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