borgware-2d/can/can.c

#ifndef __C64__
#ifdef __AVR__
	#include <avr/io.h>
	#include <avr/interrupt.h>
#endif
#define asm asm volatile
#endif

#include "can.h"
#include "spi.h"

#define spi_clear_ss() SPI_PORT |= (1<<SPI_PIN_SS)
#define spi_set_ss() SPI_PORT &= ~(1<<SPI_PIN_SS)

//Registers
#define RXF0SIDH 0x00
#define RXF0SIDL 0x01
#define RXF0EID8 0x02
#define RXF0EID0 0x03
#define RXF1SIDH 0x04
#define RXF1SIDL 0x05
#define RXF1EID8 0x06
#define RXF1EID0 0x07
#define RXF2SIDH 0x08
#define RXF2SIDL 0x09
#define RXF2EID8 0x0A
#define RXF2EID0 0x0B
#define BFPCTRL 0x0C
#define TXRTSCTRL 0x0D
#define CANSTAT 0x0E
#define CANCTRL 0x0F
#define RXF3SIDH 0x10
#define RXF3SIDL 0x11
#define RXF3EID8 0x12
#define RXF3EID0 0x13
#define RXF4SIDH 0x14
#define RXF4SIDL 0x15
#define RXF4EID8 0x16
#define RXF4EID0 0x17
#define RXF5SIDH 0x18
#define RXF5SIDL 0x19
#define RXF5EID8 0x1A
#define RXF5EID0 0x1B
#define TEC 0x1C
#define REC 0x1D
#define RXM0SIDH 0x20
#define RXM0SIDL 0x21
#define RXM0EID8 0x22
#define RXM0EID0 0x23
#define RXM1SIDH 0x24
#define RXM1SIDL 0x25
#define RXM1EID8 0x26
#define RXM1EID0 0x27
#define CNF3 0x28
#define CNF2 0x29
#define CNF1 0x2A
#define CANINTE 0x2B
	#define MERRE 7
	#define WAKIE 6
	#define ERRIE 5
	#define TX2IE 4
	#define TX1IE 3
	#define TX0IE 2
	#define RX1IE 1
	#define RX0IE 0
#define CANINTF 0x2C
	#define MERRF 7
	#define WAKIF 6
	#define ERRIF 5
	#define TX2IF 4
	#define TX1IF 3
	#define TX0IF 2
	#define RX1IF 1
	#define RX0IF 0
#define EFLG 0x2D
#define TXB0CTRL 0x30
	#define TXREQ 3
#define TXB0SIDH 0x31
#define TXB0SIDL 0x32
	#define EXIDE 3
#define TXB0EID8 0x33
#define TXB0EID0 0x34
#define TXB0DLC 0x35
#define TXB0D0 0x36 

#define RXB0CTRL 0x60
	#define RXM1 6
	#define RXM0 5
	#define RXRTR 3
	// Bits 2:0 FILHIT2:0
#define RXB0SIDH 0x61
#define RXB0SIDL 0x62
#define RXB0EID8 0x63
#define RXB0EID0 0x64
#define RXB0DLC 0x65
#define RXB0D0 0x66 

//Command Bytes
#define RESET 0xC0
#define READ 0x03
#define READ_RX_BUFFER 0x90
#define WRITE 0x02
#define LOAD_TX_BUFFER 0x40
#define RTS 0x80
#define READ_STATUS 0xA0
#define RX_STATUS 0xB0
#define BIT_MODIFY 0x05

typedef struct{
	can_message msg;
	volatile unsigned char flags;
}can_message_x;


/* MCP */
void mcp_reset();
void mcp_write(unsigned char reg, unsigned char data);
//void mcp_write_b(unsigned char reg, unsigned char *buf, unsigned char len);
unsigned char mcp_read(unsigned char reg);
//void mcp_read_b(unsigned char reg, unsigned char *buf, unsigned char len);
void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val);
unsigned char mcp_status();
//unsigned char mcp_rx_status();

