1 /* 2 * CAN driver for PEAK System micro-CAN based adapters 3 * 4 * Copyright (C) 2003-2011 PEAK System-Technik GmbH 5 * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com> 6 * 7 * This program is free software; you can redistribute it and/or modify it 8 * under the terms of the GNU General Public License as published 9 * by the Free Software Foundation; version 2 of the License. 10 * 11 * This program is distributed in the hope that it will be useful, but 12 * WITHOUT ANY WARRANTY; without even the implied warranty of 13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 14 * General Public License for more details. 15 */ 16 #ifndef PUCAN_H 17 #define PUCAN_H 18 19 /* uCAN commands opcodes list (low-order 10 bits) */ 20 #define PUCAN_CMD_NOP 0x000 21 #define PUCAN_CMD_RESET_MODE 0x001 22 #define PUCAN_CMD_NORMAL_MODE 0x002 23 #define PUCAN_CMD_LISTEN_ONLY_MODE 0x003 24 #define PUCAN_CMD_TIMING_SLOW 0x004 25 #define PUCAN_CMD_TIMING_FAST 0x005 26 #define PUCAN_CMD_SET_STD_FILTER 0x006 27 #define PUCAN_CMD_RESERVED2 0x007 28 #define PUCAN_CMD_FILTER_STD 0x008 29 #define PUCAN_CMD_TX_ABORT 0x009 30 #define PUCAN_CMD_WR_ERR_CNT 0x00a 31 #define PUCAN_CMD_SET_EN_OPTION 0x00b 32 #define PUCAN_CMD_CLR_DIS_OPTION 0x00c 33 #define PUCAN_CMD_RX_BARRIER 0x010 34 #define PUCAN_CMD_END_OF_COLLECTION 0x3ff 35 36 /* uCAN received messages list */ 37 #define PUCAN_MSG_CAN_RX 0x0001 38 #define PUCAN_MSG_ERROR 0x0002 39 #define PUCAN_MSG_STATUS 0x0003 40 #define PUCAN_MSG_BUSLOAD 0x0004 41 42 #define PUCAN_MSG_CACHE_CRITICAL 0x0102 43 44 /* uCAN transmitted messages */ 45 #define PUCAN_MSG_CAN_TX 0x1000 46 47 /* uCAN command common header */ 48 struct __packed pucan_command { 49 __le16 opcode_channel; 50 u16 args[3]; 51 }; 52 53 /* return the opcode from the opcode_channel field of a command */ pucan_cmd_get_opcode(struct pucan_command * c)54static inline u16 pucan_cmd_get_opcode(struct pucan_command *c) 55 { 56 return le16_to_cpu(c->opcode_channel) & 0x3ff; 57 } 58 59 #define PUCAN_TSLOW_BRP_BITS 10 60 #define PUCAN_TSLOW_TSGEG1_BITS 8 61 #define PUCAN_TSLOW_TSGEG2_BITS 7 62 #define PUCAN_TSLOW_SJW_BITS 7 63 64 #define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1) 65 #define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1) 66 #define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1) 67 #define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1) 68 69 /* uCAN TIMING_SLOW command fields */ 70 #define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \ 71 ((!!(t)) << 7)) 72 #define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK) 73 #define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK) 74 #define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK) 75 76 struct __packed pucan_timing_slow { 77 __le16 opcode_channel; 78 79 u8 ewl; /* Error Warning limit */ 80 u8 sjw_t; /* Sync Jump Width + Triple sampling */ 81 u8 tseg2; /* Timing SEGment 2 */ 82 u8 tseg1; /* Timing SEGment 1 */ 83 84 __le16 brp; /* BaudRate Prescaler */ 85 }; 86 87 #define PUCAN_TFAST_BRP_BITS 10 88 #define PUCAN_TFAST_TSGEG1_BITS 5 89 #define PUCAN_TFAST_TSGEG2_BITS 4 90 #define PUCAN_TFAST_SJW_BITS 4 91 92 #define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1) 93 #define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1) 94 #define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1) 95 #define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1) 96 97 /* uCAN TIMING_FAST command fields */ 98 #define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK) 99 #define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK) 100 #define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK) 101 #define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK) 102 103 struct __packed pucan_timing_fast { 104 __le16 opcode_channel; 105 106 u8 unused; 107 u8 sjw; /* Sync Jump Width */ 108 u8 tseg2; /* Timing SEGment 2 */ 109 u8 tseg1; /* Timing SEGment 1 */ 110 111 __le16 brp; /* BaudRate Prescaler */ 112 }; 113 114 /* uCAN FILTER_STD command fields */ 115 #define PUCAN_FLTSTD_ROW_IDX_BITS 6 116 117 struct __packed pucan_filter_std { 118 __le16 opcode_channel; 119 120 __le16 idx; 121 __le32 mask; /* CAN-ID bitmask in idx range */ 122 }; 123 124 #define PUCAN_FLTSTD_ROW_IDX_MAX ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1) 125 126 /* uCAN SET_STD_FILTER command fields */ 127 struct __packed pucan_std_filter { 128 __le16 opcode_channel; 129 130 u8 unused; 131 u8 idx; 132 __le32 mask; /* CAN-ID bitmask in idx range */ 133 }; 134 135 /* uCAN TX_ABORT commands fields */ 136 #define PUCAN_TX_ABORT_FLUSH 0x0001 137 138 struct __packed pucan_tx_abort { 139 __le16 opcode_channel; 140 141 __le16 flags; 142 u32 unused; 143 }; 144 145 /* uCAN WR_ERR_CNT command fields */ 146 #define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */ 