/* * Copyright (c) 2018 Karsten Koenig * * SPDX-License-Identifier: Apache-2.0 * */ #ifndef _MCP2515_H_ #define _MCP2515_H_ #include #include #define MCP2515_RX_CNT 2 /* Reduce the number of Tx buffers to 1 in order to avoid priority inversion. */ #define MCP2515_TX_CNT 1 #define MCP2515_FRAME_LEN 13 struct mcp2515_tx_cb { can_tx_callback_t cb; void *cb_arg; }; struct mcp2515_data { /* interrupt data */ struct gpio_callback int_gpio_cb; struct k_thread int_thread; k_thread_stack_t *int_thread_stack; struct k_sem int_sem; /* tx data */ struct k_sem tx_sem; struct mcp2515_tx_cb tx_cb[MCP2515_TX_CNT]; uint8_t tx_busy_map; /* filter data */ uint32_t filter_usage; can_rx_callback_t rx_cb[CONFIG_CAN_MAX_FILTER]; void *cb_arg[CONFIG_CAN_MAX_FILTER]; struct can_filter filter[CONFIG_CAN_MAX_FILTER]; can_state_change_callback_t state_change_cb; void *state_change_cb_data; /* general data */ struct k_mutex mutex; enum can_state old_state; uint8_t mcp2515_mode; bool started; uint8_t sjw; }; struct mcp2515_config { /* spi configuration */ struct spi_dt_spec bus; /* interrupt configuration */ struct gpio_dt_spec int_gpio; size_t int_thread_stack_size; int int_thread_priority; /* CAN timing */ uint8_t tq_sjw; uint8_t tq_prop; uint8_t tq_bs1; uint8_t tq_bs2; uint32_t bus_speed; uint32_t osc_freq; uint16_t sample_point; /* CAN transceiver */ const struct device *phy; uint32_t max_bitrate; }; /* * Startup time of 128 OSC1 clock cycles at 1MHz (minimum clock in frequency) * see MCP2515 datasheet section 8.1 Oscillator Start-up Timer */ #define MCP2515_OSC_STARTUP_US 128U /* MCP2515 Opcodes */ #define MCP2515_OPCODE_WRITE 0x02 #define MCP2515_OPCODE_READ 0x03 #define MCP2515_OPCODE_BIT_MODIFY 0x05 #define MCP2515_OPCODE_LOAD_TX_BUFFER 0x40 #define MCP2515_OPCODE_RTS 0x80 #define MCP2515_OPCODE_READ_RX_BUFFER 0x90 #define MCP2515_OPCODE_READ_STATUS 0xA0 #define MCP2515_OPCODE_RESET 0xC0 /* MCP2515 Registers */ #define MCP2515_ADDR_CANSTAT 0x0E #define MCP2515_ADDR_CANCTRL 0x0F #define MCP2515_ADDR_TEC 0x1C #define MCP2515_ADDR_REC 0x1D #define MCP2515_ADDR_CNF3 0x28 #define MCP2515_ADDR_CNF2 0x29 #define MCP2515_ADDR_CNF1 0x2A #define MCP2515_ADDR_CANINTE 0x2B #define MCP2515_ADDR_CANINTF 0x2C #define MCP2515_ADDR_EFLG 0x2D #define MCP2515_ADDR_TXB0CTRL 0x30 #define MCP2515_ADDR_TXB1CTRL 0x40 #define MCP2515_ADDR_TXB2CTRL 0x50 #define MCP2515_ADDR_RXB0CTRL 0x60 #define MCP2515_ADDR_RXB1CTRL 0x70 #define MCP2515_ADDR_OFFSET_FRAME2FRAME 0x10 #define MCP2515_ADDR_OFFSET_CTRL2FRAME 0x01 /* MCP2515 Operation Modes */ #define MCP2515_MODE_NORMAL 0x00 #define MCP2515_MODE_LOOPBACK 0x02 #define MCP2515_MODE_SILENT 0x03 #define MCP2515_MODE_CONFIGURATION 0x04 /* MCP2515_FRAME_OFFSET */ #define MCP2515_FRAME_OFFSET_SIDH 0 #define MCP2515_FRAME_OFFSET_SIDL 1 #define MCP2515_FRAME_OFFSET_EID8 2 #define MCP2515_FRAME_OFFSET_EID0 3 #define MCP2515_FRAME_OFFSET_DLC 4 #define MCP2515_FRAME_OFFSET_D0 5 /* MCP2515_CANINTF */ #define MCP2515_CANINTF_RX0IF BIT(0) #define MCP2515_CANINTF_RX1IF BIT(1) #define MCP2515_CANINTF_TX0IF BIT(2) #define MCP2515_CANINTF_TX1IF BIT(3) #define MCP2515_CANINTF_TX2IF BIT(4) #define MCP2515_CANINTF_ERRIF BIT(5) #define MCP2515_CANINTF_WAKIF BIT(6) #define MCP2515_CANINTF_MERRF BIT(7) #define MCP2515_INTE_RX0IE BIT(0) #define MCP2515_INTE_RX1IE BIT(1) #define MCP2515_INTE_TX0IE BIT(2) #define MCP2515_INTE_TX1IE BIT(3) #define MCP2515_INTE_TX2IE BIT(4) #define MCP2515_INTE_ERRIE BIT(5) #define MCP2515_INTE_WAKIE BIT(6) #define MCP2515_INTE_MERRE BIT(7) #define MCP2515_EFLG_EWARN BIT(0) #define MCP2515_EFLG_RXWAR BIT(1) #define MCP2515_EFLG_TXWAR BIT(2) #define MCP2515_EFLG_RXEP BIT(3) #define MCP2515_EFLG_TXEP BIT(4) #define MCP2515_EFLG_TXBO BIT(5) #define MCP2515_EFLG_RX0OVR BIT(6) #define MCP2515_EFLG_RX1OVR BIT(7) #define MCP2515_TXCTRL_TXREQ BIT(3) #define MCP2515_CANSTAT_MODE_POS 5 #define MCP2515_CANSTAT_MODE_MASK (0x07 << MCP2515_CANSTAT_MODE_POS) #define MCP2515_CANCTRL_MODE_POS 5 #define MCP2515_CANCTRL_MODE_MASK (0x07 << MCP2515_CANCTRL_MODE_POS) #define MCP2515_TXBNCTRL_TXREQ_POS 3 #define MCP2515_TXBNCTRL_TXREQ_MASK (0x01 << MCP2515_TXBNCTRL_TXREQ_POS) #endif /*_MCP2515_H_*/