mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-08-14 03:43:42 +00:00
nobonobo
1c10dea443
* add support extended id for mcp2515 * fix mcp2512 example code * revert Pin control
428 lines
8.2 KiB
Go
428 lines
8.2 KiB
Go
// Package mcp2515 implements a driver for the MCP2515 CAN Controller.
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//
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// Datasheet: http://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf
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package mcp2515 // import "tinygo.org/x/drivers/mcp2515"
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const DebugEn = 0
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const (
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// begin mt
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timeoutvalue = 50
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mcpSidh = 0
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mcpSidl = 1
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mcpEid8 = 2
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mcpEid0 = 3
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mcpTxbExideM = 0x08 // in txbnsidl
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mcpDlcMask = 0x0f //= 4 lsbits
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mcpRtrMask = 0x40 // =(1<=<6) bit= 6
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mcpRxbRxAny = 0x60
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mcpRxbRxExt = 0x40
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mcpRxbRxStd = 0x20
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mcpRxbRxStdExt = 0x00
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mcpRxbRxMask = 0x60
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mcpRxbBuktMask = 1 << 2
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// bits in the txbnctrl registers.
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mcpTxbTxbufeM = 0x80
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mcpTxbAbtfM = 0x40
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mcpTxbMloaM = 0x20
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mcpTxbTxerrM = 0x10
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mcpTxbTxreqM = 0x08
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mcpTxbTxieM = 0x04
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mcpTxbTxp10M = 0x03
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mcpTxbRtrM = 0x40 // in txbndlc
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mcpRxbIdeM = 0x08 // in rxbnsidl
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mcpRxbRtrM = 0x40 // in rxbndlc
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mcpStatTxPendingMask = 0x54
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mcpStatTx0Pending = 0x04
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mcpStatTx1Pending = 0x10
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mcpStatTx2Pending = 0x40
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mcpStatTxifMask = 0xa8
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mcpStatTx0if = 0x08
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mcpStatTx1if = 0x20
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mcpStatTx2if = 0x80
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mcpStatRxifMask = 0x03
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mcpStatRx0if = 1 << 0
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mcpStatRx1if = 1 << 1
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mcpEflgRx1ovr = 1 << 7
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mcpEflgRx0ovr = 1 << 6
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mcpEflgTxbo = 1 << 5
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mcpEflgTxep = 1 << 4
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mcpEflgRxep = 1 << 3
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mcpEflgTxwar = 1 << 2
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mcpEflgRxwar = 1 << 1
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mcpEflgEwarn = 1 << 0
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mcpEflgErrormask = 0xf8 //= 5 ms-bits
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// define mcp2515 register addresses
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mcpRXF0SIDH = 0x00
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mcpRXF0SIDL = 0x01
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mcpRXF0EID8 = 0x02
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mcpRXF0EID0 = 0x03
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mcpRXF1SIDH = 0x04
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mcpRXF1SIDL = 0x05
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mcpRXF1EID8 = 0x06
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mcpRXF1EID0 = 0x07
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mcpRXF2SIDH = 0x08
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mcpRXF2SIDL = 0x09
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mcpRXF2EID8 = 0x0a
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mcpRXF2EID0 = 0x0b
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mcpBFPCTRL = 0x0c
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mcpTXRTSCTRl = 0x0d
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mcpCANSTAT = 0x0e
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mcpCANCTRL = 0x0f
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mcpRXF3SIDH = 0x10
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mcpRXF3SIDL = 0x11
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mcpRXF3EID8 = 0x12
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mcpRXF3EID0 = 0x13
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mcpRXF4SIDH = 0x14
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mcpRXF4SIDL = 0x15
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mcpRXF4EID8 = 0x16
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mcpRXF4EID0 = 0x17
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mcpRXF5SIDH = 0x18
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mcpRXF5SIDL = 0x19
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mcpRXF5EID8 = 0x1a
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mcpRXF5EID0 = 0x1b
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mcpTEC = 0x1c
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mcpREC = 0x1d
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mcpRXM0SIDH = 0x20
