drivers/net/can/usb/etas_es58x/es58x_fd.h

   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 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__ */