ESP32_OSC_IMU/lib/M5Stack/examples/Unit/CAN/can_regdef.h

/**
 * @section License
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2017, Thomas Barth, barth-dev.de
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use, copy,
 * modify, merge, publish, distribute, sublicense, and/or sell copies
 * of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
 * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
 * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

#ifndef __DRIVERS_CAN_REGDEF_H_
#define __DRIVERS_CAN_REGDEF_H_

#include "CAN.h" //CAN_FIR_t

#ifdef __cplusplus
extern "C" {
#endif

/** \brief Start address of CAN registers */
#define MODULE_CAN ((volatile CAN_Module_t *) 0x3ff6b000)

/** \brief Get standard message ID */
#define _CAN_GET_STD_ID                                                                                                \
	(((uint32_t) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] << 3) | (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] >> 5))

/** \brief Get extended message ID */
#define _CAN_GET_EXT_ID                                                                                                \
	(((uint32_t) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] << 21) |                                                   \
	 (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] << 13) | (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] << 5) |          \
	 (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] >> 3))

/** \brief Set standard message ID */
#define _CAN_SET_STD_ID(x)                                                                                             \
	MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] = ((x) >> 3);                                                           \
	MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] = ((x) << 5);

/** \brief Set extended message ID */
#define _CAN_SET_EXT_ID(x)                                                                                             \
	MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] = ((x) >> 21);                                                          \
	MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] = ((x) >> 13);                                                          \
	MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] = ((x) >> 5);                                                           \
	MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] = ((x) << 3);

/** \brief Interrupt status register */
typedef enum {
	__CAN_IRQ_RX = BIT(0),           /**< \brief RX Interrupt */
	__CAN_IRQ_TX = BIT(1),           /**< \brief TX Interrupt */
	__CAN_IRQ_ERR = BIT(2),          /**< \brief Error Interrupt */
	__CAN_IRQ_DATA_OVERRUN = BIT(3), /**< \brief Data Overrun Interrupt */
	__CAN_IRQ_WAKEUP = BIT(4),       /**< \brief Wakeup Interrupt */
	__CAN_IRQ_ERR_PASSIVE = BIT(5),  /**< \brief Passive Error Interrupt */
	__CAN_IRQ_ARB_LOST = BIT(6),     /**< \brief Arbitration lost interrupt */
	__CAN_IRQ_BUS_ERR = BIT(7),      /**< \brief Bus error Interrupt */
} __CAN_IRQ_t;

/** \brief OCMODE options. */
typedef enum {
	__CAN_OC_BOM = 0b00, /**< \brief bi-phase output mode */
	__CAN_OC_TOM = 0b01, /**< \brief test output mode */
	__CAN_OC_NOM = 0b10, /**< \brief normal output mode */
	__CAN_OC_COM = 0b11, /**< \brief clock output mode */
} __CAN_OCMODE_t;

