATUS Figure 181. GLOBAL_STATUS Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 4 Reserved R-0h 3 2 1 0 CNT_OVF R/W1toClr-0h 11 10 9 8 19 18 17 16 27 26 25 24
LEGEND: R/W = Read/Write; R = Read only; W1toClr = Write 1 to clear bit; -n = value after reset
Table 192. GLOBAL_STATUS Register Field Descriptions

Bit 31-1 0 Field Reserved CNT_OVF Type R R/W1toClr Reset 0h 0h Counter overflow status. 0: No overflow 1: Overflow occurred Description
259
9.3.3
COMPEN Register (offset = 8h) [reset = 0h] COMPEN is shown in Figure 182 and described in Table 193. COMPENSATION Figure 182. COMPEN Register
31 30 29 28 Reserved R-0h 23 22 21 20 COMPEN_CNT R/W-0h 15 14 13 12 COMPEN_CNT R/W-0h 7 6 5 4 COMPEN_CNT R/W-0h 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 193. COMPEN Register Field Descriptions

Bit 31-24 23-0 Field Reserved COMPEN_CNT Type R R/W Reset 0h 0h Compensation counter. Read returns the current COMPEN_CNT value. 0: Compensation is disabled and counter will increment by DEFAULT_INC. n: Compensation is enabled until COMPEN_CNT decrements to 0. The COMPEN_CNT value decrements on every iep_clk cycle. When COMPEN_CNT is greater than 0, then count value increments by CMP_INC. Description
260
9.3.4
COUNT Register (offset = Ch) [reset = 0h] COUNT is shown in Figure 183 and described in Table 194. COUNT is a free running counter with a sticky over flag status bit. The counter over flow flag will be set when the counter switches/rollover from 0xffff_ffff -> 0x0000_0000 and continue to count up. The software will need to read and clear the counter over flow flag and increment the MSB in software variable. Figure 183. COUNT Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
COUNT R/W1toClr-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 194. COUNT Register Field Descriptions

Bit 31-0 Field COUNT Type R/W1toClr Reset 0h Description 32-bit count value. Increments by (DEFAULT_INC or CMP_INC) on every positive edge of iep_clk (200MHz).
261
9.3.5
CMP_CFG Register (offset = 40h) [reset = 0h] CMP_CFG is shown in Figure 184 and described in Table 195. COMPARE CONFIGURE Figure 184. CMP_CFG Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 4 CMP_EN R/W-0h 3 2 1 11 10 9 8 CMP_EN R/W-0h 0 CMP0_RST_CNT_EN R/W-0h 19 18 17 16 27 26 25 24
Table 195. CMP_CFG Register Field Descriptions

Bit 31-9 8-1 Field Reserved CMP_EN Type R R/W Reset 0h 0h Compare registers enable, where CMP_EN[n] maps to CMP[n] 0: Disables event 1: Enables event Counter reset enable. 0: Disable 1: Enable the reset of the counter if a CMP0 event occurs Description
CMP0_RST_CNT_EN
R/W
0h
262
9.3.6
CMP_STATUS Register (offset = 44h) [reset = 0h] CMP_STATUS is shown in Figure 185 and described in Table 196. COMPARE STATUS Figure 185. CMP_STATUS Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 4 CMP_HIT R/W1toClr-0h 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 196. CMP_STATUS Register Field Descriptions

Bit 31-8 7-0 Field Reserved CMP_HIT Type R R/W1toClr Reset 0h 0h Status bit for each of the compare registers, where CMP_HIT[n] maps to CMP[n]. Note Match means the current counter is greater than or equal to the compare value. 0: Match has not occurred 1: Match occurred. The associated hardware event signal will assert and remain high until the status is cleared Description
263
9.3.7
CMP0 Register (offset = 48h) [reset = 0h] CMP0 is shown in Figure 186 and described in Table 197. COMPARE0 Figure 186. CMP0 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
CMP0 R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 197. CMP0 Register Field Descriptions

Bit 31-0 Field CMP0 Type R/W Reset 0h Description Compare 0 value
264
9.3.8
CMP1 Register (offset = 4Ch) [reset = 0h] CMP1 is shown in Figure 187 and described in Table 198. COMPARE1 Figure 187. CMP1 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

