18e8e69d6SThomas Gleixner /* SPDX-License-Identifier: GPL-2.0-only */ 2c3df7c57SStephane Grosjean /* 3c3df7c57SStephane Grosjean * CAN driver for PEAK System micro-CAN based adapters 4c3df7c57SStephane Grosjean * 5c3df7c57SStephane Grosjean * Copyright (C) 2003-2011 PEAK System-Technik GmbH 6c3df7c57SStephane Grosjean * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com> 7c3df7c57SStephane Grosjean */ 8c3df7c57SStephane Grosjean #ifndef PUCAN_H 9c3df7c57SStephane Grosjean #define PUCAN_H 10c3df7c57SStephane Grosjean 11c3df7c57SStephane Grosjean /* uCAN commands opcodes list (low-order 10 bits) */ 12c3df7c57SStephane Grosjean #define PUCAN_CMD_NOP 0x000 13c3df7c57SStephane Grosjean #define PUCAN_CMD_RESET_MODE 0x001 14c3df7c57SStephane Grosjean #define PUCAN_CMD_NORMAL_MODE 0x002 15c3df7c57SStephane Grosjean #define PUCAN_CMD_LISTEN_ONLY_MODE 0x003 16c3df7c57SStephane Grosjean #define PUCAN_CMD_TIMING_SLOW 0x004 17c3df7c57SStephane Grosjean #define PUCAN_CMD_TIMING_FAST 0x005 188ac8321eSStephane Grosjean #define PUCAN_CMD_SET_STD_FILTER 0x006 198ac8321eSStephane Grosjean #define PUCAN_CMD_RESERVED2 0x007 20c3df7c57SStephane Grosjean #define PUCAN_CMD_FILTER_STD 0x008 21c3df7c57SStephane Grosjean #define PUCAN_CMD_TX_ABORT 0x009 22c3df7c57SStephane Grosjean #define PUCAN_CMD_WR_ERR_CNT 0x00a 23c3df7c57SStephane Grosjean #define PUCAN_CMD_SET_EN_OPTION 0x00b 24c3df7c57SStephane Grosjean #define PUCAN_CMD_CLR_DIS_OPTION 0x00c 258ac8321eSStephane Grosjean #define PUCAN_CMD_RX_BARRIER 0x010 26c3df7c57SStephane Grosjean #define PUCAN_CMD_END_OF_COLLECTION 0x3ff 27c3df7c57SStephane Grosjean 28c3df7c57SStephane Grosjean /* uCAN received messages list */ 29c3df7c57SStephane Grosjean #define PUCAN_MSG_CAN_RX 0x0001 30c3df7c57SStephane Grosjean #define PUCAN_MSG_ERROR 0x0002 31c3df7c57SStephane Grosjean #define PUCAN_MSG_STATUS 0x0003 32c3df7c57SStephane Grosjean #define PUCAN_MSG_BUSLOAD 0x0004 338ac8321eSStephane Grosjean 348ac8321eSStephane Grosjean #define PUCAN_MSG_CACHE_CRITICAL 0x0102 358ac8321eSStephane Grosjean 368ac8321eSStephane Grosjean /* uCAN transmitted messages */ 37c3df7c57SStephane Grosjean #define PUCAN_MSG_CAN_TX 0x1000 38c3df7c57SStephane Grosjean 39c3df7c57SStephane Grosjean /* uCAN command common header */ 40c3df7c57SStephane Grosjean struct __packed pucan_command { 41c3df7c57SStephane Grosjean __le16 opcode_channel; 42c3df7c57SStephane Grosjean u16 args[3]; 43c3df7c57SStephane Grosjean }; 44c3df7c57SStephane Grosjean 458ac8321eSStephane Grosjean /* return the opcode from the opcode_channel field of a command */ pucan_cmd_get_opcode(struct pucan_command * c)468ac8321eSStephane Grosjeanstatic inline u16 pucan_cmd_get_opcode(struct pucan_command *c) 478ac8321eSStephane Grosjean { 488ac8321eSStephane Grosjean return le16_to_cpu(c->opcode_channel) & 0x3ff; 498ac8321eSStephane Grosjean } 508ac8321eSStephane Grosjean 51c3df7c57SStephane Grosjean #define PUCAN_TSLOW_BRP_BITS 10 52c3df7c57SStephane Grosjean #define PUCAN_TSLOW_TSGEG1_BITS 8 53c3df7c57SStephane Grosjean #define PUCAN_TSLOW_TSGEG2_BITS 7 54c3df7c57SStephane Grosjean #define PUCAN_TSLOW_SJW_BITS 7 55c3df7c57SStephane Grosjean 56c3df7c57SStephane Grosjean #define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1) 57c3df7c57SStephane Grosjean #define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1) 58c3df7c57SStephane Grosjean #define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1) 59c3df7c57SStephane Grosjean #define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1) 60c3df7c57SStephane Grosjean 61c3df7c57SStephane Grosjean /* uCAN TIMING_SLOW command fields */ 62c3df7c57SStephane Grosjean #define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \ 63c3df7c57SStephane Grosjean ((!!