Unfortunately I can't find a datasheet for a 6851 (or 8580). Even if I could find a datasheet, the specifications for the 6851 were apparently written before the first chip had even been fabricated. This is according to an interview with the designer Bob Yannes. So given the circumstances, I've resorted to sorting through any information I can find on the net.
Good information can be found in the documentation of past SID projects. The SID module of the MIDIBox project provides a good example of how to use a SID chip. However, all the code is in assembly (and hard to read) and the documentation isn't as complete as it could be.
The best source of information is the Commodore 64 Programmer's Reference Guide. This book is full of critical information, for example chip characteristics, specifications, registers, etc. The code examples in BASIC are somewhat useful as well, just to get a better idea of what's going on.
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