diff options
| -rw-r--r-- | can/can.h | 85 |
1 files changed, 85 insertions, 0 deletions
diff --git a/can/can.h b/can/can.h new file mode 100644 index 0000000..df4b205 --- /dev/null +++ b/can/can.h @@ -0,0 +1,85 @@ +#ifndef CAN_H +#define CAN_H + +#include <stdint.h> + +struct CAN_reg_t { + volatile uint32_t MCR; + volatile uint32_t MSR; + volatile uint32_t TSR; + volatile uint32_t RF0R; + volatile uint32_t RF1R; + volatile uint32_t IER; + volatile uint32_t ESR; + volatile uint32_t BTR; +}; + +struct CAN_mb_reg_t { + volatile uint32_t TI0R; + volatile uint32_t TDT0R; + volatile uint32_t TDL0R; + volatile uint32_t TDH0R; + volatile uint32_t TI1R; + volatile uint32_t TDT1R; + volatile uint32_t TDL1R; + volatile uint32_t TDH1R; + volatile uint32_t TI2R; + volatile uint32_t TDT2R; + volatile uint32_t TDL2R; + volatile uint32_t TDH2R; + volatile uint32_t RI0R; + volatile uint32_t RDT0R; + volatile uint32_t RDL0R; + volatile uint32_t RDH0R; + volatile uint32_t RI1R; + volatile uint32_t RDT1R; + volatile uint32_t RDL1R; + volatile uint32_t RDH1R; + +}; + +struct CAN_f_reg_t { + volatile uint32_t FMR; + volatile uint32_t FM1R[2]; + volatile uint32_t FS1R[2]; + volatile uint32_t FFA1R[2]; + volatile uint32_t FA1R[2 + 7]; + volatile uint32_t FR[28][2]; +}; + +class CAN_t { + public: + CAN_reg_t& reg; + CAN_mb_reg_t& mb_reg; + CAN_f_reg_t& f_reg; + const uint32_t clk; + + CAN_t(uint32_t reg_addr, uint32_t bus_clk) : reg(*(CAN_reg_t*)reg_addr), mb_reg(*(CAN_mb_reg_t*)(reg_addr + 0x180)), f_reg(*(CAN_f_reg_t*)(reg_addr + 0x200)), clk(bus_clk) {} + + void enable() { + // Perform a master reset. + reg.MCR = 0x8000; + while(reg.MCR & 0x8000); + + // Enable initialization mode. + reg.MCR = 0x1; + + // Wait for initialization mode acknowledge. + while(!(reg.MSR & 0x1)); + + // Set bit timing. + reg.BTR = 0x01120000 | (clk / 6 / 1000000 - 1); + + // Disable initialization mode. + reg.MCR = 0x0; + } +}; + +#if defined(STM32F1) +static CAN_t CAN1(0x40006400, 36000000); +#elif defined(STM32F4) +static CAN_t CAN1(0x40006400, 42000000); +static CAN_t CAN2(0x40006800, 42000000); +#endif + +#endif |