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300 lines
7.6 KiB
300 lines
7.6 KiB
/* SPDX-License-Identifier: GPL-2.0-only */ |
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/* |
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* CAN driver for PEAK System micro-CAN based adapters |
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* |
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* Copyright (C) 2003-2011 PEAK System-Technik GmbH |
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* Copyright (C) 2011-2013 Stephane Grosjean <[email protected]> |
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*/ |
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#ifndef PUCAN_H |
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#define PUCAN_H |
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/* uCAN commands opcodes list (low-order 10 bits) */ |
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#define PUCAN_CMD_NOP 0x000 |
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#define PUCAN_CMD_RESET_MODE 0x001 |
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#define PUCAN_CMD_NORMAL_MODE 0x002 |
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#define PUCAN_CMD_LISTEN_ONLY_MODE 0x003 |
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#define PUCAN_CMD_TIMING_SLOW 0x004 |
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#define PUCAN_CMD_TIMING_FAST 0x005 |
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#define PUCAN_CMD_SET_STD_FILTER 0x006 |
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#define PUCAN_CMD_RESERVED2 0x007 |
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#define PUCAN_CMD_FILTER_STD 0x008 |
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#define PUCAN_CMD_TX_ABORT 0x009 |
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#define PUCAN_CMD_WR_ERR_CNT 0x00a |
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#define PUCAN_CMD_SET_EN_OPTION 0x00b |
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#define PUCAN_CMD_CLR_DIS_OPTION 0x00c |
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#define PUCAN_CMD_RX_BARRIER 0x010 |
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#define PUCAN_CMD_END_OF_COLLECTION 0x3ff |
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/* uCAN received messages list */ |
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#define PUCAN_MSG_CAN_RX 0x0001 |
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#define PUCAN_MSG_ERROR 0x0002 |
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#define PUCAN_MSG_STATUS 0x0003 |
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#define PUCAN_MSG_BUSLOAD 0x0004 |
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#define PUCAN_MSG_CACHE_CRITICAL 0x0102 |
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/* uCAN transmitted messages */ |
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#define PUCAN_MSG_CAN_TX 0x1000 |
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/* uCAN command common header */ |
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struct __packed pucan_command { |
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__le16 opcode_channel; |
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u16 args[3]; |
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}; |
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/* return the opcode from the opcode_channel field of a command */ |
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static inline u16 pucan_cmd_get_opcode(struct pucan_command *c) |
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{ |
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return le16_to_cpu(c->opcode_channel) & 0x3ff; |
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} |
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#define PUCAN_TSLOW_BRP_BITS 10 |
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#define PUCAN_TSLOW_TSGEG1_BITS 8 |
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#define PUCAN_TSLOW_TSGEG2_BITS 7 |
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#define PUCAN_TSLOW_SJW_BITS 7 |
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#define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1) |
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#define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1) |
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#define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1) |
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#define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1) |
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/* uCAN TIMING_SLOW command fields */ |
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#define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \ |
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((!!(t)) << 7)) |
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#define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK) |
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#define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK) |
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#define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK) |
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struct __packed pucan_timing_slow { |
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__le16 opcode_channel; |
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u8 ewl; /* Error Warning limit */ |
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u8 sjw_t; /* Sync Jump Width + Triple sampling */ |
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u8 tseg2; /* Timing SEGment 2 */ |
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u8 tseg1; /* Timing SEGment 1 */ |
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__le16 brp; /* BaudRate Prescaler */ |
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}; |
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#define PUCAN_TFAST_BRP_BITS 10 |
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#define PUCAN_TFAST_TSGEG1_BITS 5 |
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#define PUCAN_TFAST_TSGEG2_BITS 4 |
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#define PUCAN_TFAST_SJW_BITS 4 |
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#define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1) |
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#define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1) |
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#define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1) |
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#define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1) |
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/* uCAN TIMING_FAST command fields */ |
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#define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK) |
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#define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK) |
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#define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK) |
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#define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK) |
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struct __packed pucan_timing_fast { |
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__le16 opcode_channel; |
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u8 unused; |
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u8 sjw; /* Sync Jump Width */ |
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u8 tseg2; /* Timing SEGment 2 */ |
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u8 tseg1; /* Timing SEGment 1 */ |
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__le16 brp; /* BaudRate Prescaler */ |
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}; |
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/* uCAN FILTER_STD command fields */ |
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#define PUCAN_FLTSTD_ROW_IDX_BITS 6 |
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struct __packed pucan_filter_std { |
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__le16 opcode_channel; |
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__le16 idx; |
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__le32 mask; /* CAN-ID bitmask in idx range */ |
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}; |
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#define PUCAN_FLTSTD_ROW_IDX_MAX ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1) |
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/* uCAN SET_STD_FILTER command fields */ |
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struct __packed pucan_std_filter { |
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__le16 opcode_channel; |
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u8 unused; |
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u8 idx; |
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__le32 mask; /* CAN-ID bitmask in idx range */ |
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}; |
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/* uCAN TX_ABORT commands fields */ |
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#define PUCAN_TX_ABORT_FLUSH 0x0001 |
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struct __packed pucan_tx_abort { |
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__le16 opcode_channel; |
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__le16 flags; |
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u32 unused; |
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}; |
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/* uCAN WR_ERR_CNT command fields */ |
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#define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */ |
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#define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */ |
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struct __packed pucan_wr_err_cnt { |
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__le16 opcode_channel; |
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__le16 sel_mask; |
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u8 tx_counter; /* Tx error counter new value */ |
