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 | |
28 | enum 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}. */ |
35 | enum 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. */ |
48 | enum 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 | */ |
72 | enum 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 | |
81 | struct 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 | */ |
108 | struct 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 | |
126 | struct 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 | |
141 | struct 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 | |
156 | struct es58x_fd_echo_msg { |
157 | __le64 timestamp; |
158 | u8 packet_idx; |
159 | } __packed; |
160 | |
161 | struct 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 | |
170 | struct 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 | */ |
206 | struct 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 (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 | |