1/* SPDX-License-Identifier: GPL-2.0-only */ 2/* 3 * CAN driver for PEAK System micro-CAN based adapters 4 * 5 * Copyright (C) 2003-2011 PEAK System-Technik GmbH 6 * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com> 7 */ 8#ifndef PUCAN_H 9#define PUCAN_H 10 11/* uCAN commands opcodes list (low-order 10 bits) */ 12#define PUCAN_CMD_NOP 0x000 13#define PUCAN_CMD_RESET_MODE 0x001 14#define PUCAN_CMD_NORMAL_MODE 0x002 15#define PUCAN_CMD_LISTEN_ONLY_MODE 0x003 16#define PUCAN_CMD_TIMING_SLOW 0x004 17#define PUCAN_CMD_TIMING_FAST 0x005 18#define PUCAN_CMD_SET_STD_FILTER 0x006 19#define PUCAN_CMD_RESERVED2 0x007 20#define PUCAN_CMD_FILTER_STD 0x008 21#define PUCAN_CMD_TX_ABORT 0x009 22#define PUCAN_CMD_WR_ERR_CNT 0x00a 23#define PUCAN_CMD_SET_EN_OPTION 0x00b 24#define PUCAN_CMD_CLR_DIS_OPTION 0x00c 25#define PUCAN_CMD_RX_BARRIER 0x010 26#define PUCAN_CMD_END_OF_COLLECTION 0x3ff 27 28/* uCAN received messages list */ 29#define PUCAN_MSG_CAN_RX 0x0001 30#define PUCAN_MSG_ERROR 0x0002 31#define PUCAN_MSG_STATUS 0x0003 32#define PUCAN_MSG_BUSLOAD 0x0004 33 34#define PUCAN_MSG_CACHE_CRITICAL 0x0102 35 36/* uCAN transmitted messages */ 37#define PUCAN_MSG_CAN_TX 0x1000 38 39/* uCAN command common header */ 40struct __packed pucan_command { 41 __le16 opcode_channel; 42 u16 args[3]; 43}; 44 45/* return the opcode from the opcode_channel field of a command */ 46static inline u16 pucan_cmd_get_opcode(struct pucan_command *c) 47{ 48 return le16_to_cpu(c->opcode_channel) & 0x3ff; 49} 50 51#define PUCAN_TSLOW_BRP_BITS 10 52#define PUCAN_TSLOW_TSGEG1_BITS 8 53#define PUCAN_TSLOW_TSGEG2_BITS 7 54#define PUCAN_TSLOW_SJW_BITS 7 55 56#define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1) 57#define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1) 58#define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1) 59#define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1) 60 61/* uCAN TIMING_SLOW command fields */ 62#define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \ 63 ((!!(t)) << 7)) 64#define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK) 65#define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK) 66#define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK) 67 68struct __packed pucan_timing_slow { 69 __le16 opcode_channel; 70 71 u8 ewl; /* Error Warning limit */ 72 u8 sjw_t; /* Sync Jump Width + Triple sampling */ 73 u8 tseg2; /* Timing SEGment 2 */ 74 u8 tseg1; /* Timing SEGment 1 */ 75 76 __le16 brp; /* BaudRate Prescaler */ 77}; 78 79#define PUCAN_TFAST_BRP_BITS 10 80#define PUCAN_TFAST_TSGEG1_BITS 5 81#define PUCAN_TFAST_TSGEG2_BITS 4 82#define PUCAN_TFAST_SJW_BITS 4 83 84#define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1) 85#define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1) 86#define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1) 87#define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1) 88 89/* uCAN TIMING_FAST command fields */ 90#define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK) 91#define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK) 92#define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK) 93#define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK) 94 95struct __packed pucan_timing_fast { 96 __le16 opcode_channel; 97 98 u8 unused; 99 u8 sjw; /* Sync Jump Width */ 100 u8 tseg2; /* Timing SEGment 2 */ 101 u8 tseg1; /* Timing SEGment 1 */ 102 103 __le16 brp; /* BaudRate Prescaler */ 104}; 105 106/* uCAN FILTER_STD command fields */ 107#define PUCAN_FLTSTD_ROW_IDX_BITS 6 108 109struct __packed pucan_filter_std { 110 __le16 opcode_channel; 111 112 __le16 idx; 113 __le32 mask; /* CAN-ID bitmask in idx range */ 114}; 115 116#define PUCAN_FLTSTD_ROW_IDX_MAX ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1) 117 118/* uCAN SET_STD_FILTER command fields */ 119struct __packed pucan_std_filter { 120 __le16 opcode_channel; 121 122 u8 unused; 123 u8 idx; 124 __le32 mask; /* CAN-ID bitmask in idx range */ 125}; 126 127/* uCAN TX_ABORT commands fields */ 128#define PUCAN_TX_ABORT_FLUSH 0x0001 129 130struct __packed pucan_tx_abort { 131 __le16 opcode_channel; 132 133 __le16 flags; 134 u32 unused; 135}; 136 137/* uCAN WR_ERR_CNT