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ESP32_CAN_def.h
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/**
* @section License
*
* The MIT License (MIT)
*
* Copyright (c) 2017, Thomas Barth, barth-dev.de
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef __DRIVERS_CAN_REGDEF_H_
#define __DRIVERS_CAN_REGDEF_H_
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
CAN_SPEED_100KBPS=100, /**< \brief CAN Node runs at 100kBit/s. */
CAN_SPEED_125KBPS=125, /**< \brief CAN Node runs at 125kBit/s. */
CAN_SPEED_250KBPS=250, /**< \brief CAN Node runs at 250kBit/s. */
CAN_SPEED_500KBPS=500, /**< \brief CAN Node runs at 500kBit/s. */
CAN_SPEED_800KBPS=800, /**< \brief CAN Node runs at 800kBit/s. */
CAN_SPEED_1000KBPS=1000 /**< \brief CAN Node runs at 1000kBit/s. */
}CAN_speed_t;
/**
* \brief CAN frame type (standard/extended)
*/
typedef enum {
CAN_frame_std=0, /**< Standard frame, using 11 bit identifer. */
CAN_frame_ext=1 /**< Extended frame, using 29 bit identifer. */
}CAN_frame_format_t;
/**
* \brief CAN RTR
*/
typedef enum {
CAN_no_RTR=0, /**< No RTR frame. */
CAN_RTR=1 /**< RTR frame. */
}CAN_RTR_t;
/** \brief Frame information record type */
typedef union{uint32_t U; /**< \brief Unsigned access */
struct {
uint8_t DLC:4; /**< \brief [3:0] DLC, Data length container */
unsigned int unknown_2:2; /**< \brief \internal unknown */
CAN_RTR_t RTR:1; /**< \brief [6:6] RTR, Remote Transmission Request */
CAN_frame_format_t FF:1; /**< \brief [7:7] Frame Format, see# CAN_frame_format_t*/
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} CAN_FIR_t;
/** \brief Start address of CAN registers */
#define MODULE_CAN ((volatile CAN_Module_t *)0x3ff6b000)
/** \brief Get standard message ID */
#define _CAN_GET_STD_ID (((uint32_t)MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] << 3) | \
(MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] >> 5))
/** \brief Get extended message ID */
#define _CAN_GET_EXT_ID (((uint32_t)MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] << 21) | \
(MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] << 13) | \
(MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] << 5) | \
(MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] >> 3 ))
/** \brief Set standard message ID */
#define _CAN_SET_STD_ID(x) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] = ((x) >> 3); \
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] = ((x) << 5);
/** \brief Set extended message ID */
#define _CAN_SET_EXT_ID(x) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] = ((x) >> 21); \
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] = ((x) >> 13); \
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] = ((x) >> 5); \
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] = ((x) << 3); \
/** \brief Interrupt status register */
typedef enum {
__CAN_IRQ_RX= BIT(0), /**< \brief RX Interrupt */
__CAN_IRQ_TX= BIT(1), /**< \brief TX Interrupt */
__CAN_IRQ_ERR= BIT(2), /**< \brief Error Interrupt */
__CAN_IRQ_DATA_OVERRUN= BIT(3), /**< \brief Date Overrun Interrupt */
__CAN_IRQ_WAKEUP= BIT(4), /**< \brief Wakeup Interrupt */
__CAN_IRQ_ERR_PASSIVE= BIT(5), /**< \brief Passive Error Interrupt */
__CAN_IRQ_ARB_LOST= BIT(6), /**< \brief Arbitration lost interrupt */
__CAN_IRQ_BUS_ERR= BIT(7), /**< \brief Bus error Interrupt */
}__CAN_IRQ_t;
/** \brief OCMODE options. */
typedef enum {
__CAN_OC_BOM= 0b00, /**< \brief bi-phase output mode */
__CAN_OC_TOM= 0b01, /**< \brief test output mode */
__CAN_OC_NOM= 0b10, /**< \brief normal output mode */
__CAN_OC_COM= 0b11, /**< \brief clock output mode */
}__CAN_OCMODE_t;
/**
* CAN controller (SJA1000).