265
9.3.9
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

266
9.3.10
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

267
9.3.11
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

268
9.3.12
CMP5 Register (offset = 5Ch) [reset = 0h] CMP5 is shown in Figure 191 and described in Table 202. COMPARE5 Figure 191. CMP5 Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

269
9.3.13
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

270
9.3.14
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10

271
CFG
10
CFG
The PRU-ICSS CFG block contains the registers for control and status of power management, memory parity, and enhanced PRU GP ports functions. See the following register sections for details.
10.1 PRU_ICSS_CFG Registers

Table 205 lists the memory-mapped registers for the PRU_ICSS_CFG. All register offset addresses not listed in Table 205 should be considered as reserved locations and the register contents should not be modified. Table 205. PRU_ICSS_CFG REGISTERS
Offset 0h 4h 8h Ch 10h 14h 18h 1Ch 20h 28h 2Ch 30h 34h 40h Acronym REVID SYSCFG GPCFG0 GPCFG1 CGR ISRP ISP IESP IECP PMAO MII_RT IEPCLK SPP PIN_MX Register Name Section Section 10.1.1 Section 10.1.2 Section 10.1.3 Section 10.1.4 Section 10.1.5 Section 10.1.6 Section 10.1.7 Section 10.1.8 Section 10.1.9 Section 10.1.10 Section 10.1.11 Section 10.1.12 Section 10.1.13 Section 10.1.14
272
CFG
10.1.1
REVID Register (offset = 0h) [reset = 47000000h] REVID is shown in Figure 194 and described in Table 206. The Revision Register contains the ID and revision information. Figure 194. REVID Register
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
REVID R-47000000h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
Table 206. REVID Register Field Descriptions

Bit 31-0 Field REVID Type R Reset 47000000h Description Revision ID
273
CFG
10.1.2
SYSCFG Register (offset = 4h) [reset = 1Ah] SYSCFG is shown in Figure 195 and described in Table 207. The System Configuration Register defines the power IDLE and STANDBY modes. Figure 195. SYSCFG Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 Reserved R-0h 6 5 SUB_MWAIT R-0h 4 STANDBY_INIT R/W-1h 3 STANDBY_MODE R/W-2h 2 1 IDLE_MODE R/W-2h 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 207. SYSCFG Register Field Descriptions

Bit 31-6 5 Field Reserved SUB_MWAIT Type R R Reset 0h 0h Status bit for wait state. 0 = Ready for Transaction 1 = Wait until 0 1 = Initiate standby sequence. 0 = Enable OCP master ports. 0h = Force standby mode: Initiator unconditionally in standby (standby = 1). 1h = No standby mode: Initiator unconditionally out of standby (standby = 0). 2h = Smart standby mode: Standby requested by initiator depending on internal conditions. 3h = Reserved. 0h 1h 2h 3h = = = = Force-idle mode. No-idle mode. Smart-idle mode. Reserved. Description
4 3-2
STANDBY_INIT STANDBY_MODE
R/W R/W
1h 2h
1-0
IDLE_MODE
R/W
2h
274
CFG
10.1.3
GPCFG0 Register (offset = 8h) [reset = 0h] GPCFG0 is shown in Figure 196 and described in Table 208. The General Purpose Configuration 0 Register defines the GPI/O configuration for PRU0. Figure 196. GPCFG0 Register
31 30 29 Reserved R-0h 23 22 PRU0_GPO_DIV1 R/W-0h 15 14 PRU0_GPO_MODE R/W-0h 6 13 PRU0_GPI_SB 0h 5 PRU0_GPI_DIV0 R/W-0h 4 3 12 11 10 PRU0_GPI_DIV1 R/W-0h 2 PRU0_GPI_CLK_MO DE R/W-0h 1 PRU0_GPI_MODE R/W-0h 0 21 20 19 18 PRU0_GPO_DIV0 R/W-0h 9 8 28 27 26 25 PRU0_GPO_SH_SEL R-0h 17 24 PRU0_GPO_DIV1 R/W-0h 16
PRU0_GPO_DIV0 R/W-0h 7
Table 208. GPCFG0 Register Field Descriptions

