208 lines
5.8 KiB
C
208 lines
5.8 KiB
C
/* SPDX-License-Identifier: GPL-2.0 */
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/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
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*
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* File es581_4.h: Definitions and declarations specific to ETAS
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* ES581.4.
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*
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* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
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* Copyright (c) 2020 ETAS K.K.. All rights reserved.
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* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
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*/
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#ifndef __ES581_4_H__
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#define __ES581_4_H__
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#include <linux/types.h>
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#define ES581_4_NUM_CAN_CH 2
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#define ES581_4_CHANNEL_IDX_OFFSET 1
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#define ES581_4_TX_BULK_MAX 25
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#define ES581_4_RX_BULK_MAX 30
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#define ES581_4_ECHO_BULK_MAX 30
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enum es581_4_cmd_type {
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ES581_4_CAN_COMMAND_TYPE = 0x45
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};
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enum es581_4_cmd_id {
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ES581_4_CMD_ID_OPEN_CHANNEL = 0x01,
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ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02,
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ES581_4_CMD_ID_SET_BITTIMING = 0x03,
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ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04,
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ES581_4_CMD_ID_TX_MSG = 0x05,
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ES581_4_CMD_ID_RX_MSG = 0x06,
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ES581_4_CMD_ID_RESET_RX = 0x0A,
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ES581_4_CMD_ID_RESET_TX = 0x0B,
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ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C,
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ES581_4_CMD_ID_TIMESTAMP = 0x0E,
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ES581_4_CMD_ID_RESET_DEVICE = 0x28,
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ES581_4_CMD_ID_ECHO = 0x71,
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ES581_4_CMD_ID_DEVICE_ERR = 0x72
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};
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enum es581_4_rx_type {
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ES581_4_RX_TYPE_MESSAGE = 1,
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ES581_4_RX_TYPE_ERROR = 3,
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ES581_4_RX_TYPE_EVENT = 4
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};
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/**
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* struct es581_4_tx_conf_msg - Channel configuration.
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* @bitrate: Bitrate.
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* @sample_point: Sample point is in percent [0..100].
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* @samples_per_bit: type enum es58x_samples_per_bit.
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* @bit_time: Number of time quanta in one bit.
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* @sjw: Synchronization Jump Width.
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* @sync_edge: type enum es58x_sync_edge.
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* @physical_layer: type enum es58x_physical_layer.
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* @echo_mode: type enum es58x_echo_mode.
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* @channel_no: Channel number, starting from 1. Not to be confused
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* with channed_idx of the ES58X FD which starts from 0.
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*/
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struct es581_4_tx_conf_msg {
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__le32 bitrate;
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__le32 sample_point;
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__le32 samples_per_bit;
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__le32 bit_time;
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__le32 sjw;
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__le32 sync_edge;
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__le32 physical_layer;
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__le32 echo_mode;
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u8 channel_no;
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} __packed;
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struct es581_4_tx_can_msg {
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__le32 can_id;
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__le32 packet_idx;
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__le16 flags;
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u8 channel_no;
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u8 dlc;
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u8 data[CAN_MAX_DLEN];
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} __packed;
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/* The ES581.4 allows bulk transfer. */
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struct es581_4_bulk_tx_can_msg {
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u8 num_can_msg;
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/* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]"
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* for tx_msg_buf because each member has a flexible size.
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*/
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u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX *
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sizeof(struct es581_4_tx_can_msg)];
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} __packed;
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struct es581_4_echo_msg {
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__le64 timestamp;
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__le32 packet_idx;
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} __packed;
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struct es581_4_bulk_echo_msg {
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u8 channel_no;
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struct es581_4_echo_msg echo_msg[ES581_4_ECHO_BULK_MAX];
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} __packed;
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/* Normal Rx CAN Message */
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struct es581_4_rx_can_msg {
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__le64 timestamp;
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u8 rx_type; /* type enum es581_4_rx_type */
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u8 flags; /* type enum es58x_flag */
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u8 channel_no;
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u8 dlc;
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__le32 can_id;
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u8 data[CAN_MAX_DLEN];
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} __packed;
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struct es581_4_rx_err_msg {
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__le64 timestamp;
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__le16 rx_type; /* type enum es581_4_rx_type */
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__le16 flags; /* type enum es58x_flag */
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u8 channel_no;
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u8 __padding[2];
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u8 dlc;
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__le32 tag; /* Related to the CAN filtering. Unused in this module */
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__le32 can_id;
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__le32 error; /* type enum es58x_error */
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__le32 destination; /* Unused in this module */
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} __packed;
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struct es581_4_rx_event_msg {
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__le64 timestamp;
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__le16 rx_type; /* type enum es581_4_rx_type */
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u8 channel_no;
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u8 __padding;
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__le32 tag; /* Related to the CAN filtering. Unused in this module */
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__le32 event; /* type enum es58x_event */
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__le32 destination; /* Unused in this module */
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} __packed;
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struct es581_4_tx_ack_msg {
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__le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
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u8 channel_no;
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u8 rx_cmd_ret_u8; /* type enum es58x_cmd_ret_code_u8 */
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} __packed;
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struct es581_4_rx_cmd_ret {
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__le32 rx_cmd_ret_le32;
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u8 channel_no;
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u8 __padding[3];
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} __packed;
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/**
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* struct es581_4_urb_cmd - Commands received from or sent to the
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* ES581.4 device.
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* @SOF: Start of Frame.
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* @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC
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* calculation starts at this position.
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* @cmd_id: Command ID (type: enum es581_4_cmd_id).
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* @msg_len: Length of the message, excluding CRC (i.e. length of the
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* union).
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* @tx_conf_msg: Channel configuration.
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* @bulk_tx_can_msg: Tx messages.
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* @rx_can_msg: Array of Rx messages.
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* @bulk_echo_msg: Tx message being looped back.
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* @rx_err_msg: Error message.
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* @rx_event_msg: Event message.
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* @tx_ack_msg: Tx acknowledgment message.
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* @rx_cmd_ret: Command return code.
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* @timestamp: Timestamp reply.
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* @rx_cmd_ret_u8: Rx 8 bits return code (type: enum
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* es58x_cmd_ret_code_u8).
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* @raw_msg: Message raw payload.
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* @reserved_for_crc16_do_not_use: The structure ends with a
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* CRC16. Because the structures in above union are of variable
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* lengths, we can not predict the offset of the CRC in
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* advance. Use functions es58x_get_crc() and es58x_set_crc() to
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* manipulate it.
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*/
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struct es581_4_urb_cmd {
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__le16 SOF;
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u8 cmd_type;
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u8 cmd_id;
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__le16 msg_len;
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union {
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struct es581_4_tx_conf_msg tx_conf_msg;
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struct es581_4_bulk_tx_can_msg bulk_tx_can_msg;
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struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX];
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struct es581_4_bulk_echo_msg bulk_echo_msg;
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struct es581_4_rx_err_msg rx_err_msg;
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struct es581_4_rx_event_msg rx_event_msg;
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struct es581_4_tx_ack_msg tx_ack_msg;
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struct es581_4_rx_cmd_ret rx_cmd_ret;
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__le64 timestamp;
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u8 rx_cmd_ret_u8;
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DECLARE_FLEX_ARRAY(u8, raw_msg);
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} __packed;
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__le16 reserved_for_crc16_do_not_use;
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} __packed;
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#define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg))
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#define ES581_4_TX_URB_CMD_MAX_LEN \
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ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg)
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#define ES581_4_RX_URB_CMD_MAX_LEN \
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ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg)
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#endif /* __ES581_4_H__ */
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