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/* addrs: SSSEEEEE
* 8 -> extended addr
* 14 -> unused
*/
#define CANA_TIME 0x10080000
#define CANA_DISCOVERY 0x4c080000
#define CANA_LIGHT 0xcc080000
#define CANA_LIGHT_F(src,dst) (CANA_LIGHT | (((src) << 12) & 0x3f) | ((dst) & 0xfff))
#define CANA_SENSOR 0xe6080000
#define CANA_SENSOR_F(src) (CANA_SENSOR | ((src) & 0xfff))
#ifndef R0KET
#define spi_ss(x) PORTB = ((x) << B_SS) | 0x3;
static volatile bool canint = false;
ISR(INT0_vect)
{
canint = true;
}
static uint8_t spi_wrrd(uint8_t out)
{
SPDR = out;
while (!(SPSR & (1 << SPIF)))
;
return SPDR;
}
static void spi_performpgm(const uint8_t * PROGMEM cmds, uint8_t len)
{
const uint8_t * PROGMEM end = cmds + len;
uint8_t c;
spi_ss(0);
while (cmds < end) {
c = pgm_read_byte(cmds);
spi_wrrd(c);
cmds++;
}
spi_ss(1);
}
#endif
#define spi_perform(...) do { \
static const uint8_t _mycmds[] PROGMEM = { __VA_ARGS__ }; \
spi_performpgm(_mycmds, sizeof(_mycmds)); } while (0)
/* CAN configuration:
*
* CNF1 SJW = 1TQ 00xxxxxx
* BRP = /12 xx001011 (16 MHz assumed)
* = 0x0b
* CNF2 BTLMODE = cfg 1xxxxxxx
* SAM = once x0xxxxxx
* PS1 = 1TQ xx000xxx
* prop = 2TQ xxxxx001
* = 0x81
* CNF3 WAKFIL = off x0xxxxxx
* PS2 = 2TQ xxxxx001
* = 0x01
*/
#define MCP2515_WRITE 0x02
#define MCP2515_READ 0x03
#define MCP2515_RTS 0x80
#define MCP2515_WRTXB 0x40
#define MCP2515_WRTXB_DATA 0x01
#define MCP2515_WRTXB_TXB0 0x00
#define MCP2515_WRTXB_TXB1 0x02
#define MCP2515_WRTXB_TXB2 0x04
#define A_CNF3 0x28
#define A_CANINTF 0x2c
#define A_CANCTRL 0x2f
#define A_TXB0CTRL 0x30
#define A_TXB0SIDH 0x31
#define A_RXB1CTRL 0x70
static void can_init(void)
{
spi_perform(MCP2515_WRITE, A_CANCTRL,
0x80); /* CANCTRL: config mode */
#ifdef R0KET
#define CNF1 0x05 /* 8 MHz crystal, divide by 6 */
#else
#define CNF1 0x0b /* 16 MHz crystal, divide by 12 */
#endif
spi_perform(MCP2515_WRITE, A_CNF3,
0x01, /* CNF3 */
0x81, /* CNF2 */
CNF1, /* CNF1 */
0xa7 /* CANINTE: MERRE, ERRIE, TX0IE, RX1IE, RX0IE */
);
spi_perform(MCP2515_WRITE, A_RXB1CTRL,
0x60); /* x, RXM, x, RXRTR, FILHIT */
spi_perform(MCP2515_WRITE, A_CANCTRL,
0x00); /* CANCTRL: normal mode */
}
static uint8_t can_CANSTAT(void)
{
uint8_t canstat;
spi_ss(0);
spi_wrrd(0x03);
spi_wrrd(0x2e); /* addr(CANCTRL) */
canstat = spi_wrrd(0xff); /* CANSTAT */
spi_ss(1);
uart_puts("can: CANSTAT ");
uart_puthex(canstat);
uart_puts("\n");
return canstat;