#ifdef __AVR__
	// Functions
	/*
	unsigned char mcp_rx_status() {
		unsigned char d;
		spi_set_ss();
		spi_data(RX_STATUS);
		d = spi_data(0);
		spi_clear_ss();
		return d;
	}
	*/

	unsigned char mcp_status() {
		unsigned char d;
		spi_set_ss();
		spi_data(READ_STATUS);
		d = spi_data(0);
		spi_clear_ss();
		return d;
	}
	
	void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val) {
		spi_set_ss();
		spi_data(BIT_MODIFY);
		spi_data(reg);
		spi_data(mask);
		spi_data(val);
		spi_clear_ss();
	}

	//load a message to mcp2515 and start transmission
	void message_load(can_message_x * msg) {
		unsigned char x;

		spi_set_ss();
		spi_data(WRITE);
		spi_data(TXB0SIDH);

		spi_data(((unsigned char)(msg->msg.port_src << 2)) |
				(msg->msg.port_dst >> 4));
		spi_data((unsigned char)((msg->msg.port_dst & 0x0C) << 3) |
				(1<<EXIDE) | (msg->msg.port_dst & 0x03));
		spi_data(msg->msg.addr_src);
		spi_data(msg->msg.addr_dst);
		spi_data(msg->msg.dlc);
		for(x=0;x<msg->msg.dlc;x++) {
			spi_data(msg->msg.data[x]);
		}
		spi_clear_ss();
		spi_set_ss();
		spi_data(WRITE);
		spi_data(TXB0CTRL);
		spi_data((1<<TXREQ));
		spi_clear_ss();
	}
	
	//get a message from mcp2515 and disable RX interrupt Condition
	void message_fetch(can_message_x * msg) {
		unsigned char tmp1, tmp2, tmp3;
		unsigned char x;

		spi_set_ss();
		spi_data(READ);
		spi_data(RXB0SIDH);
		tmp1 = spi_data(0);
		msg->msg.port_src = tmp1 >> 2;
		tmp2 = spi_data(0);
		tmp3 = (unsigned char)((unsigned char)(tmp2 >> 3) & 0x0C);
		msg->msg.port_dst = ((unsigned char)(tmp1 <<4 ) & 0x30) | tmp3 |
				(unsigned char)(tmp2 & 0x03);
		msg->msg.addr_src = spi_data(0);
		msg->msg.addr_dst = spi_data(0);
		msg->msg.dlc = spi_data(0) & 0x0F;
		for(x=0;x<msg->msg.dlc;x++) {
			msg->msg.data[x] = spi_data(0);
		}
		spi_clear_ss();

		mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
	}

	#ifdef CAN_INTERRUPT
		static can_message_x RX_BUFFER[CAN_RX_BUFFER_SIZE],
			TX_BUFFER[CAN_TX_BUFFER_SIZE];
		unsigned char RX_HEAD=0;volatile unsigned char RX_TAIL=0;
		unsigned char TX_HEAD= 0;volatile unsigned char TX_TAIL=0;
		static volatile unsigned char TX_INT;
		
		ISR(INT0_vect) {
			unsigned char status = mcp_status();

			if ( status & 0x01 ) {	// Message in RX0
				if ( !(((can_message_x*)&RX_BUFFER[RX_HEAD])->flags & 0x01) ) {
					message_fetch(&RX_BUFFER[RX_HEAD]);
					RX_BUFFER[RX_HEAD].flags |= 0x01;//mark buffer as used
					if( ++RX_HEAD == CAN_RX_BUFFER_SIZE) RX_HEAD = 0;
				}else{
					//buffer overflow
					//just clear the Interrupt condition, and lose the message
					mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
				}
			} else if ( status & 0x08 ) {	// TX1 empty
				if(((can_message_x*)&TX_BUFFER[TX_TAIL])->flags & 0x01) {
					((can_message_x*)&TX_BUFFER[TX_TAIL])->flags &= ~0x01;
					TX_INT = 1;
					message_load(&TX_BUFFER[TX_TAIL]);
					if(++TX_TAIL == CAN_TX_BUFFER_SIZE) TX_TAIL = 0;
				}else{
					TX_INT = 0;
				}
				mcp_bitmod(CANINTF, (1<<TX0IF), 0x00);
			} else {
				#ifdef CAN_HANDLEERROR
					status = mcp_read(EFLG);

					if(status) { // we've got a error condition
						can_error = status;

						mcp_write(EFLG, 0);
					}
				#endif // CAN_HANDLEERROR
			}
		}
	#endif


	void mcp_reset() {
		spi_set_ss();
		spi_data(RESET);
		spi_clear_ss();
	}

	void mcp_write(unsigned char reg, unsigned char data) {
		spi_set_ss();
		spi_data(WRITE);
		spi_data(reg);
		spi_data(data);
		spi_clear_ss();
	}