Bit 31-26 25 Field Reserved PRU0_GPO_SH_SEL Type R R Reset 0h 0h Defines which shadow register is currently getting used for GPO shifting. 0 = gpo_sh0 is selected 1 = gpo_sh1 is selected Divisor value (divide by PRU0_GPO_DIV1 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. Divisor value (divide by PRU0_GPO_DIV0 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. 0 = Direct output mode 1 = Serial output mode Start Bit event for 28-bit shift mode. PRU0_GPI_SB (pru0_r31_status[29]) is set when first capture of a 1 on pru0_r31_status[0]. Read 1: Start Bit event occurred. Read 0: Start Bit event has not occurred. Write 1: Will clear PRU0_GPI_SB and clear the whole shift register. Write 0: No Effect. Divisor value (divide by PRU0_GPI_DIV1 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. Description
24-20
PRU0_GPO_DIV1
R/W
0h
19-15
PRU0_GPO_DIV0
R/W
0h
14 13
PRU0_GPO_MODE PRU0_GPI_SB
R/W
0h 0h
12-8
PRU0_GPI_DIV1
R/W
0h
275
CFG
Table 208. GPCFG0 Register Field Descriptions (continued)

Bit 7-3 Field PRU0_GPI_DIV0 Type R/W Reset 0h Description Divisor value (divide by PRU0_GPI_DIV0 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. Parallel 16-bit capture mode clock edge. 0 = Use the positive edge of pru0_r31_status[16] 1 = Use the negative edge of pru0_r31_status[16] 0h = Direct connection mode. 1h = 16-bit parallel capture mode. 2h = 28-bit shift mode. 3h = Mii_rt mode.
PRU0_GPI_CLK_MODE
R/W
0h
1-0
PRU0_GPI_MODE
R/W
0h
276
CFG
10.1.4
GPCFG1 Register (offset = Ch) [reset = 0h] GPCFG1 is shown in Figure 197 and described in Table 209. The General Purpose Configuration 1 Register defines the GPI/O configuration for PRU1. Figure 197. GPCFG1 Register
31 30 29 Reserved R-0h 23 22 PRU1_GPO_DIV1 R/W-0h 15 14 PRU1_GPO_MODE R/W-0h 6 13 PRU1_GPI_SB 0h 5 PRU1_GPI_DIV0 R/W-0h 4 3 12 11 10 PRU1_GPI_DIV1 R/W-0h 2 PRU1_GPI_CLK_MO DE R/W-0h 1 PRU1_GPI_MODE R/W-0h 0 21 20 19 18 PRU1_GPO_DIV0 R/W-0h 9 8 28 27 26 25 PRU1_GPO_SH_SEL R-0h 17 24 PRU1_GPO_DIV1 R/W-0h 16
PRU1_GPO_DIV0 R/W-0h 7
Table 209. GPCFG1 Register Field Descriptions

Bit 31-26 25 Field Reserved PRU1_GPO_SH_SEL Type R R Reset 0h 0h Defines which shadow register is currently getting used for GPO shifting. 0 = gpo_sh0 is selected 1 = gpo_sh1 is selected Divisor value (divide by PRU1_GPO_DIV1 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. Divisor value (divide by PRU1_GPO_DIV0 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. 0 = Direct output mode 1 = Serial output mode 28-bit shift mode Start Bit event. PRU1_GPI_SB (pru1_r31_status[29]) is set when first capture of a 1 on pru1_r31_status[0]. Read 1: Start Bit event occurred. Read 0: Start Bit event has not occurred. Write 1: Will clear PRU1_GPI_SB and clear the whole shift register. Write 0: No Effect. Divisor value (divide by PRU1_GPI_DIV1 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. Description
24-20
PRU1_GPO_DIV1
R/W
0h
19-15
PRU1_GPO_DIV0
R/W
0h
14 13
PRU1_GPO_MODE PRU1_GPI_SB
R/W
0h 0h
12-8
PRU1_GPI_DIV1
R/W
0h
277
CFG
Table 209. GPCFG1 Register Field Descriptions (continued)

