watchrobot/libraries/AP_HAL_ChibiOS/bxcan.hpp

/*
 * The MIT License (MIT)
 * 
 * Copyright (c) 2014 Pavel Kirienko
 * 
 * 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.
 */

/*
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 * 
 * Modified for Ardupilot by Siddharth Bharat Purohit
 */

#pragma once

#include "AP_HAL_ChibiOS.h"

#if HAL_WITH_UAVCAN

# if !defined(STM32H7XX)

#include <uavcan/uavcan.hpp>
#include <stdint.h>

#ifndef UAVCAN_CPP_VERSION
# error UAVCAN_CPP_VERSION
#endif

#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
// #undef'ed at the end of this file
# define constexpr const
#endif

namespace ChibiOS_CAN
{
namespace bxcan
{

struct TxMailboxType
{
    volatile uint32_t TIR;
    volatile uint32_t TDTR;
    volatile uint32_t TDLR;
    volatile uint32_t TDHR;
};

struct RxMailboxType
{
    volatile uint32_t RIR;
    volatile uint32_t RDTR;
    volatile uint32_t RDLR;
    volatile uint32_t RDHR;
};

struct FilterRegisterType
{
    volatile uint32_t FR1;
    volatile uint32_t FR2;
};

struct CanType
{
    volatile uint32_t  MCR;                 /*!< CAN master control register,         Address offset: 0x00          */
    volatile uint32_t  MSR;                 /*!< CAN master status register,          Address offset: 0x04          */
    volatile uint32_t  TSR;                 /*!< CAN transmit status register,        Address offset: 0x08          */
    volatile uint32_t  RF0R;                /*!< CAN receive FIFO 0 register,         Address offset: 0x0C          */
    volatile uint32_t  RF1R;                /*!< CAN receive FIFO 1 register,         Address offset: 0x10          */
    volatile uint32_t  IER;                 /*!< CAN interrupt enable register,       Address offset: 0x14          */
    volatile uint32_t  ESR;                 /*!< CAN error status register,           Address offset: 0x18          */
    volatile uint32_t  BTR;                 /*!< CAN bit timing register,             Address offset: 0x1C          */
    uint32_t           RESERVED0[88];       /*!< Reserved, 0x020 - 0x17F                                            */
    TxMailboxType      TxMailbox[3];        /*!< CAN Tx MailBox,                      Address offset: 0x180 - 0x1AC */
    RxMailboxType      RxMailbox[2];        /*!< CAN FIFO MailBox,                    Address offset: 0x1B0 - 0x1CC */
    uint32_t           RESERVED1[12];       /*!< Reserved, 0x1D0 - 0x1FF                                            */
    volatile uint32_t  FMR;                 /*!< CAN filter master register,          Address offset: 0x200         */
    volatile uint32_t  FM1R;                /*!< CAN filter mode register,            Address offset: 0x204         */
    uint32_t           RESERVED2;           /*!< Reserved, 0x208                                                    */
    volatile uint32_t  FS1R;                /*!< CAN filter scale register,           Address offset: 0x20C         */
    uint32_t           RESERVED3;           /*!< Reserved, 0x210                                                    */
    volatile uint32_t  FFA1R;               /*!< CAN filter FIFO assignment register, Address offset: 0x214         */
    uint32_t           RESERVED4;           /*!< Reserved, 0x218                                                    */
    volatile uint32_t  FA1R;                /*!< CAN filter activation register,      Address offset: 0x21C         */
    uint32_t           RESERVED5[8];        /*!< Reserved, 0x220-0x23F                                              */
    FilterRegisterType FilterRegister[28];  /*!< CAN Filter Register,                 Address offset: 0x240-0x31C   */
};

/**
 * CANx register sets
 */
CanType* const Can[UAVCAN_STM32_NUM_IFACES] =
{
    reinterpret_cast<CanType*>(0x40006400)
#if UAVCAN_STM32_NUM_IFACES > 1
    ,
    reinterpret_cast<CanType*>(0x40006800)
#endif
};

