LXR linux/drivers/net/can/usb/etas_es58x/es58x

   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                u8 raw_msg[0];
 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