*/
typedef struct {
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RM:1; /**< \brief MOD.0 Reset Mode */
unsigned int LOM:1; /**< \brief MOD.1 Listen Only Mode */
unsigned int STM:1; /**< \brief MOD.2 Self Test Mode */
unsigned int AFM:1; /**< \brief MOD.3 Acceptance Filter Mode */
unsigned int SM:1; /**< \brief MOD.4 Sleep Mode */
unsigned int reserved_27:27; /**< \brief \internal Reserved */
} B;
} MOD;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int TR:1; /**< \brief CMR.0 Transmission Request */
unsigned int AT:1; /**< \brief CMR.1 Abort Transmission */
unsigned int RRB:1; /**< \brief CMR.2 Release Receive Buffer */
unsigned int CDO:1; /**< \brief CMR.3 Clear Data Overrun */
unsigned int GTS:1; /**< \brief CMR.4 Go To Sleep */
unsigned int reserved_27:27; /**< \brief \internal Reserved */
} B;
} CMR;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RBS:1; /**< \brief SR.0 Receive Buffer Status */
unsigned int DOS:1; /**< \brief SR.1 Data Overrun Status */
unsigned int TBS:1; /**< \brief SR.2 Transmit Buffer Status */
unsigned int TCS:1; /**< \brief SR.3 Transmission Complete Status */
unsigned int RS:1; /**< \brief SR.4 Receive Status */
unsigned int TS:1; /**< \brief SR.5 Transmit Status */
unsigned int ES:1; /**< \brief SR.6 Error Status */
unsigned int BS:1; /**< \brief SR.7 Bus Status */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} SR;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RI:1; /**< \brief IR.0 Receive Interrupt */
unsigned int TI:1; /**< \brief IR.1 Transmit Interrupt */
unsigned int EI:1; /**< \brief IR.2 Error Interrupt */
unsigned int DOI:1; /**< \brief IR.3 Data Overrun Interrupt */
unsigned int WUI:1; /**< \brief IR.4 Wake-Up Interrupt */
unsigned int EPI:1; /**< \brief IR.5 Error Passive Interrupt */
unsigned int ALI:1; /**< \brief IR.6 Arbitration Lost Interrupt */
unsigned int BEI:1; /**< \brief IR.7 Bus Error Interrupt */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} IR;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RIE:1; /**< \brief IER.0 Receive Interrupt Enable */
unsigned int TIE:1; /**< \brief IER.1 Transmit Interrupt Enable */
unsigned int EIE:1; /**< \brief IER.2 Error Interrupt Enable */
unsigned int DOIE:1; /**< \brief IER.3 Data Overrun Interrupt Enable */
unsigned int WUIE:1; /**< \brief IER.4 Wake-Up Interrupt Enable */
unsigned int EPIE:1; /**< \brief IER.5 Error Passive Interrupt Enable */
unsigned int ALIE:1; /**< \brief IER.6 Arbitration Lost Interrupt Enable */
unsigned int BEIE:1; /**< \brief IER.7 Bus Error Interrupt Enable */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} IER;
uint32_t RESERVED0;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int BRP:6; /**< \brief BTR0[5:0] Baud Rate Prescaler */
unsigned int SJW:2; /**< \brief BTR0[7:6] Synchronization Jump Width*/
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} BTR0;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int TSEG1:4; /**< \brief BTR1[3:0] Timing Segment 1 */
unsigned int TSEG2:3; /**< \brief BTR1[6:4] Timing Segment 2*/
unsigned int SAM:1; /**< \brief BTR1.7 Sampling*/
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} BTR1;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int OCMODE:2; /**< \brief OCR[1:0] Output Control Mode, see # */
unsigned int OCPOL0:1; /**< \brief OCR.2 Output Control Polarity 0 */
unsigned int OCTN0:1; /**< \brief OCR.3 Output Control Transistor N0 */
unsigned int OCTP0:1; /**< \brief OCR.4 Output Control Transistor P0 */
unsigned int OCPOL1:1; /**< \brief OCR.5 Output Control Polarity 1 */
unsigned int OCTN1:1; /**< \brief OCR.6 Output Control Transistor N1 */
unsigned int OCTP1:1; /**< \brief OCR.7 Output Control Transistor P1 */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} OCR;
uint32_t RESERVED1[2];
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int ALC:8; /**< \brief ALC[7:0] Arbitration Lost Capture */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} ALC;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int ECC:8; /**< \brief ECC[7:0] Error Code Capture */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} ECC;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int EWLR:8; /**< \brief EWLR[7:0] Error Warning Limit */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} EWLR;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RXERR:8; /**< \brief RXERR[7:0] Receive Error Counter */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} RXERR;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int TXERR:8; /**< \brief TXERR[7:0] Transmit Error Counter */
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} TXERR;
union {
struct {
uint32_t CODE[4]; /**< \brief Acceptance Message ID */
uint32_t MASK[4]; /**< \brief Acceptance Mask */
uint32_t RESERVED2[5];
} ACC; /**< \brief Acceptance filtering */
struct {
CAN_FIR_t FIR; /**< \brief Frame information record */
union{
struct {
uint32_t ID[2]; /**< \brief Standard frame message-ID*/
uint32_t data[8]; /**< \brief Standard frame payload */
uint32_t reserved[2];
} STD; /**< \brief Standard frame format */
struct {
uint32_t ID[4]; /**< \brief Extended frame message-ID*/
uint32_t data[8]; /**< \brief Extended frame payload */
} EXT; /**< \brief Extended frame format */
}TX_RX; /**< \brief RX/TX interface */
}FCTRL; /**< \brief Function control regs */
} MBX_CTRL; /**< \brief Mailbox control */
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RMC:8; /**< \brief RMC[7:0] RX Message Counter */
unsigned int reserved_24:24; /**< \brief \internal Reserved Enable */
} B;
} RMC;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int RBSA:8; /**< \brief RBSA[7:0] RX Buffer Start Address */
unsigned int reserved_24:24; /**< \brief \internal Reserved Enable */
} B;
} RBSA;
union{uint32_t U; /**< \brief Unsigned access */
struct {
unsigned int COD:3; /**< \brief CDR[2:0] CLKOUT frequency selector based of fOSC*/
unsigned int COFF:1; /**< \brief CDR.3 CLKOUT off*/
unsigned int reserved_1:1; /**< \brief \internal Reserved */
unsigned int RXINTEN:1; /**< \brief CDR.5 This bit allows the TX1 output to be used as a dedicated receive interrupt output*/
unsigned int CBP:1; /**< \brief CDR.6 allows to bypass the CAN input comparator and is only possible in reset mode.*/
unsigned int CAN_M:1; /**< \brief CDR.7 If CDR.7 is at logic 0 the CAN controller operates in BasicCAN mode. If set to logic 1 the CAN controller operates in PeliCAN mode. Write access is only possible in reset mode*/
unsigned int reserved_24:24; /**< \brief \internal Reserved */
} B;
} CDR;
uint32_t IRAM[2];
}CAN_Module_t;
#ifdef __cplusplus
}
#endif
#endif /* __DRIVERS_CAN_REGDEF_H_ */