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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 ETAS6 * 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 219#define ES581_4_CHANNEL_IDX_OFFSET 120 21#define ES581_4_TX_BULK_MAX 2522#define ES581_4_RX_BULK_MAX 3023#define ES581_4_ECHO_BULK_MAX 3024 25enum es581_4_cmd_type {26 ES581_4_CAN_COMMAND_TYPE = 0x4527};28 29enum 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 = 0x7243};44 45enum es581_4_rx_type {46 ES581_4_RX_TYPE_MESSAGE = 1,47 ES581_4_RX_TYPE_ERROR = 3,48 ES581_4_RX_TYPE_EVENT = 449};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 confused62 * with channed_idx of the ES58X FD which starts from 0.63 */64struct 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 76struct 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. */86struct 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 95struct es581_4_echo_msg {96 __le64 timestamp;97 __le32 packet_idx;98} __packed;99 100struct 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 */106struct 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 116struct 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 129struct 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 139struct 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 145struct 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 the153 * ES581.4 device.154 * @SOF: Start of Frame.155 * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC156 * 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 the159 * 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: enum170 * es58x_cmd_ret_code_u8).171 * @raw_msg: Message raw payload.172 * @reserved_for_crc16_do_not_use: The structure ends with a173 * CRC16. Because the structures in above union are of variable174 * lengths, we can not predict the offset of the CRC in175 * advance. Use functions es58x_get_crc() and es58x_set_crc() to176 * manipulate it.177 */178struct 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 DECLARE_FLEX_ARRAY(u8, raw_msg);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