mcp2515: add support for mcp2515 CAN device

mcp2515/registers.go

@@ -0,0 +1,421 @@
+// Package mcp2515 implements a driver for the MCP2515 CAN Controller.
+//
+// Datasheet: http://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf
+//
+package mcp2515 // import "tinygo.org/x/drivers/mcp2515"
+
+const DebugEn = 0
+
+const (
+	// begin mt
+
+	timeoutvalue = 50
+	mcpSidh      = 0
+	mcpSidl      = 1
+	mcpEid8      = 2
+	mcpEid0      = 3
+
+	mcpTxbExideM = 0x08 // in txbnsidl
+	mcpDlcMask   = 0x0f //= 4 lsbits
+	mcpRtrMask   = 0x40 // =(1<=<6) bit= 6
+
+	mcpRxbRxAny    = 0x60
+	mcpRxbRxExt    = 0x40
+	mcpRxbRxStd    = 0x20
+	mcpRxbRxStdExt = 0x00
+	mcpRxbRxMask   = 0x60
+	mcpRxbBuktMask = 1 << 2
+
+	// bits in the txbnctrl registers.
+
+	mcpTxbTxbufeM = 0x80
+	mcpTxbAbtfM   = 0x40
+	mcpTxbMloaM   = 0x20
+	mcpTxbTxerrM  = 0x10
+	mcpTxbTxreqM  = 0x08
+	mcpTxbTxieM   = 0x04
+	mcpTxbTxp10M  = 0x03
+
+	mcpTxbRtrM = 0x40 // in txbndlc
+	mcpRxbIdeM = 0x08 // in rxbnsidl
+	mcpRxbRtrM = 0x40 // in rxbndlc
+
+	mcpStatTxPendingMask = 0x54
+	mcpStatTx0Pending    = 0x04
+	mcpStatTx1Pending    = 0x10
+	mcpStatTx2Pending    = 0x40
+	mcpStatTxifMask      = 0xa8
+	mcpStatTx0if         = 0x08
+	mcpStatTx1if         = 0x20
+	mcpStatTx2if         = 0x80
+	mcpStatRxifMask      = 0x03
+	mcpStatRx0if         = 1 << 0
+	mcpStatRx1if         = 1 << 1
+
+	mcpEflgRx1ovr    = 1 << 7
+	mcpEflgRx0ovr    = 1 << 6
+	mcpEflgTxbo      = 1 << 5
+	mcpEflgTxep      = 1 << 4
+	mcpEflgRxep      = 1 << 3
+	mcpEflgTxwar     = 1 << 2
+	mcpEflgRxwar     = 1 << 1
+	mcpEflgEwarn     = 1 << 0
+	mcpEflgErrormask = 0xf8 //= 5 ms-bits
+
+	// define mcp2515 register addresses
+
+	mcpRXF0SIDH  = 0x00
+	mcpRXF0SIDL  = 0x01
+	mcpRXF0EID8  = 0x02
+	mcpRXF0EID0  = 0x03
+	mcpRXF1SIDH  = 0x04
+	mcpRXF1SIDL  = 0x05
+	mcpRXF1EID8  = 0x06
+	mcpRXF1EID0  = 0x07
+	mcpRXF2SIDH  = 0x08
+	mcpRXF2SIDL  = 0x09
+	mcpRXF2EID8  = 0x0a
+	mcpRXF2EID0  = 0x0b
+	mcpBFPCTRL   = 0x0c
+	mcpTXRTSCTRl = 0x0d
+	mcpCANSTAT   = 0x0e
+	mcpCANCTRL   = 0x0f
+	mcpRXF3SIDH  = 0x10
+	mcpRXF3SIDL  = 0x11
+	mcpRXF3EID8  = 0x12
+	mcpRXF3EID0  = 0x13
+	mcpRXF4SIDH  = 0x14
+	mcpRXF4SIDL  = 0x15
+	mcpRXF4EID8  = 0x16