command fields */ 138#define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */ 139#define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */ 140 141struct __packed pucan_wr_err_cnt { 142 __le16 opcode_channel; 143 144 __le16 sel_mask; 145 u8 tx_counter; /* Tx error counter new value */ 146 u8 rx_counter; /* Rx error counter new value */ 147 148 u16 unused; 149}; 150 151/* uCAN SET_EN/CLR_DIS _OPTION command fields */ 152#define PUCAN_OPTION_ERROR 0x0001 153#define PUCAN_OPTION_BUSLOAD 0x0002 154#define PUCAN_OPTION_CANDFDISO 0x0004 155 156struct __packed pucan_options { 157 __le16 opcode_channel; 158 159 __le16 options; 160 u32 unused; 161}; 162 163/* uCAN received messages global format */ 164struct __packed pucan_msg { 165 __le16 size; 166 __le16 type; 167 __le32 ts_low; 168 __le32 ts_high; 169}; 170 171/* uCAN flags for CAN/CANFD messages */ 172#define PUCAN_MSG_SELF_RECEIVE 0x80 173#define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */ 174#define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */ 175#define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */ 176#define PUCAN_MSG_SINGLE_SHOT 0x08 177#define PUCAN_MSG_LOOPED_BACK 0x04 178#define PUCAN_MSG_EXT_ID 0x02 179#define PUCAN_MSG_RTR 0x01 180 181struct __packed pucan_rx_msg { 182 __le16 size; 183 __le16 type; 184 __le32 ts_low; 185 __le32 ts_high; 186 __le32 tag_low; 187 __le32 tag_high; 188 u8 channel_dlc; 189 u8 client; 190 __le16 flags; 191 __le32 can_id; 192 u8 d[]; 193}; 194 195/* uCAN error types */ 196#define PUCAN_ERMSG_BIT_ERROR 0 197#define PUCAN_ERMSG_FORM_ERROR 1 198#define PUCAN_ERMSG_STUFF_ERROR 2 199#define PUCAN_ERMSG_OTHER_ERROR 3 200#define PUCAN_ERMSG_ERR_CNT_DEC 4 201 202struct __packed pucan_error_msg { 203 __le16 size; 204 __le16 type; 205 __le32 ts_low; 206 __le32 ts_high; 207 u8 channel_type_d; 208 u8 code_g; 209 u8 tx_err_cnt; 210 u8 rx_err_cnt; 211}; 212 213static inline int pucan_error_get_channel(const struct pucan_error_msg *msg) 214{ 215 return msg->channel_type_d & 0x0f; 216} 217 218#define PUCAN_RX_BARRIER 0x10 219#define PUCAN_BUS_PASSIVE 0x20 220#define PUCAN_BUS_WARNING 0x40 221#define PUCAN_BUS_BUSOFF 0x80 222 223struct __packed pucan_status_msg { 224 __le16 size; 225 __le16 type; 226 __le32 ts_low; 227 __le32 ts_high; 228 u8 channel_p_w_b; 229 u8 unused[3]; 230}; 231 232static inline int pucan_status_get_channel(const struct pucan_status_msg *msg) 233{ 234 return msg->channel_p_w_b & 0x0f; 235} 236 237static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg) 238{ 239 return msg->channel_p_w_b & PUCAN_RX_BARRIER; 240} 241 242static inline int pucan_status_is_passive(const struct pucan_status_msg *msg) 243{ 244 return msg->channel_p_w_b & PUCAN_BUS_PASSIVE; 245} 246 247static inline int pucan_status_is_warning(const struct pucan_status_msg *msg) 248{ 249 return msg->channel_p_w_b & PUCAN_BUS_WARNING; 250} 251 252static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg) 253{ 254 return msg->channel_p_w_b & PUCAN_BUS_BUSOFF; 255} 256 257/* uCAN transmitted message format */ 258#define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4)) 259 260struct __packed pucan_tx_msg { 261 __le16 size; 262 __le16 type; 263 __le32 tag_low; 264 __le32 tag_high; 265 u8 channel_dlc; 266 u8 client; 267 __le16 flags; 268 __le32 can_id; 269 u8 d[]; 270}; 271 272/* build the cmd opcode_channel field with respect to the correct endianness */ 273static inline __le16 pucan_cmd_opcode_channel(int index, int opcode) 274{ 275 return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff)); 276} 277 278/* return the channel number part from any received message channel_dlc field */ 279static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg) 280{ 281 return msg->channel_dlc & 0xf; 282} 283 284/* return the dlc value from any received message channel_dlc field */ 285static inline u8 pucan_msg_get_dlc(const struct pucan_rx_msg *msg) 286{ 287 return msg->channel_dlc >> 4; 288} 289 290static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg) 291{ 292 return msg->channel_type_d & 0x0f; 293} 294 295static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg) 296{ 297 return msg->channel_p_w_b & 0x0f; 298} 299 300#endif 301