147 #define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */ 148 149 struct __packed pucan_wr_err_cnt { 150 __le16 opcode_channel; 151 152 __le16 sel_mask; 153 u8 tx_counter; /* Tx error counter new value */ 154 u8 rx_counter; /* Rx error counter new value */ 155 156 u16 unused; 157 }; 158 159 /* uCAN SET_EN/CLR_DIS _OPTION command fields */ 160 #define PUCAN_OPTION_ERROR 0x0001 161 #define PUCAN_OPTION_BUSLOAD 0x0002 162 #define PUCAN_OPTION_CANDFDISO 0x0004 163 164 struct __packed pucan_options { 165 __le16 opcode_channel; 166 167 __le16 options; 168 u32 unused; 169 }; 170 171 /* uCAN received messages global format */ 172 struct __packed pucan_msg { 173 __le16 size; 174 __le16 type; 175 __le32 ts_low; 176 __le32 ts_high; 177 }; 178 179 /* uCAN flags for CAN/CANFD messages */ 180 #define PUCAN_MSG_SELF_RECEIVE 0x80 181 #define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */ 182 #define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */ 183 #define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */ 184 #define PUCAN_MSG_SINGLE_SHOT 0x08 185 #define PUCAN_MSG_LOOPED_BACK 0x04 186 #define PUCAN_MSG_EXT_ID 0x02 187 #define PUCAN_MSG_RTR 0x01 188 189 struct __packed pucan_rx_msg { 190 __le16 size; 191 __le16 type; 192 __le32 ts_low; 193 __le32 ts_high; 194 __le32 tag_low; 195 __le32 tag_high; 196 u8 channel_dlc; 197 u8 client; 198 __le16 flags; 199 __le32 can_id; 200 u8 d[0]; 201 }; 202 203 /* uCAN error types */ 204 #define PUCAN_ERMSG_BIT_ERROR 0 205 #define PUCAN_ERMSG_FORM_ERROR 1 206 #define PUCAN_ERMSG_STUFF_ERROR 2 207 #define PUCAN_ERMSG_OTHER_ERROR 3 208 #define PUCAN_ERMSG_ERR_CNT_DEC 4 209 210 struct __packed pucan_error_msg { 211 __le16 size; 212 __le16 type; 213 __le32 ts_low; 214 __le32 ts_high; 215 u8 channel_type_d; 216 u8 code_g; 217 u8 tx_err_cnt; 218 u8 rx_err_cnt; 219 }; 220 pucan_error_get_channel(const struct pucan_error_msg * msg)221static inline int pucan_error_get_channel(const struct pucan_error_msg *msg) 222 { 223 return msg->channel_type_d & 0x0f; 224 } 225 226 #define PUCAN_RX_BARRIER 0x10 227 #define PUCAN_BUS_PASSIVE 0x20 228 #define PUCAN_BUS_WARNING 0x40 229 #define PUCAN_BUS_BUSOFF 0x80 230 231 struct __packed pucan_status_msg { 232 __le16 size; 233 __le16 type; 234 __le32 ts_low; 235 __le32 ts_high; 236 u8 channel_p_w_b; 237 u8 unused[3]; 238 }; 239 pucan_status_get_channel(const struct pucan_status_msg * msg)240static inline int pucan_status_get_channel(const struct pucan_status_msg *msg) 241 { 242 return msg->channel_p_w_b & 0x0f; 243 } 244 pucan_status_is_rx_barrier(const struct pucan_status_msg * msg)245static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg) 246 { 247 return msg->channel_p_w_b & PUCAN_RX_BARRIER; 248 } 249 pucan_status_is_passive(const struct pucan_status_msg * msg)250static inline int pucan_status_is_passive(const struct pucan_status_msg *msg) 251 { 252 return msg->channel_p_w_b & PUCAN_BUS_PASSIVE; 253 } 254 pucan_status_is_warning(const struct pucan_status_msg * msg)255static inline int pucan_status_is_warning(const struct pucan_status_msg *msg) 256 { 257 return msg->channel_p_w_b & PUCAN_BUS_WARNING; 258 } 259 pucan_status_is_busoff(const struct pucan_status_msg * msg)260static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg) 261 { 262 return msg->channel_p_w_b & PUCAN_BUS_BUSOFF; 263 } 264 265 /* uCAN transmitted message format */ 266 #define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4)) 267 268 struct __packed pucan_tx_msg { 269 __le16 size; 270 __le16 type; 271 __le32 tag_low; 272 __le32 tag_high; 273 u8 channel_dlc; 274 u8 client; 275 __le16 flags; 276 __le32 can_id; 277 u8 d[0]; 278 }; 279 280 /* build the cmd opcode_channel field with respect to the correct endianness */ pucan_cmd_opcode_channel(int index,int opcode)281static inline __le16 pucan_cmd_opcode_channel(int index, int opcode) 282 { 283 return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff)); 284 } 285 286 /* return the channel number part from any received message channel_dlc field */ pucan_msg_get_channel(const struct pucan_rx_msg * msg)287static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg) 288 { 289 return msg->channel_dlc & 0xf; 290 } 291 292 /* return the dlc value from any received message channel_dlc field */ pucan_msg_get_dlc(const struct pucan_rx_msg * msg)293static inline int pucan_msg_get_dlc(const struct pucan_rx_msg *msg) 294 { 295 return msg->channel_dlc >> 4; 296 } 297 pucan_ermsg_get_channel(const struct pucan_error_msg * msg)298static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg) 299 { 300 return msg->channel_type_d & 0x0f; 301 } 302 pucan_stmsg_get_channel(const struct pucan_status_msg * msg)303static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg) 304 { 305 return msg->channel_p_w_b & 0x0f; 306 } 307 308 #endif 309