c_can.hpp

00001 /*
00002  * Bosch C_CAN controller API.
00003  *
00004  * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
00005  */
00006 
00007 #pragma once
00008 
00009 #include <cstdint>
00010 #include <cstddef>
00011 
00012 namespace uavcan_lpc11c24
00013 {
00014 namespace c_can
00015 {
00016 
00017 struct MsgIfaceType
00018 {
00019     std::uint32_t CMDREQ;
00020 
00021     union
00022     {
00023         std::uint32_t W;
00024         std::uint32_t R;
00025     } CMDMSK;
00026 
00027     std::uint32_t MSK1;
00028     std::uint32_t MSK2;
00029 
00030     std::uint32_t ARB1;
00031     std::uint32_t ARB2;
00032 
00033     std::uint32_t MCTRL;
00034 
00035     std::uint32_t DA1;
00036     std::uint32_t DA2;
00037     std::uint32_t DB1;
00038     std::uint32_t DB2;
00039 
00040     const std::uint32_t _skip[13];
00041 };
00042 
00043 static_assert(offsetof(MsgIfaceType, CMDMSK) == 0x04, "C_CAN offset");
00044 static_assert(offsetof(MsgIfaceType, MSK1)   == 0x08, "C_CAN offset");
00045 static_assert(offsetof(MsgIfaceType, ARB1)   == 0x10, "C_CAN offset");
00046 static_assert(offsetof(MsgIfaceType, MCTRL)  == 0x18, "C_CAN offset");
00047 static_assert(offsetof(MsgIfaceType, DA1)    == 0x1c, "C_CAN offset");
00048 static_assert(offsetof(MsgIfaceType, DB2)    == 0x28, "C_CAN offset");
00049 
00050 static_assert(sizeof(MsgIfaceType) == 96, "C_CAN size");
00051 
00052 
00053 struct Type
00054 {
00055     std::uint32_t CNTL;
00056     std::uint32_t STAT;
00057     const std::uint32_t EC;
00058     std::uint32_t BT;
00059     const std::uint32_t INT;
00060     std::uint32_t TEST;
00061     std::uint32_t BRPE;
00062 
00063     const std::uint32_t _skip_a[1];
00064 
00065     MsgIfaceType IF[2];                 // [0] @ 0x020, [1] @ 0x080
00066 
00067     const std::uint32_t _skip_b[8];
00068 
00069     const std::uint32_t TXREQ[2];       // 0x100
00070 
00071     const std::uint32_t _skip_c[6];
00072 
00073     const std::uint32_t ND[2];          // 0x120
00074 
00075     const std::uint32_t _skip_d[6];
00076 
00077     const std::uint32_t IR[2];          // 0x140
00078 
00079     const std::uint32_t _skip_e[6];
00080 
00081     const std::uint32_t MSGV[2];        // 0x160
00082 
00083     const std::uint32_t _skip_f[6];
00084 
00085     std::uint32_t CLKDIV;               // 0x180
00086 };
00087 
00088 static_assert(offsetof(Type, CNTL)   == 0x000, "C_CAN offset");
00089 static_assert(offsetof(Type, STAT)   == 0x004, "C_CAN offset");
00090 static_assert(offsetof(Type, TEST)   == 0x014, "C_CAN offset");
00091 static_assert(offsetof(Type, BRPE)   == 0x018, "C_CAN offset");
00092 static_assert(offsetof(Type, IF[0])  == 0x020, "C_CAN offset");
00093 static_assert(offsetof(Type, IF[1])  == 0x080, "C_CAN offset");
00094 static_assert(offsetof(Type, TXREQ)  == 0x100, "C_CAN offset");
00095 static_assert(offsetof(Type, ND)     == 0x120, "C_CAN offset");
00096 static_assert(offsetof(Type, IR)     == 0x140, "C_CAN offset");
00097 static_assert(offsetof(Type, MSGV)   == 0x160, "C_CAN offset");
00098 static_assert(offsetof(Type, CLKDIV) == 0x180, "C_CAN offset");
00099 
00100 static_assert(offsetof(Type, IF[0].DB2) == 0x048, "C_CAN offset");
00101 static_assert(offsetof(Type, IF[1].DB2) == 0x0A8, "C_CAN offset");
