Lab_interaccio/2012/Pinball_CAN_Simple/CAN_.h

#ifndef CAN_H
#define CAN_H



#include <inttypes.h>
#include <avr/io.h>
#include <util/delay.h>

#include "pinout.h"


//----------------------------------------------------------------------------
// CLASS
//----------------------------------------------------------------------------

class CANClass
{
	public:
		typedef struct
		{
			uint16_t id;
			struct 
			{
				int8_t rtr : 1;
				uint8_t length : 4;
			} header;
			uint8_t data[8];
		} msgCAN;


		void begin(uint16_t speed);
		uint8_t send(msgCAN *message);
		uint8_t ReadFromDevice(msgCAN *message);
		uint8_t CheckNew(void);
		void SetMode(uint8_t mode); 
		void SetFilters(uint16_t *Filters,uint16_t *Masks);

		//Buffer
		void store(msgCAN *message);
		uint8_t available(void);
		void read(msgCAN *message);	
		


	private:
		uint8_t spi_putc( uint8_t data );
		void mcp2515_write_register( uint8_t adress, uint8_t data );
		uint8_t mcp2515_read_status(uint8_t type);
		void mcp2515_bit_modify(uint8_t adress, uint8_t mask, uint8_t data);
		uint8_t mcp2515_check_free_buffer(void);
		uint8_t mcp2515_read_register(uint8_t adress);
		
		
		#define  RX_CAN_BUFFER_SIZE  10
		typedef struct {
			msgCAN 	buffer[RX_CAN_BUFFER_SIZE];
			uint8_t 	head;
			uint8_t 	tail;
		}RX_CAN_BUFFER;		
		RX_CAN_BUFFER    _CAN_RX_BUFFER;
	

		
};

//----------------------------------------------------------------------------
// VARIABLES
//----------------------------------------------------------------------------

extern CANClass CAN;
extern CANClass::msgCAN CAN_TxMsg;
extern CANClass::msgCAN CAN_RxMsg;


//----------------------------------------------------------------------------
// MACROS 
//----------------------------------------------------------------------------

#define	true	1
#define	false	0

#define	True	1
#define	False	0



#define	RESET(x)		_XRS(x)
#define	SET(x)			_XS(x)
#define	TOGGLE(x)		_XT(x)
#define	SET_OUTPUT(x)		_XSO(x)
#define	SET_INPUT(x)		_XSI(x)
#define	IS_SET(x)		_XR(x)

#define	PORT(x)			_port2(x)
#define	DDR(x)			_ddr2(x)
#define	PIN(x)			_pin2(x)

#define	_XRS(x,y)		PORT(x) &= ~(1<<y)
#define	_XS(x,y)		PORT(x) |= (1<<y)
#define	_XT(x,y)		PORT(x) ^= (1<<y)

#define	_XSO(x,y)		DDR(x) |= (1<<y)
#define	_XSI(x,y)		DDR(x) &= ~(1<<y)

#define	_XR(x,y)		((PIN(x) & (1<<y)) != 0)

#define	_port2(x)		PORT ## x
#define	_ddr2(x)		DDR ## x
#define	_pin2(x)		PIN ## x


//----------------------------------------------------------------------------
// MCP2515 DEFINITIONS
//----------------------------------------------------------------------------

#define LISTEN_ONLY_MODE	0x01
#define LOOPBACK_MODE		0x02
#define SLEEP_MODE		0x03
#define NORMAL_MODE		0x04


#define SPI_RESET	0xC0
#define	SPI_READ	0x03
#define	SPI_READ_RX	0x90
#define	SPI_WRITE	0x02
#define	SPI_WRITE_TX	0x40
#define	SPI_RTS		0x80
#define SPI_READ_STATUS	0xA0
#define	SPI_RX_STATUS	0xB0
#define	SPI_BIT_MODIFY	0x05



#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 CANINTF	0x2C
#define EFLG	0x2D

#define TXB0CTRL	0x30
#define TXB0SIDH	0x31
#define TXB0SIDL	0x32
#define TXB0EID8	0x33
#define TXB0EID0	0x34
#define TXB0DLC	0x35
#define TXB0D0	0x36
#define TXB0D1	0x37
#define TXB0D2	0x38
#define TXB0D3	0x39
#define TXB0D4	0x3A
#define TXB0D5	0x3B
#define TXB0D6	0x3C
#define TXB0D7	0x3D