/* CAN master control register */

constexpr unsigned long MCR_INRQ =            (1U << 0); /* Bit 0: Initialization Request */
constexpr unsigned long MCR_SLEEP =           (1U << 1); /* Bit 1: Sleep Mode Request */
constexpr unsigned long MCR_TXFP =            (1U << 2); /* Bit 2: Transmit FIFO Priority */
constexpr unsigned long MCR_RFLM =            (1U << 3); /* Bit 3: Receive FIFO Locked Mode */
constexpr unsigned long MCR_NART =            (1U << 4); /* Bit 4: No Automatic Retransmission */
constexpr unsigned long MCR_AWUM =            (1U << 5); /* Bit 5: Automatic Wakeup Mode */
constexpr unsigned long MCR_ABOM =            (1U << 6); /* Bit 6: Automatic Bus-Off Management */
constexpr unsigned long MCR_TTCM =            (1U << 7); /* Bit 7: Time Triggered Communication Mode Enable */
constexpr unsigned long MCR_RESET =           (1U << 15);/* Bit 15: bxCAN software master reset */
constexpr unsigned long MCR_DBF =             (1U << 16);/* Bit 16: Debug freeze */

/* CAN master status register */

constexpr unsigned long MSR_INAK =            (1U << 0); /* Bit 0: Initialization Acknowledge */
constexpr unsigned long MSR_SLAK =            (1U << 1); /* Bit 1: Sleep Acknowledge */
constexpr unsigned long MSR_ERRI =            (1U << 2); /* Bit 2: Error Interrupt */
constexpr unsigned long MSR_WKUI =            (1U << 3); /* Bit 3: Wakeup Interrupt */
constexpr unsigned long MSR_SLAKI =           (1U << 4); /* Bit 4: Sleep acknowledge interrupt */
constexpr unsigned long MSR_TXM =             (1U << 8); /* Bit 8: Transmit Mode */
constexpr unsigned long MSR_RXM =             (1U << 9); /* Bit 9: Receive Mode */
constexpr unsigned long MSR_SAMP =            (1U << 10);/* Bit 10: Last Sample Point */
constexpr unsigned long MSR_RX =              (1U << 11);/* Bit 11: CAN Rx Signal */

/* CAN transmit status register */

constexpr unsigned long TSR_RQCP0 =           (1U << 0); /* Bit 0: Request Completed Mailbox 0 */
constexpr unsigned long TSR_TXOK0 =           (1U << 1); /* Bit 1 : Transmission OK of Mailbox 0 */
constexpr unsigned long TSR_ALST0 =           (1U << 2); /* Bit 2 : Arbitration Lost for Mailbox 0 */
constexpr unsigned long TSR_TERR0 =           (1U << 3); /* Bit 3 : Transmission Error of Mailbox 0 */
constexpr unsigned long TSR_ABRQ0 =           (1U << 7); /* Bit 7 : Abort Request for Mailbox 0 */
constexpr unsigned long TSR_RQCP1 =           (1U << 8); /* Bit 8 : Request Completed Mailbox 1 */
constexpr unsigned long TSR_TXOK1 =           (1U << 9); /* Bit 9 : Transmission OK of Mailbox 1 */
constexpr unsigned long TSR_ALST1 =           (1U << 10);/* Bit 10 : Arbitration Lost for Mailbox 1 */
constexpr unsigned long TSR_TERR1 =           (1U << 11);/* Bit 11 : Transmission Error of Mailbox 1 */
constexpr unsigned long TSR_ABRQ1 =           (1U << 15);/* Bit 15 : Abort Request for Mailbox 1 */
constexpr unsigned long TSR_RQCP2 =           (1U << 16);/* Bit 16 : Request Completed Mailbox 2 */
constexpr unsigned long TSR_TXOK2 =           (1U << 17);/* Bit 17 : Transmission OK of Mailbox 2 */
constexpr unsigned long TSR_ALST2 =           (1U << 18);/* Bit 18: Arbitration Lost for Mailbox 2 */
constexpr unsigned long TSR_TERR2 =           (1U << 19);/* Bit 19: Transmission Error of Mailbox 2 */
constexpr unsigned long TSR_ABRQ2 =           (1U << 23);/* Bit 23: Abort Request for Mailbox 2 */
constexpr unsigned long TSR_CODE_SHIFT =      (24U);     /* Bits 25-24: Mailbox Code */
constexpr unsigned long TSR_CODE_MASK =       (3U << TSR_CODE_SHIFT);
constexpr unsigned long TSR_TME0 =            (1U << 26);/* Bit 26: Transmit Mailbox 0 Empty */
constexpr unsigned long TSR_TME1 =            (1U << 27);/* Bit 27: Transmit Mailbox 1 Empty */
constexpr unsigned long TSR_TME2 =            (1U << 28);/* Bit 28: Transmit Mailbox 2 Empty */
constexpr unsigned long TSR_LOW0 =            (1U << 29);/* Bit 29: Lowest Priority Flag for Mailbox 0 */
constexpr unsigned long TSR_LOW1 =            (1U << 30);/* Bit 30: Lowest Priority Flag for Mailbox 1 */
constexpr unsigned long TSR_LOW2 =            (1U << 31);/* Bit 31: Lowest Priority Flag for Mailbox 2 */

