#include <stdlib.h>
#include <stdint.h>
#include <stddef.h>
#include "pru_uart.h"
#include "pru_ecap.h"
#include "sys_gpio.h"

// define some r30 bits
#define CW  (1 << 3)
#define CCW (1 << 7)
#define delay_us(n) __delay_cycles((n) * 200u)
#define delay_ms(n) delay_us((n) * 1000u)


struct Message {
        uint32_t id;
        uint32_t timestamp;
        int32_t control_signal;
        int32_t error_signal;
        int16_t force;
        int16_t cycle_count;
        uint16_t counter;
        uint16_t signal_length;
Type  :qa  and press <Enter> to exit Vim                      1,1           Top