SP_SC_REG
hrt_data sc = sp_ctrl_load(id, SP_SC_REG);
sp_ctrl_setbit(SP0_ID, SP_SC_REG, SP_START_BIT);
sp_ctrl_setbit(sp_id, SP_SC_REG, SP_RUN_BIT);
sp_ctrl_setbit(sp_id, SP_SC_REG, SP_START_BIT);
state = sp_ctrl_getbit(sp_id, SP_SC_REG, SP_IDLE_BIT);
idle = sp_ctrl_getbit(SP0_ID, SP_SC_REG, SP_IDLE_BIT);
while (!sp_ctrl_getbit(SP0_ID, SP_SC_REG, SP_IDLE_BIT) &&