mirror of
https://github.com/supleed2/EIE4-FYP.git
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57 lines
2.4 KiB
Python
57 lines
2.4 KiB
Python
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from migen import *
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from litex.soc.interconnect.csr import *
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from litex.soc.integration.doc import ModuleDoc
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# CAN Receiver Module ------------------------------------------------------------------------------
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class CanReceiver(Module, AutoCSR, ModuleDoc):
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"""
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CAN Receiver Module
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Interface for the Microchip ATA6561-GAQW-N CAN Transceiver
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"""
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def __init__(self, platform, pads):
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platform.add_source("rtl/can.sv")
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self.pads = pads
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self.can_id = CSRStorage(size = 11, reset = 0x123, description = "CAN ID to receive messages from")
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self.id_mask = CSRStorage(size = 11, reset = 0x7FF, description = "Mask for CAN ID")
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self.rcv_id = CSRStatus(size = 11, description = "Received message CAN ID")
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self.rcv_data0 = CSRStatus(size = 8, description = "Received message data byte 0")
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self.rcv_data1 = CSRStatus(size = 8, description = "Received message data byte 1")
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self.rcv_data2 = CSRStatus(size = 8, description = "Received message data byte 2")
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self.rcv_data3 = CSRStatus(size = 8, description = "Received message data byte 3")
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self.rcv_data4 = CSRStatus(size = 8, description = "Received message data byte 4")
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self.rcv_data5 = CSRStatus(size = 8, description = "Received message data byte 5")
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self.rcv_data6 = CSRStatus(size = 8, description = "Received message data byte 6")
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self.rcv_data7 = CSRStatus(size = 8, description = "Received message data byte 7")
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# Pin Connections
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self.can_rx = Signal()
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self.can_tx = Signal()
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# # #
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self.specials += Instance("can",
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i_i_clk = ClockSignal(),
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i_i_rst_n = ~ResetSignal(),
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i_i_id = self.can_id.storage,
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i_i_mask = self.id_mask.storage,
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i_i_rx = self.can_rx,
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o_o_tx = self.can_tx,
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o_o_id = self.rcv_id.status,
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o_o_data0 = self.rcv_data0.status,
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o_o_data1 = self.rcv_data1.status,
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o_o_data2 = self.rcv_data2.status,
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o_o_data3 = self.rcv_data3.status,
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o_o_data4 = self.rcv_data4.status,
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o_o_data5 = self.rcv_data5.status,
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o_o_data6 = self.rcv_data6.status,
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o_o_data7 = self.rcv_data7.status,
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)
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self.comb += self.can_rx.eq(self.pads.rx)
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self.comb += self.pads.tx.eq(self.can_tx)
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