#define TXB1CTRL	0x40
#define TXB1SIDH	0x41
#define TXB1SIDL	0x42
#define TXB1EID8	0x43
#define TXB1EID0	0x44
#define TXB1DLC	0x45
#define TXB1D0	0x46
#define TXB1D1	0x47
#define TXB1D2	0x48
#define TXB1D3	0x49
#define TXB1D4	0x4A
#define TXB1D5	0x4B
#define TXB1D6	0x4C
#define TXB1D7	0x4D

#define TXB2CTRL	0x50
#define TXB2SIDH	0x51
#define TXB2SIDL	0x52
#define TXB2EID8	0x53
#define TXB2EID0	0x54
#define TXB2DLC	0x55
#define TXB2D0	0x56
#define TXB2D1	0x57
#define TXB2D2	0x58
#define TXB2D3	0x59
#define TXB2D4	0x5A
#define TXB2D5	0x5B
#define TXB2D6	0x5C
#define TXB2D7	0x5D

#define RXB0CTRL	0x60
#define RXB0SIDH	0x61
#define RXB0SIDL	0x62
#define RXB0EID8	0x63
#define RXB0EID0	0x64
#define RXB0DLC	0x65
#define RXB0D0	0x66
#define RXB0D1	0x67
#define RXB0D2	0x68
#define RXB0D3	0x69
#define RXB0D4	0x6A
#define RXB0D5	0x6B
#define RXB0D6	0x6C
#define RXB0D7	0x6D

#define RXB1CTRL	0x70
#define RXB1SIDH	0x71
#define RXB1SIDL	0x72
#define RXB1EID8	0x73
#define RXB1EID0	0x74
#define RXB1DLC	0x75
#define RXB1D0	0x76
#define RXB1D1	0x77
#define RXB1D2	0x78
#define RXB1D3	0x79
#define RXB1D4	0x7A
#define RXB1D5	0x7B
#define RXB1D6	0x7C
#define RXB1D7	0x7D

//BFPCTRL 
#define B1BFS	5
#define B0BFS	4
#define B1BFE	3
#define B0BFE	2
#define B1BFM	1
#define B0BFM	0

//TXRTSCTRL 
#define B2RTS	5
#define B1RTS	4
#define B0RTS	3
#define B2RTSM	2
#define B1RTSM	1
#define B0RTSM	0

//CANSTAT 
#define OPMOD2	7
#define OPMOD1	6
#define OPMOD0	5
#define ICOD2	3
#define ICOD1	2
#define ICOD0	1

//CANCTRL 
#define REQOP2	7
#define REQOP1	6
#define REQOP0	5
#define ABAT	4
#define OSM		3
#define CLKEN	2
#define CLKPRE1	1
#define CLKPRE0	0

//CNF3 
#define WAKFIL	6
#define PHSEG22	2
#define PHSEG21	1
#define PHSEG20	0

//CNF2 
#define BTLMODE	7
#define SAM		6
#define PHSEG12	5
#define PHSEG11	4
#define PHSEG10	3
#define PHSEG2	2
#define PHSEG1	1
#define PHSEG0	0

//CNF1 
#define SJW1	7
#define SJW0	6
#define BRP5	5
#define BRP4	4
#define BRP3	3
#define BRP2	2
#define BRP1	1
#define BRP0	0

//CANINTE 
#define MERRE	7
#define WAKIE	6
#define ERRIE	5
#define TX2IE	4
#define TX1IE	3
#define TX0IE	2
#define RX1IE	1
#define RX0IE	0

//CANINTF 
#define MERRF	7
#define WAKIF	6
#define ERRIF	5
#define TX2IF	4
#define TX1IF	3
#define TX0IF	2
#define RX1IF	1
#define RX0IF	0

//EFLG 
#define RX1OVR	7
#define RX0OVR	6
#define TXB0	5
#define TXEP	4
#define RXEP	3
#define TXWAR	2
#define RXWAR	1
#define EWARN	0

//TXBnCTRL (n = 0, 1, 2) 
#define ABTF	6
#define MLOA	5
#define TXERR	4
#define TXREQ	3
#define TXP1	1
#define TXP0	0

//RXB0CTRL 
#define RXM1	6
#define RXM0	5
#define RXRTR	3
#define BUKT	2
#define BUKT1	1
#define FILHIT0	0

//TXBnSIDL (n = 0, 1) 
#define	EXIDE	3


//RXB1CTRL

#define FILHIT2		2
#define FILHIT1		1

//RXBnSIDL (n = 0, 1) 
#define	SRR		4
#define	IDE		3


//RXBnDLC (n = 0, 1)

#define	RTR			6
#define	DLC3		3
#define	DLC2		2
#define	DLC1		1
#define DLC0		0


//----------------------------------------------------------------------------





#endif