+	mcpRXF4EID0  = 0x17
+	mcpRXF5SIDH  = 0x18
+	mcpRXF5SIDL  = 0x19
+	mcpRXF5EID8  = 0x1a
+	mcpRXF5EID0  = 0x1b
+	mcpTEC       = 0x1c
+	mcpREC       = 0x1d
+	mcpRXM0SIDH  = 0x20
+	mcpRXM0SIDL  = 0x21
+	mcpRXM0EID8  = 0x22
+	mcpRXM0EID0  = 0x23
+	mcpRXM1SIDH  = 0x24
+	mcpRXM1SIDL  = 0x25
+	mcpRXM1EID8  = 0x26
+	mcpRXM1EID0  = 0x27
+	mcpCNF3      = 0x28
+	mcpCNF2      = 0x29
+	mcpCNF1      = 0x2a
+	mcpCANINTE   = 0x2b
+	mcpCANINTF   = 0x2c
+	mcpEFLG      = 0x2d
+	mcpTXB0CTRL  = 0x30
+	mcpTXB0SIDH  = 0x31
+	mcpTXB1CTRL  = 0x40
+	mcpTXB1SIDH  = 0x41
+	mcpTXB2CTRL  = 0x50
+	mcpTXB2SIDH  = 0x51
+	mcpRXB0CTRL  = 0x60
+	mcpRXB0SIDH  = 0x61
+	mcpRXB1CTRL  = 0x70
+	mcpRXB1SIDH  = 0x71
+
+	mcpTxInt   = 0x1c // enable all transmit interrup ts
+	mcpTx01Int = 0x0c // enable txb0 and txb1 interru pts
+	mcpRxInt   = 0x03 // enable receive interrupts
+	mcpNoInt   = 0x00 // disable all interrupts
+
+	mcpTx01Mask = 0x14
+	mcpTxMask   = 0x54
+
+	// define spi instruction set
+	mcpWrite   = 0x02
+	mcpRead    = 0x03
+	mcpBitMod  = 0x05
+	mcpLoadTx0 = 0x40
+	mcpLoadTx1 = 0x42
+	mcpLoadTx2 = 0x44
+
+	mcpRtsTx0     = 0x81
+	mcpRtsTx1     = 0x82
+	mcpRtsTx2     = 0x84
+	mcpRtsAll     = 0x87
+	mcpReadRx0    = 0x90
+	mcpReadRx1    = 0x94
+	mcpReadStatus = 0xa0
+	mcpRxStatus   = 0xb0
+	mcpReset      = 0xc0
+
+	// canctrl register values
+
+	modeNormal     = 0x00
+	modeSleep      = 0x20
+	modeLoopBack   = 0x40
+	modeListenOnly = 0x60
+	modeConfig     = 0x80
+	modePowerUp    = 0xe0
+	modeMask       = 0xe0
+	abortTx        = 0x10
+	modeOneShot    = 0x08
+	clkoutEnable   = 0x04
+	clkoutDisable  = 0x00
+	clkoutPs1      = 0x00
+	clkoutPs2      = 0x01
+	clkoutPs4      = 0x02
+	clkoutPs8      = 0x03
+
+	// cnf1 register values
+
+	sjw1 = 0x00
+	sjw2 = 0x40
+	sjw3 = 0x80
+	sjw4 = 0xc0
+
+	//  cnf2 register values
+
+	btlmode  = 0x80
+	sample1x = 0x00
+	sample3x = 0x40
+
+	// cnf3 register values
+
+	sofEnable     = 0x80
+	sofDisable    = 0x00
+	wakfilEnable  = 0x40
+	wakfilDisable = 0x00
+
+	// canintf register bits
+
+	mcpRX0IF = 0x01
+	mcpRX1IF = 0x02
+	mcpTX0IF = 0x04
+	mcpTX1IF = 0x08
+	mcpTX2IF = 0x10
+	mcpERRIF = 0x20
+	mcpWAKIF = 0x40
+	mcpMERRF = 0x80
