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cmvr-es/dependency/x86/third_party/peak-linux-driver/v8.20.0/include/pcanfd.h

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Catalog structure and dependent libraries.
2026-01-14 14:04:07 +08:00
/* SPDX-License-Identifier: LGPL-2.1-only */
/*
* CAN-FD extension to PEAK-System CAN products.
*
* Copyright (C) 2014-2020 PEAK System-Technik GmbH <www.peak-system.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
* Contact: <linux@peak-system.com>
* Author: Stephane Grosjean <s.grosjean@peak-system.com>
*/
#ifndef __PCANFD_H__
#define __PCANFD_H__
#if 0
#include <linux/types.h>
#include <linux/ioctl.h>
/* ioctls values */
#define PCAN_MAGIC_NUMBER 'z'
#define PCAN_SEQ_START 0x80
#else
/* include the (old) CAN 2.0 API */
#include "pcan.h"
#endif
/* Constants */
#define PCANFD_CAN20_MAXDATALEN 8
#define PCANFD_CANFD_MAXDATALEN 64
/* enable to define types including array with 0, 1 or more items */
#define __array_of_struct(_n, _x) \
_n##s_##_x { \
__u32 count; \
struct _n list[_x]; \
}
#ifdef CONFIG_UBSAN_BOUNDS_STRICT
#define __flex_array_of_struct(_n) \
_n##s_0 { \
__u32 count; \
struct _n list[]; \
}
#else
#define __flex_array_of_struct(_n) __array_of_struct(_n, 0)
#endif
/* Type values */
#define PCANFD_TYPE_NOP 0
#define PCANFD_TYPE_CAN20_MSG 1
#define PCANFD_TYPE_CANFD_MSG 2
#define PCANFD_TYPE_STATUS 3
#define PCANFD_TYPE_ERROR_MSG 4
/* [PCANFD_TYPE_CAN20_MSG]
* [PCANFD_TYPE_CANFD_MSG]
*
* flags bits definition (lowest byte is backward compatible with old MSGTYPE)
*/
#define PCANFD_MSG_STD 0x00000000
#define PCANFD_MSG_RTR 0x00000001
#define PCANFD_MSG_EXT 0x00000002
#define PCANFD_MSG_SLF 0x00000004
#define PCANFD_MSG_SNG 0x00000008
#define PCANFD_MSG_ECHO 0x00000010
/* new bits indicate valid values in the corresponding fields */
#define PCANFD_TIMESTAMP 0x01000000
#define PCANFD_HWTIMESTAMP 0x02000000
#define PCANFD_ERRCNT 0x10000000
#define PCANFD_BUSLOAD 0x20000000
#define PCANFD_OVRCNT 0x40000000
#define PCANFD_DLC_MASK 0x00000F00
#define PCANFD_DLC_SHIFT 8
/* CAN-FD */
#define PCANFD_MSG_BRS 0x00100000
#define PCANFD_MSG_ESI 0x00200000
/* [PCANFD_TYPE_STATUS]
*
* id field values:
*/
enum pcanfd_status {
PCANFD_UNKNOWN,
/* flags & PCANFD_ERROR_BUS.
* event id. is the state of the Bus
*/
PCANFD_ERROR_ACTIVE,
PCANFD_ERROR_WARNING,
PCANFD_ERROR_PASSIVE, /* receive only state */
PCANFD_ERROR_BUSOFF, /* switched off from the bus */
/* flags & PCANFD_ERROR_CTRLR|PCANFD_ERROR_INTERNAL.
