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///////////////////////////////////////
//CAN MCP2510 C definitions file
///////////////////////////////////////
/*********************************************************************
* CAN MCP2510 C definitions file *
*********************************************************************
* Filename: 2515REGS.h *
* Date: 06/17/03 *
* File Version: 1.00 (Beta) *
*********************************************************************
* Functions: *
* Header file *
*********************************************************************
* Revision History: *
* 06/17/03 Updated from MCP2510.inc which was for the 756 board *
*********************************************************************/
/*******************************************************************
* Register Definitions *
*******************************************************************/
/* Configuration Registers */
#define CANSTAT 0x0E
#define CANCTRL 0x0F
#define BFPCTRL 0x0C
#define TEC 0x1C
#define REC 0x1D
#define CNF3 0x28
#define CNF2 0x29
#define CNF1 0x2A
#define CANINTE 0x2B
#define CANINTF 0x2C
#define EFLG 0x2D
#define TXRTSCTRL 0x0D
/* Recieve Filters */
#define RXF0SIDH 0x00
#define RXF0SIDL 0x01
#define RXF0EID8 0x02
#define RXF0EID0 0x03
#define RXF1SIDH 0x04
#define RXF1SIDL 0x05
#define RXF1EID8 0x06
#define RXF1EID0 0x07
#define RXF2SIDH 0x08
#define RXF2SIDL 0x09
#define RXF2EID8 0x0A
#define RXF2EID0 0x0B
#define RXF3SIDH 0x10
#define RXF3SIDL 0x11
#define RXF3EID8 0x12
#define RXF3EID0 0x13
#define RXF4SIDH 0x14
#define RXF4SIDL 0x15
#define RXF4EID8 0x16
#define RXF4EID0 0x17
#define RXF5SIDH 0x18
#define RXF5SIDL 0x19
#define RXF5EID8 0x1A
#define RXF5EID0 0x1B
/* Receive Masks */
#define RXM0SIDH 0x20
#define RXM0SIDL 0x21
#define RXM0EID8 0x22
#define RXM0EID0 0x23
#define RXM1SIDH 0x24
#define RXM1SIDL 0x25
#define RXM1EID8 0x26
#define RXM1EID0 0x27
/* Tx Buffer 0 */
#define TXB0CTRL 0x30
#define TXB0SIDH 0x31
#define TXB0SIDL 0x32
#define TXB0EID8 0x33
#define TXB0EID0 0x34
#define TXB0DLC 0x35
#define TXB0D0 0x36
#define TXB0D1 0x37
#define TXB0D2 0x38
#define TXB0D3 0x39
#define TXB0D4 0x3A
#define TXB0D5 0x3B
#define TXB0D6 0x3C
#define TXB0D7 0x3D
/* Tx Buffer 1 */
#define TXB1CTRL 0x40
#define TXB1SIDH 0x41
#define TXB1SIDL 0x42
#define TXB1EID8 0x43
#define TXB1EID0 0x44
#define TXB1DLC 0x45
#define TXB1D0 0x46
#define TXB1D1 0x47
#define TXB1D2 0x48
#define TXB1D3 0x49
#define TXB1D4 0x4A
#define TXB1D5 0x4B
#define TXB1D6 0x4C
#define TXB1D7 0x4D
/* Tx Buffer 2 */
#define TXB2CTRL 0x50
#define TXB2SIDH 0x51
#define TXB2SIDL 0x52
#define TXB2EID8 0x53
#define TXB2EID0 0x54
#define TXB2DLC 0x55
#define TXB2D0 0x56
#define TXB2D1 0x57
#define TXB2D2 0x58
#define TXB2D3 0x59
#define TXB2D4 0x5A
#define TXB2D5 0x5B
#define TXB2D6 0x5C
#define TXB2D7 0x5D
/* Rx Buffer 0 */
#define RXB0CTRL 0x60
#define RXB0SIDH 0x61
#define RXB0SIDL 0x62
#define RXB0EID8 0x63
#define RXB0EID0 0x64
#define RXB0DLC 0x65
#define RXB0D0 0x66
#define RXB0D1 0x67
#define RXB0D2 0x68
#define RXB0D3 0x69
#define RXB0D4 0x6A
#define RXB0D5 0x6B
#define RXB0D6 0x6C
#define RXB0D7 0x6D
/* Rx Buffer 1 */
#define RXB1CTRL 0x70
#define RXB1SIDH 0x71
#define RXB1SIDL 0x72
#define RXB1EID8 0x73
#define RXB1EID0 0x74
#define RXB1DLC 0x75
#define RXB1D0 0x76
#define RXB1D1 0x77
#define RXB1D2 0x78
#define RXB1D3 0x79
#define RXB1D4 0x7A
#define RXB1D5 0x7B