Bit 7-3 Field PRU1_GPI_DIV0 Type R/W Reset 0h Description Divisor value (divide by PRU1_GPI_DIV0 + 1). 0h = div 1.0. 1h = div 1.5. 2h = div 2.0. .. 1eh = div 16.0. 1fh = reserved. Parallel 16-bit capture mode clock edge. 0 = Use the positive edge of pru1_r31_status[16] 1 = Use the negative edge of pru1_r31_status[16] 0h = Direct connection mode. 1h = 16-bit parallel capture mode. 2h = 28-bit shift mode. 3h = Mii_rt mode.
PRU1_GPI_CLK_MODE
R/W
0h
1-0
PRU1_GPI_MODE
R/W
0h
278
CFG
10.1.5
CGR Register (offset = 10h) [reset = 24924h] CGR is shown in Figure 198 and described in Table 210. The Clock Gating Register controls the state of Clock Management of the different modules. Software should not clear {module}_CLK_EN until {module}_CLK_STOP_ACK is 0x1. Figure 198. CGR Register
31 30 29 28 Reserved R-0h 23 22 21 Reserved R-0h 15 14 ECAP_CLK_EN R/W-1h 6 13 12 11 UART_CLK_EN R/W-1h 3 10 20 19 18 17 IEP_CLK_EN R/W-1h 9 16 IEP_CLK_STOP_ACK R-0h 8 INTC_CLK_EN R/W-1h 0 27 26 25 24
IEP_CLK_STOP_RE Q R/W-0h 7
ECAP_CLK_STOP_A ECAP_CLK_STOP_R CK EQ R-0h 5 PRU1_CLK_EN R/W-1h R/W-0h 4
UART_CLK_STOP_A UART_CLK_STOP_R CK EQ R-0h 2 PRU0_CLK_EN R/W-1h R/W-0h 1
INTC_CLK_STOP_AC INTC_CLK_STOP_RE K Q R-0h R/W-0h
PRU1_CLK_STOP_A PRU1_CLK_STOP_R CK EQ R-0h R/W-0h
PRU0_CLK_STOP_A PRU0_CLK_STOP_R CK EQ R-0h R/W-0h
Table 210. CGR Register Field Descriptions

Bit 31-18 17 Field Reserved IEP_CLK_EN Type R R/W Reset 0h 1h IEP clock enable. 0 = Disable Clock 1 = Enable Clock Acknowledgement that IEP clock can be stopped. 0 = Not Ready to Gate Clock 1 = Ready to Gate Clock IEP request to stop clock. 0 = do not request to stop Clock 1 = request to stop Clock ECAP clock enable. 0 = Disable Clock 1 = Enable Clock Acknowledgement that ECAP clock can be stopped. 0 = Not Ready to Gate Clock 1 = Ready to Gate Clock ECAP request to stop clock. 0 = do not request to stop Clock 1 = request to stop Clock UART clock enable. 0 = Disable Clock 1 = Enable Clock Acknowledgement that UART clock can be stopped. 0 = Not Ready to Gate Clock 1 = Ready to Gate Clock UART request to stop clock. 0 = do not request to stop Clock 1 = request to stop Clock INTC clock enable. 0 = Disable Clock 1 = Enable Clock Description
16
IEP_CLK_STOP_ACK
0h
15
IEP_CLK_STOP_REQ
R/W
0h
14
ECAP_CLK_EN
R/W
1h
13
ECAP_CLK_STOP_ACK
0h
12
ECAP_CLK_STOP_REQ
R/W
0h
11
UART_CLK_EN
R/W
1h
10
UART_CLK_STOP_ACK
0h
UART_CLK_STOP_REQ
R/W
0h
INTC_CLK_EN
R/W
1h
279
CFG
Table 210. CGR Register Field Descriptions (continued)