* event id. is one of the following error:
*/
PCANFD_RX_EMPTY,
PCANFD_RX_OVERFLOW,
PCANFD_RESERVED_1,
PCANFD_TX_OVERFLOW,
PCANFD_RESERVED_2,
PCANFD_BUS_LOAD,
PCANFD_STATUS_COUNT
};
/* Deprecated "enum pcanfd_status": don't use it anymore */
#define PCANFD_BUS_ERROR 9 /* unused (see PCANFD_TYPE_ERROR_MSG) */
#define PCANFD_TX_EMPTY 7 /* unused */
/* [PCANFD_TYPE_STATUS]
*
* flags bits definition: indicate the kind of error/status:
*/
#define PCANFD_ERROR_BUS 0x00000080 /* Bus status */
#define PCANFD_ERROR_PROTOCOL 0x00000100 /* Protocol error */
#define PCANFD_ERROR_CTRLR 0x00000200 /* Controller error */
#define PCANFD_ERROR_INTERNAL 0x00000400 /* Internal error */
/* [PCANFD_TYPE_ERROR_MSG]
*
* id field values:
*/
enum pcanfd_error {
PCANFD_ERRMSG_BIT, /* SJA1000 ECC register format */
PCANFD_ERRMSG_FORM, /* (see data[0] for error code) */
PCANFD_ERRMSG_STUFF,
PCANFD_ERRMSG_OTHER,
PCANFD_ERRMSG_COUNT
};
/* [PCANFD_TYPE_ERROR_MSG]
*
* flags bits definition: indicate direction
*/
#define PCANFD_ERRMSG_RX 0x00001000 /* err frame received */
#define PCANFD_ERRMSG_GEN 0x00002000 /* triggered by err generator */
#define PCAN_MAXDATALEN PCANFD_CAN20_MAXDATALEN
#define PCANFD_MAXDATALEN PCANFD_CANFD_MAXDATALEN
/* indexes describing content of ctrlr_data array */
enum pcanfd_ctrlr_data {
PCANFD_RXERRCNT,
PCANFD_ECHOID = PCANFD_RXERRCNT, /* PCANFD_MSG_ECHO set */
PCANFD_TXERRCNT,
PCANFD_BUSLOAD_UNIT,
PCANFD_BUSLOAD_DEC,
PCANFD_MAXCTRLRDATALEN
};
/* define new API with CAN-FD support */
struct pcanfd_msg {
__u16 type; /* PCANFD_TYPE_xxx */
__u16 data_len; /* true length (not the DLC) */
__u32 id; /* CAN / STATUS / ERROR Id. */
__u32 flags; /* PCANFD_xxx definitions */
struct timeval timestamp; /* timestamp of the event */
__u8 ctrlr_data[PCANFD_MAXCTRLRDATALEN];
__u8 data[PCANFD_MAXDATALEN] __attribute__((aligned(8)));
};
/* messages list base type (flex array of items) */
struct __flex_array_of_struct(pcanfd_msg);
#define pcanfd_msgs pcanfd_msgs_0
/* rule:
* if "bitrate" is not 0, then it is used,
* if "bitrate" is 0, then all other 4 fields are used instead if all are not 0
*/
struct pcan_bittiming {
__u32 brp;
__u32 tseg1;
__u32 tseg2;
__u32 sjw;
__u32 tsam; /* triple sampling */
__u32 bitrate; /* bps */
__u32 sample_point; /* in 1/100 th of % (8750 = 87.50%) */
__u32 tq; /* Time quantum in ns. */
__u32 bitrate_real; /* info only */
};
/* PCANFD_XXX_INIT arg */
/* flags */
#define PCANFD_INIT_LISTEN_ONLY 0x00000001
#define PCANFD_INIT_STD_MSG_ONLY 0x00000002 /* backward compatibility */
#define PCANFD_INIT_FD 0x00000004 /* setup data bitrate too */
#define PCANFD_INIT_FD_NON_ISO 0x00000008 /* CAN-FD non ISO mode */
/* defines how timestamps should be processed by the driver in the messages
* it gives to the application
*/
#define PCANFD_INIT_TS_HOST_REL 0x00000000 /* rel. to host init time */
#define PCANFD_INIT_TS_DEV_REL 0x00000010 /* rel. to device init time*/
#define PCANFD_INIT_TS_DRV_REL 0x00000020 /* rel. to driver init time*/
#define PCANFD_INIT_TS_FMT_MASK 0x00000030
/* (time is relative) */
