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