include/linux/can/dev/peak_canfd.h

   1 /*
   2  * CAN driver for PEAK System micro-CAN based adapters
   3  *
   4  * Copyright (C) 2003-2011 PEAK System-Technik GmbH
   5  * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
   6  *
   7  * This program is free software; you can redistribute it and/or modify it
   8  * under the terms of the GNU General Public License as published
   9  * by the Free Software Foundation; version 2 of the License.
  10  *
  11  * This program is distributed in the hope that it will be useful, but
  12  * WITHOUT ANY WARRANTY; without even the implied warranty of
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  14  * General Public License for more details.
  15  */
  16 #ifndef PUCAN_H
  17 #define PUCAN_H
  18
  19 /* uCAN commands opcodes list (low-order 10 bits) */
  20 #define PUCAN_CMD_NOP                   0x000
  21 #define PUCAN_CMD_RESET_MODE            0x001
  22 #define PUCAN_CMD_NORMAL_MODE           0x002
  23 #define PUCAN_CMD_LISTEN_ONLY_MODE      0x003
  24 #define PUCAN_CMD_TIMING_SLOW           0x004
  25 #define PUCAN_CMD_TIMING_FAST           0x005
  26 #define PUCAN_CMD_SET_STD_FILTER        0x006
  27 #define PUCAN_CMD_RESERVED2             0x007
  28 #define PUCAN_CMD_FILTER_STD            0x008
  29 #define PUCAN_CMD_TX_ABORT              0x009
  30 #define PUCAN_CMD_WR_ERR_CNT            0x00a
  31 #define PUCAN_CMD_SET_EN_OPTION         0x00b
  32 #define PUCAN_CMD_CLR_DIS_OPTION        0x00c
  33 #define PUCAN_CMD_RX_BARRIER            0x010
  34 #define PUCAN_CMD_END_OF_COLLECTION     0x3ff
  35
  36 /* uCAN received messages list */
  37 #define PUCAN_MSG_CAN_RX                0x0001
  38 #define PUCAN_MSG_ERROR                 0x0002
  39 #define PUCAN_MSG_STATUS                0x0003
  40 #define PUCAN_MSG_BUSLOAD               0x0004
  41
  42 #define PUCAN_MSG_CACHE_CRITICAL        0x0102
  43
  44 /* uCAN transmitted messages */
  45 #define PUCAN_MSG_CAN_TX                0x1000
  46
  47 /* uCAN command common header */
  48 struct __packed pucan_command {
  49         __le16  opcode_channel;
  50         u16     args[3];
  51 };
  52
  53 /* return the opcode from the opcode_channel field of a command */
  54 static inline u16 pucan_cmd_get_opcode(struct pucan_command *c)
  55 {
  56         return le16_to_cpu(c->opcode_channel) & 0x3ff;
  57 }
  58
  59 #define PUCAN_TSLOW_BRP_BITS            10
  60 #define PUCAN_TSLOW_TSGEG1_BITS         8
  61 #define PUCAN_TSLOW_TSGEG2_BITS         7
  62 #define PUCAN_TSLOW_SJW_BITS            7
  63
  64 #define PUCAN_TSLOW_BRP_MASK            ((1 << PUCAN_TSLOW_BRP_BITS) - 1)
  65 #define PUCAN_TSLOW_TSEG1_MASK          ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1)
  66 #define PUCAN_TSLOW_TSEG2_MASK          ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1)
  67 #define PUCAN_TSLOW_SJW_MASK            ((1 << PUCAN_TSLOW_SJW_BITS) - 1)
  68
  69 /* uCAN TIMING_SLOW command fields */
  70 #define PUCAN_TSLOW_SJW_T(s, t)         (((s) & PUCAN_TSLOW_SJW_MASK) | \
  71                                                                 ((!!(t)) << 7))
  72 #define PUCAN_TSLOW_TSEG2(t)            ((t) & PUCAN_TSLOW_TSEG2_MASK)
  73 #define PUCAN_TSLOW_TSEG1(t)            ((t) & PUCAN_TSLOW_TSEG1_MASK)
  74 #define PUCAN_TSLOW_BRP(b)              ((b) & PUCAN_TSLOW_BRP_MASK)
  75
  76 struct __packed pucan_timing_slow {
  77         __le16  opcode_channel;
  78
  79         u8      ewl;            /* Error Warning limit */
  80         u8      sjw_t;          /* Sync Jump Width + Triple sampling */
  81         u8      tseg2;          /* Timing SEGment 2 */
  82         u8      tseg1;          /* Timing SEGment 1 */
  83
  84         __le16  brp;            /* BaudRate Prescaler */