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mcpRXM0SIDL = 0x21
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mcpRXM0EID8 = 0x22
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mcpRXM0EID0 = 0x23
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mcpRXM1SIDH = 0x24
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mcpRXM1SIDL = 0x25
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mcpRXM1EID8 = 0x26
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mcpRXM1EID0 = 0x27
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mcpCNF3 = 0x28
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mcpCNF2 = 0x29
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mcpCNF1 = 0x2a
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mcpCANINTE = 0x2b
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mcpCANINTF = 0x2c
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mcpEFLG = 0x2d
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mcpTXB0CTRL = 0x30
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mcpTXB0SIDH = 0x31
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mcpTXB1CTRL = 0x40
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mcpTXB1SIDH = 0x41
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mcpTXB2CTRL = 0x50
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mcpTXB2SIDH = 0x51
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mcpRXB0CTRL = 0x60
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mcpRXB0SIDH = 0x61
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mcpRXB1CTRL = 0x70
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mcpRXB1SIDH = 0x71
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mcpTxInt = 0x1c // enable all transmit interrup ts
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mcpTx01Int = 0x0c // enable txb0 and txb1 interru pts
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mcpRxInt = 0x03 // enable receive interrupts
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mcpNoInt = 0x00 // disable all interrupts
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mcpTx01Mask = 0x14
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mcpTxMask = 0x54
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// define spi instruction set
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mcpWrite = 0x02
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mcpRead = 0x03
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mcpBitMod = 0x05
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mcpLoadTx0 = 0x40
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mcpLoadTx1 = 0x42
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mcpLoadTx2 = 0x44
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mcpRtsTx0 = 0x81
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mcpRtsTx1 = 0x82
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mcpRtsTx2 = 0x84
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mcpRtsAll = 0x87
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mcpReadRx0 = 0x90
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mcpReadRx1 = 0x94
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mcpReadStatus = 0xa0
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mcpRxStatus = 0xb0
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mcpReset = 0xc0
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// canctrl register values
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modeNormal = 0x00
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modeSleep = 0x20
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modeLoopBack = 0x40
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modeListenOnly = 0x60
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modeConfig = 0x80
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modePowerUp = 0xe0
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modeMask = 0xe0
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abortTx = 0x10
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modeOneShot = 0x08
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clkoutEnable = 0x04
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clkoutDisable = 0x00
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clkoutPs1 = 0x00
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clkoutPs2 = 0x01
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clkoutPs4 = 0x02
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clkoutPs8 = 0x03
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// cnf1 register values
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sjw1 = 0x00
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sjw2 = 0x40
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sjw3 = 0x80
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sjw4 = 0xc0
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// cnf2 register values
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btlmode = 0x80
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sample1x = 0x00
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sample3x = 0x40
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// cnf3 register values
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sofEnable = 0x80
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sofDisable = 0x00
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wakfilEnable = 0x40
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wakfilDisable = 0x00
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// canintf register bits
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mcpRX0IF = 0x01
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mcpRX1IF = 0x02
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mcpTX0IF = 0x04
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mcpTX1IF = 0x08
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mcpTX2IF = 0x10
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mcpERRIF = 0x20
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mcpWAKIF = 0x40
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mcpMERRF = 0x80
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// bfpctrl register bits
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b1bfs = 0x20
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b0bfs = 0x10
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b1bfe = 0x08
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b0bfe = 0x04
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b1bfm = 0x02
