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LPC11C24: Added C_CAN definitions; they are still unused
This commit is contained in:
Pavel Kirienko
@@ -0,0 +1,160 @@
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/*
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* Bosch C_CAN controller API.
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*
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* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <cstdint>
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#include <cstddef>
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namespace uavcan_lpc11c24
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{
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namespace c_can
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{
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struct MsgIfaceType
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{
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std::uint32_t CMDREQ;
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union
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{
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std::uint32_t W;
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std::uint32_t R;
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} CMDMSK;
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std::uint32_t MSK1;
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std::uint32_t MSK2;
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std::uint32_t ARB1;
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std::uint32_t ARB2;
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std::uint32_t MCTRL;
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std::uint32_t DA1;
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std::uint32_t DA2;
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std::uint32_t DB1;
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std::uint32_t DB2;
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const std::uint32_t _skip[13];
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};
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static_assert(offsetof(MsgIfaceType, CMDMSK) == 0x04, "C_CAN offset");
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static_assert(offsetof(MsgIfaceType, MSK1) == 0x08, "C_CAN offset");
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static_assert(offsetof(MsgIfaceType, ARB1) == 0x10, "C_CAN offset");
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static_assert(offsetof(MsgIfaceType, MCTRL) == 0x18, "C_CAN offset");
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static_assert(offsetof(MsgIfaceType, DA1) == 0x1c, "C_CAN offset");
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static_assert(offsetof(MsgIfaceType, DB2) == 0x28, "C_CAN offset");
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static_assert(sizeof(MsgIfaceType) == 96, "C_CAN size");
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struct Type
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{
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std::uint32_t CNTL;
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std::uint32_t STAT;
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const std::uint32_t EC;
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std::uint32_t BT;
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const std::uint32_t INT;
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std::uint32_t TEST;
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std::uint32_t BRPE;
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const std::uint32_t _skip_a[1];
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MsgIfaceType IF[2]; // [0] @ 0x020, [1] @ 0x080
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const std::uint32_t _skip_b[8];
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const std::uint32_t TXREQ[2]; // 0x100
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const std::uint32_t _skip_c[6];
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const std::uint32_t ND[2]; // 0x120
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const std::uint32_t _skip_d[6];
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const std::uint32_t IR[2]; // 0x140
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const std::uint32_t _skip_e[6];
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const std::uint32_t MSGV[2]; // 0x160
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const std::uint32_t _skip_f[6];
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std::uint32_t CLKDIV; // 0x180
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};
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static_assert(offsetof(Type, BRPE) == 0x018, "C_CAN offset");
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static_assert(offsetof(Type, IF[0]) == 0x020, "C_CAN offset");
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static_assert(offsetof(Type, IF[1]) == 0x080, "C_CAN offset");
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static_assert(offsetof(Type, TXREQ) == 0x100, "C_CAN offset");
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static_assert(offsetof(Type, ND) == 0x120, "C_CAN offset");
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static_assert(offsetof(Type, IR) == 0x140, "C_CAN offset");
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static_assert(offsetof(Type, MSGV) == 0x160, "C_CAN offset");
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static_assert(offsetof(Type, CLKDIV) == 0x180, "C_CAN offset");
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static_assert(offsetof(Type, IF[0].DB2) == 0x048, "C_CAN offset");
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static_assert(offsetof(Type, IF[1].DB2) == 0x0A8, "C_CAN offset");
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Type* const Can = reinterpret_cast<Type*>(0x40050000);
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/*
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* CNTL
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*/
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static constexpr std::uint16_t CNTL_TEST = 1 << 7;
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static constexpr std::uint16_t CNTL_CCE = 1 << 6;
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static constexpr std::uint16_t CNTL_DAR = 1 << 5;
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static constexpr std::uint16_t CNTL_EIE = 1 << 3;
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static constexpr std::uint16_t CNTL_SIE = 1 << 2;
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static constexpr std::uint16_t CNTL_IE = 1 << 1;
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static constexpr std::uint16_t CNTL_INIT = 1 << 0;
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static constexpr std::uint16_t CNTL_IRQ_MASK = CNTL_EIE | CNTL_IE | CNTL_SIE;
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/*
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* TEST
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*/
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static constexpr std::uint16_t TEST_RX = 1 << 7;
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static constexpr std::uint16_t TEST_LBACK = 1 << 4;
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static constexpr std::uint16_t TEST_SILENT = 1 << 3;
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static constexpr std::uint16_t TEST_BASIC = 1 << 2;
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static constexpr std::uint16_t TEST_TX_SHIFT = 5;
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enum class TestTx : std::uint16_t
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{
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Controller = 0,
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SamplePoint = 1,
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Low = 2,
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High = 3
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};
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/*
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* STAT
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*/
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static constexpr std::uint16_t STAT_BOFF = 1 << 7;
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static constexpr std::uint16_t STAT_EWARN = 1 << 6;
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static constexpr std::uint16_t STAT_EPASS = 1 << 5;
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static constexpr std::uint16_t STAT_RXOK = 1 << 4;
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static constexpr std::uint16_t STAT_TXOK = 1 << 3;
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static constexpr std::uint16_t STAT_LEC_MASK = 7;
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static constexpr std::uint16_t STAT_LEC_SHIFT = 0;
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/*
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* IF.MCTRL
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*/
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static constexpr std::uint16_t IF_MCTRL_NEWDAT = 1 << 15;
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static constexpr std::uint16_t IF_MCTRL_MSGLST = 1 << 14;
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static constexpr std::uint16_t IF_MCTRL_INTPND = 1 << 13;
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static constexpr std::uint16_t IF_MCTRL_UMASK = 1 << 12;
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static constexpr std::uint16_t IF_MCTRL_TXIE = 1 << 11;
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static constexpr std::uint16_t IF_MCTRL_RXIE = 1 << 10;
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static constexpr std::uint16_t IF_MCTRL_RMTEN = 1 << 9;
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static constexpr std::uint16_t IF_MCTRL_TXRQST = 1 << 8;
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static constexpr std::uint16_t IF_MCTRL_EOB = 1 << 7;
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static constexpr std::uint16_t IF_MCTRL_DLC_MASK = 15;
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}
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}
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@@ -6,6 +6,7 @@
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#include <uavcan_lpc11c24/clock.hpp>
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#include <uavcan/util/templates.hpp>
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#include <chip.h>
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#include "c_can.hpp"
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#include "internal.hpp"
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/**
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