[97] | 1 | /*
|
---|
| 2 | ** Copyright 2012 by Kvaser AB, Mölndal, Sweden
|
---|
| 3 | ** http://www.kvaser.com
|
---|
| 4 | **
|
---|
| 5 | ** This software is dual licensed under the following two licenses:
|
---|
| 6 | ** BSD-new and GPLv2. You may use either one. See the included
|
---|
| 7 | ** COPYING file for details.
|
---|
| 8 | **
|
---|
| 9 | ** License: BSD-new
|
---|
| 10 | ** ===============================================================================
|
---|
| 11 | ** Redistribution and use in source and binary forms, with or without
|
---|
| 12 | ** modification, are permitted provided that the following conditions are met:
|
---|
| 13 | ** * Redistributions of source code must retain the above copyright
|
---|
| 14 | ** notice, this list of conditions and the following disclaimer.
|
---|
| 15 | ** * Redistributions in binary form must reproduce the above copyright
|
---|
| 16 | ** notice, this list of conditions and the following disclaimer in the
|
---|
| 17 | ** documentation and/or other materials provided with the distribution.
|
---|
| 18 | ** * Neither the name of the <organization> nor the
|
---|
| 19 | ** names of its contributors may be used to endorse or promote products
|
---|
| 20 | ** derived from this software without specific prior written permission.
|
---|
| 21 | **
|
---|
| 22 | ** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
---|
| 23 | ** ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
---|
| 24 | ** WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
---|
| 25 | ** DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
|
---|
| 26 | ** DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
---|
| 27 | ** (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
---|
| 28 | ** LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
---|
| 29 | ** ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
---|
| 30 | ** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
---|
| 31 | ** SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
---|
| 32 | **
|
---|
| 33 | **
|
---|
| 34 | ** License: GPLv2
|
---|
| 35 | ** ===============================================================================
|
---|
| 36 | ** This program is free software; you can redistribute it and/or
|
---|
| 37 | ** modify it under the terms of the GNU General Public License
|
---|
| 38 | ** as published by the Free Software Foundation; either version 2
|
---|
| 39 | ** of the License, or (at your option) any later version.
|
---|
| 40 | **
|
---|
| 41 | ** This program is distributed in the hope that it will be useful,
|
---|
| 42 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
| 43 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
| 44 | ** GNU General Public License for more details.
|
---|
| 45 | **
|
---|
| 46 | ** You should have received a copy of the GNU General Public License
|
---|
| 47 | ** along with this program; if not, write to the Free Software
|
---|
| 48 | ** Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
---|
| 49 | **
|
---|
| 50 | ** ---------------------------------------------------------------------------
|
---|
| 51 | **/
|
---|
| 52 |
|
---|
| 53 | #define CAN_BASE 0
|
---|
| 54 | #define CAN_MSG1 0x10
|
---|
| 55 | #define CAN_MSG2 0x20
|
---|
| 56 | #define CAN_MSG3 0x30
|
---|
| 57 | #define CAN_MSG4 0x400
|
---|
| 58 | #define CAN_MSG5 0x410
|
---|
| 59 | #define CAN_MSG6 0x420
|
---|
| 60 | #define CAN_MSG7 0x430
|
---|
| 61 | #define CAN_MSG8 0x800
|
---|
| 62 | #define CAN_MSG9 0x810
|
---|
| 63 | #define CAN_MSG10 0x820
|
---|
| 64 | #define CAN_MSG11 0x830
|
---|
| 65 | #define CAN_MSG12 0xC00
|
---|
| 66 | #define CAN_MSG13 0xC10
|
---|
| 67 | #define CAN_MSG14 0xC20
|
---|
| 68 | #define CAN_MSG15 0xC30
|
---|
| 69 |
|
---|
| 70 | #define CAN_CTRL CAN_BASE + 0x00
|
---|