Bit 7 Field INTC_CLK_STOP_ACK Type R Reset 0h Description Acknowledgement that INTC clock can be stopped. 0 = Not Ready to Gate Clock 1 = Ready to Gate Clock INTC request to stop clock. 0 = do not request to stop Clock 1 = request to stop Clock PRU1 clock enable. 0 = Disable Clock 1 = Enable Clock Acknowledgement that PRU1 clock can be stopped. 0 = Not Ready to Gate Clock 1 = Ready to Gate Clock PRU1 request to stop clock. 0 = do not request to stop Clock 1 = request to stop Clock PRU0 clock enable. 0 = Disable Clock 1 = Enable Clock Acknowledgement that PRU0 clock can be stopped. 0 = Not Ready to Gate Clock 1 = Ready to Gate Clock PRU0 request to stop clock. 0 = do not request to stop Clock 1 = request to stop Clock
INTC_CLK_STOP_REQ
R/W
0h
PRU1_CLK_EN
R/W
1h
PRU1_CLK_STOP_ACK
0h
PRU1_CLK_STOP_REQ
R/W
0h
PRU0_CLK_EN
R/W
1h
PRU0_CLK_STOP_ACK
0h
PRU0_CLK_STOP_REQ
R/W
0h
280
CFG
10.1.6
ISRP Register (offset = 14h) [reset = 0h] ISRP is shown in Figure 199 and described in Table 211. The IRQ Status Raw Parity register is a snapshot of the IRQ raw status for the PRU ICSS memory parity events. The raw status is set even if the event is not enabled. Figure 199. ISRP Register
31 30 29 28 Reserved R-0h 23 22 Reserved R-0h 15 14 13 12 11 10 21 20 19 18 RAM_PE_RAW R/W-0h 9 8 17 16 27 26 25 24
PRU1_DMEM_PE_RAW R/W-0h 7 6 5 4 3
PRU1_IMEM_PE_RAW R/W-0h 2 1 0
PRU0_DMEM_PE_RAW R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
PRU0_IMEM_PE_RAW R/W-0h
Table 211. ISRP Register Field Descriptions

Bit 31-20 19-16 Field Reserved RAM_PE_RAW Type R R/W Reset 0h 0h RAM Parity Error RAW for Byte3, Byte2, Byte1, Byte0. Note RAM_PE_RAW[0] maps to Byte0. Write 0: No action. Read 0: No event pending. Read 1: Event pending. Write 1: Set event (debug). PRU1 DMEM Parity Error RAW for Byte3, Byte2, Byte1, Byte0. Note PRU1_DMEM_PE_RAW[0] maps to Byte0. Write 0: No action. Read 0: No event pending. Read 1: Event pending. Write 1: Set event (debug). PRU1 IMEM Parity Error RAW for Byte3, Byte2, Byte1, Byte0. Note PRU1_IMEM_PE_RAW[0] maps to Byte0. Write 0: No action. Read 0: No event pending. Read 1: Event pending. Write 1: Set event (debug). PRU0 DMEM Parity Error RAW for Byte3, Byte2, Byte1, Byte0. Note PRU0_DMEM_PE_RAW[0] maps to Byte0. Write 0: No action. Read 0: No event pending. Read 1: Event pending. Write 1: Set event (debug) . PRU0 IMEM Parity Error RAW for Byte3, Byte2, Byte1, Byte0. Note PRU0_IRAM_PE_RAW[0] maps to Byte0. Write 0: No action. Read 0: No event pending. Read 1: Event pending. Write 1: Set event (debug) . Description
15-12
PRU1_DMEM_PE_RAW
R/W
0h
11-8
PRU1_IMEM_PE_RAW
R/W
0h
7-4
PRU0_DMEM_PE_RAW
R/W
0h
3-0
PRU0_IMEM_PE_RAW
R/W
0h
281
CFG
10.1.7
ISP Register (offset = 18h) [reset = 0h] ISP is shown in Figure 200 and described in Table 212. The IRQ Status Parity Register is a snapshot of the IRQ status for the PRU ICSS memory parity events. The status is set only if the event is enabled. Write 1 to clear the status after the interrupt has been serviced. Figure 200. ISP Register
31 30 29 28 Reserved R-0h 23 22 Reserved R-0h 15 14 PRU1_DMEM_PE 0h 7 6 PRU0_DMEM_PE 0h 5 4 3 2 PRU0_IMEM_PE 0h 13 12 11 10 PRU1_IMEM_PE 0h 1 0 21 20 19 18 RAM_PE 0h 9 8 17 16 27 26 25 24
Table 212. ISP Register Field Descriptions

