Intial code push
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Sunseeker Lab A-216
283
Telem_Debug/Debug2/CAN.h
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283
Telem_Debug/Debug2/CAN.h
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/*
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* Tritium MCP2515 CAN interface header
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* Copyright (c) 2007, Tritium Pty Ltd. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
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* in the documentation and/or other materials provided with the distribution.
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* - Neither the name of Tritium Pty Ltd nor the names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
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* OF SUCH DAMAGE.
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*
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* Last Modified: J.Kennedy, Tritium Pty Ltd, 17 January 2007
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*
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* - Implements the following CAN interface functions
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* - can_init
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* - can_transmit
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* - can_receive
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*
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*/
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#ifndef CAN_H
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#define CAN_H
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// Public function prototypes
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extern void can0_init();
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extern void can2_init();
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extern void can0_transmit();
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extern void can0_receive();
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extern void can0_sources(unsigned addr0, unsigned addr1);
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// Public variables
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typedef struct _can_variables
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{
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unsigned int status;
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unsigned int address;
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unsigned char data[8];
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} can_variables;
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extern can_variables can;
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extern can_variables can_2;
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extern can_variables can_3;
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extern unsigned char canctrl;
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void can0_canctrl(unsigned char mask, unsigned char value);
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// Private function prototypes
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void fill_data(can_message *can, unsigned char buff[]);
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void can0_reset();
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void can0_read(unsigned char address, unsigned char *ptr, unsigned char bytes );
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void can0_read_rx(unsigned char address, unsigned char *ptr );
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void can0_write(unsigned char address, unsigned char *ptr, unsigned char bytes );
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void can0_write_tx(unsigned char address, unsigned char *ptr );
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void can0_rts(unsigned char address );
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unsigned char can0_read_status();
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unsigned char can0_read_filter();
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void can0_mode(unsigned char address, unsigned char mask, unsigned char data );
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void can0_select();
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void can0_deselect();
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void can0_set_mask(unsigned id, unsigned mode);
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void can0_set_filter(unsigned id, unsigned addr);
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// Device can0_SERIAL number
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#define CAN1_CAN1_SERIAL 0x00000001
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#define CAN2_CAN1_SERIAL 0x00000002
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// Status values (for message reception)
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#define CAN_ERROR 0xFFFF
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#define CAN_MERROR 0xFFFE
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#define CAN_WAKE 0xFFFD
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#define CAN_RTR 0xFFFC
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#define CAN_OK 0x0001
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// MCP2515 command bytes
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#define MCP_RESET 0xC0
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#define MCP_READ 0x03
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#define MCP_READ_RX 0x90 // When used, needs to have RX_BUFFER address inserted into lower bits 0nm0'b
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#define MCP_WRITE 0x02
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#define MCP_WRITE_TX 0x40 // When used, needs to have TX_BUFFER address inserted into lower bits 0abc'b
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#define MCP_RTS 0x80 // When used, needs to have buffer to transmit inserted into lower bits 0nnn'b
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#define MCP_STATUS 0xA0
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#define MCP_FILTER 0xB0
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#define MCP_MODIFY 0x05
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//Read RX Buffer Addressess-MCP_READ_RX //n m addressPTR Address
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#define RXB_0SIDH 0x00 //0 0 RXB0SIDH 0x61
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#define RXB_0D0 0x02 //0 1 RXB0D0 0x66
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#define RXB_1SIDH 0x04 //1 0 RXB1SIDH 0x71
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#define RXB_1D0 0x06 //1 1 RXB1D0 0x76
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//Load TX Buffer Addressess-MCP_WRITE_TX //a b c addressPTR Address
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#define TXB_0SIDH 0x00 //0 0 0 TXB0SIDH 0x31
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#define TXB_0D0 0x01 //0 0 1 TXB0D0 0x36
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#define TXB_1SIDH 0x02 //0 1 0 TXB1SIDH 0x41
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#define TXB_1D0 0x03 //0 1 1 TXB1D0 0x46
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#define TXB_2SIDH 0x04 //1 0 0 TXB2SIDH 0x51
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#define TXB_2D0 0x05 //1 0 1 TXB2SIDH 0x56
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// MCP2515 register names
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#define RXF0SIDH 0x00
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#define RXF0SIDL 0x01
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#define RXF0EID8 0x02
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#define RXF0EID0 0x03
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#define RXF1SIDH 0x04
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#define RXF1SIDL 0x05
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#define RXF1EID8 0x06
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#define RXF1EID0 0x07
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#define RXF2SIDH 0x08
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#define RXF2SIDL 0x09
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#define RXF2EID8 0x0A
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#define RXF2EID0 0x0B
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#define BFPCTRL 0x0C
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#define TXRTSCTRL 0x0D
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#define CANSTAT 0x0E
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#define CANCTRL 0x0F
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#define RXF3SIDH 0x10
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#define RXF3SIDL 0x11
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#define RXF3EID8 0x12
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#define RXF3EID0 0x13
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#define RXF4SIDH 0x14
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#define RXF4SIDL 0x15
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#define RXF4EID8 0x16
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#define RXF4EID0 0x17
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#define RXF5SIDH 0x18
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#define RXF5SIDL 0x19
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#define RXF5EID8 0x1A
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#define RXF5EID0 0x1B
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#define TEC 0x1C
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#define REC 0x1D
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#define RXM0SIDH 0x20
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#define RXM0SIDL 0x21
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#define RXM0EID8 0x22
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#define RXM0EID0 0x23
