1/* SPDX-License-Identifier: GPL-2.0-only */
2/*
3 * CAN driver for PEAK System micro-CAN based adapters
4 *
5 * Copyright (C) 2003-2025 PEAK System-Technik GmbH
6 * Author: Stéphane Grosjean <stephane.grosjean@hms-networks.com>
7 */
8#ifndef PUCAN_H
9#define PUCAN_H
10
11/* uCAN commands opcodes list (low-order 10 bits) */
12#define PUCAN_CMD_NOP 0x000
13#define PUCAN_CMD_RESET_MODE 0x001
14#define PUCAN_CMD_NORMAL_MODE 0x002
15#define PUCAN_CMD_LISTEN_ONLY_MODE 0x003
16#define PUCAN_CMD_TIMING_SLOW 0x004
17#define PUCAN_CMD_TIMING_FAST 0x005
18#define PUCAN_CMD_SET_STD_FILTER 0x006
19#define PUCAN_CMD_RESERVED2 0x007
20#define PUCAN_CMD_FILTER_STD 0x008
21#define PUCAN_CMD_TX_ABORT 0x009
22#define PUCAN_CMD_WR_ERR_CNT 0x00a
23#define PUCAN_CMD_SET_EN_OPTION 0x00b
24#define PUCAN_CMD_CLR_DIS_OPTION 0x00c
25#define PUCAN_CMD_RX_BARRIER 0x010
26#define PUCAN_CMD_END_OF_COLLECTION 0x3ff
27
28/* uCAN received messages list */
29#define PUCAN_MSG_CAN_RX 0x0001
30#define PUCAN_MSG_ERROR 0x0002
31#define PUCAN_MSG_STATUS 0x0003
32#define PUCAN_MSG_BUSLOAD 0x0004
33
34#define PUCAN_MSG_CACHE_CRITICAL 0x0102
35
36/* uCAN transmitted messages */
37#define PUCAN_MSG_CAN_TX 0x1000
38
39/* uCAN command common header */
40struct __packed pucan_command {
41 __le16 opcode_channel;
42 u16 args[3];
43};
44
45/* return the opcode from the opcode_channel field of a command */
46static inline u16 pucan_cmd_get_opcode(struct pucan_command *c)
47{
48 return le16_to_cpu(c->opcode_channel) & 0x3ff;
49}
50
51#define PUCAN_TSLOW_BRP_BITS 10
52#define PUCAN_TSLOW_TSGEG1_BITS 8
53#define PUCAN_TSLOW_TSGEG2_BITS 7
54#define PUCAN_TSLOW_SJW_BITS 7
55
56#define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1)
57#define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1)
58#define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1)
59#define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1)
60
61/* uCAN TIMING_SLOW command fields */
62#define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \
63 ((!!(t)) << 7))
64#define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK)
65#define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK)
66#define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK)
67
68struct __packed pucan_timing_slow {
69 __le16 opcode_channel;
70
71 u8 ewl; /* Error Warning limit */
72 u8 sjw_t; /* Sync Jump Width + Triple sampling */
73 u8 tseg2; /* Timing SEGment 2 */
74 u8 tseg1; /* Timing SEGment 1 */
75
76 __le16 brp; /* BaudRate Prescaler */
77};
78
79#define PUCAN_TFAST_BRP_BITS 10
80#define PUCAN_TFAST_TSGEG1_BITS 5
81#define PUCAN_TFAST_TSGEG2_BITS 4
82#define PUCAN_TFAST_SJW_BITS 4
83
84#define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1)
85#define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1)
86#define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1)
87#define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1)
88
89/* uCAN TIMING_FAST command fields */
90#define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK)
91#define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK)
92#define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK)
93#define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK)
94
95struct __packed pucan_timing_fast {
96 __le16 opcode_channel;
97
98 u8 unused;
99 u8 sjw; /* Sync Jump Width */
100 u8 tseg2; /* Timing SEGment 2 */
101 u8 tseg1; /* Timing SEGment 1 */
102
103 __le16 brp; /* BaudRate Prescaler */
104};
105
106/* uCAN FILTER_STD command fields */
107#define PUCAN_FLTSTD_ROW_IDX_BITS 6
108
109struct __packed pucan_filter_std {
110 __le16 opcode_channel;
111
112 __le16 idx;
113 __le32 mask; /* CAN-ID bitmask in idx range */
114};
115
116#define PUCAN_FLTSTD_ROW_IDX_MAX ((1 << PUCAN_FLTSTD_ROW_IDX_BITS) - 1)
117
118/* uCAN SET_STD_FILTER command fields */
119struct __packed pucan_std_filter {
120 __le16 opcode_channel;
121
122 u8 unused;
123 u8 idx;
124 __le32 mask; /* CAN-ID bitmask in idx range */
125};
126
127/* uCAN TX_ABORT commands fields */
128#define PUCAN_TX_ABORT_FLUSH 0x0001
129
130struct __packed pucan_tx_abort {
131 __le16 opcode_channel;
132
133 __le16 flags;
134 u32 unused;
135};
136
137/* uCAN WR_ERR_CNT command fields */
138#define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */
139#define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */
140
141struct __packed pucan_wr_err_cnt {
142 __le16 opcode_channel;
143
144 __le16 sel_mask;
145 u8 tx_counter; /* Tx error counter new value */
146 u8 rx_counter; /* Rx error counter new value */
147
148 u16 unused;
149};
150
151/* uCAN SET_EN/CLR_DIS _OPTION command fields */
152#define PUCAN_OPTION_ERROR 0x0001
153#define PUCAN_OPTION_BUSLOAD 0x0002
154#define PUCAN_OPTION_CANDFDISO 0x0004
155
156struct __packed pucan_options {
157 __le16 opcode_channel;
158
159 __le16 options;
160 u32 unused;
161};
162
163/* uCAN received messages global format */
164struct __packed pucan_msg {
165 __le16 size;
166 __le16 type;
167 __le32 ts_low;
168 __le32 ts_high;
169};
170
171/* uCAN flags for CAN/CANFD messages */
172#define PUCAN_MSG_SELF_RECEIVE 0x80
173#define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */
174#define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */
175#define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */
176#define PUCAN_MSG_SINGLE_SHOT 0x08
177#define PUCAN_MSG_LOOPED_BACK 0x04
178#define PUCAN_MSG_EXT_ID 0x02
179#define PUCAN_MSG_RTR 0x01
180
181struct __packed pucan_rx_msg {
182 __le16 size;
183 __le16 type;
184 __le32 ts_low;
185 __le32 ts_high;
186 __le32 tag_low;
187 __le32 tag_high;
188 u8 channel_dlc;
189 u8 client;
190 __le16 flags;
191 __le32 can_id;
192 u8 d[];
193};
194
195/* uCAN error types */
196#define PUCAN_ERMSG_BIT_ERROR 0
197#define PUCAN_ERMSG_FORM_ERROR 1
198#define PUCAN_ERMSG_STUFF_ERROR 2
199#define PUCAN_ERMSG_OTHER_ERROR 3
200#define PUCAN_ERMSG_ERR_CNT_DEC 4
201
202struct __packed pucan_error_msg {
203 __le16 size;
204 __le16 type;
205 __le32 ts_low;
206 __le32 ts_high;
207 u8 channel_type_d;
208 u8 code_g;
209 u8 tx_err_cnt;
210 u8 rx_err_cnt;
211};
212
213static inline int pucan_error_get_channel(const struct pucan_error_msg *msg)
214{
215 return msg->channel_type_d & 0x0f;
216}
217
218#define PUCAN_RX_BARRIER 0x10
219#define PUCAN_BUS_PASSIVE 0x20
220#define PUCAN_BUS_WARNING 0x40
221#define PUCAN_BUS_BUSOFF 0x80
222
223struct __packed pucan_status_msg {
224 __le16 size;
225 __le16 type;
226 __le32 ts_low;
227 __le32 ts_high;
228 u8 channel_p_w_b;
229 u8 unused[3];
230};
231
232static inline int pucan_status_get_channel(const struct pucan_status_msg *msg)
233{
234 return msg->channel_p_w_b & 0x0f;
235}
236
237static inline int pucan_status_is_rx_barrier(const struct pucan_status_msg *msg)
238{
239 return msg->channel_p_w_b & PUCAN_RX_BARRIER;
240}
241
242static inline int pucan_status_is_passive(const struct pucan_status_msg *msg)
243{
244 return msg->channel_p_w_b & PUCAN_BUS_PASSIVE;
245}
246
247static inline int pucan_status_is_warning(const struct pucan_status_msg *msg)
248{
249 return msg->channel_p_w_b & PUCAN_BUS_WARNING;
250}
251
252static inline int pucan_status_is_busoff(const struct pucan_status_msg *msg)
253{
254 return msg->channel_p_w_b & PUCAN_BUS_BUSOFF;
255}
256
257/* uCAN transmitted message format */
258#define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4))
259
260struct __packed pucan_tx_msg {
261 __le16 size;
262 __le16 type;
263 __le32 tag_low;
264 __le32 tag_high;
265 u8 channel_dlc;
266 u8 client;
267 __le16 flags;
268 __le32 can_id;
269 u8 d[];
270};
271
272/* build the cmd opcode_channel field with respect to the correct endianness */
273static inline __le16 pucan_cmd_opcode_channel(int index, int opcode)
274{
275 return cpu_to_le16(((index) << 12) | ((opcode) & 0x3ff));
276}
277
278/* return the channel number part from any received message channel_dlc field */
279static inline int pucan_msg_get_channel(const struct pucan_rx_msg *msg)
280{
281 return msg->channel_dlc & 0xf;
282}
283
284/* return the dlc value from any received message channel_dlc field */
285static inline u8 pucan_msg_get_dlc(const struct pucan_rx_msg *msg)
286{
287 return msg->channel_dlc >> 4;
288}
289
290static inline int pucan_ermsg_get_channel(const struct pucan_error_msg *msg)
291{
292 return msg->channel_type_d & 0x0f;
293}
294
295static inline int pucan_stmsg_get_channel(const struct pucan_status_msg *msg)
296{
297 return msg->channel_p_w_b & 0x0f;
298}
299
300#endif
301

source code of linux/include/linux/can/dev/peak_canfd.h