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u8 rx_counter; /* Rx error counter new value */ |
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u16 unused; |
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}; |
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/* uCAN SET_EN/CLR_DIS _OPTION command fields */ |
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#define PUCAN_OPTION_ERROR 0x0001 |
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#define PUCAN_OPTION_BUSLOAD 0x0002 |
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#define PUCAN_OPTION_CANDFDISO 0x0004 |
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struct __packed pucan_options { |
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__le16 opcode_channel; |
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__le16 options; |
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u32 unused; |
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}; |
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/* uCAN received messages global format */ |
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struct __packed pucan_msg { |
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__le16 size; |
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__le16 type; |
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__le32 ts_low; |
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__le32 ts_high; |
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}; |
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/* uCAN flags for CAN/CANFD messages */ |
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#define PUCAN_MSG_SELF_RECEIVE 0x80 |
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#define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */ |
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#define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */ |
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#define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */ |
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#define PUCAN_MSG_SINGLE_SHOT 0x08 |
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#define PUCAN_MSG_LOOPED_BACK 0x04 |
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#define PUCAN_MSG_EXT_ID 0x02 |
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#define PUCAN_MSG_RTR 0x01 |
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struct __packed pucan_rx_msg { |
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__le16 size; |
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__le16 type; |
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__le32 ts_low; |
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__le32 ts_high; |
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__le32 tag_low; |
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__le32 tag_high; |
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u8 channel_dlc; |
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u8 client; |
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__le16 flags; |
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__le32 can_id; |
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u8 d[]; |
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}; |
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/* uCAN error types */ |
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#define PUCAN_ERMSG_BIT_ERROR 0 |
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#define PUCAN_ERMSG_FORM_ERROR 1 |
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#define PUCAN_ERMSG_STUFF_ERROR 2 |
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#define PUCAN_ERMSG_OTHER_ERROR 3 |
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#define PUCAN_ERMSG_ERR_CNT_DEC 4 |
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struct __packed pucan_error_msg { |
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__le16 size; |
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__le16 type; |
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__le32 ts_low; |
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__le32 ts_high; |
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u8 channel_type_d; |
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u8 code_g; |
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u8 tx_err_cnt; |
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u8 rx_err_cnt; |
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}; |
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static inline int pucan_error_get_channel(const struct pucan_error_msg *msg) |
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{ |
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return msg->channel_type_d & 0x0f; |
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} |
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#define PUCAN_RX_BARRIER 0x10 |
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#define PUCAN_BUS_PASSIVE 0x20 |
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#define PUCAN_BUS_WARNING 0x40 |
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#define PUCAN_BUS_BUSOFF 0x80 |
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struct __packed pucan_status_msg { |
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__le16 size; |
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__le16 type; |
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__le32 ts_low; |
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__le32 ts_high; |
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u8 channel_p_w_b; |
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u8 unused[3]; |
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}; |
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static inline int pucan_status_get_channel(const struct pucan_status_msg *msg) |
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{ |
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return msg->channel_p_w_b & 0x0f; |
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} |
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static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg) |
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{ |
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return msg->channel_p_w_b & PUCAN_RX_BARRIER; |
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} |
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static inline int pucan_status_is_passive(const struct pucan_status_msg *msg) |
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{ |
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return msg->channel_p_w_b & PUCAN_BUS_PASSIVE; |
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} |
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static inline int pucan_status_is_warning(const struct pucan_status_msg *msg) |
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{ |
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return msg->channel_p_w_b & PUCAN_BUS_WARNING; |
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} |
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static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg) |
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{ |
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return msg->channel_p_w_b & PUCAN_BUS_BUSOFF; |
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} |
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/* uCAN transmitted message format */ |
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#define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4)) |
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struct __packed pucan_tx_msg { |
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__le16 size; |
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__le16 type; |
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__le32 tag_low; |
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__le32 tag_high; |
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u8 channel_dlc; |
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u8 client; |
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__le16 flags; |
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__le32 can_id; |
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u8 d[]; |
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}; |
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/* build the cmd opcode_channel field with respect to the correct endianness */ |
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static inline __le16 pucan_cmd_opcode_channel(int index, int opcode) |
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{ |
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return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff)); |
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} |
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/* return the channel number part from any received message channel_dlc field */ |
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static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg) |
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{ |
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return msg->channel_dlc & 0xf; |
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} |
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/* return the dlc value from any received message channel_dlc field */ |
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static inline u8 pucan_msg_get_dlc(const struct pucan_rx_msg *msg) |
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{ |
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return msg->channel_dlc >> 4; |
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} |
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static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg) |
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{ |
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return msg->channel_type_d & 0x0f; |
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} |
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static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg) |
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{ |
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return msg->channel_p_w_b & 0x0f; |
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} |
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#endif
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