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#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
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