Sophie Dexter
This library for Seeed Studio's CAN-BUS Shield has a similar API to mbed's LPC1768 CAN library making it easy to add CAN functionality to mbed systems that support Arduino type 'Shields. This Beta release of my CAN-BUS Library is largely working but lacks interrupt 'attach' functions.
Dependents: Seeed_CAN_Hello_World ws-canrecv-1 CAN_SPI_modulo
Fork of
SEEED_CAN
by 
Sophie Dexter
seeed_can_defs.h
- Committer:
- Just4pLeisure
- Date:
- 2013-11-12
- Revision:
- 2:fd026fcfde94
- Parent:
- 1:ad71faa09868
File content as of revision 2:fd026fcfde94:
/* seeed_can_defs.h
* Copyright (c) 2013 Sophie Dexter
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef SEEED_CAN_DEFS_H
#define SEEED_CAN_DEFS_H
#include "mbed.h"
#ifdef __cplusplus
extern "C" {
#endif
/** FRDM-KL25Z port pins used by Seeed Studios CAN-BUS Shield
*/
#define SEEED_CAN_CS PTD0
#define SEEED_CAN_CLK PTD1
#define SEEED_CAN_MOSI PTD2
#define SEEED_CAN_MISO PTD3
#define SEEED_CAN_IRQ PTD4
#define SEEED_CAN_IO9 PTD5
/** Define MCP2515 register addresses
*/
#define MCP_RXF0SIDH 0x00
#define MCP_RXF0SIDL 0x01
#define MCP_RXF0EID8 0x02
#define MCP_RXF0EID0 0x03
#define MCP_RXF1SIDH 0x04
#define MCP_RXF1SIDL 0x05
#define MCP_RXF1EID8 0x06
#define MCP_RXF1EID0 0x07
#define MCP_RXF2SIDH 0x08
#define MCP_RXF2SIDL 0x09
#define MCP_RXF2EID8 0x0A
#define MCP_RXF2EID0 0x0B
#define MCP_CANSTAT 0x0E
#define MCP_CANCTRL 0x0F
#define MCP_RXF3SIDH 0x10
#define MCP_RXF3SIDL 0x11
#define MCP_RXF3EID8 0x12
#define MCP_RXF3EID0 0x13
#define MCP_RXF4SIDH 0x14
#define MCP_RXF4SIDL 0x15
#define MCP_RXF4EID8 0x16
#define MCP_RXF4EID0 0x17
#define MCP_RXF5SIDH 0x18
#define MCP_RXF5SIDL 0x19
#define MCP_RXF5EID8 0x1A
#define MCP_RXF5EID0 0x1B
#define MCP_TEC 0x1C
#define MCP_REC 0x1D
#define MCP_RXM0SIDH 0x20
#define MCP_RXM0SIDL 0x21
#define MCP_RXM0EID8 0x22
#define MCP_RXM0EID0 0x23
#define MCP_RXM1SIDH 0x24
#define MCP_RXM1SIDL 0x25
#define MCP_RXM1EID8 0x26
#define MCP_RXM1EID0 0x27
#define MCP_CNF3 0x28
#define MCP_CNF2 0x29
#define MCP_CNF1 0x2A
#define MCP_CANINTE 0x2B
#define MCP_CANINTF 0x2C
#define MCP_EFLG 0x2D
#define MCP_TXB0CTRL 0x30
#define MCP_TXB1CTRL 0x40
#define MCP_TXB2CTRL 0x50
#define MCP_RXB0CTRL 0x60
#define MCP_RXB0SIDH 0x61
#define MCP_RXB1CTRL 0x70
#define MCP_RXB1SIDH 0x71
/** Define MCP2515 SPI Instructions
*/
#define MCP_WRITE 0x02
#define MCP_READ 0x03
#define MCP_BITMOD 0x05
#define MCP_WRITE_TX0 0x40
#define MCP_WRITE_TX1 0x42
#define MCP_WRITE_TX2 0x44
#define MCP_RTS_TX0 0x81
#define MCP_RTS_TX1 0x82
#define MCP_RTS_TX2 0x84
#define MCP_RTS_ALL 0x87
#define MCP_READ_RX0 0x90
#define MCP_READ_RX1 0x94
#define MCP_READ_STATUS 0xA0
#define MCP_RX_STATUS 0xB0
#define MCP_RESET 0xC0
//#define TIMEOUTVALUE 50
//#define MCP_SIDH 0
//#define MCP_SIDL 1
//#define MCP_EID8 2
//#define MCP_EID0 3
#define MCP_TXB_EXIDE_M 0x08 /* In TXBnSIDL */
#define MCP_DLC_MASK 0x0F /* 4 LSBits */
#define MCP_RTR_MASK 0x40 /* (1<<6) Bit 6 */
#define MCP_RXB_RX_ANY 0x60
#define MCP_RXB_RX_EXT 0x40
#define MCP_RXB_RX_STD 0x20
#define MCP_RXB_RX_STDEXT 0x00
#define MCP_RXB_RX_MASK 0x60
#define MCP_RXB_BUKT_MASK (1<<2)
/** Bits in the TXBnCTRL registers.