+
+	// bfpctrl register bits
+
+	b1bfs = 0x20
+	b0bfs = 0x10
+	b1bfe = 0x08
+	b0bfe = 0x04
+	b1bfm = 0x02
+	b0bfm = 0x01
+
+	// txrtctrl register bits
+
+	b2rts  = 0x20
+	b1rts  = 0x10
+	b0rts  = 0x08
+	b2rtsm = 0x04
+	b1rtsm = 0x02
+	b0rtsm = 0x01
+
+	// clock
+
+	Clock16MHz = 1
+	Clock8MHz  = 2
+
+	// speed= 16m
+
+	mcp16mHz1000kBpsCfg1 = 0x00
+	mcp16mHz1000kBpsCfg2 = 0xd0
+	mcp16mHz1000kBpsCfg3 = 0x82
+
+	mcp16mHz500kBpsCfg1 = 0x00
+	mcp16mHz500kBpsCfg2 = 0xf0
+	mcp16mHz500kBpsCfg3 = 0x86
+
+	mcp16mHz250kBpsCfg1 = 0x41
+	mcp16mHz250kBpsCfg2 = 0xf1
+	mcp16mHz250kBpsCfg3 = 0x85
+
+	mcp16mHz200kBpsCfg1 = 0x01
+	mcp16mHz200kBpsCfg2 = 0xfa
+	mcp16mHz200kBpsCfg3 = 0x87
+
+	mcp16mHz125kBpsCfg1 = 0x03
+	mcp16mHz125kBpsCfg2 = 0xf0
+	mcp16mHz125kBpsCfg3 = 0x86
+
+	mcp16mHz100kBpsCfg1 = 0x03
+	mcp16mHz100kBpsCfg2 = 0xfa
+	mcp16mHz100kBpsCfg3 = 0x87
+
+	mcp16mHz95kBpsCfg1 = 0x03
+	mcp16mHz95kBpsCfg2 = 0xad
+	mcp16mHz95kBpsCfg3 = 0x07
+
+	mcp16mHz83k3BpsCfg1 = 0x03
+	mcp16mHz83k3BpsCfg2 = 0xbe
+	mcp16mHz83k3BpsCfg3 = 0x07
+
+	mcp16mHz80kBpsCfg1 = 0x03
+	mcp16mHz80kBpsCfg2 = 0xff
+	mcp16mHz80kBpsCfg3 = 0x87
+
+	mcp16mHz50kBpsCfg1 = 0x07
+	mcp16mHz50kBpsCfg2 = 0xfa
+	mcp16mHz50kBpsCfg3 = 0x87
+
+	mcp16mHz40kBpsCfg1 = 0x07
+	mcp16mHz40kBpsCfg2 = 0xff
+	mcp16mHz40kBpsCfg3 = 0x87
+
+	mcp16mHz33kBpsCfg1 = 0x09
+	mcp16mHz33kBpsCfg2 = 0xbe
+	mcp16mHz33kBpsCfg3 = 0x07
+
+	mcp16mHz31k25BpsCfg1 = 0x0f
+	mcp16mHz31k25BpsCfg2 = 0xf1
+	mcp16mHz31k25BpsCfg3 = 0x85
+
+	mcp16mHz25kBpsCfg1 = 0x0f
+	mcp16mHz25kBpsCfg2 = 0xba
+	mcp16mHz25kBpsCfg3 = 0x07
+
+	mcp16mHz20kBpsCfg1 = 0x0f
+	mcp16mHz20kBpsCfg2 = 0xff
+	mcp16mHz20kBpsCfg3 = 0x87
+
+	mcp16mHz10kBpsCfg1 = 0x1f
+	mcp16mHz10kBpsCfg2 = 0xff
+	mcp16mHz10kBpsCfg3 = 0x87
+
+	mcp16mHz5kBpsCfg1 = 0x3f
+	mcp16mHz5kBpsCfg2 = 0xff
+	mcp16mHz5kBpsCfg3 = 0x87
+
+	mcp16mHz666kBpsCfg1 = 0x00
+	mcp16mHz666kBpsCfg2 = 0xa0
+	mcp16mHz666kBpsCfg3 = 0x04
+
+	// speed= 8m
+
+	mcp8mHz1000kBpsCfg1 = 0x00
+	mcp8mHz1000kBpsCfg2 = 0x80
+	mcp8mHz1000kBpsCfg3 = 0x00
+
+	mcp8mHz500kBpsCfg1 = 0x00
+	mcp8mHz500kBpsCfg2 = 0x90
+	mcp8mHz500kBpsCfg3 = 0x02
+
+	mcp8mHz250kBpsCfg1 = 0x00
+	mcp8mHz250kBpsCfg2 = 0xb1