(t)) << 7)) 64c3df7c57SStephane Grosjean #define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK) 65c3df7c57SStephane Grosjean #define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK) 66c3df7c57SStephane Grosjean #define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK) 67c3df7c57SStephane Grosjean 68c3df7c57SStephane Grosjean struct __packed pucan_timing_slow { 69c3df7c57SStephane Grosjean __le16 opcode_channel; 70c3df7c57SStephane Grosjean 71c3df7c57SStephane Grosjean u8 ewl; /* Error Warning limit */ 72c3df7c57SStephane Grosjean u8 sjw_t; /* Sync Jump Width + Triple sampling */ 73c3df7c57SStephane Grosjean u8 tseg2; /* Timing SEGment 2 */ 74c3df7c57SStephane Grosjean u8 tseg1; /* Timing SEGment 1 */ 75c3df7c57SStephane Grosjean 76c3df7c57SStephane Grosjean __le16 brp; /* BaudRate Prescaler */ 77c3df7c57SStephane Grosjean }; 78c3df7c57SStephane Grosjean 79c3df7c57SStephane Grosjean #define PUCAN_TFAST_BRP_BITS 10 80c3df7c57SStephane Grosjean #define PUCAN_TFAST_TSGEG1_BITS 5 81c3df7c57SStephane Grosjean #define PUCAN_TFAST_TSGEG2_BITS 4 82c3df7c57SStephane Grosjean #define PUCAN_TFAST_SJW_BITS 4 83c3df7c57SStephane Grosjean 84c3df7c57SStephane Grosjean #define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1) 85c3df7c57SStephane Grosjean #define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1) 86c3df7c57SStephane Grosjean #define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1) 87c3df7c57SStephane Grosjean #define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1) 88c3df7c57SStephane Grosjean 89c3df7c57SStephane Grosjean /* uCAN TIMING_FAST command fields */ 90c3df7c57SStephane Grosjean #define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK) 91c3df7c57SStephane Grosjean #define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK) 92c3df7c57SStephane Grosjean #define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK) 93c3df7c57SStephane Grosjean #define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK) 94c3df7c57SStephane Grosjean 95c3df7c57SStephane Grosjean struct __packed pucan_timing_fast { 96c3df7c57SStephane Grosjean __le16 opcode_channel; 97c3df7c57SStephane Grosjean 98c3df7c57SStephane Grosjean u8 unused; 99c3df7c57SStephane Grosjean u8 sjw; /* Sync Jump Width */ 100c3df7c57SStephane Grosjean u8 tseg2; /* Timing SEGment 2 */ 101c3df7c57SStephane Grosjean u8 tseg1; /* Timing SEGment 1 */ 102c3df7c57SStephane Grosjean 103c3df7c57SStephane Grosjean __le16 brp; /* BaudRate Prescaler */ 104c3df7c57SStephane Grosjean }; 105c3df7c57SStephane Grosjean 106c3df7c57SStephane Grosjean /* uCAN FILTER_STD command fields */ 107c3df7c57SStephane Grosjean #define PUCAN_FLTSTD_ROW_IDX_BITS 6 108c3df7c57SStephane Grosjean 109c3df7c57SStephane Grosjean struct __packed pucan_filter_std { 110c3df7c57SStephane Grosjean __le16 opcode_channel; 111c3df7c57SStephane Grosjean 112c3df7c57SStephane Grosjean __le16 idx; 113c3df7c57SStephane Grosjean __le32 mask; /* CAN-ID bitmask in idx range */ 114c3df7c57SStephane Grosjean }; 115c3df7c57SStephane Grosjean 1168ac8321eSStephane Grosjean #define PUCAN_FLTSTD_ROW_IDX_MAX ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1) 1178ac8321eSStephane Grosjean 1188ac8321eSStephane Grosjean /* uCAN SET_STD_FILTER command fields */ 1198ac8321eSStephane Grosjean struct __packed pucan_std_filter { 1208ac8321eSStephane Grosjean __le16 opcode_channel; 1218ac8321eSStephane Grosjean 1228ac8321eSStephane Grosjean u8 unused; 1238ac8321eSStephane Grosjean u8 idx; 1248ac8321eSStephane Grosjean __le32 mask; /* CAN-ID bitmask in idx range */ 1258ac8321eSStephane Grosjean }; 1268ac8321eSStephane Grosjean 1278ac8321eSStephane Grosjean /* uCAN TX_ABORT commands fields */ 1288ac8321eSStephane Grosjean #define PUCAN_TX_ABORT_FLUSH 0x0001 1298ac8321eSStephane Grosjean 1308ac8321eSStephane Grosjean struct __packed pucan_tx_abort { 1318ac8321eSStephane Grosjean __le16 opcode_channel; 1328ac8321eSStephane Grosjean 1338ac8321eSStephane Grosjean __le16 flags; 1348ac8321eSStephane Grosjean u32 unused; 1358ac8321eSStephane Grosjean }; 1368ac8321eSStephane Grosjean 137c3df7c57SStephane Grosjean /* uCAN WR_ERR_CNT command fields */ 138c3df7c57SStephane Grosjean #define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */ 139c3df7c57SStephane Grosjean #define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */ 140c3df7c57SStephane Grosjean 141c3df7c57SStephane Grosjean struct __packed pucan_wr_err_cnt { 142c3df7c57SStephane Grosjean __le16 opcode_channel; 143c3df7c57SStephane Grosjean 144c3df7c57SStephane Grosjean __le16 sel_mask; 145c3df7c57SStephane Grosjean u8 tx_counter; /* Tx error counter new value */ 146c3df7c57SStephane Grosjean u8 rx_counter; /* Rx error counter new value */ 147c3df7c57SStephane Grosjean 148c3df7c57SStephane Grosjean u16 unused; 149c3df7c57SStephane Grosjean }; 150c3df7c57SStephane Grosjean 151c3df7c57SStephane Grosjean /* uCAN SET_EN/CLR_DIS _OPTION command fields */ 152c3df7c57SStephane Grosjean #define PUCAN_OPTION_ERROR 0x0001 153c3df7c57SStephane Grosjean #define PUCAN_OPTION_BUSLOAD 0x0002 154c3df7c57SStephane Grosjean #define PUCAN_OPTION_CANDFDISO 0x0004 155c3df7c57SStephane Grosjean 156c3df7c57SStephane Grosjean struct __packed pucan_options { 157c3df7c57SStephane Grosjean __le16 opcode_channel; 158c3df7c57SStephane Grosjean 159c3df7c57SStephane Grosjean __le16 options; 160c3df7c57SStephane Grosjean u32 unused; 161c3df7c57SStephane Grosjean }; 162c3df7c57SStephane Grosjean 163c3df7c57SStephane Grosjean /* uCAN received messages global format */ 164c3df7c57SStephane Grosjean struct __packed pucan_msg { 165c3df7c57SStephane Grosjean __le16 size; 166c3df7c57SStephane Grosjean __le16 type; 167c3df7c57SStephane Grosjean __le32 ts_low; 168c3df7c57SStephane Grosjean __le32 ts_high; 169c3df7c57SStephane Grosjean }; 170c3df7c57SStephane Grosjean 171c3df7c57SStephane Grosjean /* uCAN flags for CAN/CANFD messages */ 172c3df7c57SStephane Grosjean #define PUCAN_MSG_SELF_RECEIVE 0x80 173c3df7c57SStephane Grosjean #define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */ 174c3df7c57SStephane Grosjean #define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */ 175c3df7c57SStephane Grosjean #define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */ 176c3df7c57SStephane Grosjean #define PUCAN_MSG_SINGLE_SHOT 0x08 177c3df7c57SStephane Grosjean #define PUCAN_MSG_LOOPED_BACK 0x04 178c3df7c57SStephane Grosjean #define PUCAN_MSG_EXT_ID 0x02 179c3df7c57SStephane Grosjean #define PUCAN_MSG_RTR 