Set up testbench with 2 SOCs that communicate with CAN

programs/project_init.prog

@@ -0,0 +1,116 @@
+reset:
+    br always >main
+    nop
+
+hardfault:
+    reti
+    nop
+
+memfault:
+    reti
+    nop
+
+switches_interrupt:
+    br >switches_interrupt_handler
+    nop
+
+can_interrupt:
+    br >can_interrupt_handler
+    nop
+
+.align
+led_addr: .word 0x000F0000
+switches_addr: .word 0x000F0004
+dmem_start_addr: .word 0x00000400
+dmem_end_addr: .word 0x000004FC
+priority_mask: .word 0xFFFFFF03
+
+// CAN
+can_control_addr: .word 0x000F0100
+can_command_addr: .word 0x000F0101
+can_acceptance_code_addr: .word 0x000F0104
+can_acceptance_mask_addr: .word 0x000F0105
+can_bus_timing0_addr: .word 0x000F0106
+can_bus_timing1_addr: .word 0x000F0107
+can_output_control_addr: .word 0x000F0108
+can_identifier0_addr: .word 0x000F010A
+can_identifier1_addr: .word 0x000F010B
+can_data0_addr: .word 0x000F010C
+can_data1_addr: .word 0x000F010D
+
+// CAN Constants
+acceptance_code: .word 0x00
+acceptance_mask: .word 0xFF
+// btr0: .word 0x45 Real board
+// btr1: .word 0x16 Real board
+btr0: .word 0x80
+btr1: .word 0x48
+output_control: .word 0x02
+control: .word 0xFE
+id0: .word 0xAA
+id1: .word 0xC2
+
+main:
+    // Initialize stack pointer to the end of the data memory
+    ldr r12, >dmem_end_addr
+
+    // Set runtime priority
+    ldr r0, >priority_mask
+    and r14, r0, r14
+
+    // --- CAN init ---
+    ldr r0, >can_acceptance_code_addr
+    ldr r3, >acceptance_code
+    st08 r0, r3
+
+    ldr r0, >can_acceptance_mask_addr
+    ldr r3, >acceptance_mask
+    st08 r0, r3
+
+    ldr r0, >can_bus_timing0_addr
+    ldr r3, >btr0
+    st08 r0, r3
+
+    ldr r0, >can_bus_timing1_addr
+    ldr r3, >btr1
+    st08 r0, r3
+
+    ldr r0, >can_output_control_addr
+    ldr r3, >output_control
+    st08 r0, r3
+
+    ldr r0, >can_control_addr
+    ldr r3, >control
+    st08 r0, r3
+
+    ldr r0, >led_addr
+    ldr r1, >switches_addr
+
+    st08 r0, r2
+loop:
+    br >loop
+    nop
+
+switches_interrupt_handler:
+    ld32 r2, r1
+
+    // Set LED to pattern
+    st08 r0, r2
+    
+    reti
+    nop
+
+can_interrupt_handler:
+    reti
+    nop
+
+wait:
+	clr r7
+    clr r8
+    addi r8, 16
+inc_i:
+	cmp neq r7,r8
+	br true >inc_i
+	addi r7,1
+	ret
+    nop