1 /* SPDX-License-Identifier: GPL-2.0 */ 2 3 /* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces. 4 * 5 * File es581_4.h: Definitions and declarations specific to ETAS 6 * ES581.4. 7 * 8 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved. 9 * Copyright (c) 2020 ETAS K.K.. All rights reserved. 10 * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr> 11 */ 12 13 #ifndef __ES581_4_H__ 14 #define __ES581_4_H__ 15 16 #include <linux/types.h> 17 18 #define ES581_4_NUM_CAN_CH 2 19 #define ES581_4_CHANNEL_IDX_OFFSET 1 20 21 #define ES581_4_TX_BULK_MAX 25 22 #define ES581_4_RX_BULK_MAX 30 23 #define ES581_4_ECHO_BULK_MAX 30 24 25 enum es581_4_cmd_type { 26 ES581_4_CAN_COMMAND_TYPE = 0x45 27 }; 28 29 enum es581_4_cmd_id { 30 ES581_4_CMD_ID_OPEN_CHANNEL = 0x01, 31 ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02, 32 ES581_4_CMD_ID_SET_BITTIMING = 0x03, 33 ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04, 34 ES581_4_CMD_ID_TX_MSG = 0x05, 35 ES581_4_CMD_ID_RX_MSG = 0x06, 36 ES581_4_CMD_ID_RESET_RX = 0x0A, 37 ES581_4_CMD_ID_RESET_TX = 0x0B, 38 ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C, 39 ES581_4_CMD_ID_TIMESTAMP = 0x0E, 40 ES581_4_CMD_ID_RESET_DEVICE = 0x28, 41 ES581_4_CMD_ID_ECHO = 0x71, 42 ES581_4_CMD_ID_DEVICE_ERR = 0x72 43 }; 44 45 enum es581_4_rx_type { 46 ES581_4_RX_TYPE_MESSAGE = 1, 47 ES581_4_RX_TYPE_ERROR = 3, 48 ES581_4_RX_TYPE_EVENT = 4 49 }; 50 51 /** 52 * struct es581_4_tx_conf_msg - Channel configuration. 53 * @bitrate: Bitrate. 54 * @sample_point: Sample point is in percent [0..100]. 55 * @samples_per_bit: type enum es58x_samples_per_bit. 56 * @bit_time: Number of time quanta in one bit. 57 * @sjw: Synchronization Jump Width. 58 * @sync_edge: type enum es58x_sync_edge. 59 * @physical_layer: type enum es58x_physical_layer. 60 * @echo_mode: type enum es58x_echo_mode. 61 * @channel_no: Channel number, starting from 1. Not to be confused 62 * with channed_idx of the ES58X FD which starts from 0. 63 */ 64 struct es581_4_tx_conf_msg { 65 __le32 bitrate; 66 __le32 sample_point; 67 __le32 samples_per_bit; 68 __le32 bit_time; 69 __le32 sjw; 70 __le32 sync_edge; 71 __le32 physical_layer; 72 __le32 echo_mode; 73 u8 channel_no; 74 } __packed; 75 76 struct es581_4_tx_can_msg { 77 __le32 can_id; 78 __le32 packet_idx; 79 __le16 flags; 80 u8 channel_no; 81 u8 dlc; 82 u8 data[CAN_MAX_DLEN]; 83 } __packed; 84 85 /* The ES581.4 allows bulk transfer. */ 86 struct es581_4_bulk_tx_can_msg { 87 u8 num_can_msg; 88 /* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]" 89 * for tx_msg_buf because each member has a flexible size. 90 */ 91 u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX * 92 sizeof(struct es581_4_tx_can_msg)]; 93 } __packed; 94 95 struct es581_4_echo_msg { 96 __le64 timestamp; 97 __le32 packet_idx; 98 } __packed; 99 100 struct es581_4_bulk_echo_msg { 101 u8 channel_no; 102 struct es581_4_echo_msg echo_msg[ES581_4_ECHO_BULK_MAX]; 103 } __packed; 104 105 /* Normal Rx CAN Message */ 106 struct es581_4_rx_can_msg { 107 __le64 timestamp; 108 u8 rx_type; /* type enum es581_4_rx_type */ 109 u8 flags; /* type enum es58x_flag */ 110 u8 channel_no; 111 u8 dlc; 112 __le32 can_id; 113 u8 