/* CAN receive FIFO 0/1 registers */

constexpr unsigned long RFR_FMP_SHIFT =       (0U);      /* Bits 1-0: FIFO Message Pending */
constexpr unsigned long RFR_FMP_MASK =        (3U << RFR_FMP_SHIFT);
constexpr unsigned long RFR_FULL =            (1U << 3); /* Bit 3: FIFO 0 Full */
constexpr unsigned long RFR_FOVR =            (1U << 4); /* Bit 4: FIFO 0 Overrun */
constexpr unsigned long RFR_RFOM =            (1U << 5); /* Bit 5: Release FIFO 0 Output Mailbox */

/* CAN interrupt enable register */

constexpr unsigned long IER_TMEIE =           (1U << 0); /* Bit 0: Transmit Mailbox Empty Interrupt Enable */
constexpr unsigned long IER_FMPIE0 =          (1U << 1); /* Bit 1: FIFO Message Pending Interrupt Enable */
constexpr unsigned long IER_FFIE0 =           (1U << 2); /* Bit 2: FIFO Full Interrupt Enable */
constexpr unsigned long IER_FOVIE0 =          (1U << 3); /* Bit 3: FIFO Overrun Interrupt Enable */
constexpr unsigned long IER_FMPIE1 =          (1U << 4); /* Bit 4: FIFO Message Pending Interrupt Enable */
constexpr unsigned long IER_FFIE1 =           (1U << 5); /* Bit 5: FIFO Full Interrupt Enable */
constexpr unsigned long IER_FOVIE1 =          (1U << 6); /* Bit 6: FIFO Overrun Interrupt Enable */
constexpr unsigned long IER_EWGIE =           (1U << 8); /* Bit 8: Error Warning Interrupt Enable */
constexpr unsigned long IER_EPVIE =           (1U << 9); /* Bit 9: Error Passive Interrupt Enable */
constexpr unsigned long IER_BOFIE =           (1U << 10);/* Bit 10: Bus-Off Interrupt Enable */
constexpr unsigned long IER_LECIE =           (1U << 11);/* Bit 11: Last Error Code Interrupt Enable */
constexpr unsigned long IER_ERRIE =           (1U << 15);/* Bit 15: Error Interrupt Enable */
constexpr unsigned long IER_WKUIE =           (1U << 16);/* Bit 16: Wakeup Interrupt Enable */
constexpr unsigned long IER_SLKIE =           (1U << 17);/* Bit 17: Sleep Interrupt Enable */

/* CAN error status register */

constexpr unsigned long ESR_EWGF =            (1U << 0); /* Bit 0: Error Warning Flag */
constexpr unsigned long ESR_EPVF =            (1U << 1); /* Bit 1: Error Passive Flag */
constexpr unsigned long ESR_BOFF =            (1U << 2); /* Bit 2: Bus-Off Flag */
constexpr unsigned long ESR_LEC_SHIFT =       (4U);      /* Bits 6-4: Last Error Code */
constexpr unsigned long ESR_LEC_MASK =        (7U << ESR_LEC_SHIFT);
constexpr unsigned long ESR_NOERROR =         (0U << ESR_LEC_SHIFT);/* 000: No Error */
constexpr unsigned long ESR_STUFFERROR =      (1U << ESR_LEC_SHIFT);/* 001: Stuff Error */
constexpr unsigned long ESR_FORMERROR =       (2U << ESR_LEC_SHIFT);/* 010: Form Error */
constexpr unsigned long ESR_ACKERROR =        (3U << ESR_LEC_SHIFT);/* 011: Acknowledgment Error */
constexpr unsigned long ESR_BRECERROR =       (4U << ESR_LEC_SHIFT);/* 100: Bit recessive Error */
constexpr unsigned long ESR_BDOMERROR =       (5U << ESR_LEC_SHIFT);/* 101: Bit dominant Error */
constexpr unsigned long ESR_CRCERRPR =        (6U << ESR_LEC_SHIFT);/* 110: CRC Error */
constexpr unsigned long ESR_SWERROR =         (7U << ESR_LEC_SHIFT);/* 111: Set by software */
constexpr unsigned long ESR_TEC_SHIFT =       (16U);     /* Bits 23-16: LS byte of the 9-bit Transmit Error Counter */
constexpr unsigned long ESR_TEC_MASK =        (0xFFU << ESR_TEC_SHIFT);
constexpr unsigned long ESR_REC_SHIFT =       (24U);     /* Bits 31-24: Receive Error Counter */
constexpr unsigned long ESR_REC_MASK =        (0xFFU << ESR_REC_SHIFT);