}
/* daddr:
* 31-24 ID 10:3
* 23-16 ID 2:0, x, EXIDE, x, EID17:16
* 15- 8 EID 15:8
* 7- 0 EID 7:0
*/
static void can_send(uint32_t daddr, uint8_t len, uint8_t *data)
{
uart_puts("can: transmit\n");
spi_ss(0);
spi_wrrd(MCP2515_WRTXB | MCP2515_WRTXB_TXB0);
spi_wrrd((daddr >> 24) & 0xff);
spi_wrrd((daddr >> 16) & 0xff);
spi_wrrd((daddr >> 8) & 0xff);
spi_wrrd((daddr >> 0) & 0xff);
spi_wrrd(len);
while (len--)
spi_wrrd(*data++);
spi_ss(1);
spi_perform(MCP2515_RTS | 0x01);
}
#ifndef R0KET
union {
uint8_t b[4];
uint32_t u;
} can_rx_addr;
uint8_t can_rx_dlc, can_rx_data[8];
static void can_rxh(uint8_t buffer)
{
uint8_t c, byte;
if (buffer)
uart_puts("can: RX1IF\n");
else
uart_puts("can: RX0IF\n");
spi_ss(0);
spi_wrrd(0x90 + 0x04 * buffer);
c = 0;
#define rdaddr() byte = spi_wrrd(0xff); uart_puthex(byte); can_rx_addr.b[c++] = byte
rdaddr();
rdaddr();
rdaddr();
rdaddr();
can_rx_dlc = spi_wrrd(0xff);
uart_puthex(can_rx_dlc);
uart_puts("\n");
for (c = 0; c < (can_rx_dlc & 0x0f); c++) {
byte = spi_wrrd(0xff);
can_rx_data[c] = byte;
uart_puthex(byte);
}
uart_puts("\n");
spi_ss(1);
}
static void can_int(void)
{
uint8_t canintf, eflg, canstat;
uart_puts("can: irqh<");
spi_ss(0);
spi_wrrd(MCP2515_READ);
spi_wrrd(A_CANINTF);
canintf = spi_wrrd(0xff);
eflg = spi_wrrd(0xff);
canstat = spi_wrrd(0xff);
spi_ss(1);
uart_puthex(canintf);
uart_puthex(eflg);
uart_puthex(canstat);
uart_puts(">\n");
if (canintf & 0x80 || canintf & 0x04) {
uint8_t txb0ctrl;
spi_ss(0);
spi_wrrd(MCP2515_READ);
spi_wrrd(A_TXB0CTRL);
txb0ctrl = spi_wrrd(0xff);
spi_ss(1);
uart_puts("can: TXB0CTRL ");
uart_puthex(txb0ctrl);
uart_puts("\n");
/* clear RTS */
if (txb0ctrl & 0x08) {
spi_ss(0);
spi_wrrd(MCP2515_WRITE);
spi_wrrd(A_TXB0CTRL);
spi_wrrd(0x00);
spi_ss(1);
}
}
if (canintf & 0x01)
can_rxh(0);
if (canintf & 0x02)
can_rxh(1);
spi_perform(MCP2515_WRITE, A_CANINTF, 0x00, 0x00);
}
#endif
static void can_preinit(void)
{
spi_ss(1);
#ifndef R0KET
DDRB |= (1 << B_SCK) | (1 << B_MOSI) | (1 << B_SS);
/* divisor: 0 0 0 = fosc / 4 = 2 MHz */
SPCR = (1 << SPE) | (1 << MSTR);
/* INT0 */
EICRA = (1 << ISC01);
EIMSK = (1 << INT0);
_delay_ms(5);
#endif
/* chip reset */
spi_ss(0);
spi_wrrd(0xc0);
spi_ss(1);
_delay_ms(5);
spi_ss(0);
spi_wrrd(0xb0);
uint8_t status = spi_wrrd(0xff);
spi_ss(1);
uart_puts("can: status ");
uart_puthex(status);
uart_puts("\n");
}
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