1/* SPDX-License-Identifier: GPL-2.0 */
2
3/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
4 *
5 * File es58x_fd.h: Definitions and declarations specific to ETAS
6 * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
7 * when referring to those two variants together).
8 *
9 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
10 * Copyright (c) 2020 ETAS K.K.. All rights reserved.
11 * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
12 */
13
14#ifndef __ES58X_FD_H__
15#define __ES58X_FD_H__
16
17#include <linux/types.h>
18
19#define ES582_1_NUM_CAN_CH 2
20#define ES584_1_NUM_CAN_CH 1
21#define ES58X_FD_NUM_CAN_CH 2
22#define ES58X_FD_CHANNEL_IDX_OFFSET 0
23
24#define ES58X_FD_TX_BULK_MAX 100
25#define ES58X_FD_RX_BULK_MAX 100
26#define ES58X_FD_ECHO_BULK_MAX 100
27
28enum es58x_fd_cmd_type {
29 ES58X_FD_CMD_TYPE_CAN = 0x03,
30 ES58X_FD_CMD_TYPE_CANFD = 0x04,
31 ES58X_FD_CMD_TYPE_DEVICE = 0xFF
32};
33
34/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
35enum es58x_fd_can_cmd_id {
36 ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
37 ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
38 ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
39 ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
40 ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
41 ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
42 ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
43 ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
44 ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
45};
46
47/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
48enum es58x_fd_dev_cmd_id {
49 ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
50 ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
51};
52
53/**
54 * enum es58x_fd_ctrlmode - Controller mode.
55 * @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
56 * @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
57 * send anything, not even the acknowledgment bit.
58 * @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
59 * @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
60 * V1.0
61 * @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
62 * behave when CAN FD reserved bit is monitored as
63 * dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
64 * field", paragraph "r0 bit"). 0 (not disable = enable): send
65 * error frame. 1 (disable): goes into bus integration mode
66 * (c.f. below).
67 * @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
68 * filtering is disabled. 1: Edge filtering is enabled. Two
69 * consecutive dominant bits required to detect an edge for hard
70 * synchronization.
71 */
72enum es58x_fd_ctrlmode {
73 ES58X_FD_CTRLMODE_ACTIVE = 0,
74 ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
75 ES58X_FD_CTRLMODE_FD = BIT(4),
76 ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
77 ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
78 ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
79};
80
81struct es58x_fd_bittiming {
82 __le32 bitrate;
83 __le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
84 __le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
85 __le16 brp; /* range: [brp_min-1..brp_max-1] */
86 __le16 sjw; /* range: [0..sjw_max-1] */
87} __packed;
88
89/**
90 * struct es58x_fd_tx_conf_msg - Channel configuration.
91 * @nominal_bittiming: Nominal bittiming.
92 * @samples_per_bit: type enum es58x_samples_per_bit.
93 * @sync_edge: type enum es58x_sync_edge.
94 * @physical_layer: type enum es58x_physical_layer.
95 * @echo_mode: type enum es58x_echo_mode.
96 * @ctrlmode: type enum es58x_fd_ctrlmode.
97 * @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
98 * @data_bittiming: Bittiming for flexible data-rate transmission.
99 * @tdc_enabled: Transmitter Delay Compensation switch (0: TDC is
100 * disabled, 1: TDC is enabled).
101 * @tdco: Transmitter Delay Compensation Offset.
102 * @tdcf: Transmitter Delay Compensation Filter window.
103 *
104 * Please refer to the microcontroller datasheet: "SAM E70/S70/V70/V71
105 * Family" section 49 "Controller Area Network (MCAN)" for additional
106 * information.
