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/*
* CAN driver for PEAK System micro-CAN based adapters
*
* Copyright (C) 2003-2011 PEAK System-Technik GmbH
* Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
*
* This program is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published
* by the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*/
#ifndef PUCAN_H
#define PUCAN_H
/* uCAN commands opcodes list (low-order 10 bits) */
#define PUCAN_CMD_NOP 0x000
#define PUCAN_CMD_RESET_MODE 0x001
#define PUCAN_CMD_NORMAL_MODE 0x002
#define PUCAN_CMD_LISTEN_ONLY_MODE 0x003
#define PUCAN_CMD_TIMING_SLOW 0x004
#define PUCAN_CMD_TIMING_FAST 0x005
#define PUCAN_CMD_FILTER_STD 0x008
#define PUCAN_CMD_TX_ABORT 0x009
#define PUCAN_CMD_WR_ERR_CNT 0x00a
#define PUCAN_CMD_RX_FRAME_ENABLE 0x00b
#define PUCAN_CMD_RX_FRAME_DISABLE 0x00c
#define PUCAN_CMD_END_OF_COLLECTION 0x3ff
/* uCAN received messages list */
#define PUCAN_MSG_CAN_RX 0x0001
#define PUCAN_MSG_ERROR 0x0002
#define PUCAN_MSG_STATUS 0x0003
#define PUCAN_MSG_BUSLOAD 0x0004
#define PUCAN_MSG_CAN_TX 0x1000
/* uCAN command common header */
struct __packed pucan_command {
__le16 opcode_channel;
u16 args[3];
};
/* uCAN TIMING_SLOW command fields */
#define PUCAN_TSLOW_SJW_T(s, t) (((s) & 0xf) | ((!!(t)) << 7))
#define PUCAN_TSLOW_TSEG2(t) ((t) & 0xf)
#define PUCAN_TSLOW_TSEG1(t) ((t) & 0x3f)
#define PUCAN_TSLOW_BRP(b) ((b) & 0x3ff)
struct __packed pucan_timing_slow {
__le16 opcode_channel;
u8 ewl; /* Error Warning limit */
u8 sjw_t; /* Sync Jump Width + Triple sampling */
u8 tseg2; /* Timing SEGment 2 */
u8 tseg1; /* Timing SEGment 1 */
__le16 brp; /* BaudRate Prescaler */
};
/* uCAN TIMING_FAST command fields */
#define PUCAN_TFAST_SJW(s) ((s) & 0x3)
#define PUCAN_TFAST_TSEG2(t) ((t) & 0x7)
#define PUCAN_TFAST_TSEG1(t) ((t) & 0xf)
#define PUCAN_TFAST_BRP(b) ((b) & 0x3ff)
struct __packed pucan_timing_fast {
__le16 opcode_channel;
u8 unused;
u8 sjw; /* Sync Jump Width */
u8 tseg2; /* Timing SEGment 2 */
u8 tseg1; /* Timing SEGment 1 */
__le16 brp; /* BaudRate Prescaler */
};
/* uCAN FILTER_STD command fields */
#define PUCAN_FLTSTD_ROW_IDX_BITS 6
struct __packed pucan_filter_std {
__le16 opcode_channel;
__le16 idx;
__le32 mask; /* CAN-ID bitmask in idx range */
};
/* uCAN WR_ERR_CNT command fields */
#define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */
#define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */
struct __packed pucan_wr_err_cnt {
__le16 opcode_channel;
__le16 sel_mask;
u8 tx_counter; /* Tx error counter new value */
u8 rx_counter; /* Rx error counter new value */
u16 unused;
};
/* uCAN RX_FRAME_ENABLE command fields */
#define PUCAN_FLTEXT_ERROR 0x0001
#define PUCAN_FLTEXT_BUSLOAD 0x0002
struct __packed pucan_filter_ext {
__le16 opcode_channel;
__le16 ext_mask;
u32 unused;
};
/* uCAN received messages global format */
struct __packed pucan_msg {
__le16 size;
__le16 type;
__le32 ts_low;
__le32 ts_high;
};
/* uCAN flags for CAN/CANFD messages */
#define PUCAN_MSG_SELF_RECEIVE 0x80
#define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */
#define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */
#define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */
#define PUCAN_MSG_SINGLE_SHOT 0x08
#define PUCAN_MSG_LOOPED_BACK 0x04
#define PUCAN_MSG_EXT_ID 0x02
#define PUCAN_MSG_RTR 0x01
struct __packed pucan_rx_msg {
__le16 size;
__le16 type;
__le32 ts_low;
__le32 ts_high;
__le32 tag_low;
__le32 tag_high;
u8 channel_dlc;
u8 client;
__le16 flags;
__le32 can_id;
u8 d[0];
};
/* uCAN error types */
#define PUCAN_ERMSG_BIT_ERROR 0
#define PUCAN_ERMSG_FORM_ERROR 1
#define PUCAN_ERMSG_STUFF_ERROR 2
#define PUCAN_ERMSG_OTHER_ERROR 3
#define PUCAN_ERMSG_ERR_CNT_DEC 4
struct __packed pucan_error_msg {
__le16 size;
__le16 type;
__le32 ts_low;
__le32 ts_high;
u8 channel_type_d;
u8 code_g;
u8 tx_err_cnt;
u8 rx_err_cnt;
};
#define PUCAN_BUS_PASSIVE 0x20
#define PUCAN_BUS_WARNING 0x40
#define PUCAN_BUS_BUSOFF 0x80
struct __packed pucan_status_msg {
__le16 size;
__le16 type;
__le32 ts_low;
__le32 ts_high;
u8 channel_p_w_b;
u8 unused[3];
};
/* uCAN transmitted message format */
#define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4))
struct __packed pucan_tx_msg {
__le16 size;
__le16 type;
__le32 tag_low;
__le32 tag_high;
u8 channel_dlc;
u8 client;
__le16 flags;
__le32 can_id;
u8 d[0];
};
/* build the cmd opcode_channel field with respect to the correct endianness */
static inline __le16 pucan_cmd_opcode_channel(struct peak_usb_device *dev,
int opcode)
{
return cpu_to_le16(((dev->ctrl_idx) << 12) | ((opcode) & 0x3ff));
}
/* return the channel number part from any received message channel_dlc field */
static inline int pucan_msg_get_channel(struct pucan_rx_msg *rm)
{
return rm->channel_dlc & 0xf;
}
/* return the dlc value from any received message channel_dlc field */
static inline int pucan_msg_get_dlc(struct pucan_rx_msg *rm)
{
return rm->channel_dlc >> 4;
}
static inline int pucan_ermsg_get_channel(struct pucan_error_msg *em)
{
return em->channel_type_d & 0x0f;
}
static inline int pucan_stmsg_get_channel(struct pucan_status_msg *sm)
{
return sm->channel_p_w_b & 0x0f;
}
#endif
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