sonar_common.hp

#ifndef SONAR_CONSTANTS_H__
#define SONAR_CONSTANTS_H__

// p9-30 INPUT  pr1_pru0_pru_r31_2  0x198
// p9-31 OUTPUT pr1_pru0_pru_r30_0  0x190

#define RESULT_OK       0x00000001
#define RESULT_TIMEOUT  0x00000002
#define RESULT_SHUTDOWN 0x00000003
#define RESULT_NONE     0x00000000

#define REQUEST_EXIT    0x00000000

// 20 nanoseconds measurement units
// Measured total time is (measurement * RESULT_UNITS_NSECS)
#define RESULT_UNITS_NSECS 0x00000014

// PRU memory indexes
#define ADDR_REQUEST_ID_IDX 		0x00000000
#define ADDR_RESPONSE_IDX   		0x00000001
#define ADDR_RESPONSE_STATUS_IDX 	0x00000002

#endif