data[CAN_MAX_DLEN]; 114 } __packed; 115 116 struct es581_4_rx_err_msg { 117 __le64 timestamp; 118 __le16 rx_type; /* type enum es581_4_rx_type */ 119 __le16 flags; /* type enum es58x_flag */ 120 u8 channel_no; 121 u8 __padding[2]; 122 u8 dlc; 123 __le32 tag; /* Related to the CAN filtering. Unused in this module */ 124 __le32 can_id; 125 __le32 error; /* type enum es58x_error */ 126 __le32 destination; /* Unused in this module */ 127 } __packed; 128 129 struct es581_4_rx_event_msg { 130 __le64 timestamp; 131 __le16 rx_type; /* type enum es581_4_rx_type */ 132 u8 channel_no; 133 u8 __padding; 134 __le32 tag; /* Related to the CAN filtering. Unused in this module */ 135 __le32 event; /* type enum es58x_event */ 136 __le32 destination; /* Unused in this module */ 137 } __packed; 138 139 struct es581_4_tx_ack_msg { 140 __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */ 141 u8 channel_no; 142 u8 rx_cmd_ret_u8; /* type enum es58x_cmd_ret_code_u8 */ 143 } __packed; 144 145 struct es581_4_rx_cmd_ret { 146 __le32 rx_cmd_ret_le32; 147 u8 channel_no; 148 u8 __padding[3]; 149 } __packed; 150 151 /** 152 * struct es581_4_urb_cmd - Commands received from or sent to the 153 * ES581.4 device. 154 * @SOF: Start of Frame. 155 * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC 156 * calculation starts at this position. 157 * @cmd_id: Command ID (type: enum es581_4_cmd_id). 158 * @msg_len: Length of the message, excluding CRC (i.e. length of the 159 * union). 160 * @tx_conf_msg: Channel configuration. 161 * @bulk_tx_can_msg: Tx messages. 162 * @rx_can_msg: Array of Rx messages. 163 * @bulk_echo_msg: Tx message being looped back. 164 * @rx_err_msg: Error message. 165 * @rx_event_msg: Event message. 166 * @tx_ack_msg: Tx acknowledgment message. 167 * @rx_cmd_ret: Command return code. 168 * @timestamp: Timestamp reply. 169 * @rx_cmd_ret_u8: Rx 8 bits return code (type: enum 170 * es58x_cmd_ret_code_u8). 171 * @raw_msg: Message raw payload. 172 * @reserved_for_crc16_do_not_use: The structure ends with a 173 * CRC16. Because the structures in above union are of variable 174 * lengths, we can not predict the offset of the CRC in 175 * advance. Use functions es58x_get_crc() and es58x_set_crc() to 176 * manipulate it. 177 */ 178 struct es581_4_urb_cmd { 179 __le16 SOF; 180 u8 cmd_type; 181 u8 cmd_id; 182 __le16 msg_len; 183 184 union { 185 struct es581_4_tx_conf_msg tx_conf_msg; 186 struct es581_4_bulk_tx_can_msg bulk_tx_can_msg; 187 struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX]; 188 struct es581_4_bulk_echo_msg bulk_echo_msg; 189 struct es581_4_rx_err_msg rx_err_msg; 190 struct es581_4_rx_event_msg rx_event_msg; 191 struct es581_4_tx_ack_msg tx_ack_msg; 192 struct es581_4_rx_cmd_ret rx_cmd_ret; 193 __le64 timestamp; 194 u8 rx_cmd_ret_u8; 195 u8 raw_msg[0]; 196 } __packed; 197 198 __le16 reserved_for_crc16_do_not_use; 199 } __packed; 200 201 #define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg)) 202 #define ES581_4_TX_URB_CMD_MAX_LEN \ 203 ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg) 204 #define ES581_4_RX_URB_CMD_MAX_LEN \ 205 ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg) 206 207 #endif /* __ES581_4_H__ */ 208