0x01 180c3df7c57SStephane Grosjean 181c3df7c57SStephane Grosjean struct __packed pucan_rx_msg { 182c3df7c57SStephane Grosjean __le16 size; 183c3df7c57SStephane Grosjean __le16 type; 184c3df7c57SStephane Grosjean __le32 ts_low; 185c3df7c57SStephane Grosjean __le32 ts_high; 186c3df7c57SStephane Grosjean __le32 tag_low; 187c3df7c57SStephane Grosjean __le32 tag_high; 188c3df7c57SStephane Grosjean u8 channel_dlc; 189c3df7c57SStephane Grosjean u8 client; 190c3df7c57SStephane Grosjean __le16 flags; 191c3df7c57SStephane Grosjean __le32 can_id; 192e76018cbSGustavo A. R. Silva u8 d[]; 193c3df7c57SStephane Grosjean }; 194c3df7c57SStephane Grosjean 195c3df7c57SStephane Grosjean /* uCAN error types */ 196c3df7c57SStephane Grosjean #define PUCAN_ERMSG_BIT_ERROR 0 197c3df7c57SStephane Grosjean #define PUCAN_ERMSG_FORM_ERROR 1 198c3df7c57SStephane Grosjean #define PUCAN_ERMSG_STUFF_ERROR 2 199c3df7c57SStephane Grosjean #define PUCAN_ERMSG_OTHER_ERROR 3 200c3df7c57SStephane Grosjean #define PUCAN_ERMSG_ERR_CNT_DEC 4 201c3df7c57SStephane Grosjean 202c3df7c57SStephane Grosjean struct __packed pucan_error_msg { 203c3df7c57SStephane Grosjean __le16 size; 204c3df7c57SStephane Grosjean __le16 type; 205c3df7c57SStephane Grosjean __le32 ts_low; 206c3df7c57SStephane Grosjean __le32 ts_high; 207c3df7c57SStephane Grosjean u8 channel_type_d; 208c3df7c57SStephane Grosjean u8 code_g; 209c3df7c57SStephane Grosjean u8 tx_err_cnt; 210c3df7c57SStephane Grosjean u8 rx_err_cnt; 211c3df7c57SStephane Grosjean }; 212c3df7c57SStephane Grosjean pucan_error_get_channel(const struct pucan_error_msg * msg)2138ac8321eSStephane Grosjeanstatic inline int pucan_error_get_channel(const struct pucan_error_msg *msg) 2148ac8321eSStephane Grosjean { 2158ac8321eSStephane Grosjean return msg->channel_type_d & 0x0f; 2168ac8321eSStephane Grosjean } 2178ac8321eSStephane Grosjean 2188ac8321eSStephane Grosjean #define PUCAN_RX_BARRIER 0x10 219c3df7c57SStephane Grosjean #define PUCAN_BUS_PASSIVE 0x20 220c3df7c57SStephane Grosjean #define PUCAN_BUS_WARNING 0x40 221c3df7c57SStephane Grosjean #define PUCAN_BUS_BUSOFF 0x80 222c3df7c57SStephane Grosjean 223c3df7c57SStephane Grosjean struct __packed pucan_status_msg { 224c3df7c57SStephane Grosjean __le16 size; 225c3df7c57SStephane Grosjean __le16 type; 226c3df7c57SStephane Grosjean __le32 ts_low; 227c3df7c57SStephane Grosjean __le32 ts_high; 228c3df7c57SStephane Grosjean u8 channel_p_w_b; 229c3df7c57SStephane Grosjean u8 unused[3]; 230c3df7c57SStephane Grosjean }; 231c3df7c57SStephane Grosjean pucan_status_get_channel(const struct pucan_status_msg * msg)2328ac8321eSStephane Grosjeanstatic inline int pucan_status_get_channel(const struct pucan_status_msg *msg) 2338ac8321eSStephane Grosjean { 2348ac8321eSStephane Grosjean return msg->channel_p_w_b & 0x0f; 2358ac8321eSStephane Grosjean } 2368ac8321eSStephane Grosjean pucan_status_is_rx_barrier(const struct pucan_status_msg * msg)2378ac8321eSStephane Grosjeanstatic inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg) 2388ac8321eSStephane Grosjean { 2398ac8321eSStephane Grosjean return msg->channel_p_w_b & PUCAN_RX_BARRIER; 2408ac8321eSStephane Grosjean } 2418ac8321eSStephane Grosjean pucan_status_is_passive(const struct pucan_status_msg * msg)2428ac8321eSStephane Grosjeanstatic inline int pucan_status_is_passive(const struct pucan_status_msg *msg) 2438ac8321eSStephane Grosjean { 2448ac8321eSStephane Grosjean return