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b0bfm = 0x01
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// txrtctrl register bits
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b2rts = 0x20
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b1rts = 0x10
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b0rts = 0x08
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b2rtsm = 0x04
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b1rtsm = 0x02
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b0rtsm = 0x01
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// clock
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Clock16MHz = 1
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Clock8MHz = 2
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// speed= 16m
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mcp16mHz1000kBpsCfg1 = 0x00
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mcp16mHz1000kBpsCfg2 = 0xd0
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mcp16mHz1000kBpsCfg3 = 0x82
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mcp16mHz500kBpsCfg1 = 0x00
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mcp16mHz500kBpsCfg2 = 0xf0
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mcp16mHz500kBpsCfg3 = 0x86
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mcp16mHz250kBpsCfg1 = 0x41
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mcp16mHz250kBpsCfg2 = 0xf1
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mcp16mHz250kBpsCfg3 = 0x85
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mcp16mHz200kBpsCfg1 = 0x01
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mcp16mHz200kBpsCfg2 = 0xfa
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mcp16mHz200kBpsCfg3 = 0x87
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mcp16mHz125kBpsCfg1 = 0x03
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mcp16mHz125kBpsCfg2 = 0xf0
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mcp16mHz125kBpsCfg3 = 0x86
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mcp16mHz100kBpsCfg1 = 0x03
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mcp16mHz100kBpsCfg2 = 0xfa
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mcp16mHz100kBpsCfg3 = 0x87
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mcp16mHz95kBpsCfg1 = 0x03
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mcp16mHz95kBpsCfg2 = 0xad
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mcp16mHz95kBpsCfg3 = 0x07
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mcp16mHz83k3BpsCfg1 = 0x03
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mcp16mHz83k3BpsCfg2 = 0xbe
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mcp16mHz83k3BpsCfg3 = 0x07
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mcp16mHz80kBpsCfg1 = 0x03
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mcp16mHz80kBpsCfg2 = 0xff
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mcp16mHz80kBpsCfg3 = 0x87
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mcp16mHz50kBpsCfg1 = 0x07
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mcp16mHz50kBpsCfg2 = 0xfa
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mcp16mHz50kBpsCfg3 = 0x87
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mcp16mHz40kBpsCfg1 = 0x07
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mcp16mHz40kBpsCfg2 = 0xff
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mcp16mHz40kBpsCfg3 = 0x87
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mcp16mHz33kBpsCfg1 = 0x09
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mcp16mHz33kBpsCfg2 = 0xbe
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mcp16mHz33kBpsCfg3 = 0x07
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mcp16mHz31k25BpsCfg1 = 0x0f
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mcp16mHz31k25BpsCfg2 = 0xf1
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mcp16mHz31k25BpsCfg3 = 0x85
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mcp16mHz25kBpsCfg1 = 0x0f
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mcp16mHz25kBpsCfg2 = 0xba
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mcp16mHz25kBpsCfg3 = 0x07
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mcp16mHz20kBpsCfg1 = 0x0f
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mcp16mHz20kBpsCfg2 = 0xff
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mcp16mHz20kBpsCfg3 = 0x87
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mcp16mHz10kBpsCfg1 = 0x1f
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mcp16mHz10kBpsCfg2 = 0xff
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mcp16mHz10kBpsCfg3 = 0x87
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mcp16mHz5kBpsCfg1 = 0x3f
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mcp16mHz5kBpsCfg2 = 0xff
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mcp16mHz5kBpsCfg3 = 0x87
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mcp16mHz666kBpsCfg1 = 0x00
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mcp16mHz666kBpsCfg2 = 0xa0
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mcp16mHz666kBpsCfg3 = 0x04
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// speed= 8m
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mcp8mHz1000kBpsCfg1 = 0x00
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mcp8mHz1000kBpsCfg2 = 0x80
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mcp8mHz1000kBpsCfg3 = 0x00
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mcp8mHz500kBpsCfg1 = 0x00
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mcp8mHz500kBpsCfg2 = 0x90
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mcp8mHz500kBpsCfg3 = 0x02
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mcp8mHz250kBpsCfg1 = 0x00
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mcp8mHz250kBpsCfg2 = 0xb1
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mcp8mHz250kBpsCfg3 = 0x05
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mcp8mHz200kBpsCfg1 = 0x00
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mcp8mHz200kBpsCfg2 = 0xb4
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mcp8mHz200kBpsCfg3 = 0x06
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mcp8mHz125kBpsCfg1 = 0x01
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mcp8mHz125kBpsCfg2 = 0xb1
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mcp8mHz125kBpsCfg3 = 0x05
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mcp8mHz100kBpsCfg1 = 0x01
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mcp8mHz100kBpsCfg2 = 0xb4
