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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 es58x_fd.h: Definitions and declarations specific to ETAS6 * 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 220#define ES584_1_NUM_CAN_CH 121#define ES58X_FD_NUM_CAN_CH 222#define ES58X_FD_CHANNEL_IDX_OFFSET 023 24#define ES58X_FD_TX_BULK_MAX 10025#define ES58X_FD_RX_BULK_MAX 10026#define ES58X_FD_ECHO_BULK_MAX 10027 28enum es58x_fd_cmd_type {29 ES58X_FD_CMD_TYPE_CAN = 0x03,30 ES58X_FD_CMD_TYPE_CANFD = 0x04,31 ES58X_FD_CMD_TYPE_DEVICE = 0xFF32};33 34/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */35enum 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 = 0x5545};46 47/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */48enum es58x_fd_dev_cmd_id {49 ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,50 ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x0251};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 not57 * 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 Specification60 * V1.061 * @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to62 * behave when CAN FD reserved bit is monitored as63 * dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control64 * field", paragraph "r0 bit"). 0 (not disable = enable): send65 * error frame. 1 (disable): goes into bus integration mode66 * (c.f. below).67 * @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge68 * filtering is disabled. 1: Edge filtering is enabled. Two69 * consecutive dominant bits required to detect an edge for hard70 * synchronization.71 */72enum 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 81struct 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 is100 * 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/V71105 * Family" section 49 "Controller Area Network (MCAN)" for additional106 * information.107 */108struct 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 126struct 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 141struct 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 156struct es58x_fd_echo_msg {157 __le64 timestamp;158 u8 packet_idx;159} __packed;160 161struct 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 170struct 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 the177 * ES58X FD device.178 * @SOF: Start of Frame.179 * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC180 * 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 the184 * 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 structure188 * has a flexible size.189 * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead190 * of "struct es58x_fd_rx_msg[]" because the structure has a191 * flexible size.192 * @echo_msg: Array of echo messages (e.g. Tx messages being looped193 * 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: enum198 * es58x_cmd_ret_code_u32).199 * @raw_msg: Message raw payload.200 * @reserved_for_crc16_do_not_use: The structure ends with a201 * CRC16. Because the structures in above union are of variable202 * lengths, we can not predict the offset of the CRC in203 * advance. Use functions es58x_get_crc() and es58x_set_crc() to204 * manipulate it.205 */206struct 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