/* CAN bit timing register */

constexpr unsigned long BTR_BRP_SHIFT =       (0U);      /* Bits 9-0: Baud Rate Prescaler */
constexpr unsigned long BTR_BRP_MASK =        (0x03FFU << BTR_BRP_SHIFT);
constexpr unsigned long BTR_TS1_SHIFT =       (16U);     /* Bits 19-16: Time Segment 1 */
constexpr unsigned long BTR_TS1_MASK =        (0x0FU <<  BTR_TS1_SHIFT);
constexpr unsigned long BTR_TS2_SHIFT =       (20U);     /* Bits 22-20: Time Segment 2 */
constexpr unsigned long BTR_TS2_MASK =        (7U << BTR_TS2_SHIFT);
constexpr unsigned long BTR_SJW_SHIFT =       (24U);     /* Bits 25-24: Resynchronization Jump Width */
constexpr unsigned long BTR_SJW_MASK =        (3U << BTR_SJW_SHIFT);
constexpr unsigned long BTR_LBKM =            (1U << 30);/* Bit 30: Loop Back Mode (Debug);*/
constexpr unsigned long BTR_SILM =            (1U << 31);/* Bit 31: Silent Mode (Debug);*/

constexpr unsigned long BTR_BRP_MAX =         (1024U);   /* Maximum BTR value (without decrement);*/
constexpr unsigned long BTR_TSEG1_MAX =       (16U);     /* Maximum TSEG1 value (without decrement);*/
constexpr unsigned long BTR_TSEG2_MAX =       (8U);      /* Maximum TSEG2 value (without decrement);*/

/* TX mailbox identifier register */

constexpr unsigned long TIR_TXRQ =            (1U << 0); /* Bit 0: Transmit Mailbox Request */
constexpr unsigned long TIR_RTR =             (1U << 1); /* Bit 1: Remote Transmission Request */
constexpr unsigned long TIR_IDE =             (1U << 2); /* Bit 2: Identifier Extension */
constexpr unsigned long TIR_EXID_SHIFT =      (3U);      /* Bit 3-31: Extended Identifier */
constexpr unsigned long TIR_EXID_MASK =       (0x1FFFFFFFU << TIR_EXID_SHIFT);
constexpr unsigned long TIR_STID_SHIFT =      (21U);     /* Bits 21-31: Standard Identifier */
constexpr unsigned long TIR_STID_MASK =       (0x07FFU << TIR_STID_SHIFT);

/* Mailbox data length control and time stamp register */

constexpr unsigned long TDTR_DLC_SHIFT =      (0U);      /* Bits 3:0: Data Length Code */
constexpr unsigned long TDTR_DLC_MASK =       (0x0FU << TDTR_DLC_SHIFT);
constexpr unsigned long TDTR_TGT =            (1U << 8); /* Bit 8: Transmit Global Time */
constexpr unsigned long TDTR_TIME_SHIFT =     (16U);     /* Bits 31:16: Message Time Stamp */
constexpr unsigned long TDTR_TIME_MASK =      (0xFFFFU << TDTR_TIME_SHIFT);

/* Mailbox data low register */

constexpr unsigned long TDLR_DATA0_SHIFT =    (0U);      /* Bits 7-0: Data Byte 0 */
constexpr unsigned long TDLR_DATA0_MASK =     (0xFFU << TDLR_DATA0_SHIFT);
constexpr unsigned long TDLR_DATA1_SHIFT =    (8U);      /* Bits 15-8: Data Byte 1 */
constexpr unsigned long TDLR_DATA1_MASK =     (0xFFU << TDLR_DATA1_SHIFT);
constexpr unsigned long TDLR_DATA2_SHIFT =    (16U);     /* Bits 23-16: Data Byte 2 */
constexpr unsigned long TDLR_DATA2_MASK =     (0xFFU << TDLR_DATA2_SHIFT);
constexpr unsigned long TDLR_DATA3_SHIFT =    (24U);     /* Bits 31-24: Data Byte 3 */
constexpr unsigned long TDLR_DATA3_MASK =     (0xFFU << TDLR_DATA3_SHIFT);