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mcp8mHz100kBpsCfg3 = 0x06
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mcp8mHz80kBpsCfg1 = 0x01
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mcp8mHz80kBpsCfg2 = 0xbf
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mcp8mHz80kBpsCfg3 = 0x07
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mcp8mHz50kBpsCfg1 = 0x03
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mcp8mHz50kBpsCfg2 = 0xb4
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mcp8mHz50kBpsCfg3 = 0x06
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mcp8mHz40kBpsCfg1 = 0x03
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mcp8mHz40kBpsCfg2 = 0xbf
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mcp8mHz40kBpsCfg3 = 0x07
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mcp8mHz31k25BpsCfg1 = 0x07
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mcp8mHz31k25BpsCfg2 = 0xa4
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mcp8mHz31k25BpsCfg3 = 0x04
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mcp8mHz20kBpsCfg1 = 0x07
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mcp8mHz20kBpsCfg2 = 0xbf
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mcp8mHz20kBpsCfg3 = 0x07
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mcp8mHz10kBpsCfg1 = 0x0f
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mcp8mHz10kBpsCfg2 = 0xbf
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mcp8mHz10kBpsCfg3 = 0x07
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mcp8mHz5kBpsCfg1 = 0x1f
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mcp8mHz5kBpsCfg2 = 0xbf
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mcp8mHz5kBpsCfg3 = 0x07
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mcp16mHz47kBpsCfg1 = 0x06
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mcp16mHz47kBpsCfg2 = 0xbe
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mcp16mHz47kBpsCfg3 = 0x07
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mcpdebug = 0
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mcpdebugTxbuf = 0
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mcpNTxbuffers = 3
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mcpRxbuf0 = 0x61
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mcpRxbuf1 = 0x71
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mcp2515Ok = 0
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mcp2515Fail = 1
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mcpAlltxbusy = 2
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candebug = 1
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canuseloop = 0
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cansendtimeout = 200 // milliseconds
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mcpPinHiz = 0
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mcpPinInt = 1
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mcpPinOut = 2
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mcpPinIn = 3
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mcpRx0bf = 0
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mcpRx1bf = 1
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mcpTx0rts = 2
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mcpTx1rts = 3
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mcpTx2rts = 4
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// initial value of gcanautoprocess
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canautoprocess = 1
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canautoon = 1
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canautooff = 0
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canStdid = 0
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canExtid = 1
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candefaultident = 0x55cc
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candefaultidentext = 1
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CAN5kBps = 1
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CAN10kBps = 2
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CAN20kBps = 3
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CAN25kBps = 4
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CAN31k25Bps = 5
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CAN33kBps = 6
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CAN40kBps = 7
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CAN50kBps = 8
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CAN80kBps = 9
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CAN83k3Bps = 10
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CAN95kBps = 11
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CAN100kBps = 12
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CAN125kBps = 13
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CAN200kBps = 14
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CAN250kBps = 15
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CAN500kBps = 16
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CAN666kBps = 17
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CAN1000kBps = 18
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CAN47kBps = 19
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canOk = 0
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canFailinit = 1
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canFailtx = 2
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canMsgavail = 3
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canNomsg = 4
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canCtrlerror = 5
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canGettxbftimeout = 6
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canSendmsgtimeout = 7
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canFail = 0xff
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canMaxCharInMessage = 8
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// for extended id
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extidTop11WriteMask = 0x1FFC0000
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extidBottom29Mask = (1 << 29) - 1 // extended id bits
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extidBottom18Mask = (1 << 18) - 1 // bottom 18 bits
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stdidBottom11Mask = 0x7FF
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extidFlagMask = 1 << 19
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)
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