#define RXB1D6 0x7C
#define RXB1D7 0x7D
/*******************************************************************
* Bit register masks *
*******************************************************************/
/* TXBnCTRL */
#define TXREQ 0x08//发送请求
#define TXP 0x03//发送优先级
/* RXBnCTRL */
#define RXM 0x60//接收缓冲器工作模式
#define BUKT 0x04//滚存
/* CANCTRL */
#define REQOP 0xE0//工作模式设定
#define ABAT 0x10//发送中止设定
#define OSM 0x08//报文发送单次使能
#define CLKEN 0x04//CLKEN使能
#define CLKPRE 0x03//分频器设定
/* CANSTAT */
#define REQOP 0xE0//
#define ICOD 0x0E//中断标志
/* CANINTE */
#define RX0IE 0x01//接收缓冲器0中断使能
#define RX1IE 0x02
#define TX0IE 0x04//发送缓冲器0为空时中断使能
#define TX1IE 0x80
#define TX2IE 0x10
#define ERRIE 0x20//出错中断使能
#define WAKIE 0x40//唤醒中断使能
#define MERRE 0x80//报文中断使能
/* CANINTF */
#define RX0IF 0x01
#define RX1IF 0x02
#define TX0IF 0x04
#define TX1IF 0x80
#define TX2IF 0x10
#define ERRIF 0x20
#define WAKIF 0x40
#define MERRF 0x80
/* BFPCTRL */
#define B1BFS 0x20//RX1BF引脚状态
#define B0BFS 0x10
#define B1BFE 0x08//引脚功能使能由B1BFM决定
#define B0BFE 0x04
#define B1BFM 0x02//1=当报文载入RXB0时，产生中断；0=数字输出
#define B0BFM 0x01
/* CNF1 Masks */
#define SJW 0xC0//同步跳转宽度
#define BRP 0x3F//预分频
/* CNF2 Masks */
#define BTLMODE 0x80//相位段2时间长度
#define SAM 0x40//采样点设置
#define PHSEG1 0x38//相位段1位时间长度
#define PRSEG 0x07//传播段长度
/* CNF3 Masks */
#define WAKFIL 0x40//唤醒输入滤波
#define PHSEG2 0x07//相位段2长度
/* TXRTSCTRL Masks */
#define TXB2RTS 0x04
#define TXB1RTS 0x02
#define TXB0RTS 0x01
/*******************************************************************
* Bit Timing Configuration *
*******************************************************************/
/* CNF1 */
#define SJW_1TQ 0x40
#define SJW_2TQ 0x80
#define SJW_3TQ 0x90
#define SJW_4TQ 0xC0
/* CNF2 */
#define BTLMODE_CNF3 0x80
#define BTLMODE_PH1_IPT 0x00
#define SMPL_3X 0x40
#define SMPL_1X 0x00
#define PHSEG1_8TQ 0x38
#define PHSEG1_7TQ 0x30
#define PHSEG1_6TQ 0x28
#define PHSEG1_5TQ 0x20
#define PHSEG1_4TQ 0x18
#define PHSEG1_3TQ 0x10
#define PHSEG1_2TQ 0x08
#define PHSEG1_1TQ 0x00
#define PRSEG_8TQ 0x07
#define PRSEG_7TQ 0x06
#define PRSEG_6TQ 0x05
#define PRSEG_5TQ 0x04
#define PRSEG_4TQ 0x03
#define PRSEG_3TQ 0x02
#define PRSEG_2TQ 0x01
#define PRSEG_1TQ 0x00
/* CNF3 */
#define PHSEG2_8TQ 0x07
#define PHSEG2_7TQ 0x06
#define PHSEG2_6TQ 0x05
#define PHSEG2_5TQ 0x04
#define PHSEG2_4TQ 0x03
#define PHSEG2_3TQ 0x02
#define PHSEG2_2TQ 0x01
#define PHSEG2_1TQ 0x00
#define SOF_ENABLED 0x80
#define WAKFIL_ENABLED 0x40
#define WAKFIL_DISABLED 0x00
/*******************************************************************
* Control/Configuration Registers *
*******************************************************************/
/* CANINTE */
#define RX0IE_ENABLED 0x01
#define RX0IE_DISABLED 0x00
#define RX1IE_ENABLED 0x02
#define RX1IE_DISABLED 0x00
#define G_RXIE_ENABLED 0x03
#define G_RXIE_DISABLED 0x00
#define TX0IE_ENABLED 0x04
#define TX0IE_DISABLED 0x00
#define TX1IE_ENABLED 0x08
#define TX2IE_DISABLED 0x00
#define TX2IE_ENABLED 0x10
#define TX2IE_DISABLED 0x00
#define G_TXIE_ENABLED 0x1C
#define G_TXIE_DISABLED 0x00
#define ERRIE_ENABLED 0x20
#define ERRIE_DISABLED 0x00
#define WAKIE_ENABLED 0x40
#define WAKIE_DISABLED 0x00
#define IVRE_ENABLED 0x80
#define IVRE_DISABLED 0x00
/* CANINTF */
#define RX0IF_SET 0x01
#define RX0IF_RESET 0x00
#define RX1IF_SET 0x02
#define RX1IF_RESET 0x00
#define TX0IF_SET 0x04
#define TX0IF_RESET 0x00
#define TX1IF_SET 0x08