  85 };
  86
  87 #define PUCAN_TFAST_BRP_BITS            10
  88 #define PUCAN_TFAST_TSGEG1_BITS         5
  89 #define PUCAN_TFAST_TSGEG2_BITS         4
  90 #define PUCAN_TFAST_SJW_BITS            4
  91
  92 #define PUCAN_TFAST_BRP_MASK            ((1 << PUCAN_TFAST_BRP_BITS) - 1)
  93 #define PUCAN_TFAST_TSEG1_MASK          ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1)
  94 #define PUCAN_TFAST_TSEG2_MASK          ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1)
  95 #define PUCAN_TFAST_SJW_MASK            ((1 << PUCAN_TFAST_SJW_BITS) - 1)
  96
  97 /* uCAN TIMING_FAST command fields */
  98 #define PUCAN_TFAST_SJW(s)              ((s) & PUCAN_TFAST_SJW_MASK)
  99 #define PUCAN_TFAST_TSEG2(t)            ((t) & PUCAN_TFAST_TSEG2_MASK)
 100 #define PUCAN_TFAST_TSEG1(t)            ((t) & PUCAN_TFAST_TSEG1_MASK)
 101 #define PUCAN_TFAST_BRP(b)              ((b) & PUCAN_TFAST_BRP_MASK)
 102
 103 struct __packed pucan_timing_fast {
 104         __le16  opcode_channel;
 105
 106         u8      unused;
 107         u8      sjw;            /* Sync Jump Width */
 108         u8      tseg2;          /* Timing SEGment 2 */
 109         u8      tseg1;          /* Timing SEGment 1 */
 110
 111         __le16  brp;            /* BaudRate Prescaler */
 112 };
 113
 114 /* uCAN FILTER_STD command fields */
 115 #define PUCAN_FLTSTD_ROW_IDX_BITS       6
 116
 117 struct __packed pucan_filter_std {
 118         __le16  opcode_channel;
 119
 120         __le16  idx;
 121         __le32  mask;           /* CAN-ID bitmask in idx range */
 122 };
 123
 124 #define PUCAN_FLTSTD_ROW_IDX_MAX        ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1)
 125
 126 /* uCAN SET_STD_FILTER command fields */
 127 struct __packed pucan_std_filter {
 128         __le16  opcode_channel;
 129
 130         u8      unused;
 131         u8      idx;
 132         __le32  mask;           /* CAN-ID bitmask in idx range */
 133 };
 134
 135 /* uCAN TX_ABORT commands fields */
 136 #define PUCAN_TX_ABORT_FLUSH            0x0001
 137
 138 struct __packed pucan_tx_abort {
 139         __le16  opcode_channel;
 140
 141         __le16  flags;
 142         u32     unused;
 143 };
 144
 145 /* uCAN WR_ERR_CNT command fields */
 146 #define PUCAN_WRERRCNT_TE               0x4000  /* Tx error cntr write Enable */
 147 #define PUCAN_WRERRCNT_RE               0x8000  /* Rx error cntr write Enable */
 148
 149 struct __packed pucan_wr_err_cnt {
 150         __le16  opcode_channel;
 151
 152         __le16  sel_mask;
 153         u8      tx_counter;     /* Tx error counter new value */
 154         u8      rx_counter;     /* Rx error counter new value */
 155
 156         u16     unused;
 157 };
 158
 159 /* uCAN SET_EN/CLR_DIS _OPTION command fields */
 160 #define PUCAN_OPTION_ERROR              0x0001
 161 #define PUCAN_OPTION_BUSLOAD            0x0002
 162 #define PUCAN_OPTION_CANDFDISO          0x0004
 163
 164 struct __packed pucan_options {
 165         __le16  opcode_channel;
 166
 167         __le16  options;
 168         u32     unused;
 169 };
 170
 171 /* uCAN received messages global format */
 172 struct __packed pucan_msg {
 173         __le16  size;
 174         __le16  type;
 175         __le32  ts_low;
 176         __le32  ts_high;
 177 };
 178
 179 /* uCAN flags for CAN/CANFD messages */
 180 #define PUCAN_MSG_SELF_RECEIVE          0x80
 181 #define PUCAN_MSG_ERROR_STATE_IND       0x40    /* error state indicator */
 182 #define PUCAN_MSG_BITRATE_SWITCH        0x20    /* bitrate switch */
 183 #define PUCAN_MSG_EXT_DATA_LEN          0x10    /* extended data length */
 184 #define PUCAN_MSG_SINGLE_SHOT           0x08
 185 #define PUCAN_MSG_LOOPED_BACK           0x04
