/
registers.go
421 lines (342 loc) · 7.98 KB
/
registers.go
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// 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
)