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 u8 raw_msg[0]; 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__ */ 235