sja1000_private.h
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1 // ----------------------------------------------------------------------------
2 /*
3  * Copyright (c) 2007 Fabian Greif, Roboterclub Aachen e.V.
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions
8  * are met:
9  * 1. Redistributions of source code must retain the above copyright
10  * notice, this list of conditions and the following disclaimer.
11  * 2. Redistributions in binary form must reproduce the above copyright
12  * notice, this list of conditions and the following disclaimer in the
13  * documentation and/or other materials provided with the distribution.
14  *
15  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
16  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18  * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
19  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
20  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
21  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
22  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
23  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
24  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
25  * SUCH DAMAGE.
26  *
27  * $Id$
28  */
29 // ----------------------------------------------------------------------------
30 
31 #ifndef SJA1000_PRIVATE_H
32 #define SJA1000_PRIVATE_H
33 
34 // ----------------------------------------------------------------------------
44 // ----------------------------------------------------------------------------
45 
46 #include <avr/io.h>
47 #include <avr/pgmspace.h>
48 
49 #include "can_private.h"
50 
51 #include "can.h"
52 #include "utils.h"
53 
54 #if (BUILD_FOR_SJA1000 == 1)
55  // set some default-values
56  #ifndef SJA1000_MEMORY_MAPPED
57  #define SJA1000_MEMORY_MAPPED 0
58  #endif
59 
60  // check if the settings are correct
61  #if SUPPORT_EXTENDED_CANID == 0
62  #error Extended CANIDs need to be supported!
63  #endif
64 
65  #ifndef SJA1000_INT
66  #error SJA1000_INT is not defined!
67  #endif
68 
69  #ifndef SJA1000_CLKOUT_PRESCALER
70  #define SJA1000_CLOCK_REGISTER (1<<CLKOFF)
71  #else
72  #if SJA1000_CLKOUT_PRESCALER == 1
73  #define SJA1000_CLOCK_REGISTER ((1<<CD2)|(1<<CD1)|(1<<CD0))
74  #elif SJA1000_CLKOUT_PRESCALER == 2
75  #define SJA1000_CLOCK_REGISTER 0
76  #elif SJA1000_CLKOUT_PRESCALER == 4
77  #define SJA1000_CLOCK_REGISTER (1<<CD0)
78  #elif SJA1000_CLKOUT_PRESCALER == 6
79  #define SJA1000_CLOCK_REGISTER (1<<CD1)
80  #elif SJA1000_CLKOUT_PRESCALER == 8
81  #define SJA1000_CLOCK_REGISTER ((1<<CD1)|(1<<CD0))
82  #elif SJA1000_CLKOUT_PRESCALER == 10
83  #define SJA1000_CLOCK_REGISTER (1<<CD2)
84  #elif SJA1000_CLKOUT_PRESCALER == 12
85  #define SJA1000_CLOCK_REGISTER ((1<<CD2)|(1<<CD0))
86  #elif SJA1000_CLKOUT_PRESCALER == 14
87  #define SJA1000_CLOCK_REGISTER ((1<<CD2)|(1<<CD1))
88  #endif
89  #endif
90 
91  #if SJA1000_MEMORY_MAPPED
92  #ifndef SJA1000_BASE_ADDR
93  #error SJA1000_BASE_ADDR is not defined!
94  #endif
95 
96  #define SUPPORT_FOR_SJA1000__ 1
97 
98  // write to a register
99  static inline void sja1000_write(uint8_t address, uint8_t data) {
100  (*((uint8_t *) (SJA1000_BASE_ADDR + address))) = data;
101  }
102 
103  // read a register
104  static inline uint8_t sja1000_read(uint8_t address) {
105  return (*((uint8_t *) (SJA1000_BASE_ADDR + address)));
106  }
107 
108  #else
109  #warning not tested yet!
110 
111  #if !defined(SJA1000_WR) || !defined(SJA1000_RD) || \
112  !defined(SJA1000_CS) || !defined(SJA1000_DATA) || !defined(SJA1000_ALE)
113  #error in definition of SJA1000-pins (check SJA1000_WR, SJA1000_RD, SJA1000_CS, SJA1000_DATA and SJA1000_ALE)!
114  #endif
115 
116  #define SUPPORT_FOR_SJA1000__ 1
117  extern void sja1000_write(uint8_t address, uint8_t data);
118  extern uint8_t sja1000_read(uint8_t address);
119  #endif // SJA1000_MEMORY_MAPPED
120 
121  #ifdef SUPPORT_FOR_SJA1000__
122  #include "sja1000_defs.h"
123  #endif
124 #endif // SUPPORT_SJA1000
125 
126 #endif // SJA1000_PRIVATE_H
sja1000_defs.h
utils.h
uavcan::uint8_t
std::uint8_t uint8_t
Definition: std.hpp:24
can_private.h
SJA1000_BASE_ADDR
#define SJA1000_BASE_ADDR
Definition: src/config.h:58

uavcan_communicator
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autogenerated on Fri Dec 13 2024 03:10:03