/* Mailbox data high register */

constexpr unsigned long TDHR_DATA4_SHIFT =    (0U);      /* Bits 7-0: Data Byte 4 */
constexpr unsigned long TDHR_DATA4_MASK =     (0xFFU << TDHR_DATA4_SHIFT);
constexpr unsigned long TDHR_DATA5_SHIFT =    (8U);      /* Bits 15-8: Data Byte 5 */
constexpr unsigned long TDHR_DATA5_MASK =     (0xFFU << TDHR_DATA5_SHIFT);
constexpr unsigned long TDHR_DATA6_SHIFT =    (16U);     /* Bits 23-16: Data Byte 6 */
constexpr unsigned long TDHR_DATA6_MASK =     (0xFFU << TDHR_DATA6_SHIFT);
constexpr unsigned long TDHR_DATA7_SHIFT =    (24U);     /* Bits 31-24: Data Byte 7 */
constexpr unsigned long TDHR_DATA7_MASK =     (0xFFU << TDHR_DATA7_SHIFT);

/* Rx FIFO mailbox identifier register */

constexpr unsigned long RIR_RTR =             (1U << 1); /* Bit 1: Remote Transmission Request */
constexpr unsigned long RIR_IDE =             (1U << 2); /* Bit 2: Identifier Extension */
constexpr unsigned long RIR_EXID_SHIFT =      (3U);      /* Bit 3-31: Extended Identifier */
constexpr unsigned long RIR_EXID_MASK =       (0x1FFFFFFFU << RIR_EXID_SHIFT);
constexpr unsigned long RIR_STID_SHIFT =      (21U);     /* Bits 21-31: Standard Identifier */
constexpr unsigned long RIR_STID_MASK =       (0x07FFU << RIR_STID_SHIFT);

/* Receive FIFO mailbox data length control and time stamp register */

constexpr unsigned long RDTR_DLC_SHIFT =      (0U);      /* Bits 3:0: Data Length Code */
constexpr unsigned long RDTR_DLC_MASK =       (0x0FU << RDTR_DLC_SHIFT);
constexpr unsigned long RDTR_FM_SHIFT =       (8U);      /* Bits 15-8: Filter Match Index */
constexpr unsigned long RDTR_FM_MASK =        (0xFFU << RDTR_FM_SHIFT);
constexpr unsigned long RDTR_TIME_SHIFT =     (16U);     /* Bits 31:16: Message Time Stamp */
constexpr unsigned long RDTR_TIME_MASK =      (0xFFFFU << RDTR_TIME_SHIFT);

/* Receive FIFO mailbox data low register */

constexpr unsigned long RDLR_DATA0_SHIFT =    (0U);      /* Bits 7-0: Data Byte 0 */
constexpr unsigned long RDLR_DATA0_MASK =     (0xFFU << RDLR_DATA0_SHIFT);
constexpr unsigned long RDLR_DATA1_SHIFT =    (8U);      /* Bits 15-8: Data Byte 1 */
constexpr unsigned long RDLR_DATA1_MASK =     (0xFFU << RDLR_DATA1_SHIFT);
constexpr unsigned long RDLR_DATA2_SHIFT =    (16U);     /* Bits 23-16: Data Byte 2 */
constexpr unsigned long RDLR_DATA2_MASK =     (0xFFU << RDLR_DATA2_SHIFT);
constexpr unsigned long RDLR_DATA3_SHIFT =    (24U);     /* Bits 31-24: Data Byte 3 */
constexpr unsigned long RDLR_DATA3_MASK =     (0xFFU << RDLR_DATA3_SHIFT);

/* Receive FIFO mailbox data high register */

constexpr unsigned long RDHR_DATA4_SHIFT =    (0U);      /* Bits 7-0: Data Byte 4 */
constexpr unsigned long RDHR_DATA4_MASK =     (0xFFU << RDHR_DATA4_SHIFT);
constexpr unsigned long RDHR_DATA5_SHIFT =    (8U);      /* Bits 15-8: Data Byte 5 */
constexpr unsigned long RDHR_DATA5_MASK =     (0xFFU << RDHR_DATA5_SHIFT);
constexpr unsigned long RDHR_DATA6_SHIFT =    (16U);     /* Bits 23-16: Data Byte 6 */
constexpr unsigned long RDHR_DATA6_MASK =     (0xFFU << RDHR_DATA6_SHIFT);
constexpr unsigned long RDHR_DATA7_SHIFT =    (24U);     /* Bits 31-24: Data Byte 7 */
constexpr unsigned long RDHR_DATA7_MASK =     (0xFFU << RDHR_DATA7_SHIFT);

/* CAN filter master register */

constexpr unsigned long FMR_FINIT =           (1U << 0); /* Bit 0:  Filter Init Mode */

}
}

#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
# undef constexpr
#endif
#endif //!defined(STM32H7XX)
#endif //HAL_WITH_UAVCAN