235 lines
7.6 KiB
C
235 lines
7.6 KiB
C
/* SPDX-License-Identifier: GPL-2.0 */
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/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
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*
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* File es58x_fd.h: Definitions and declarations specific to ETAS
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* ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
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* when referring to those two variants together).
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*
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* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
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* Copyright (c) 2020 ETAS K.K.. All rights reserved.
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* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
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*/
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#ifndef __ES58X_FD_H__
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#define __ES58X_FD_H__
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#include <linux/types.h>
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#define ES582_1_NUM_CAN_CH 2
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#define ES584_1_NUM_CAN_CH 1
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#define ES58X_FD_NUM_CAN_CH 2
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#define ES58X_FD_CHANNEL_IDX_OFFSET 0
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#define ES58X_FD_TX_BULK_MAX 100
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#define ES58X_FD_RX_BULK_MAX 100
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#define ES58X_FD_ECHO_BULK_MAX 100
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enum es58x_fd_cmd_type {
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ES58X_FD_CMD_TYPE_CAN = 0x03,
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ES58X_FD_CMD_TYPE_CANFD = 0x04,
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ES58X_FD_CMD_TYPE_DEVICE = 0xFF
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};
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/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
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enum es58x_fd_can_cmd_id {
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ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
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ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
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ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
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ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
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ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
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ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
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ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
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ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
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ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
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};
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/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
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enum es58x_fd_dev_cmd_id {
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ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
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ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
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};
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/**
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* enum es58x_fd_ctrlmode - Controller mode.
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* @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
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* @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
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* send anything, not even the acknowledgment bit.
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* @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
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* @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
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* V1.0
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* @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
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* behave when CAN FD reserved bit is monitored as
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* dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
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* field", paragraph "r0 bit"). 0 (not disable = enable): send
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* error frame. 1 (disable): goes into bus integration mode
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* (c.f. below).
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* @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
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* filtering is disabled. 1: Edge filtering is enabled. Two
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* consecutive dominant bits required to detect an edge for hard
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* synchronization.
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*/
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enum es58x_fd_ctrlmode {
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ES58X_FD_CTRLMODE_ACTIVE = 0,
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ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
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ES58X_FD_CTRLMODE_FD = BIT(4),
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ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
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ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
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ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
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};
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struct es58x_fd_bittiming {
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__le32 bitrate;
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__le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
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__le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
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__le16 brp; /* range: [brp_min-1..brp_max-1] */
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__le16 sjw; /* range: [0..sjw_max-1] */
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} __packed;
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/**
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* struct es58x_fd_tx_conf_msg - Channel configuration.
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* @nominal_bittiming: Nominal bittiming.
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* @samples_per_bit: type enum es58x_samples_per_bit.
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* @sync_edge: type enum es58x_sync_edge.
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* @physical_layer: type enum es58x_physical_layer.
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* @echo_mode: type enum es58x_echo_mode.
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* @ctrlmode: type enum es58x_fd_ctrlmode.
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* @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
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* @data_bittiming: Bittiming for flexible data-rate transmission.
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* @tdc_enabled: Transmitter Delay Compensation switch (0: TDC is
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* disabled, 1: TDC is enabled).
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* @tdco: Transmitter Delay Compensation Offset.
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* @tdcf: Transmitter Delay Compensation Filter window.
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*
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* Please refer to the microcontroller datasheet: "SAM E70/S70/V70/V71
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* Family" section 49 "Controller Area Network (MCAN)" for additional
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* information.
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*/
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struct es58x_fd_tx_conf_msg {
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struct es58x_fd_bittiming nominal_bittiming;
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u8 samples_per_bit;
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u8 sync_edge;
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u8 physical_layer;
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u8 echo_mode;
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u8 ctrlmode;
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u8 canfd_enabled;
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struct es58x_fd_bittiming data_bittiming;
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u8 tdc_enabled;
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__le16 tdco;
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__le16 tdcf;
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} __packed;
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#define ES58X_FD_CAN_CONF_LEN \
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(offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
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#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
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struct es58x_fd_tx_can_msg {
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u8 packet_idx;
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__le32 can_id;
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u8 flags;
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union {
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u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
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u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
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} __packed;
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u8 data[CANFD_MAX_DLEN];
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} __packed;
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#define ES58X_FD_CAN_TX_LEN \
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(offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
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#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
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struct es58x_fd_rx_can_msg {
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__le64 timestamp;
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__le32 can_id;
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u8 flags;
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union {
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u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
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u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
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} __packed;
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u8 data[CANFD_MAX_DLEN];
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} __packed;
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#define ES58X_FD_CAN_RX_LEN \
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(offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
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#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
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struct es58x_fd_echo_msg {
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__le64 timestamp;
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u8 packet_idx;
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} __packed;
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struct es58x_fd_rx_event_msg {
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__le64 timestamp;
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__le32 can_id;
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u8 flags; /* type enum es58x_flag */
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u8 error_type; /* 0: event, 1: error */
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u8 error_code;
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u8 event_code;
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} __packed;
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struct es58x_fd_tx_ack_msg {
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__le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
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__le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
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} __packed;
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/**
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* struct es58x_fd_urb_cmd - Commands received from or sent to the
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* ES58X FD device.
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* @SOF: Start of Frame.
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* @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
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* calculation starts at this position.
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* @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
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* @channel_idx: Channel index starting at 0.
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* @msg_len: Length of the message, excluding CRC (i.e. length of the
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* union).
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* @tx_conf_msg: Channel configuration.
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* @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
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* instead of "struct es58x_fd_tx_msg[]" because the structure
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* has a flexible size.
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* @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
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* of "struct es58x_fd_rx_msg[]" because the structure has a
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* flexible size.
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* @echo_msg: Array of echo messages (e.g. Tx messages being looped
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* back).
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* @rx_event_msg: Error or event message.
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* @tx_ack_msg: Tx acknowledgment message.
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* @timestamp: Timestamp reply.
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* @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
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* es58x_cmd_ret_code_u32).
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* @raw_msg: Message raw payload.
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* @reserved_for_crc16_do_not_use: The structure ends with a
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* CRC16. Because the structures in above union are of variable
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* lengths, we can not predict the offset of the CRC in
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* advance. Use functions es58x_get_crc() and es58x_set_crc() to
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* manipulate it.
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*/
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struct es58x_fd_urb_cmd {
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__le16 SOF;
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u8 cmd_type;
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u8 cmd_id;
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u8 channel_idx;
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__le16 msg_len;
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union {
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struct es58x_fd_tx_conf_msg tx_conf_msg;
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u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
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u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
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struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
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struct es58x_fd_rx_event_msg rx_event_msg;
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struct es58x_fd_tx_ack_msg tx_ack_msg;
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__le64 timestamp;
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__le32 rx_cmd_ret_le32;
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DECLARE_FLEX_ARRAY(u8, raw_msg);
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} __packed;
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__le16 reserved_for_crc16_do_not_use;
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} __packed;
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#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
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#define ES58X_FD_TX_URB_CMD_MAX_LEN \
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ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
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#define ES58X_FD_RX_URB_CMD_MAX_LEN \
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ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
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#endif /* __ES58X_FD_H__ */
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