xref: /openbmc/linux/include/linux/can/dev/peak_canfd.h (revision cd1124e7)
1 /* SPDX-License-Identifier: GPL-2.0-only */
2 /*
3  * CAN driver for PEAK System micro-CAN based adapters
4  *
5  * Copyright (C) 2003-2011 PEAK System-Technik GmbH
6  * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
7  */
8 #ifndef PUCAN_H
9 #define PUCAN_H
10 
11 /* uCAN commands opcodes list (low-order 10 bits) */
12 #define PUCAN_CMD_NOP			0x000
13 #define PUCAN_CMD_RESET_MODE		0x001
14 #define PUCAN_CMD_NORMAL_MODE		0x002
15 #define PUCAN_CMD_LISTEN_ONLY_MODE	0x003
16 #define PUCAN_CMD_TIMING_SLOW		0x004
17 #define PUCAN_CMD_TIMING_FAST		0x005
18 #define PUCAN_CMD_SET_STD_FILTER	0x006
19 #define PUCAN_CMD_RESERVED2		0x007
20 #define PUCAN_CMD_FILTER_STD		0x008
21 #define PUCAN_CMD_TX_ABORT		0x009
22 #define PUCAN_CMD_WR_ERR_CNT		0x00a
23 #define PUCAN_CMD_SET_EN_OPTION		0x00b
24 #define PUCAN_CMD_CLR_DIS_OPTION	0x00c
25 #define PUCAN_CMD_RX_BARRIER		0x010
26 #define PUCAN_CMD_END_OF_COLLECTION	0x3ff
27 
28 /* uCAN received messages list */
29 #define PUCAN_MSG_CAN_RX		0x0001
30 #define PUCAN_MSG_ERROR			0x0002
31 #define PUCAN_MSG_STATUS		0x0003
32 #define PUCAN_MSG_BUSLOAD		0x0004
33 
34 #define PUCAN_MSG_CACHE_CRITICAL	0x0102
35 
36 /* uCAN transmitted messages */
37 #define PUCAN_MSG_CAN_TX		0x1000
38 
39 /* uCAN command common header */
40 struct __packed pucan_command {
41 	__le16	opcode_channel;
42 	u16	args[3];
43 };
44 
45 /* return the opcode from the opcode_channel field of a command */
pucan_cmd_get_opcode(struct pucan_command * c)46 static inline u16 pucan_cmd_get_opcode(struct pucan_command *c)
47 {
48 	return le16_to_cpu(c->opcode_channel) & 0x3ff;
49 }
50 
51 #define PUCAN_TSLOW_BRP_BITS		10
52 #define PUCAN_TSLOW_TSGEG1_BITS		8
53 #define PUCAN_TSLOW_TSGEG2_BITS		7
54 #define PUCAN_TSLOW_SJW_BITS		7
55 
56 #define PUCAN_TSLOW_BRP_MASK		((1 << PUCAN_TSLOW_BRP_BITS) - 1)
57 #define PUCAN_TSLOW_TSEG1_MASK		((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1)
58 #define PUCAN_TSLOW_TSEG2_MASK		((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1)
59 #define PUCAN_TSLOW_SJW_MASK		((1 << PUCAN_TSLOW_SJW_BITS) - 1)
60 
61 /* uCAN TIMING_SLOW command fields */
62 #define PUCAN_TSLOW_SJW_T(s, t)		(((s) & PUCAN_TSLOW_SJW_MASK) | \
63 								((!!(t)) << 7))
64 #define PUCAN_TSLOW_TSEG2(t)		((t) & PUCAN_TSLOW_TSEG2_MASK)
65 #define PUCAN_TSLOW_TSEG1(t)		((t) & PUCAN_TSLOW_TSEG1_MASK)
66 #define PUCAN_TSLOW_BRP(b)		((b) & PUCAN_TSLOW_BRP_MASK)
67 
68 struct __packed pucan_timing_slow {
69 	__le16	opcode_channel;
70 
71 	u8	ewl;		/* Error Warning limit */
72 	u8	sjw_t;		/* Sync Jump Width + Triple sampling */
73 	u8	tseg2;		/* Timing SEGment 2 */
74 	u8	tseg1;		/* Timing SEGment 1 */
75 
76 	__le16	brp;		/* BaudRate Prescaler */
77 };
78 
79 #define PUCAN_TFAST_BRP_BITS		10
80 #define PUCAN_TFAST_TSGEG1_BITS		5
81 #define PUCAN_TFAST_TSGEG2_BITS		4
82 #define PUCAN_TFAST_SJW_BITS		4
83 
84 #define PUCAN_TFAST_BRP_MASK		((1 << PUCAN_TFAST_BRP_BITS) - 1)
85 #define PUCAN_TFAST_TSEG1_MASK		((1 << PUCAN_TFAST_TSGEG1_BITS) - 1)
86 #define PUCAN_TFAST_TSEG2_MASK		((1 << PUCAN_TFAST_TSGEG2_BITS) - 1)
87 #define PUCAN_TFAST_SJW_MASK		((1 << PUCAN_TFAST_SJW_BITS) - 1)