107 */
108struct es58x_fd_tx_conf_msg {
109 struct es58x_fd_bittiming nominal_bittiming;
110 u8 samples_per_bit;
111 u8 sync_edge;
112 u8 physical_layer;
113 u8 echo_mode;
114 u8 ctrlmode;
115 u8 canfd_enabled;
116 struct es58x_fd_bittiming data_bittiming;
117 u8 tdc_enabled;
118 __le16 tdco;
119 __le16 tdcf;
120} __packed;
121
122#define ES58X_FD_CAN_CONF_LEN \
123 (offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
124#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
125
126struct es58x_fd_tx_can_msg {
127 u8 packet_idx;
128 __le32 can_id;
129 u8 flags;
130 union {
131 u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
132 u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
133 } __packed;
134 u8 data[CANFD_MAX_DLEN];
135} __packed;
136
137#define ES58X_FD_CAN_TX_LEN \
138 (offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
139#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
140
141struct es58x_fd_rx_can_msg {
142 __le64 timestamp;
143 __le32 can_id;
144 u8 flags;
145 union {
146 u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
147 u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
148 } __packed;
149 u8 data[CANFD_MAX_DLEN];
150} __packed;
151
152#define ES58X_FD_CAN_RX_LEN \
153 (offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
154#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
155
156struct es58x_fd_echo_msg {
157 __le64 timestamp;
158 u8 packet_idx;
159} __packed;
160
161struct es58x_fd_rx_event_msg {
162 __le64 timestamp;
163 __le32 can_id;
164 u8 flags; /* type enum es58x_flag */
165 u8 error_type; /* 0: event, 1: error */
166 u8 error_code;
167 u8 event_code;
168} __packed;
169
170struct es58x_fd_tx_ack_msg {
171 __le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
172 __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
173} __packed;
174
175/**
176 * struct es58x_fd_urb_cmd - Commands received from or sent to the
177 * ES58X FD device.
178 * @SOF: Start of Frame.
179 * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
180 * calculation starts at this position.
181 * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
182 * @channel_idx: Channel index starting at 0.
183 * @msg_len: Length of the message, excluding CRC (i.e. length of the
184 * union).
185 * @tx_conf_msg: Channel configuration.
186 * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
187 * instead of "struct es58x_fd_tx_msg[]" because the structure
188 * has a flexible size.
189 * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
190 * of "struct es58x_fd_rx_msg[]" because the structure has a
191 * flexible size.
192 * @echo_msg: Array of echo messages (e.g. Tx messages being looped
193 * back).
194 * @rx_event_msg: Error or event message.
195 * @tx_ack_msg: Tx acknowledgment message.
196 * @timestamp: Timestamp reply.
197 * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
198 * es58x_cmd_ret_code_u32).
199 * @raw_msg: Message raw payload.
200 * @reserved_for_crc16_do_not_use: The structure ends with a
201 * CRC16. Because the structures in above union are of variable
202 * lengths, we can not predict the offset of the CRC in
203 * advance. Use functions es58x_get_crc() and es58x_set_crc() to
204 * manipulate it.
205 */
206struct es58x_fd_urb_cmd {
207 __le16 SOF;
208 u8 cmd_type;
209 u8 cmd_id;
210 u8 channel_idx;
211 __le16 msg_len;
212
213 union {
214 struct es58x_fd_tx_conf_msg tx_conf_msg;
215 u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
216 u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
217 struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
218 struct es58x_fd_rx_event_msg rx_event_msg;
219 struct es58x_fd_tx_ack_msg tx_ack_msg;
220 __le64 timestamp;
221 __le32 rx_cmd_ret_le32;
222 DECLARE_FLEX_ARRAY(u8, raw_msg);
223 } __packed;
224
225 __le16 reserved_for_crc16_do_not_use;
226} __packed;
227
228#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
229#define ES58X_FD_TX_URB_CMD_MAX_LEN \
230 ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
231#define ES58X_FD_RX_URB_CMD_MAX_LEN \
232 ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
233
234#endif /* __ES58X_FD_H__ */
235

source code of linux/drivers/net/can/usb/etas_es58x/es58x_fd.h