	/*
	 void mcp_write_b(unsigned char reg, unsigned char *buf, unsigned char len) {
		unsigned char x;
		spi_set_ss();
		spi_data(WRITE);
		spi_data(reg);
		for(x=0;x<len;x++) {
			spi_data(buf[x]);
		}
		spi_clear_ss();
	}
	*/

	unsigned char mcp_read(unsigned char reg) {
		unsigned char d;
		spi_set_ss();
		spi_data(READ);
		spi_data(reg);
		d = spi_data(0);
		spi_clear_ss();
		return d;
	}

	/*
		void mcp_read_b(unsigned char reg, unsigned char *buf, unsigned char len) {
			unsigned char x;
			spi_set_ss();
			spi_data(READ);
			spi_data(reg);
			for(x=0;x<len;x++) {
				buf[x] = spi_data(0);
			}
			spi_clear_ss();
		}
	*/


	/* Management */
	void can_setmode(can_mode_t mode) {
		unsigned char val = mode << 5;
		val |= 0x04; // CLKEN
	
		mcp_write( CANCTRL, val );
	}

	void can_setfilter() {
		//RXM1   RXM0
		//  0      0     receive matching filter
		//  0      1     " only 11bit Identifier
		//  1      0     " only 29bit Identifier
		//  1      1     any
		mcp_write(RXB0CTRL, (1<<RXM1) | (1<<RXM0));
	}
	
	void can_setled(unsigned char led, unsigned char state) {
		mcp_bitmod(BFPCTRL, 0x10<<led, state?0xff:0);
	}
	
	/*******************************************************************/
	void delayloop(){
		unsigned char x;
		for(x=0;x<255;x++){
			asm ("nop");
		}
	
	}
	
	void can_init(){
		//set Slave select high
		SPI_PORT |= (1<<SPI_PIN_SS);

		#ifdef CAN_INTERRUPT
			unsigned char x;
			for(x=0;x<CAN_RX_BUFFER_SIZE;x++){
				RX_BUFFER[x].flags = 0;
			}
			for(x=0;x<CAN_TX_BUFFER_SIZE;x++){
				TX_BUFFER[x].flags = 0;
			}

		#endif

		#ifdef CAN_HANDLEERROR
			can_error = 0;
		#endif

		mcp_reset();

		delayloop();

		mcp_write(BFPCTRL,0x0C);//RXBF Pins to Output

		// 0x01 : 125kbit/8MHz
		// 0x03 : 125kbit/16MHz
		// 0x04 : 125kbit/20MHz

		#if FREQ == 16000000
			#define CNF1_T 0x03
		#elif FREQ == 8000000
			#define CNF1_T 0x01
		#elif FREQ == 20000000
			#define CNF1_T 0x04
		#else
			#error Can Baudrate is only defined for 8, 16 and 20 MHz
		#endif

		mcp_write( CNF1, 0x40 | CNF1_T );
		mcp_write( CNF2, 0xf1 );
		mcp_write( CNF3, 0x05 );
	
		// configure IRQ: this only configures the INT Output of the mcp2515, not
		// the int on the Atmel
		mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
	
		can_setfilter();
		can_setmode(normal);
	
		#ifdef CAN_INTERRUPT

			// configure IRQ: this only configures the INT Output of the mcp2515,
			// not the int on the Atmel
			mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );

			#ifdef __C64__
				#error not implemented yet
			#elif ATMEGA
				//this turns on INT0 on the Atmega
				GICR |= (1<<INT0);
			#else
				//this turns on INT0 on the Atmel
				MCUCR |=  (1<<ISC01);
				GIMSK |= (1<<INT0);
			#endif //ATMEGA
		#else  //CAN_INTERRUPT
			// configure IRQ: this only configures the INT Output of the mcp2515,
			// not the int on the Atmel
			mcp_write( CANINTE, (1<<RX0IE) ); //only turn RX int on
		#endif //CAN_INTERRUPT
	}

	#ifdef CAN_INTERRUPT
		//returns next can message in buffer, or 0 Pointer if buffer is empty
		can_message * can_get_nb() {
			can_message_x *p;
			if(RX_HEAD == RX_TAIL) {
				return 0;
			} else {
				p = &RX_BUFFER[RX_TAIL];
				if(++RX_TAIL == CAN_RX_BUFFER_SIZE) RX_TAIL = 0;
				return &(p->msg);
			}
		}

		can_message * can_get() {
			can_message_x *p;

			while(RX_HEAD == RX_TAIL) {};

			p = &RX_BUFFER[RX_TAIL];
			if(++RX_TAIL == CAN_RX_BUFFER_SIZE) RX_TAIL = 0;

			return &(p->msg);
		}

		//marks a receive buffer as unused again so it can be overwritten in Interrupt
		void can_free(can_message * msg) {
			can_message_x * msg_x = (can_message_x *) msg;
			msg_x->flags = 0;
		}

		//returns pointer to the next can TX buffer
		can_message * can_buffer_get() {
			can_message_x *p;
			p = &TX_BUFFER[TX_HEAD];
			while (p->flags&0x01); //wait until buffer is free
			if(++TX_HEAD == CAN_TX_BUFFER_SIZE) TX_HEAD = 0;
			return &(p->msg);
		}

		//start transmitting can messages, and mark message msg as transmittable
		void can_transmit(can_message* msg2) {
			can_message_x* msg=(can_message_x*) msg2;
			if(msg) {
				msg->flags |= 0x01;
			}
			if(!TX_INT) {
				if(((can_message_x*)&TX_BUFFER[TX_TAIL])->flags & 0x01) {
					((can_message_x*)&TX_BUFFER[TX_TAIL])->flags &= ~0x01;
					TX_INT = 1;
					message_load(&TX_BUFFER[TX_TAIL]);
					if(++TX_TAIL == CAN_TX_BUFFER_SIZE) TX_TAIL = 0;
				}
			}
		}
	#else  // NON INTERRUPT VERSION
		can_message_x RX_MESSAGE, TX_MESSAGE;

		can_message * can_get_nb() {
			//check the pin, that the MCP's interrupt output connects to
			if(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)) {
				return 0;
			} else {
				//So the MCP Generates an RX Interrupt
				message_fetch(&RX_MESSAGE);
				return &(RX_MESSAGE.msg);
			}
		}

		can_message * can_get() {
			//wait while the MCP doesn't generate an RX Interrupt
			while(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)) {};

			message_fetch(&RX_MESSAGE);
			return &(RX_MESSAGE.msg);
		}

		//only for compatibility with Interrupt driven Version
		can_message * can_buffer_get() {
			return &(TX_MESSAGE.msg);
		}

		void can_transmit(can_message * msg) {
			message_load((can_message_x*)msg);
		}

		void can_free(can_message * msg) {
		}
	#endif /* CAN_INTERRUPT */
#else /* ifdef __AVR__ */
	/* stubs for simulator */
	static can_message null_msg = {0};
	unsigned char mcp_status() {return 0;}
	void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val){}
	void message_load(can_message_x * msg){}
	void message_fetch(can_message_x * msg){}
	void mcp_reset(){}
	void mcp_write(unsigned char reg, unsigned char data){}
	unsigned char mcp_read(unsigned char reg){return 0;}
	void can_setmode(can_mode_t mode) {}
	void can_setfilter() {}
	void can_setled(unsigned char led, unsigned char state){}
	void delayloop(){}
	void can_init(){}
	can_message * can_get_nb(){return &null_msg;}
	can_message * can_get(){return &null_msg;}
	can_message * can_buffer_get(){return &null_msg;}
	void can_transmit(can_message * msg){}
	void can_free(can_message * msg){}
#endif