00102 
00103 
00104 volatile Type& CAN = *reinterpret_cast<volatile Type*>(0x40050000);
00105 
00106 
00107 /*
00108  * CNTL
00109  */
00110 static constexpr std::uint32_t CNTL_TEST = 1 << 7;
00111 static constexpr std::uint32_t CNTL_CCE  = 1 << 6;
00112 static constexpr std::uint32_t CNTL_DAR  = 1 << 5;
00113 static constexpr std::uint32_t CNTL_EIE  = 1 << 3;
00114 static constexpr std::uint32_t CNTL_SIE  = 1 << 2;
00115 static constexpr std::uint32_t CNTL_IE   = 1 << 1;
00116 static constexpr std::uint32_t CNTL_INIT = 1 << 0;
00117 
00118 static constexpr std::uint32_t CNTL_IRQ_MASK = CNTL_EIE | CNTL_IE | CNTL_SIE;
00119 
00120 /*
00121  * TEST
00122  */
00123 static constexpr std::uint32_t TEST_RX       = 1 << 7;
00124 static constexpr std::uint32_t TEST_LBACK    = 1 << 4;
00125 static constexpr std::uint32_t TEST_SILENT   = 1 << 3;
00126 static constexpr std::uint32_t TEST_BASIC    = 1 << 2;
00127 static constexpr std::uint32_t TEST_TX_SHIFT = 5;
00128 
00129 enum class TestTx : std::uint32_t
00130 {
00131     Controller      = 0,
00132     SamplePoint     = 1,
00133     LowDominant     = 2,
00134     HighRecessive   = 3
00135 };
00136 
00137 /*
00138  * STAT
00139  */
00140 static constexpr std::uint32_t STAT_BOFF      = 1 << 7;
00141 static constexpr std::uint32_t STAT_EWARN     = 1 << 6;
00142 static constexpr std::uint32_t STAT_EPASS     = 1 << 5;
00143 static constexpr std::uint32_t STAT_RXOK      = 1 << 4;
00144 static constexpr std::uint32_t STAT_TXOK      = 1 << 3;
00145 static constexpr std::uint32_t STAT_LEC_MASK  = 7;
00146 static constexpr std::uint32_t STAT_LEC_SHIFT = 0;
00147 
00148 enum class StatLec : std::uint32_t
00149 {
00150     NoError     = 0,
00151     StuffError  = 1,
00152     FormError   = 2,
00153     AckError    = 3,
00154     Bit1Error   = 4,
00155     Bit0Error   = 5,
00156     CRCError    = 6,
00157     Unused      = 7
00158 };
00159 
00160 /*
00161  * IF.CMDREQ
00162  */
00163 static constexpr std::uint32_t IF_CMDREQ_BUSY = 1 << 15;
00164 
00165 /*
00166  * IF.CMDMSK
00167  */
00168 static constexpr std::uint32_t IF_CMDMSK_W_DATA_A = 1 << 0;
00169 static constexpr std::uint32_t IF_CMDMSK_W_DATA_B = 1 << 1;
00170 static constexpr std::uint32_t IF_CMDMSK_W_TXRQST = 1 << 2;
00171 static constexpr std::uint32_t IF_CMDMSK_W_CTRL   = 1 << 4;
00172 static constexpr std::uint32_t IF_CMDMSK_W_ARB    = 1 << 5;
00173 static constexpr std::uint32_t IF_CMDMSK_W_MASK   = 1 << 6;
00174 static constexpr std::uint32_t IF_CMDMSK_W_WR_RD  = 1 << 7;
00175 
00176 /*
00177  * IF.MCTRL
00178  */
00179 static constexpr std::uint32_t IF_MCTRL_NEWDAT   = 1 << 15;
00180 static constexpr std::uint32_t IF_MCTRL_MSGLST   = 1 << 14;
00181 static constexpr std::uint32_t IF_MCTRL_INTPND   = 1 << 13;
00182 static constexpr std::uint32_t IF_MCTRL_UMASK    = 1 << 12;
00183 static constexpr std::uint32_t IF_MCTRL_TXIE     = 1 << 11;
00184 static constexpr std::uint32_t IF_MCTRL_RXIE     = 1 << 10;
00185 static constexpr std::uint32_t IF_MCTRL_RMTEN    = 1 << 9;
00186 static constexpr std::uint32_t IF_MCTRL_TXRQST   = 1 << 8;
00187 static constexpr std::uint32_t IF_MCTRL_EOB      = 1 << 7;
00188 static constexpr std::uint32_t IF_MCTRL_DLC_MASK = 15;
00189 
00190 }
00191 }