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 */ 41 struct __packed pucan_command { 42 __le16 opcode_channel; 43 u16 args[3]; 44 }; 45 46 #define PUCAN_TSLOW_BRP_BITS 10 47 #define PUCAN_TSLOW_TSGEG1_BITS 8 48 #define PUCAN_TSLOW_TSGEG2_BITS 7 49 #define PUCAN_TSLOW_SJW_BITS 7 50 51 #define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1) 52 #define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1) 53 #define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1) 54 #define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1) 55 56 /* uCAN TIMING_SLOW command fields */ 57 #define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \ 58 ((!!(t)) << 7)) 59 #define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK) 60 #define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK) 61 #define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK) 62 63 struct __packed pucan_timing_slow { 64 __le16 opcode_channel; 65 66 u8 ewl; /* Error Warning limit */ 67 u8 sjw_t; /* Sync Jump Width + Triple sampling */ 68 u8 tseg2; /* Timing SEGment 2 */ 69 u8 tseg1; /* Timing SEGment 1 */ 70 71 __le16 brp; /* BaudRate Prescaler */ 72 }; 73 74 #define PUCAN_TFAST_BRP_BITS 10 75 #define PUCAN_TFAST_TSGEG1_BITS 5 76 #define PUCAN_TFAST_TSGEG2_BITS 4 77 #define PUCAN_TFAST_SJW_BITS 4 78 79 #define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1) 80 #define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1) 81 #define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1) 82 #define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1) 83 84 /* uCAN TIMING_FAST command fields */ 85 #define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK) 86 #define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK) 87 #define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK) 88 #define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK) 89 90 struct __packed pucan_timing_fast { 91 __le16 opcode_channel; 92 93 u8 unused; 94 u8 sjw; /* Sync Jump Width */ 95 u8 tseg2; /* Timing SEGment 2 */ 96 u8 tseg1; /* Timing SEGment 1 */ 97 98 __le16 brp; /* BaudRate Prescaler */ 99 }; 100 101 /* uCAN FILTER_STD command fields */ 102 #define PUCAN_FLTSTD_ROW_IDX_BITS 6 103 104 struct __packed pucan_filter_std { 105 __le16 opcode_channel; 106 107 __le16 idx; 108 __le32 mask; /* CAN-ID bitmask in idx range */ 109 }; 110 111 /* uCAN WR_ERR_CNT command fields */ 112 #define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */ 113 #define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */ 114 115 struct __packed pucan_wr_err_cnt { 116 __le16 opcode_channel; 117 118 __le16 sel_mask; 119 u8 tx_counter; /* Tx error counter new value */ 120 u8 rx_counter; /* Rx error counter new value */ 121 122 u16 unused; 123 }; 124 125 /* uCAN SET_EN/CLR_DIS _OPTION command fields */ 126 #define PUCAN_OPTION_ERROR 0x0001 127 #define PUCAN_OPTION_BUSLOAD 0x0002 128 #define PUCAN_OPTION_CANDFDISO 0x0004 129 130 struct __packed pucan_options { 131 __le16 opcode_channel; 132 133 __le16 options; 134 u32 unused; 135 }; 136 137 /* uCAN received messages global format */ 138 struct __packed pucan_msg { 139 __le16 size; 140 __le16 type; 141 __le32 ts_low; 142 __le32 ts_high; 143 }; 144 145 /* uCAN flags for CAN/CANFD messages */ 146 #define PUCAN_MSG_SELF_RECEIVE 0x80 147 #define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */ 148 #define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */ 149 #define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */ 150 #define PUCAN_MSG_SINGLE_SHOT 0x08 151 #define PUCAN_MSG_LOOPED_BACK 0x04 152 #define PUCAN_MSG_EXT_ID 0x02 153 #define PUCAN_MSG_RTR 0x01 154 155 struct __packed pucan_rx_msg { 156 __le16 size; 157 __le16 type; 158 __le32 ts_low; 159 __le32 ts_high; 160 __le32 tag_low; 161 __le32 tag_high; 162 u8 channel_dlc; 163 u8 client; 164 __le16 flags; 165 __le32 can_id; 166 u8 d[0]; 167 }; 168 169 /* uCAN error types */ 170 #define PUCAN_ERMSG_BIT_ERROR 0 171 #define PUCAN_ERMSG_FORM_ERROR 1 172 #define PUCAN_ERMSG_STUFF_ERROR 2 173 #define PUCAN_ERMSG_OTHER_ERROR 3 174 #define PUCAN_ERMSG_ERR_CNT_DEC 4 175 176 struct __packed pucan_error_msg { 177 __le16 size; 178 __le16 type; 179 __le32 ts_low; 180 __le32 ts_high; 181 u8 channel_type_d; 182 u8 code_g; 183 u8 tx_err_cnt; 184 u8 rx_err_cnt; 185 }; 186 187 #define PUCAN_BUS_PASSIVE 0x20 188 #define PUCAN_BUS_WARNING 0x40 189 #define PUCAN_BUS_BUSOFF 0x80 190 191 struct __packed pucan_status_msg { 192 __le16 size; 193 __le16 type; 194 __le32 ts_low; 195 __le32 ts_high; 196 u8 channel_p_w_b; 197 u8 unused[3]; 198 }; 199 200 /* uCAN transmitted message format */ 201 #define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4)) 202 203 struct __packed pucan_tx_msg { 204 __le16 size; 205 __le16 type; 206 __le32 tag_low; 207 __le32 tag_high; 208 u8 channel_dlc; 209 u8 client; 210 __le16 flags; 211 __le32 can_id; 212 u8 d[0]; 213 }; 214 215 /* build the cmd opcode_channel field with respect to the correct endianness */ pucan_cmd_opcode_channel(struct peak_usb_device * dev,int opcode)216static inline __le16 pucan_cmd_opcode_channel(struct peak_usb_device *dev, 217 int opcode) 218 { 219 return cpu_to_le16(((dev->ctrl_idx) << 12) | ((opcode) & 0x3ff)); 220 } 221 222 /* return the channel number part from any received message channel_dlc field */ pucan_msg_get_channel(struct pucan_rx_msg * rm)223static inline int pucan_msg_get_channel(struct pucan_rx_msg *rm) 224 { 225 return rm->channel_dlc & 0xf; 226 } 227 228 /* return the dlc value from any received message channel_dlc field */ pucan_msg_get_dlc(struct pucan_rx_msg * rm)229static inline int pucan_msg_get_dlc(struct pucan_rx_msg *rm) 230 { 231 return rm->channel_dlc >> 4; 232 } 233 pucan_ermsg_get_channel(struct pucan_error_msg * em)234static inline int pucan_ermsg_get_channel(struct pucan_error_msg *em) 235 { 236 return em->channel_type_d & 0x0f; 237 } 238 pucan_stmsg_get_channel(struct pucan_status_msg * sm)239static inline int pucan_stmsg_get_channel(struct pucan_status_msg *sm) 240 { 241 return sm->channel_p_w_b & 0x0f; 242 } 243 244 #endif 245