309 lines
8 KiB
C
309 lines
8 KiB
C
|
/*
|
||
|
|
* 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_SET_STD_FILTER 0x006
|
||
|
|
#define PUCAN_CMD_RESERVED2 0x007
|
||
|
|
#define PUCAN_CMD_FILTER_STD 0x008
|
||
|
|
#define PUCAN_CMD_TX_ABORT 0x009
|
||
|
|
#define PUCAN_CMD_WR_ERR_CNT 0x00a
|
||
|
|
#define PUCAN_CMD_SET_EN_OPTION 0x00b
|
||
|
|
#define PUCAN_CMD_CLR_DIS_OPTION 0x00c
|
||
|
|
#define PUCAN_CMD_RX_BARRIER 0x010
|
||
|
|
#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_CACHE_CRITICAL 0x0102
|
||
|
|
|
||
|
|
/* uCAN transmitted messages */
|
||
|
|
#define PUCAN_MSG_CAN_TX 0x1000
|
||
|
|
|
||
|
|
/* uCAN command common header */
|
||
|
|
struct __packed pucan_command {
|
||
|
|
__le16 opcode_channel;
|
||
|
|
u16 args[3];
|
||
|
|
};
|
||
|
|
|
||
|
|
/* return the opcode from the opcode_channel field of a command */
|
||
|
|
static inline u16 pucan_cmd_get_opcode(struct pucan_command *c)
|
||
|
|
{
|
||
|
|
return le16_to_cpu(c->opcode_channel) & 0x3ff;
|
||
|
|
}
|
||
|
|
|
||
|
|
#define PUCAN_TSLOW_BRP_BITS 10
|
||
|
|
#define PUCAN_TSLOW_TSGEG1_BITS 8
|
||
|
|
#define PUCAN_TSLOW_TSGEG2_BITS 7
|
||
|
|
#define PUCAN_TSLOW_SJW_BITS 7
|
||
|
|
|
||
|
|
#define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1)
|
||
|
|
#define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1)
|
||
|
|
#define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1)
|
||
|
|
#define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1)
|
||
|
|
|
||
|
|
/* uCAN TIMING_SLOW command fields */
|
||
|
|
#define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \
|
||
|
|
((!!(t)) << 7))
|
||
|
|
#define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK)
|
||
|
|
#define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK)
|
||
|
|
#define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK)
|
||
|
|
|
||
|
|
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 */
|
||
|
|
};
|
||
|
|
|
||
|
|
#define PUCAN_TFAST_BRP_BITS 10
|
||
|
|
#define PUCAN_TFAST_TSGEG1_BITS 5
|
||
|
|
#define PUCAN_TFAST_TSGEG2_BITS 4
|
||
|
|
#define PUCAN_TFAST_SJW_BITS 4
|
||
|
|
|
||
|
|
#define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1)
|
||
|
|
#define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1)
|
||
|
|
#define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1)
|
||
|
|
#define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1)
|
||
|
|
|
||
|
|
/* uCAN TIMING_FAST command fields */
|
||
|
|
#define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK)
|
||
|
|
#define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK)
|
||
|
|
#define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK)
|
||
|
|
#define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK)
|
||
|
|
|
||
|
|
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 */
|
||
|
|
};
|
||
|
|
|
||
|
|
#define PUCAN_FLTSTD_ROW_IDX_MAX ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1)
|
||
|
|
|
||
|
|
/* uCAN SET_STD_FILTER command fields */
|
||
|
|
struct __packed pucan_std_filter {
|
||
|
|
__le16 opcode_channel;
|
||
|
|
|
||
|
|
u8 unused;
|
||
|
|
u8 idx;
|
||
|
|
__le32 mask; /* CAN-ID bitmask in idx range */
|
||
|
|
};
|
||
|
|
|
||
|
|
/* uCAN TX_ABORT commands fields */
|
||
|
|
#define PUCAN_TX_ABORT_FLUSH 0x0001
|
||
|
|
|
||
|
|
struct __packed pucan_tx_abort {
|
||
|
|
__le16 opcode_channel;
|
||
|
|
|
||
|
|
__le16 flags;
|
||
|
|
u32 unused;
|
||
|
|
};
|
||
|
|
|
||
|
|
/* 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 SET_EN/CLR_DIS _OPTION command fields */
|
||
|
|
#define PUCAN_OPTION_ERROR 0x0001
|
||
|
|
#define PUCAN_OPTION_BUSLOAD 0x0002
|
||
|
|
#define PUCAN_OPTION_CANDFDISO 0x0004
|
||
|
|
|
||
|
|
struct __packed pucan_options {
|
||
|
|
__le16 opcode_channel;
|
||
|
|
|
||
|
|
__le16 options;
|
||
|
|
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;
|
||
|
|
};
|
||
|
|
|
||
|
|
static inline int pucan_error_get_channel(const struct pucan_error_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_type_d & 0x0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
#define PUCAN_RX_BARRIER 0x10
|
||
|
|
#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];
|
||
|
|
};
|
||
|
|
|
||
|
|
static inline int pucan_status_get_channel(const struct pucan_status_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_p_w_b & 0x0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_p_w_b & PUCAN_RX_BARRIER;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int pucan_status_is_passive(const struct pucan_status_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_p_w_b & PUCAN_BUS_PASSIVE;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int pucan_status_is_warning(const struct pucan_status_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_p_w_b & PUCAN_BUS_WARNING;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_p_w_b & PUCAN_BUS_BUSOFF;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* 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(int index, int opcode)
|
||
|
|
{
|
||
|
|
return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff));
|
||
|
|
}
|
||
|
|
|
||
|
|
/* return the channel number part from any received message channel_dlc field */
|
||
|
|
static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_dlc & 0xf;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* return the dlc value from any received message channel_dlc field */
|
||
|
|
static inline int pucan_msg_get_dlc(const struct pucan_rx_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_dlc >> 4;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_type_d & 0x0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg)
|
||
|
|
{
|
||
|
|
return msg->channel_p_w_b & 0x0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|