/**
 * CAN controller (SJA1000).
 */
typedef struct {
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RM : 1;           /**< \brief MOD.0 Reset Mode */
			unsigned int LOM : 1;          /**< \brief MOD.1 Listen Only Mode */
			unsigned int STM : 1;          /**< \brief MOD.2 Self Test Mode */
			unsigned int AFM : 1;          /**< \brief MOD.3 Acceptance Filter Mode */
			unsigned int SM : 1;           /**< \brief MOD.4 Sleep Mode */
			unsigned int reserved_27 : 27; /**< \brief \internal Reserved */
		} B;
	} MOD;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int TR : 1;           /**< \brief CMR.0 Transmission Request */
			unsigned int AT : 1;           /**< \brief CMR.1 Abort Transmission */
			unsigned int RRB : 1;          /**< \brief CMR.2 Release Receive Buffer */
			unsigned int CDO : 1;          /**< \brief CMR.3 Clear Data Overrun */
			unsigned int GTS : 1;          /**< \brief CMR.4 Go To Sleep */
			unsigned int reserved_27 : 27; /**< \brief \internal Reserved */
		} B;
	} CMR;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RBS : 1;          /**< \brief SR.0 Receive Buffer Status */
			unsigned int DOS : 1;          /**< \brief SR.1 Data Overrun Status */
			unsigned int TBS : 1;          /**< \brief SR.2 Transmit Buffer Status */
			unsigned int TCS : 1;          /**< \brief SR.3 Transmission Complete Status */
			unsigned int RS : 1;           /**< \brief SR.4 Receive Status */
			unsigned int TS : 1;           /**< \brief SR.5 Transmit Status */
			unsigned int ES : 1;           /**< \brief SR.6 Error Status */
			unsigned int BS : 1;           /**< \brief SR.7 Bus Status */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
		} B;
	} SR;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RI : 1;           /**< \brief IR.0 Receive Interrupt */
			unsigned int TI : 1;           /**< \brief IR.1 Transmit Interrupt */
			unsigned int EI : 1;           /**< \brief IR.2 Error Interrupt */
			unsigned int DOI : 1;          /**< \brief IR.3 Data Overrun Interrupt */
			unsigned int WUI : 1;          /**< \brief IR.4 Wake-Up Interrupt */
			unsigned int EPI : 1;          /**< \brief IR.5 Error Passive Interrupt */
			unsigned int ALI : 1;          /**< \brief IR.6 Arbitration Lost Interrupt */
			unsigned int BEI : 1;          /**< \brief IR.7 Bus Error Interrupt */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
		} B;
	} IR;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RIE : 1;          /**< \brief IER.0 Receive Interrupt Enable */
			unsigned int TIE : 1;          /**< \brief IER.1 Transmit Interrupt Enable */
			unsigned int EIE : 1;          /**< \brief IER.2 Error Interrupt Enable */
			unsigned int DOIE : 1;         /**< \brief IER.3 Data Overrun Interrupt Enable */
			unsigned int WUIE : 1;         /**< \brief IER.4 Wake-Up Interrupt Enable */
			unsigned int EPIE : 1;         /**< \brief IER.5 Error Passive Interrupt Enable */
			unsigned int ALIE : 1;         /**< \brief IER.6 Arbitration Lost Interrupt Enable */
			unsigned int BEIE : 1;         /**< \brief IER.7 Bus Error Interrupt Enable */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} IER;
	uint32_t RESERVED0;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int BRP : 6;          /**< \brief BTR0[5:0] Baud Rate Prescaler */
			unsigned int SJW : 2;          /**< \brief BTR0[7:6] Synchronization Jump Width*/
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} BTR0;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int TSEG1 : 4;        /**< \brief BTR1[3:0] Timing Segment 1 */
			unsigned int TSEG2 : 3;        /**< \brief BTR1[6:4] Timing Segment 2*/
			unsigned int SAM : 1;          /**< \brief BTR1.7 Sampling*/
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} BTR1;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int OCMODE : 2;       /**< \brief OCR[1:0] Output Control Mode, see # */
			unsigned int OCPOL0 : 1;       /**< \brief OCR.2 Output Control Polarity 0 */
			unsigned int OCTN0 : 1;        /**< \brief OCR.3 Output Control Transistor N0 */
			unsigned int OCTP0 : 1;        /**< \brief OCR.4 Output Control Transistor P0 */
			unsigned int OCPOL1 : 1;       /**< \brief OCR.5 Output Control Polarity 1 */
			unsigned int OCTN1 : 1;        /**< \brief OCR.6 Output Control Transistor N1 */
			unsigned int OCTP1 : 1;        /**< \brief OCR.7 Output Control Transistor P1 */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} OCR;
	uint32_t RESERVED1[2];
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int ALC : 8;          /**< \brief ALC[7:0] Arbitration Lost Capture */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} ALC;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int ECC : 8;          /**< \brief ECC[7:0] Error Code Capture */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} ECC;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int EWLR : 8;         /**< \brief EWLR[7:0] Error Warning Limit */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} EWLR;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RXERR : 8;        /**< \brief RXERR[7:0] Receive Error Counter */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} RXERR;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int TXERR : 8;        /**< \brief TXERR[7:0] Transmit Error Counter */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} TXERR;

	union {
		struct {
			uint32_t CODE[4]; /**< \brief Acceptance Message ID */
			uint32_t MASK[4]; /**< \brief Acceptance Mask */
			uint32_t RESERVED2[5];
		} ACC; /**< \brief Acceptance filtering */
		struct {
			CAN_FIR_t FIR; /**< \brief Frame information record */
			union {
				struct {
					uint32_t ID[2];   /**< \brief Standard frame message-ID*/
					uint32_t data[8]; /**< \brief Standard frame payload */
					uint32_t reserved[2];
				} STD; /**< \brief Standard frame format */
				struct {
					uint32_t ID[4];   /**< \brief Extended frame message-ID*/
					uint32_t data[8]; /**< \brief Extended frame payload */
				} EXT;                /**< \brief Extended frame format */
			} TX_RX;                  /**< \brief RX/TX interface */
		} FCTRL;                      /**< \brief Function control regs */
	} MBX_CTRL;                       /**< \brief Mailbox control */
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RMC : 8;          /**< \brief RMC[7:0] RX Message Counter */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved Enable */
		} B;
	} RMC;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int RBSA : 8;         /**< \brief RBSA[7:0] RX Buffer Start Address  */
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved Enable */
		} B;
	} RBSA;
	union {
		uint32_t U; /**< \brief Unsigned access */
		struct {
			unsigned int COD : 3;        /**< \brief CDR[2:0] CLKOUT frequency selector based of fOSC*/
			unsigned int COFF : 1;       /**< \brief CDR.3 CLKOUT off*/
			unsigned int reserved_1 : 1; /**< \brief \internal Reserved */
			unsigned int
			RXINTEN : 1; /**< \brief CDR.5 This bit allows the TX1 output to be used as a dedicated receive interrupt
			                output*/
			unsigned int
			CBP : 1; /**< \brief CDR.6 allows to bypass the CAN input comparator and is only possible in reset mode.*/
			unsigned int
			CAN_M : 1; /**< \brief CDR.7 If CDR.7 is at logic 0 the CAN controller operates in BasicCAN mode. If set to
			              logic 1 the CAN controller operates in PeliCAN mode. Write access is only possible in reset
			              mode*/
			unsigned int reserved_24 : 24; /**< \brief \internal Reserved  */
		} B;
	} CDR;
	uint32_t IRAM[2];
} CAN_Module_t;

#ifdef __cplusplus
}
#endif

#endif /* __DRIVERS_CAN_REGDEF_H_ */