 186 #define PUCAN_MSG_EXT_ID                0x02
 187 #define PUCAN_MSG_RTR                   0x01
 188
 189 struct __packed pucan_rx_msg {
 190         __le16  size;
 191         __le16  type;
 192         __le32  ts_low;
 193         __le32  ts_high;
 194         __le32  tag_low;
 195         __le32  tag_high;
 196         u8      channel_dlc;
 197         u8      client;
 198         __le16  flags;
 199         __le32  can_id;
 200         u8      d[0];
 201 };
 202
 203 /* uCAN error types */
 204 #define PUCAN_ERMSG_BIT_ERROR           0
 205 #define PUCAN_ERMSG_FORM_ERROR          1
 206 #define PUCAN_ERMSG_STUFF_ERROR         2
 207 #define PUCAN_ERMSG_OTHER_ERROR         3
 208 #define PUCAN_ERMSG_ERR_CNT_DEC         4
 209
 210 struct __packed pucan_error_msg {
 211         __le16  size;
 212         __le16  type;
 213         __le32  ts_low;
 214         __le32  ts_high;
 215         u8      channel_type_d;
 216         u8      code_g;
 217         u8      tx_err_cnt;
 218         u8      rx_err_cnt;
 219 };
 220
 221 static inline int pucan_error_get_channel(const struct pucan_error_msg *msg)
 222 {
 223         return msg->channel_type_d & 0x0f;
 224 }
 225
 226 #define PUCAN_RX_BARRIER                0x10
 227 #define PUCAN_BUS_PASSIVE               0x20
 228 #define PUCAN_BUS_WARNING               0x40
 229 #define PUCAN_BUS_BUSOFF                0x80
 230
 231 struct __packed pucan_status_msg {
 232         __le16  size;
 233         __le16  type;
 234         __le32  ts_low;
 235         __le32  ts_high;
 236         u8      channel_p_w_b;
 237         u8      unused[3];
 238 };
 239
 240 static inline int pucan_status_get_channel(const struct pucan_status_msg *msg)
 241 {
 242         return msg->channel_p_w_b & 0x0f;
 243 }
 244
 245 static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg)
 246 {
 247         return msg->channel_p_w_b & PUCAN_RX_BARRIER;
 248 }
 249
 250 static inline int pucan_status_is_passive(const struct pucan_status_msg *msg)
 251 {
 252         return msg->channel_p_w_b & PUCAN_BUS_PASSIVE;
 253 }
 254
 255 static inline int pucan_status_is_warning(const struct pucan_status_msg *msg)
 256 {
 257         return msg->channel_p_w_b & PUCAN_BUS_WARNING;
 258 }
 259
 260 static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg)
 261 {
 262         return msg->channel_p_w_b & PUCAN_BUS_BUSOFF;
 263 }
 264
 265 /* uCAN transmitted message format */
 266 #define PUCAN_MSG_CHANNEL_DLC(c, d)     (((c) & 0xf) | ((d) << 4))
 267
 268 struct __packed pucan_tx_msg {
 269         __le16  size;
 270         __le16  type;
 271         __le32  tag_low;
 272         __le32  tag_high;
 273         u8      channel_dlc;
 274         u8      client;
 275         __le16  flags;
 276         __le32  can_id;
 277         u8      d[0];
 278 };
 279
 280 /* build the cmd opcode_channel field with respect to the correct endianness */
 281 static inline __le16 pucan_cmd_opcode_channel(int index, int opcode)
 282 {
 283         return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff));
 284 }
 285
 286 /* return the channel number part from any received message channel_dlc field */
 287 static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg)
 288 {
 289         return msg->channel_dlc & 0xf;
 290 }
 291
 292 /* return the dlc value from any received message channel_dlc field */
 293 static inline int pucan_msg_get_dlc(const struct pucan_rx_msg *msg)
 294 {
 295         return msg->channel_dlc >> 4;
 296 }
 297
 298 static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg)
 299 {
 300         return msg->channel_type_d & 0x0f;
 301 }
 302
 303 static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg)
 304 {
 305         return msg->channel_p_w_b & 0x0f;
 306 }
 307
 308 #endif