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 		DECLARE_FLEX_ARRAY(u8, raw_msg);
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