| 71 | #define CAN_STAT CAN_BASE + 0x01
|
---|
| 72 | #define CAN_CPUIR CAN_BASE + 0x02
|
---|
| 73 | #define CAN_STDGBLMASK0 CAN_BASE + 0x06
|
---|
| 74 | #define CAN_STDGBLMASK1 CAN_BASE + 0x07
|
---|
| 75 | #define CAN_EXTGBLMASK0 CAN_BASE + 0x08
|
---|
| 76 | #define CAN_EXTGBLMASK1 CAN_BASE + 0x09
|
---|
| 77 | #define CAN_EXTGBLMASK2 CAN_BASE + 0x0a
|
---|
| 78 | #define CAN_EXTGBLMASK3 CAN_BASE + 0x0b
|
---|
| 79 | #define CAN_MSG15MASK0 CAN_BASE + 0x0c
|
---|
| 80 | #define CAN_MSG15MASK1 CAN_BASE + 0x0d
|
---|
| 81 | #define CAN_MSG15MASK2 CAN_BASE + 0x0e
|
---|
| 82 | #define CAN_MSG15MASK3 CAN_BASE + 0x0f
|
---|
| 83 | #define CAN_BUSCON CAN_MSG2 + 0x0f
|
---|
| 84 | #define CAN_BTR0 CAN_MSG3 + 0x0f
|
---|
| 85 | #define CAN_BTR1 CAN_MSG4 + 0x0f
|
---|
| 86 | #define CAN_IR CAN_MSG5 + 0x0f
|
---|
| 87 | #define CAN_P2CONF CAN_MSG10 + 0x0f
|
---|
| 88 | #define CAN_P2IN CAN_MSG12 + 0x0f
|
---|
| 89 | #define CAN_P2OUT CAN_MSG13 + 0x0f
|
---|
| 90 |
|
---|
| 91 |
|
---|
| 92 | #define CTRL_CCE 0x40
|
---|
| 93 | #define CTRL_EIE 0x08
|
---|
| 94 | #define CTRL_SIE 0x04
|
---|
| 95 | #define CTRL_IE 0x02
|
---|
| 96 | #define CTRL_INIT 0x1
|
---|
| 97 |
|
---|
| 98 | #define STAT_BOFF 0x80
|
---|
| 99 | #define STAT_WARN 0x40
|
---|
| 100 | #define STAT_WAKE 0x20
|
---|
| 101 | #define STAT_RXOK 0x10
|
---|
| 102 | #define STAT_TXOK 0x08
|
---|
| 103 |
|
---|
| 104 | #define CPUIR_RSTST 0X80
|
---|
| 105 | #define CPUIR_DSC 0X40
|
---|
| 106 | #define CPUIR_DMC 0X20
|
---|
| 107 | #define CPUIR_PWD 0X10
|
---|
| 108 | #define CPUIR_SLEEP 0X08
|
---|
| 109 | #define CPUIR_MUX 0X04
|
---|
| 110 | #define CPUIR_CEN 0X01
|
---|
| 111 |
|
---|
| 112 | #define BUSCON_COBY 0X40
|
---|
| 113 | #define BUSCON_POL 0X20
|
---|
| 114 | #define BUSCON_DCT1 0X08
|
---|
| 115 | #define BUSCON_DCR1 0X02
|
---|
| 116 | #define BUSCON_DCR0 0X01
|
---|
| 117 |
|
---|
| 118 |
|
---|
| 119 |
|
---|
| 120 | /* --- The message objects: */
|
---|
| 121 | #define CANmsg(addr, n) ((addr) + (((n)&0x03)<<4) + (((n)&0x0c)<<8))
|
---|
| 122 | #define CANmsg_CTRL0 0
|
---|
| 123 | #define CANmsg_CTRL1 1
|
---|
| 124 | #define CANmsg_ARB 2
|
---|
| 125 | #define CANmsg_CONF 6
|
---|
| 126 | #define CANmsg_DATA 7
|
---|
| 127 |
|
---|
| 128 | /* Bits in the Message Object Controls: */
|
---|
| 129 | /* Control 0: */
|
---|
| 130 | #define MsgVal 3
|
---|
| 131 | #define TxIE 2
|
---|
| 132 | #define RxIE 1
|
---|
| 133 | #define IntPnd 0
|
---|
| 134 | #define CTRL0_MsgVal (1<<(MsgVal*2+1))
|
---|
| 135 | #define CTRL0_TxIE (1<<(TxIE*2+1))
|
---|
| 136 | #define CTRL0_RxIE (1<<(RxIE*2+1))
|
---|
| 137 | #define CTRL0_IntPnd (1<<(IntPnd*2+1))
|
---|
| 138 |
|
---|
| 139 | /* Control 1: */
|
---|
| 140 | #define RmtPnd 3
|
---|
| 141 | #define TxRqst 2
|
---|
| 142 | #define MsgLst 1
|
---|
| 143 | #define CPUUpd 1
|
---|
| 144 | #define NewDat 0
|
---|
| 145 | #define CTRL1_RmtPnd (1<<(RmtPnd*2+1))
|
---|
| 146 | #define CTRL1_TxRqst (1<<(TxRqst*2+1))
|
---|
| 147 | #define CTRL1_MsgLst (1<<(MsgLst*2+1))
|
---|
| 148 | #define CTRL1_CPUUpd (1<<(CPUUpd*2+1))
|
---|
| 149 | #define CTRL1_NewDat (1<<(NewDat*2+1))
|
---|
| 150 |
|
---|
| 151 | #define SET(x) (255 ^ (1 << ((x)<<1)))
|
---|
| 152 | #define CLR(x) (255 ^ (2 << ((x)<<1)))
|
---|
| 153 | #define TEST(x) (2 << ((x)<<1))
|
---|
| 154 |
|
---|
| 155 | /* Use as in
|
---|
| 156 | * CANmessage(1)[CANmsg_Control0] = SET(MsgVal) & CLR(TxIE);
|
---|
| 157 | * or
|
---|
| 158 | * if (CANmessage(1)[CANmsg_Control0] & TEST(IntPnd)) ...
|
---|
| 159 | */
|
---|
| 160 |
|
---|
| 161 | /* Message Configuration Register: */
|
---|
| 162 | #define CANmsg_DLC(n) ((n)<<4)
|
---|
| 163 | #define CANmsg_Extended 4
|
---|
| 164 | #define CANmsg_Standard 0
|
---|
| 165 | #define CANmsg_Transmit 8
|
---|
| 166 | #define CANmsg_Receive 0
|
---|