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_FILTER_STD 0x008 27#define PUCAN_CMD_TX_ABORT 0x009 28#define PUCAN_CMD_WR_ERR_CNT 0x00a 29#define PUCAN_CMD_SET_EN_OPTION 0x00b 30#define PUCAN_CMD_CLR_DIS_OPTION 0x00c 31#define PUCAN_CMD_END_OF_COLLECTION 0x3ff 32 33/* uCAN received messages list */ 34#define PUCAN_MSG_CAN_RX 0x0001 35#define PUCAN_MSG_ERROR 0x0002 36#define PUCAN_MSG_STATUS 0x0003 37#define PUCAN_MSG_BUSLOAD 0x0004 38#define PUCAN_MSG_CAN_TX 0x1000 39 40/* uCAN command common header */ 41struct __packed pucan_command { 42 __le16 opcode_channel; 43 u16 args[3]; 44}; 45 46/* uCAN TIMING_SLOW command fields */ 47#define PUCAN_TSLOW_SJW_T(s, t) (((s) & 0xf) | ((!!(t)) << 7)) 48#define PUCAN_TSLOW_TSEG2(t) ((t) & 0xf) 49#define PUCAN_TSLOW_TSEG1(t) ((t) & 0x3f) 50#define PUCAN_TSLOW_BRP(b) ((b) & 0x3ff) 51 52struct __packed pucan_timing_slow { 53 __le16 opcode_channel; 54 55 u8 ewl; /* Error Warning limit */ 56 u8 sjw_t; /* Sync Jump Width + Triple sampling */ 57 u8 tseg2; /* Timing SEGment 2 */ 58 u8 tseg1; /* Timing SEGment 1 */ 59 60 __le16 brp; /* BaudRate Prescaler */ 61}; 62 63/* uCAN TIMING_FAST command fields */ 64#define PUCAN_TFAST_SJW(s) ((s) & 0x3) 65#define PUCAN_TFAST_TSEG2(t) ((t) & 0x7) 66#define PUCAN_TFAST_TSEG1(t) ((t) & 0xf) 67#define PUCAN_TFAST_BRP(b) ((b) & 0x3ff) 68 69struct __packed pucan_timing_fast { 70 __le16 opcode_channel; 71 72 u8 unused; 73 u8 sjw; /* Sync Jump Width */ 74 u8 tseg2; /* Timing SEGment 2 */ 75 u8 tseg1; /* Timing SEGment 1 */ 76 77 __le16 brp; /* BaudRate Prescaler */ 78}; 79 80/* uCAN FILTER_STD command fields */ 81#define PUCAN_FLTSTD_ROW_IDX_BITS 6 82 83struct __packed pucan_filter_std { 84 __le16 opcode_channel; 85 86 __le16 idx; 87 __le32 mask; /* CAN-ID bitmask in idx range */ 88}; 89 90/* uCAN WR_ERR_CNT command fields */ 91#define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */ 92#define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */ 93 94struct __packed pucan_wr_err_cnt { 95 __le16 opcode_channel; 96 97 __le16 sel_mask; 98 u8 tx_counter; /* Tx error counter new value */ 99 u8 rx_counter; /* Rx error counter new value */ 100 101 u16 unused; 102}; 103 104/* uCAN SET_EN/CLR_DIS _OPTION command fields */ 105#define PUCAN_OPTION_ERROR 0x0001 106#define PUCAN_OPTION_BUSLOAD 0x0002 107#define PUCAN_OPTION_CANDFDISO 0x0004 108 109struct __packed pucan_options { 110 __le16 opcode_channel; 111 112 __le16 options; 113 u32 unused; 114}; 115 116/* uCAN received messages global format */ 117struct __packed pucan_msg { 118 __le16 size; 119 __le16 type; 120 __le32 ts_low; 121 __le32 ts_high; 122}; 123 124/* uCAN flags for CAN/CANFD messages */ 125#define PUCAN_MSG_SELF_RECEIVE 0x80 126#define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */ 127#define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */ 128#define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */ 129#define PUCAN_MSG_SINGLE_SHOT 0x08 130#define PUCAN_MSG_LOOPED_BACK 0x04 131#define PUCAN_MSG_EXT_ID 0x02 132#define PUCAN_MSG_RTR 0x01 133 134struct __packed pucan_rx_msg { 135 __le16 size; 136 __le16 type; 137 __le32 ts_low; 138 __le32 ts_high; 139 __le32 tag_low; 140 __le32 tag_high; 141 u8 channel_dlc; 142 u8 client; 143 __le16 flags; 144 __le32 can_id; 145 u8 d[0]; 146}; 147 148/* uCAN error types */ 149#define PUCAN_ERMSG_BIT_ERROR 0 150#define PUCAN_ERMSG_FORM_ERROR 1 151#define PUCAN_ERMSG_STUFF_ERROR 2 152#define PUCAN_ERMSG_OTHER_ERROR 3 153#define PUCAN_ERMSG_ERR_CNT_DEC 4 154 155struct __packed pucan_error_msg { 156 __le16 size; 157 __le16 type; 158 __le32 ts_low; 159 __le32 ts_high; 160 u8 channel_type_d; 161 u8 code_g; 162 u8 tx_err_cnt; 163 u8 rx_err_cnt; 164}; 165 166#define PUCAN_BUS_PASSIVE 0x20 167#define PUCAN_BUS_WARNING 0x40 168#define PUCAN_BUS_BUSOFF 0x80 169 170struct __packed pucan_status_msg { 171 __le16 size; 172 __le16 type; 173 __le32 ts_low; 174 __le32 ts_high; 175 u8 channel_p_w_b; 176 u8 unused[3]; 177}; 178 179/* uCAN transmitted message format */ 180#define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4)) 181 182struct __packed pucan_tx_msg { 183 __le16 size; 184 __le16 type; 185 __le32 tag_low; 186 __le32 tag_high; 187 u8 channel_dlc; 188 u8 client; 189 __le16 flags; 190 __le32 can_id; 191 u8 d[0]; 192}; 193 194/* build the cmd opcode_channel field with respect to the correct endianness */ 195static inline __le16 pucan_cmd_opcode_channel(struct peak_usb_device *dev, 196 int opcode) 197{ 198 return cpu_to_le16(((dev->ctrl_idx) << 12) | ((opcode) & 0x3ff)); 199} 200 201/* return the channel number part from any received message channel_dlc field */ 202static inline int pucan_msg_get_channel(struct pucan_rx_msg *rm) 203{ 204 return rm->channel_dlc & 0xf; 205} 206 207/* return the dlc value from any received message channel_dlc field */ 208static inline int pucan_msg_get_dlc(struct pucan_rx_msg *rm) 209{ 210 return rm->channel_dlc >> 4; 211} 212 213static inline int pucan_ermsg_get_channel(struct pucan_error_msg *em) 214{ 215 return em->channel_type_d & 0x0f; 216} 217 218static inline int pucan_stmsg_get_channel(struct pucan_status_msg *sm) 219{ 220 return sm->channel_p_w_b & 0x0f; 221} 222 223#endif 224