Linux kernel mirror (for testing)
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linux
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 */
48struct __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 */
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
76struct __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
103struct __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
117struct __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 */
127struct __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
138struct __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
149struct __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
164struct __packed pucan_options {
165 __le16 opcode_channel;
166
167 __le16 options;
168 u32 unused;
169};
170
171/* uCAN received messages global format */
172struct __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
189struct __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
210struct __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
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
231struct __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
240static inline int pucan_status_get_channel(const struct pucan_status_msg *msg)
241{
242 return msg->channel_p_w_b & 0x0f;
243}
244
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
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
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
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
268struct __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 */
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 */
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 */
293static inline int pucan_msg_get_dlc(const struct pucan_rx_msg *msg)
294{
295 return msg->channel_dlc >> 4;
296}
297
298static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg)
299{
300 return msg->channel_type_d & 0x0f;
301}
302
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