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#define RXM1SIDH 0x24
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#define RXM1SIDL 0x25
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#define RXM1EID8 0x26
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#define RXM1EID0 0x27
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#define CNF3 0x28
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#define CNF2 0x29
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#define CNF1 0x2A
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#define CANINTE 0x2B
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#define CANINTF 0x2C
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#define EFLAG 0x2D
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#define TXB0CTRL 0x30
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#define TXB0SIDH 0x31
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#define TXB0SIDL 0x32
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#define TXB0EID8 0x33
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#define TXB0EID0 0x34
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#define TXB0DLC 0x35
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#define TXB0D0 0x36
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#define TXB0D1 0x37
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#define TXB0D2 0x38
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#define TXB0D3 0x39
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#define TXB0D4 0x3A
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#define TXB0D5 0x3B
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#define TXB0D6 0x3C
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#define TXB0D7 0x3D
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#define TXB1CTRL 0x40
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#define TXB1SIDH 0x41
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#define TXB1SIDL 0x42
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#define TXB1EID8 0x43
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#define TXB1EID0 0x44
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#define TXB1DLC 0x45
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#define TXB1D0 0x46
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#define TXB1D1 0x47
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#define TXB1D2 0x48
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#define TXB1D3 0x49
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#define TXB1D4 0x4A
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#define TXB1D5 0x4B
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#define TXB1D6 0x4C
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#define TXB1D7 0x4D
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#define TXB2CTRL 0x50
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#define TXB2SIDH 0x51
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#define TXB2SIDL 0x52
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#define TXB2EID8 0x53
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#define TXB2EID0 0x54
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#define TXB2DLC 0x55
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#define TXB2D0 0x56
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#define TXB2D1 0x57
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#define TXB2D2 0x58
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#define TXB2D3 0x59
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#define TXB2D4 0x5A
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#define TXB2D5 0x5B
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#define TXB2D6 0x5C
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#define TXB2D7 0x5D
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#define RXB0CTRL 0x60
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#define RXB0SIDH 0x61
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#define RXB0SIDL 0x62
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#define RXB0EID8 0x63
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#define RXB0EID0 0x64
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#define RXB0DLC 0x65
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#define RXB0D0 0x66
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#define RXB0D1 0x67
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#define RXB0D2 0x68
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#define RXB0D3 0x69
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#define RXB0D4 0x6A
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#define RXB0D5 0x6B
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#define RXB0D6 0x6C
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#define RXB0D7 0x6D
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#define RXB1CTRL 0x70
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#define RXB1SIDH 0x71
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#define RXB1SIDL 0x72
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#define RXB1EID8 0x73
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#define RXB1EID0 0x74
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#define RXB1DLC 0x75
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#define RXB1D0 0x76
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#define RXB1D1 0x77
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#define RXB1D2 0x78
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#define RXB1D3 0x79
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#define RXB1D4 0x7A
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#define RXB1D5 0x7B
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#define RXB1D6 0x7C
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#define RXB1D7 0x7D
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// MCP2515 RX ctrl bit definitions
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#define MCP_RXB0_RTR 0x08
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#define MCP_RXB1_RTR 0x08
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// MCP2515 Interrupt flag register bit definitions
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#define MCP_IRQ_MERR 0x80
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#define MCP_IRQ_WAKE 0x40
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#define MCP_IRQ_ERR 0x20
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#define MCP_IRQ_TXB2 0x10
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#define MCP_IRQ_TXB1 0x08
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#define MCP_IRQ_TXB0 0x04
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#define MCP_IRQ_RXB1 0x02
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#define MCP_IRQ_RXB0 0x01
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//CANCTL Bit definitions
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#define MCP_CTL_CLKPRE_0 0x00
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#define MCP_CTL_CLKPRE_2 0x01
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#define MCP_CTL_CLKPRE_4 0x02
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#define MCP_CTL_CLKPRE_8 0x03
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#define MCP_CTL_CLKEN 0x04 //Enable CLKOUT Pin
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#define MCP_CTL_OSM 0x08 //One Shot Mode
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#define MCP_CTL_ABAT 0x10 //Abort all Pending Transmissions
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//Request Operation Modes & Mode Status
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#define MCP_NML_MOD 0x00 //Normal Mode
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#define MCP_SLP_MOD 0x20 //Sleep Mode
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#define MCP_LB_MOD 0x40 //Loopback Mode
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#define MCP_LO_MOD 0x60 //Listen Only Mode
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#define MCP_CNF_MOD 0x80 //Configuration Mode
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//READ_STATUS definitions
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//RX_status definitions
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#define MESS_REC 0xC0 //Received Message Filter
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#define RM_0 0x00 //no message
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#define RM_RXB0 0x40 //RX buff 0
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#define RM_RXB1 0x80 //RX buff 1
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#define RM_BOTH 0xC0 //both
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#define MSG_TYP 0x18 //Message Type Filter
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#define MT_SDF 0x00 //standard data frame
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#define MT_SRF 0x08 //standard remote frame
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#define MT_EDF 0x10 //extended data frame
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#define MT_ERF 0x18 //extended remote frame
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#define FIL_MATCH 0x07 //Filter Match Filter
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#define FM_RXF0 0x00 //RXF0
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#define FM_RXF1 0x01 //RXF1
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#define FM_RXF2 0x02 //RXF2
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#define FM_RXF3 0x03 //RXF3
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#define FM_RXF4 0x04 //RXF4
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#define FM_RXF5 0x05 //RXF5
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#define FM_RXF0_B1 0x06 //RXF0 - rollover to RXB1
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#define FM_RXF1_B1 0x07 //RXF1 - rollover to RXB1
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#endif
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