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