Bit 31-20 19-16 Field Reserved RAM_PE Type R Reset 0h 0h RAM Parity Error for Byte3, Byte2, Byte1, Byte0. Note RAM_PE[0] maps to Byte0. Write 0: No action. Read 0: No (enabled) event pending. Read 1: Event pending. Write 1: Clear event. PRU1 DMEM Parity Error for Byte3, Byte2, Byte1, Byte0. Note PRU1_DMEM_PE[0] maps to Byte0. Write 0: No action. Read 0: No (enabled) event pending. Read 1: Event pending. Write 1: Clear event. PRU1 IMEM Parity Error for Byte3, Byte2, Byte1, Byte0. Note PRU1_IMEM_PE[0] maps to Byte0. Write 0: No action. Read 0: No (enabled) event pending. Read 1: Event pending. Write 1: Clear event. PRU0 DMEM Parity Error for Byte3, Byte2, Byte1, Byte0. Note PRU0_DMEM_PE[0] maps to Byte0. Write 0: No action. Read 0: No(enabled) event pending. Read 1: Event pending. Write 1: Clear event. PRU0 IMEM Parity Error for Byte3, Byte2, Byte1, Byte0. Note PRU0_IMEM_PE[0] maps to Byte0. Write 0: No action. Read 0: No (enabled) event pending. Read 1: Event pending. Write 1: Clear event. Description
15-12
PRU1_DMEM_PE
0h
11-8
PRU1_IMEM_PE
0h
7-4
PRU0_DMEM_PE
0h
3-0
PRU0_IMEM_PE
0h
282
CFG
10.1.8
IESP Register (offset = 1Ch) [reset = 0h] IESP is shown in Figure 201 and described in Table 213. The IRQ Enable Set Parity Register enables the IRQ PRU ICSS memory parity events. Figure 201. IESP Register
31 30 29 28 Reserved R-0h 23 22 Reserved R-0h 15 14 13 12 11 10 21 20 19 18 RAM_PE_SET R/W-0h 9 8 17 16 27 26 25 24
PRU1_DMEM_PE_SET R/W-0h 7 6 5 4 3
PRU1_IMEM_PE_SET R/W-0h 2 1 0
PRU0_DMEM_PE_SET R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
PRU0_IMEM_PE_SET R/W-0h
Table 213. IESP Register Field Descriptions

Bit 31-20 19-16 Field Reserved RAM_PE_SET Type R R/W Reset 0h 0h RAM Parity Error Set Enable for Byte3, Byte2, Byte1, Byte0. Note RAM_PE_SET[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Enable interrupt. PRU1 DMEM Parity Error Set Enable for Byte3, Byte2, Byte1, Byte0. Note PRU1_DMEM_PE_SET[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Enable interrupt. PRU1 IMEM Parity Error Set Enable for Byte3, Byte2, Byte1, Byte0. Note PRU1_IMEM_PE_SET[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Enable interrupt. PRU0 DMEM Parity Error Set Enable for Byte3, Byte2, Byte1, Byte0. Note PRU0_DMEM_PE_SET[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Enable interrupt. PRU0 IMEM Parity Error Set Enable for Byte3, Byte2, Byte1, Byte0. Note PRU0_IMEM_PE_SET[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Enable interrupt. Description
15-12
PRU1_DMEM_PE_SET
R/W
0h
11-8
PRU1_IMEM_PE_SET
R/W
0h
7-4
PRU0_DMEM_PE_SET
R/W
0h
3-0
PRU0_IMEM_PE_SET
R/W
0h
283
CFG
10.1.9
IECP Register (offset = 20h) [reset = 0h] IECP is shown in Figure 202 and described in Table 214. The IRQ Enable Clear Parity Register disables the IRQ PRU ICSS memory parity events. Figure 202. IECP Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 11 10 9 8 19 18 17 16 27 26 25 24
PRU1_DMEM_PE_CLR R/W-0h 7 6 5 4 3
PRU1_IMEM_PE_CLR R/W-0h 2 1 0
PRU0_DMEM_PE_CLR R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset
PRU0_IMEM_PE_CLR R/W-0h
Table 214. IECP Register Field Descriptions