*/
#define MCP_TXB_TXBUFE_M 0x80
#define MCP_TXB_ABTF_M 0x40
#define MCP_TXB_MLOA_M 0x20
#define MCP_TXB_TXERR_M 0x10
#define MCP_TXB_TXREQ_M 0x08
#define MCP_TXB_TXIE_M 0x04
#define MCP_TXB_TXP10_M 0x03
#define MCP_TXB_RTR_M 0x40 /* In TXBnDLC */
#define MCP_RXB_IDE_M 0x08 /* In RXBnSIDL */
#define MCP_RXB_RTR_M 0x40 /* In RXBnDLC */
/** STATUS Command Values
*/
#define MCP_STAT_RXIF_MASK (0x03)
#define MCP_STAT_RX0IF (1<<0)
#define MCP_STAT_RX1IF (1<<1)
#define MCP_STAT_TX0REQ (1<<2)
#define MCP_STAT_TX0IF (1<<3)
#define MCP_STAT_TX1REQ (1<<4)
#define MCP_STAT_TX1IF (1<<5)
#define MCP_STAT_TX2REQ (1<<6)
#define MCP_STAT_TX2IF (1<<7)
/** RX STATUS Command Values
*/
#define MCP_RXSTAT_RXF_MASK (7<<0)
#define MCP_RXSTAT_RXF0 (0<<0)
#define MCP_RXSTAT_RXF1 (1<<0)
#define MCP_RXSTAT_RXF2 (2<<0)
#define MCP_RXSTAT_RXF3 (3<<0)
#define MCP_RXSTAT_RXF4 (4<<0)
#define MCP_RXSTAT_RXF5 (5<<0)
#define MCP_RXSTAT_RXROF0 (6<<0) // RXF0 rollover to RXB1
#define MCP_RXSTAT_RXROF1 (7<<0) // RXF1 rollover to RXB1
#define MCP_RXSTAT_RTR (1<<3)
#define MCP_RXSTAT_IDE (1<<4)
#define MCP_RXSTAT_RXB_MASK (3<<6)
#define MCP_RXSTAT_NONE (0<<6)
#define MCP_RXSTAT_RXB0 (1<<6)
#define MCP_RXSTAT_RXB1 (2<<6)
#define MCP_RXSTAT_BOTH (3<<6)
/** EFLG Register Values
*/
#define MCP_EFLG_ALLMASK (0xFF) // All Bits
#define MCP_EFLG_ERRORMASK (0xF8) // 5 MS-Bits
#define MCP_EFLG_WARNMASK (0x07) // 3 LS-Bits
#define MCP_EFLG_EWARN (1<<0)
#define MCP_EFLG_RXWAR (1<<1)
#define MCP_EFLG_TXWAR (1<<2)
#define MCP_EFLG_RXEP (1<<3)
#define MCP_EFLG_TXEP (1<<4)
#define MCP_EFLG_TXBO (1<<5)
#define MCP_EFLG_RX0OVR (1<<6)
#define MCP_EFLG_RX1OVR (1<<7)
/** CANCTRL Register Values
*/
#define CLKOUT_PS1 (0<<0)
#define CLKOUT_PS2 (1<<0)
#define CLKOUT_PS4 (2<<0)
#define CLKOUT_PS8 (3<<0)
#define CLKOUT_ENABLE (1<<2)
#define CLKOUT_DISABLE (0<<2)
#define MODE_ONESHOT (1<<3)
#define ABORT_TX (1<<4)
#define MODE_NORMAL (0<<5)
#define MODE_SLEEP (1<<5)
#define MODE_LOOPBACK (2<<5)
#define MODE_LISTENONLY (3<<5)
#define MODE_CONFIG (4<<5)
#define MODE_POWERUP (7<<5)
#define MODE_MASK (7<<5)
/** Bit Rate timing
*/
#define MCP_CLOCK_FREQ 16000000 // 16 MHz Crystal frequency
#define CAN_SYNCSEG 1 // CAN-BUS Sync segment is always 1 Time Quantum
#define CAN_MAX_RATE MCP_CLOCK_FREQ/(2 * MCP_MIN_TIME_QUANTA)
#define CAN_MIN_RATE MCP_CLOCK_FREQ/(2 * MCP_MAX_PRESCALER * MCP_MAX_TIME_QUANTA)
#define MCP_MAX_TIME_QUANTA 25
#define MCP_MIN_TIME_QUANTA 8
#define MCP_MAX_PRESCALER 64
#define MCP_MIN_PRESCALER 1
/** CNF1 Register Values
*/
#define SJW1 (0<<6)
#define SJW2 (1<<6)
#define SJW3 (2<<6)
#define SJW4 (3<<6)
/** CNF2 Register Values
*/
#define BTLMODE (1<<7)
#define SAMPLE_1X (0<<4)
#define SAMPLE_3X (1<<4)
/** CNF3 Register Values
*/
#define WAKFIL_ENABLE (1<<4)
#define WAKFIL_DISABLE (0<<4)
#define SOF_ENABLE (1<<7)
#define SOF_DISABLE (0<<7)
/** CANINTF Register Bits
*/
#define MCP_NO_INTS (0x00) // Disable all interrupts
#define MCP_ALL_INTS (0xFF) // All Bits
#define MCP_RX_INTS (MCP_RX1IF | MCP_RX0IF) // Enable all receive interrupts
#define MCP_TX_INTS (MCP_TX2IF | MCP_TX1IF | MCP_TX0IF) // Enable all transmit interrupts
#define MCP_RX0IF (1<<0)
#define MCP_RX1IF (1<<1)
#define MCP_TX0IF (1<<2)
#define MCP_TX1IF (1<<3)
#define MCP_TX2IF (1<<4)
#define MCP_ERRIF (1<<5)
#define MCP_WAKIF (1<<6)
#define MCP_MERRF (1<<7)
//#define MCP_RXBUF_0 (MCP_RXB0SIDH)
//#define MCP_RXBUF_1 (MCP_RXB1SIDH)
#ifdef __cplusplus
};
#endif
#endif // SEEED_CAN_DEFS_H
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
Seeed Studios CAN-BUS Shield