5 #include "hal_machperiph.h"
7 #include "system_def.h"
10 #include "can/canmsg.h"
18 #define CAN1_REGS_BASE 0x40044000UL
19 #define CAN2_REGS_BASE 0x40048000UL
21 #define CAN_MOD_o 0x0000
22 #define CAN_CMR_o 0x0004
23 #define CAN_GSR_o 0x0008
24 #define CAN_ICR_o 0x000C
25 #define CAN_IER_o 0x0010
26 #define CAN_BTR_o 0x0014
27 #define CAN_EWL_o 0x0018
28 #define CAN_SR_o 0x001C
29 #define CAN_RFS_o 0x0020
30 #define CAN_RID_o 0x0024
31 #define CAN_RDA_o 0x0028
32 #define CAN_RDB_o 0x002C
33 #define CAN_TFI1_o 0x0030
34 #define CAN_TID1_o 0x0034
35 #define CAN_TDA1_o 0x0038
36 #define CAN_TDB1_o 0x003C
37 #define CAN_TFI2_o 0x0040
38 #define CAN_TID2_o 0x0044
39 #define CAN_TDA2_o 0x0048
40 #define CAN_TDB2_o 0x004C
41 #define CAN_TFI3_o 0x0050
42 #define CAN_TID3_o 0x0054
43 #define CAN_TDA3_o 0x0058
44 #define CAN_TDB3_o 0x005C
46 //----------------------------------
48 #define CAN1MOD (*(uint32_t*)(CAN1_REGS_BASE+CAN_MOD_o))
49 #define CAN1CMR (*(uint32_t*)(CAN1_REGS_BASE+CAN_CMR_o))
50 #define CAN1GSR (*(uint32_t*)(CAN1_REGS_BASE+CAN_GSR_o))
51 #define CAN1ICR (*(uint32_t*)(CAN1_REGS_BASE+CAN_ICR_o))
52 #define CAN1IER (*(uint32_t*)(CAN1_REGS_BASE+CAN_IER_o))
53 #define CAN1BTR (*(uint32_t*)(CAN1_REGS_BASE+CAN_BTR_o))
54 #define CAN1EWL (*(uint32_t*)(CAN1_REGS_BASE+CAN_EWL_o))
55 #define CAN1SR (*(uint32_t*)(CAN1_REGS_BASE+CAN_SR_o))
56 #define CAN1RFS (*(uint32_t*)(CAN1_REGS_BASE+CAN_RFS_o))
57 #define CAN1RID (*(uint32_t*)(CAN1_REGS_BASE+CAN_RID_o))
58 #define CAN1RDA (*(uint32_t*)(CAN1_REGS_BASE+CAN_RDA_o))
59 #define CAN1RDB (*(uint32_t*)(CAN1_REGS_BASE+CAN_RDB_o))
60 #define CAN1TFI1 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TFI1_o))
61 #define CAN1TID1 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TID1_o))
62 #define CAN1TDA1 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TDA1_o))
63 #define CAN1TDB1 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TDB1_o))
64 #define CAN1TFI2 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TFI2_o))
65 #define CAN1TID2 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TID2_o))
66 #define CAN1TDA2 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TDA2_o))
67 #define CAN1TDB2 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TDB2_o))
68 #define CAN1TFI3 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TFI3_o))
69 #define CAN1TID3 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TID3_o))
70 #define CAN1TDA3 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TDA3_o))
71 #define CAN1TDB3 (*(uint32_t*)(CAN1_REGS_BASE+CAN_TDB3_o))
74 //----------------------------------
76 //CAN Interrupt and Capture Register bits
77 #define CAN_ICR_TI1 (1<<1)
79 //CAN Status Register bits
80 #define CAN_SR_TBS1 (1<<2)
82 //CAN Command Register bits
83 #define CAN_CMR_TR (1<<0)
84 #define CAN_CMR_AT (1<<1)
85 #define CAN_CMR_RRB (1<<2)
86 #define CAN_CMR_CDO (1<<3)
87 #define CAN_CMR_STB1 (1<<5)
89 //CAN Transmit Frame Information register 1 bits
90 #define CAN_TFI1_RTR (1<<30)
91 #define CAN_TFI1_EXT (1<<31)
93 //CAN Interrupt Enable Register bits
94 #define CAN_IER_TIE1 (1<<1)
96 //----------------------------------
98 #define PCONP SC->PCONP
99 #define PCLKSEL0 SC->PCLKSEL0
101 #define PINSEL0 PINCON->PINSEL0
102 #define PINMODE0 PINCON->PINMODE0
103 #define PINMODE_OD0 PINCON->PINMODE_OD0
105 #define PCCAN1 (1<<13) // CAN Controller 1 power/clock control bit.
106 #define PCCAN2 (1<<14) // CAN Controller 2 power/clock control bit.
108 #define PCLK_CAN1_MASK ((1<<27)|(1<<26))
109 #define PCLK_CAN2_MASK ((1<<29)|(1<<28))
110 #define PCLK_ACF_MASK ((1<<31)|(1<<30))
112 #define CAN1_RX_MASK ((1<<1)|(1<<0))
113 #define CAN1_TX_MASK ((1<<3)|(1<<2))
115 // CAN1_RX_BIT a CAN1_TX_BIT jiz definovany v system_def.h
118 void CAN_init(uint32_t baudrate);
119 void CAN_send(canmsg_t* msg);
120 void CAN_IRQHandler(void);
122 //----------------------------------
124 struct can_lmc1_chip_data
129 // board can-lmc1 specific functions:
130 int can_lmc1_register(struct hwspecops_t *hwspecops);
131 int can_lmc1_init_hw_data(struct candevice_t *candev);
132 int can_lmc1_init_chip_data(struct candevice_t *candev, int chipnr);
133 int can_lmc1_init_obj_data(struct canchip_t *chip, int objnr);
134 void can_lmc1_write_register(unsigned data, unsigned long address);
135 unsigned can_lmc1_read_register(unsigned long address);
136 int can_lmc1_request_io(struct candevice_t *candev);
137 int can_lmc1_reset(struct candevice_t *candev);
139 // lpc17xx can chip specific functions:
140 int lpc17xx_chip_config(struct canchip_t *chip);
141 int lpc17xx_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
142 struct canmsg_t *msg);
143 int lpc17xx_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
144 struct canmsg_t *msg);
145 int lpc17xx_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj);
146 int lpc17xx_irq_handler(int irq, struct canchip_t *chip);
147 void lpc17xx_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj);
148 int lpc17xx_fill_chipspecops(struct canchip_t *chip);
149 int lpc17xx_register(struct chipspecops_t *chipspecops);
150 int lpc17xx_attach_to_chip(struct canchip_t *chip);
151 int lpc17xx_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj);
157 #endif // LPC17XX_CAN_H_