#define TX2IF_RESET 0x00
#define TX2IF_SET 0x10
#define TX2IF_RESET 0x00
#define ERRIF_SET 0x20
#define ERRIF_RESET 0x00
#define WAKIF_SET 0x40
#define WAKIF_RESET 0x00
#define IVRF_SET 0x80
#define IVRF_RESET 0x00
/* CANCTRL */
#define REQOP_CONFIG 0x80
#define REQOP_LISTEN 0x60
#define REQOP_LOOPBACK 0x40
#define REQOP_SLEEP 0x20
#define REQOP_NORMAL 0x08
#define ABORT 0x10
#define OSM_ENABLED 0x08
#define CLKOUT_ENABLED 0x04
#define CLKOUT_DISABLE 0x00
#define CLKOUT_PRE_8 0x03
#define CLKOUT_PRE_4 0x02
#define CLKOUT_PRE_2 0x01
#define CLKOUT_PRE_1 0x00
/* CANSTAT */
#define OPMODE_CONFIG 0x80
#define OPMODE_LISTEN 0x60
#define OPMODE_LOOPBACK 0x40
#define OPMODE_SLEEP 0x20
#define OPMODE_NORMAL 0x00
/* RXBnCTRL */
#define RXM_RCV_ALL 0x60
#define RXM_VALID_EXT 0x40
#define RXM_VALID_STD 0x20
#define RXM_VALID_ALL 0x00
#define RXRTR_REMOTE 0x08
#define RXRTR_NO_REMOTE 0x00
#define BUKT_ROLLOVER 0x04
#define BUKT_NO_ROLLOVER 0x00
#define FILHIT0_FLTR_1 0x01
#define FILHIT0_FLTR_0 0x00
#define FILHIT1_FLTR_5 0x05
#define FILHIT1_FLTR_4 0x04
#define FILHIT1_FLTR_3 0x03
#define FILHIT1_FLTR_2 0x02
#define FILHIT1_FLTR_1 0x01
#define FILHIT1_FLTR_0 0x00
/* TXBnCTRL */
#define TXREQ_SET 0x08
#define TXREQ_CLEAR 0x00
#define TXP_HIGHEST 0x03
#define TXP_INTER_HIGH 0x02
#define TXP_INTER_LOW 0x01
#define TXP_LOWEST 0x00
/*******************************************************************
* Register Bit Masks *
*******************************************************************/
#define DLC_0 0x00
#define DLC_1 0x01
#define DLC_2 0x02
#define DLC_3 0x03
#define DLC_4 0x04
#define DLC_5 0x05
#define DLC_6 0x06
#define DLC_7 0x07
#define DLC_8 0x08
/*******************************************************************
* CAN SPI commands *
*******************************************************************/
#define CAN_RESET 0xC0
#define CAN_READ 0x03
#define CAN_WRITE 0x02
#define CAN_RTS 0x80
#define CAN_RTS_TXB0 0x81
#define CAN_RTS_TXB1 0x82
#define CAN_RTS_TXB2 0x84
#define CAN_RD_STATUS 0xA0
#define CAN_BIT_MODIFY 0x05
#define CAN_RX_STATUS 0xB0
#define CAN_RD_RX_BUFF 0x90
#define CAN_LOAD_TX 0X40
/*******************************************************************
* Miscellaneous *
*******************************************************************/
#define DUMMY_BYTE 0x00
#define TXB0 0x31
#define TXB1 0x41
#define TXB2 0x51
#define RXB0 0x61
#define RXB1 0x71
#define EXIDE_SET 0x08
#define EXIDE_RESET 0x00
#define SPIMODE 1
#define Mode00 0
#define Mode11 1
//#define CAN_500kbps 1 //BRP setting in CNF1
//#define CAN_250kbps 3 //Based on 16 MHz Fosc
#define CAN_125kbps 1//4M
#define CAN_50kbps 4//4
#define CAN_10kbps 0x18
const Int8U CAN_RATE_TAB[]={1,4,0x18};
#define HIGH 1
#define LOW 0
//-------------------------------------------------------------------
// Globals
//-------------------------------------------------------------------
////////////////////////////////////
#define mSCK 10//3
#define IO_mSCK GPIOB->ODR
#define mSO 0//4
#define IO_mSO GPIOB->IDR
#define mCS 5//1
#define IO_CS GPIOC->ODR
#define mSI 1//5
#define IO_mSI GPIOB->ODR
#define mIO_INT GPIOB->IDR
#define mINT 11
#define CANlen DATA[0]
#define CANFUN SiIDL&0XE0
#define CANlen DATA[0]
#define C_CAN_READ 0
#define C_CAN_WRITE 1
#define C_CAN_ERROR 0XE0
#define c_max_candata 15
#define c_max_len 63
////////////////////////////////////
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