88 
89 /* uCAN TIMING_FAST command fields */
90 #define PUCAN_TFAST_SJW(s)		((s) & PUCAN_TFAST_SJW_MASK)
91 #define PUCAN_TFAST_TSEG2(t)		((t) & PUCAN_TFAST_TSEG2_MASK)
92 #define PUCAN_TFAST_TSEG1(t)		((t) & PUCAN_TFAST_TSEG1_MASK)
93 #define PUCAN_TFAST_BRP(b)		((b) & PUCAN_TFAST_BRP_MASK)
94 
95 struct __packed pucan_timing_fast {
96 	__le16	opcode_channel;
97 
98 	u8	unused;
99 	u8	sjw;		/* Sync Jump Width */
100 	u8	tseg2;		/* Timing SEGment 2 */
101 	u8	tseg1;		/* Timing SEGment 1 */
102 
103 	__le16	brp;		/* BaudRate Prescaler */
104 };
105 
106 /* uCAN FILTER_STD command fields */
107 #define PUCAN_FLTSTD_ROW_IDX_BITS	6
108 
109 struct __packed pucan_filter_std {
110 	__le16	opcode_channel;
111 
112 	__le16	idx;
113 	__le32	mask;		/* CAN-ID bitmask in idx range */
114 };
115 
116 #define PUCAN_FLTSTD_ROW_IDX_MAX	((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1)
117 
118 /* uCAN SET_STD_FILTER command fields */
119 struct __packed pucan_std_filter {
120 	__le16	opcode_channel;
121 
122 	u8	unused;
123 	u8	idx;
124 	__le32	mask;		/* CAN-ID bitmask in idx range */
125 };
126 
127 /* uCAN TX_ABORT commands fields */
128 #define PUCAN_TX_ABORT_FLUSH		0x0001
129 
130 struct __packed pucan_tx_abort {
131 	__le16	opcode_channel;
132 
133 	__le16	flags;
134 	u32	unused;
135 };
136 
137 /* uCAN WR_ERR_CNT command fields */
138 #define PUCAN_WRERRCNT_TE		0x4000	/* Tx error cntr write Enable */
139 #define PUCAN_WRERRCNT_RE		0x8000	/* Rx error cntr write Enable */
140 
141 struct __packed pucan_wr_err_cnt {
142 	__le16	opcode_channel;
143 
144 	__le16	sel_mask;
145 	u8	tx_counter;	/* Tx error counter new value */
146 	u8	rx_counter;	/* Rx error counter new value */
147 
148 	u16	unused;
149 };
150 
151 /* uCAN SET_EN/CLR_DIS _OPTION command fields */
152 #define PUCAN_OPTION_ERROR		0x0001
153 #define PUCAN_OPTION_BUSLOAD		0x0002
154 #define PUCAN_OPTION_CANDFDISO		0x0004
155 
156 struct __packed pucan_options {
157 	__le16	opcode_channel;
158 
159 	__le16	options;
160 	u32	unused;
161 };
162 
163 /* uCAN received messages global format */
164 struct __packed pucan_msg {
165 	__le16	size;
166 	__le16	type;
167 	__le32	ts_low;
168 	__le32	ts_high;
169 };
170 
171 /* uCAN flags for CAN/CANFD messages */
172 #define PUCAN_MSG_SELF_RECEIVE		0x80
173 #define PUCAN_MSG_ERROR_STATE_IND	0x40	/* error state indicator */
174 #define PUCAN_MSG_BITRATE_SWITCH	0x20	/* bitrate switch */
175 #define PUCAN_MSG_EXT_DATA_LEN		0x10	/* extended data length */
176 #define PUCAN_MSG_SINGLE_SHOT		0x08
177 #define PUCAN_MSG_LOOPED_BACK		0x04
178 #define PUCAN_MSG_EXT_ID		0x02
179 #define PUCAN_MSG_RTR			0x01
180 
181 struct __packed pucan_rx_msg {
182 	__le16	size;
183 	__le16	type;
184 	__le32	ts_low;
185 	__le32	ts_high;
186 	__le32	tag_low;
187 	__le32	tag_high;
188 	u8	channel_dlc;
189 	u8	client;
190 	__le16	flags;
191 	__le32	can_id;
192 	u8	d[];
193 };
194 
195 /* uCAN error types */
196 #define PUCAN_ERMSG_BIT_ERROR		0
197 #define PUCAN_ERMSG_FORM_ERROR		1
198 #define PUCAN_ERMSG_STUFF_ERROR		2
199 #define PUCAN_ERMSG_OTHER_ERROR		3
200 #define PUCAN_ERMSG_ERR_CNT_DEC		4
201 
202 struct __packed pucan_error_msg {