+	mcp8mHz250kBpsCfg3 = 0x05
+
+	mcp8mHz200kBpsCfg1 = 0x00
+	mcp8mHz200kBpsCfg2 = 0xb4
+	mcp8mHz200kBpsCfg3 = 0x06
+
+	mcp8mHz125kBpsCfg1 = 0x01
+	mcp8mHz125kBpsCfg2 = 0xb1
+	mcp8mHz125kBpsCfg3 = 0x05
+
+	mcp8mHz100kBpsCfg1 = 0x01
+	mcp8mHz100kBpsCfg2 = 0xb4
+	mcp8mHz100kBpsCfg3 = 0x06
+
+	mcp8mHz80kBpsCfg1 = 0x01
+	mcp8mHz80kBpsCfg2 = 0xbf
+	mcp8mHz80kBpsCfg3 = 0x07
+
+	mcp8mHz50kBpsCfg1 = 0x03
+	mcp8mHz50kBpsCfg2 = 0xb4
+	mcp8mHz50kBpsCfg3 = 0x06
+
+	mcp8mHz40kBpsCfg1 = 0x03
+	mcp8mHz40kBpsCfg2 = 0xbf
+	mcp8mHz40kBpsCfg3 = 0x07
+
+	mcp8mHz31k25BpsCfg1 = 0x07
+	mcp8mHz31k25BpsCfg2 = 0xa4
+	mcp8mHz31k25BpsCfg3 = 0x04
+
+	mcp8mHz20kBpsCfg1 = 0x07
+	mcp8mHz20kBpsCfg2 = 0xbf
+	mcp8mHz20kBpsCfg3 = 0x07
+
+	mcp8mHz10kBpsCfg1 = 0x0f
+	mcp8mHz10kBpsCfg2 = 0xbf
+	mcp8mHz10kBpsCfg3 = 0x07
+
+	mcp8mHz5kBpsCfg1 = 0x1f
+	mcp8mHz5kBpsCfg2 = 0xbf
+	mcp8mHz5kBpsCfg3 = 0x07
+
+	mcp16mHz47kBpsCfg1 = 0x06
+	mcp16mHz47kBpsCfg2 = 0xbe
+	mcp16mHz47kBpsCfg3 = 0x07
+
+	mcpdebug      = 0
+	mcpdebugTxbuf = 0
+	mcpNTxbuffers = 3
+
+	mcpRxbuf0 = 0x61
+	mcpRxbuf1 = 0x71
+
+	mcp2515Ok    = 0
+	mcp2515Fail  = 1
+	mcpAlltxbusy = 2
+
+	candebug = 1
+
+	canuseloop = 0
+
+	cansendtimeout = 200 // milliseconds
+
+	mcpPinHiz = 0
+	mcpPinInt = 1
+	mcpPinOut = 2
+	mcpPinIn  = 3
+
+	mcpRx0bf  = 0
+	mcpRx1bf  = 1
+	mcpTx0rts = 2
+	mcpTx1rts = 3
+	mcpTx2rts = 4
+
+	// initial value of gcanautoprocess
+
+	canautoprocess     = 1
+	canautoon          = 1
+	canautooff         = 0
+	canStdid           = 0
+	canExtid           = 1
+	candefaultident    = 0x55cc
+	candefaultidentext = 1
+
+	CAN5kBps    = 1
+	CAN10kBps   = 2
+	CAN20kBps   = 3
+	CAN25kBps   = 4
+	CAN31k25Bps = 5
+	CAN33kBps   = 6
+	CAN40kBps   = 7
+	CAN50kBps   = 8
+	CAN80kBps   = 9
+	CAN83k3Bps  = 10
+	CAN95kBps   = 11
+	CAN100kBps  = 12
+	CAN125kBps  = 13
+	CAN200kBps  = 14
+	CAN250kBps  = 15
+	CAN500kBps  = 16
+	CAN666kBps  = 17
+	CAN1000kBps = 18
+	CAN47kBps   = 19
+
+	canOk             = 0
+	canFailinit       = 1
+	canFailtx         = 2
+	canMsgavail       = 3
+	canNomsg          = 4
+	canCtrlerror      = 5
+	canGettxbftimeout = 6
+	canSendmsgtimeout = 7
+	canFail           = 0xff
+
+	canMaxCharInMessage = 8
+)