msg->channel_p_w_b & PUCAN_BUS_PASSIVE; 2458ac8321eSStephane Grosjean } 2468ac8321eSStephane Grosjean pucan_status_is_warning(const struct pucan_status_msg * msg)2478ac8321eSStephane Grosjeanstatic inline int pucan_status_is_warning(const struct pucan_status_msg *msg) 2488ac8321eSStephane Grosjean { 2498ac8321eSStephane Grosjean return msg->channel_p_w_b & PUCAN_BUS_WARNING; 2508ac8321eSStephane Grosjean } 2518ac8321eSStephane Grosjean pucan_status_is_busoff(const struct pucan_status_msg * msg)2528ac8321eSStephane Grosjeanstatic inline int pucan_status_is_busoff(const struct pucan_status_msg *msg) 2538ac8321eSStephane Grosjean { 2548ac8321eSStephane Grosjean return msg->channel_p_w_b & PUCAN_BUS_BUSOFF; 2558ac8321eSStephane Grosjean } 2568ac8321eSStephane Grosjean 257c3df7c57SStephane Grosjean /* uCAN transmitted message format */ 258c3df7c57SStephane Grosjean #define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4)) 259c3df7c57SStephane Grosjean 260c3df7c57SStephane Grosjean struct __packed pucan_tx_msg { 261c3df7c57SStephane Grosjean __le16 size; 262c3df7c57SStephane Grosjean __le16 type; 263c3df7c57SStephane Grosjean __le32 tag_low; 264c3df7c57SStephane Grosjean __le32 tag_high; 265c3df7c57SStephane Grosjean u8 channel_dlc; 266c3df7c57SStephane Grosjean u8 client; 267c3df7c57SStephane Grosjean __le16 flags; 268c3df7c57SStephane Grosjean __le32 can_id; 269e76018cbSGustavo A. R. Silva u8 d[]; 270c3df7c57SStephane Grosjean }; 271c3df7c57SStephane Grosjean 272c3df7c57SStephane Grosjean /* build the cmd opcode_channel field with respect to the correct endianness */ pucan_cmd_opcode_channel(int index,int opcode)273c3df7c57SStephane Grosjeanstatic inline __le16 pucan_cmd_opcode_channel(int index, int opcode) 274c3df7c57SStephane Grosjean { 275c3df7c57SStephane Grosjean return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff)); 276c3df7c57SStephane Grosjean } 277c3df7c57SStephane Grosjean 278c3df7c57SStephane Grosjean /* return the channel number part from any received message channel_dlc field */ pucan_msg_get_channel(const struct pucan_rx_msg * msg)279c3df7c57SStephane Grosjeanstatic inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg) 280c3df7c57SStephane Grosjean { 281c3df7c57SStephane Grosjean return msg->channel_dlc & 0xf; 282c3df7c57SStephane Grosjean } 283c3df7c57SStephane Grosjean 284c3df7c57SStephane Grosjean /* return the dlc value from any received message channel_dlc field */ pucan_msg_get_dlc(const struct pucan_rx_msg * msg)285*cd1124e7SOliver Hartkoppstatic inline u8 pucan_msg_get_dlc(const struct pucan_rx_msg *msg) 286c3df7c57SStephane Grosjean { 287c3df7c57SStephane Grosjean return msg->channel_dlc >> 4; 288c3df7c57SStephane Grosjean } 289c3df7c57SStephane Grosjean pucan_ermsg_get_channel(const struct pucan_error_msg * msg)290c3df7c57SStephane Grosjeanstatic inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg) 291c3df7c57SStephane Grosjean { 292c3df7c57SStephane Grosjean return msg->channel_type_d & 0x0f; 293c3df7c57SStephane Grosjean } 294c3df7c57SStephane Grosjean pucan_stmsg_get_channel(const struct pucan_status_msg * msg)295c3df7c57SStephane Grosjeanstatic inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg) 296c3df7c57SStephane Grosjean { 297c3df7c57SStephane Grosjean return msg->channel_p_w_b & 0x0f; 298c3df7c57SStephane Grosjean } 299c3df7c57SStephane Grosjean 300c3df7c57SStephane Grosjean #endif 301