Bit 31-16 15-12 Field Reserved PRU1_DMEM_PE_CLR Type R R/W Reset 0h 0h PRU1 DMEM Parity Error Clear Enable for Byte3, Byte2, Byte1, Byte0. Note PRU1_DMEM_PE_CLR[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Disable interrupt. PRU1 IMEM Parity Error Clear Enable for Byte3, Byte2, Byte1, Byte0. Note PRU1_IMEM_PE_CLR[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Disable interrupt. PRU0 DMEM Parity Error Clear Enable for Byte3, Byte2, Byte1, Byte0. Note PRU0_DMEM_PE_CLR[0] maps to Byte0. Write 0: No action. Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Disable interrupt. PRU0 IMEM Parity Error Clear Enable for Byte3, Byte2, Byte1, Byte0. Note PRU0_IMEM_PE_CLR[0] maps to Byte0. Write 0: No action . Read 0: Interrupt disabled (masked). Read 1: Interrupt enabled. Write 1: Disable interrupt. Description
11-8
PRU1_IMEM_PE_CLR
R/W
0h
7-4
PRU0_DMEM_PE_CLR
R/W
0h
3-0
PRU0_IMEM_PE_CLR
R/W
0h
284
CFG
10.1.10 PMAO Register (offset = 28h) [reset = 0h] PMAO is shown in Figure 203 and described in Table 215. The PRU Master OCP Address Offset Register enables for the PRU OCP Master Port Address to have an offset of minus 0x0008_0000. This enables the PRU to access External Host address space starting at 0x0000_0000. Figure 203. PMAO Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 Reserved R-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset 4 3 2 1 PMAO_PRU1 R/W-0h 0 PMAO_PRU0 R/W-0h 11 10 9 8 19 18 17 16 27 26 25 24
Table 215. PMAO Register Field Descriptions

Bit 31-2 1 Field Reserved PMAO_PRU1 Type R R/W Reset 0h 0h PRU1 OCP Master Port Address Offset Enable. 0 = Disable address offset. 1 = Enable address offset of -0x0008_0000. PRU0 OCP Master Port Address Offset Enable. 0 = Disable address offset. 1 = Enable address offset of -0x0008_0000. Description
PMAO_PRU0
R/W
0h
285
CFG
10.1.11 MII_RT Register (offset = 2Ch) [reset = 1h] MII_RT is shown in Figure 204 and described in Table 216. The MII_RT Event Enable Register enables Ethercat (or MII_RT) mode events to the PRU ICSS INTC. Figure 204. MII_RT Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 4 Reserved R-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset 3 2 1 0 MII_RT_EVENT_EN R/W-1h 11 10 9 8 19 18 17 16 27 26 25 24
Table 216. MII_RT Register Field Descriptions

Bit 31-1 0 Field Reserved MII_RT_EVENT_EN Type R R/W Reset 0h 1h Enables the MII_RT Events to the INTC. 0 = Disabled (use external events). 1 = Enabled (use MII_RT events). Description
286
CFG
10.1.12 IEPCLK Register (offset = 30h) [reset = 0h] IEPCLK is shown in Figure 205 and described in Table 217. The IEP Clock Source Register defines the source of the IEP clock. Figure 205. IEPCLK Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 4 Reserved R-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset 3 2 1 0 OCP_EN R/W-0h 11 10 9 8 19 18 17 16 27 26 25 24
Table 217. IEPCLK Register Field Descriptions

Bit 31-1 0 Field Reserved OCP_EN Type R R/W Reset 0h 0h 0 = iep_clk is the source. 1 = ocp_clk is the source. Description
287
CFG
10.1.13 SPP Register (offset = 34h) [reset = 0h] SPP is shown in Figure 206 and described in Table 218. The Scratch Pad Priority and Configuration Register defines the access priority assigned to the PRU cores and configures the scratch pad XFR shift functionality. Figure 206. SPP Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 Reserved R-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset 4 3 2 1 XFR_SHIFT_EN R/W-0h 0 PRU1_PAD_HP_EN R/W-0h 11 10 9 8 19 18 17 16 27 26 25 24
Table 218. SPP Register Field Descriptions

Bit 31-2 1 Field Reserved XFR_SHIFT_EN Type R R/W Reset 0h 0h Enables XIN/XOUT shift functionality. When enabled, R0 [4:0] (internal to PRU) defines the 32-bit offset for XIN and XOUT operations with the scratch pad. 0 = Disabled. 1 = Enabled. Defines which PRU wins write cycle arbitration to a common scratch pad bank. The PRU which has higher priority will always perform the write cycle with no wait states. The lower PRU will get stalled/wait states until higher PRU is not performing write cycles. If the lower priority PRU writes to the same byte has the higher priority PRU, then the lower priority PRU will over write the bytes. 0 = PRU0 has highest priority. 1 = PRU1 has highest priority. Description
PRU1_PAD_HP_EN
R/W
0h
288
CFG
10.1.14 PIN_MX Register (offset = 40h) [reset = 0h] PIN_MX is shown in Figure 207 and described in Table 219. The Pin Mux Select Register defines the state of the PRU ICSS internal pinmuxing. Figure 207. PIN_MX Register
31 30 29 28 Reserved R-0h 23 22 21 20 Reserved R-0h 15 14 13 12 Reserved R-0h 7 6 5 4 PIN_MUX_SEL R/W-0h LEGEND: R/W = Read/Write; R = Read only; W1toCl = Write 1 to clear bit; -n = value after reset 3 2 1 0 11 10 9 8 19 18 17 16 27 26 25 24
Table 219. PIN_MX Register Field Descriptions