203 	__le16	size;
204 	__le16	type;
205 	__le32	ts_low;
206 	__le32	ts_high;
207 	u8	channel_type_d;
208 	u8	code_g;
209 	u8	tx_err_cnt;
210 	u8	rx_err_cnt;
211 };
212 
pucan_error_get_channel(const struct pucan_error_msg * msg)213 static inline int pucan_error_get_channel(const struct pucan_error_msg *msg)
214 {
215 	return msg->channel_type_d & 0x0f;
216 }
217 
218 #define PUCAN_RX_BARRIER		0x10
219 #define PUCAN_BUS_PASSIVE		0x20
220 #define PUCAN_BUS_WARNING		0x40
221 #define PUCAN_BUS_BUSOFF		0x80
222 
223 struct __packed pucan_status_msg {
224 	__le16	size;
225 	__le16	type;
226 	__le32	ts_low;
227 	__le32	ts_high;
228 	u8	channel_p_w_b;
229 	u8	unused[3];
230 };
231 
pucan_status_get_channel(const struct pucan_status_msg * msg)232 static inline int pucan_status_get_channel(const struct pucan_status_msg *msg)
233 {
234 	return msg->channel_p_w_b & 0x0f;
235 }
236 
pucan_status_is_rx_barrier(const struct pucan_status_msg * msg)237 static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg)
238 {
239 	return msg->channel_p_w_b & PUCAN_RX_BARRIER;
240 }
241 
pucan_status_is_passive(const struct pucan_status_msg * msg)242 static inline int pucan_status_is_passive(const struct pucan_status_msg *msg)
243 {
244 	return msg->channel_p_w_b & PUCAN_BUS_PASSIVE;
245 }
246 
pucan_status_is_warning(const struct pucan_status_msg * msg)247 static inline int pucan_status_is_warning(const struct pucan_status_msg *msg)
248 {
249 	return msg->channel_p_w_b & PUCAN_BUS_WARNING;
250 }
251 
pucan_status_is_busoff(const struct pucan_status_msg * msg)252 static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg)
253 {
254 	return msg->channel_p_w_b & PUCAN_BUS_BUSOFF;
255 }
256 
257 /* uCAN transmitted message format */
258 #define PUCAN_MSG_CHANNEL_DLC(c, d)	(((c) & 0xf) | ((d) << 4))
259 
260 struct __packed pucan_tx_msg {
261 	__le16	size;
262 	__le16	type;
263 	__le32	tag_low;
264 	__le32	tag_high;
265 	u8	channel_dlc;
266 	u8	client;
267 	__le16	flags;
268 	__le32	can_id;
269 	u8	d[];
270 };
271 
272 /* build the cmd opcode_channel field with respect to the correct endianness */
pucan_cmd_opcode_channel(int index,int opcode)273 static inline __le16 pucan_cmd_opcode_channel(int index, int opcode)
274 {
275 	return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff));
276 }
277 
278 /* return the channel number part from any received message channel_dlc field */
pucan_msg_get_channel(const struct pucan_rx_msg * msg)279 static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg)
280 {
281 	return msg->channel_dlc & 0xf;
282 }
283 
284 /* return the dlc value from any received message channel_dlc field */
pucan_msg_get_dlc(const struct pucan_rx_msg * msg)285 static inline u8 pucan_msg_get_dlc(const struct pucan_rx_msg *msg)
286 {
287 	return msg->channel_dlc >> 4;
288 }
289 
pucan_ermsg_get_channel(const struct pucan_error_msg * msg)290 static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg)
291 {
292 	return msg->channel_type_d & 0x0f;
293 }
294 
pucan_stmsg_get_channel(const struct pucan_status_msg * msg)295 static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg)
296 {
297 	return msg->channel_p_w_b & 0x0f;
298 }
299 
300 #endif
301