Bit 31-8 7-0 Field Reserved PIN_MUX_SEL Type R R/W Reset 0h 0h Defines the state of PIN_MUX_SEL [1:0] for internal pinmuxing. Description
289

Am 335 X Pru Reference Guide

Uploaded by

Copyright:

Available Formats

Am 335 X Pru Reference Guide

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Am 335 X Pru Reference Guide

Uploaded by

Copyright:

Available Formats

AM335x PRU-ICSS Reference Guide

Capabilities not supported by TI but "Community" support may be offered at BeagleBoard.org/discuss

Literature Number: SPRUHF8A May 2012 Revised June 2013

SPRUHF8A May 2012 Revised June 2013

PRU R31 (GPI) Direct Connection Mode Block Diagram ............................................................ 28

Integration of PRU and Scratch Pad .................................................................................... 34

SPRUHF8A May 2012 Revised June 2013

153 154 159 160 161 162

SPRUHF8A May 2012 Revised June 2013

SPRUHF8A May 2012 Revised June 2013

HINLR1 Register ......................................................................................................... 212

SPRUHF8A May 2012 Revised June 2013

SYSCFG Register........................................................................................................ 274

SPRUHF8A May 2012 Revised June 2013

PRU-ICSS Connectivity Attributes PRU-ICSS Pin List

SPRUHF8A May 2012 Revised June 2013

SPRUHF8A May 2012 Revised June 2013

SPRUHF8A May 2012 Revised June 2013

HIPIR7 Register Field Descriptions .................................................................................... 204

SPRUHF8A May 2012 Revised June 2013

CMP_STATUS Register Field Descriptions .......................................................................... 263

CMP_CFG Register Field Descriptions ............................................................................... 262

SPRUHF8A May 2012 Revised June 2013

SPRUHF8A May 2012 Revised June 2013

Figure 1. Block Diagram

The subsystem available on this device is the next-generation PRU (PRUSSv2).

SPRUHF8A May 2012 Revised June 2013

SPRUHF8A May 2012 Revised June 2013

OCP_HP0 (Interface/OCP Master port)

PRU0 Core (8KB Program RAM)

Data RAM0 (8KB)

MAC Scratch Pad 32-bit Interconnect SCR

Data RAM1 (8KB) Shared RAM (12KB)

ocp_clk uart_clk iep_clk rst_main_arst_n

OCP_HP1 (Interface/OCP Master port)

PRU1 Core (8KB Program RAM)

SPRUHF8A May 2012 Revised June 2013

PRU-ICSS Connectivity Attributes

Reset Signals Idle/Wakeup Signals Interrupt Requests

DMA Requests Physical Address

pr1_host_intr[0:7] corresponds to Host-2 to Host-9 of the PRU-ICSS interrupt controller.

PRU-ICSS Clock and Reset Management

uart_clk Functional Clock iep_clk Functional Clock

SPRUHF8A May 2012 Revised June 2013

PRU-ICSS Pin List

SPRUHF8A May 2012 Revised June 2013

PRU-ICSS Register Overview

PRU-ICSS Register Overview

Local Memory Map

Data 12KB RAM2 (Shared)

SPRUHF8A May 2012 Revised June 2013

PRU-ICSS Register Overview

Table 5. Local Data Memory Map (continued)

Global Memory Map

SPRUHF8A May 2012 Revised June 2013

PRU-ICSS Internal Pinmux Overview

PRU-ICSS Internal Pinmux Overview

Figure 3. PRU-ICSS Internal Signal Muxing: pin_mux_sel[0]

Table 8. PRU-ICSS Internal Signal Muxing: pin_mux_sel[1]