#define PCANFD_INIT_TS_ABS PCANFD_INIT_TS_HOST_REL
/* ask for being notified with PCANFD_TYPE_STATUS[PCANFD_BUS_LOAD]
* (if the corresponding hardware is able to)
*/
#define PCANFD_INIT_BUS_LOAD_INFO 0x00000100
struct pcanfd_init {
__u32 flags;
__u32 clock_Hz;
struct pcan_bittiming nominal;
struct pcan_bittiming data;
};
/* PCANFD_GET_STATE arg */
struct pcanfd_state {
__u16 ver_major, ver_minor, ver_subminor;
struct timeval tv_init; /* time the device was initialized */
enum pcanfd_status bus_state; /* CAN bus state */
__u32 device_id; /* device id., ffffffff is unused */
__u32 open_counter; /* open() counter */
__u32 filters_counter; /* count of message filters */
__u16 hw_type; /* pcan device type */
__u16 channel_number; /* channel number for the device */
__u16 can_status; /* same as wCANStatus but NOT CLEARED */
__u16 bus_load; /* bus load value, ffff if not given */
__u32 tx_max_msgs; /* Tx fifo size in count of msgs */
__u32 tx_pending_msgs; /* msgs waiting to be sent */
__u32 rx_max_msgs; /* Rx fifo size in count of msgs */
__u32 rx_pending_msgs; /* msgs waiting to be read */
__u32 tx_frames_counter; /* Tx frames written on device */
__u32 rx_frames_counter; /* Rx frames read on device */
__u32 tx_error_counter; /* CAN Tx errors counter */
__u32 rx_error_counter; /* CAN Rx errors counter */
__u64 host_time_ns; /* host time in nanoseconds as it was */
__u64 hw_time_ns; /* when hw_time_ns has been received */
};
/* PCANFD_xxx_FILTERS arg */
struct pcanfd_msg_filter {
__u32 id_from; /* msgs ID in range [id_from..id_to] */
__u32 id_to; /* and flags == msg_flags */
__u32 msg_flags; /* will be passed to applications */
};
/* filters list base type (flex array of items) */
struct __flex_array_of_struct(pcanfd_msg_filter);
#define pcanfd_msg_filters pcanfd_msg_filters_0
/* Device available clocks value */
struct pcanfd_available_clock {
__u32 clock_Hz;
__u32 clock_src;
};
/* clocks value list base type (flex array of items) */
struct __flex_array_of_struct(pcanfd_available_clock);
#define pcanfd_available_clocks pcanfd_available_clocks_0
/* default clock always first */
#define AVCLK_DEFAULT 0
/* CAN-FD bittiming capabilities */
struct pcanfd_bittiming_range {
__u32 brp_min;
__u32 brp_max;
__u32 brp_inc;
__u32 tseg1_min;
__u32 tseg1_max;
__u32 tseg2_min;
__u32 tseg2_max;
__u32 sjw_min;
__u32 sjw_max;
};
/* bittimings ranges list base type (flex array of items) */
struct __flex_array_of_struct(pcanfd_bittiming_range);
#define pcanfd_bittiming_ranges pcanfd_bittiming_ranges_0
/* bittiming ranges list sequence order */
enum {
BR_NOMINAL = 0,
BR_DATA,
BR_MAX
};
/* Device options */
struct pcanfd_option {
int size;
int name;
void * value;
};
enum {
PCANFD_OPT_CHANNEL_FEATURES,
PCANFD_OPT_DEVICE_ID,
PCANFD_OPT_AVAILABLE_CLOCKS, /* supersedes */
PCANFD_OPT_BITTIMING_RANGES, /* corresponding */
PCANFD_OPT_DBITTIMING_RANGES, /* ioctl() below */
PCANFD_OPT_ALLOWED_MSGS, /* see _ALLOWED_xxx_ below */
PCANFD_OPT_ACC_FILTER_11B,
PCANFD_OPT_ACC_FILTER_29B,
PCANFD_OPT_IFRAME_DELAYUS,
PCANFD_OPT_HWTIMESTAMP_MODE,
PCANFD_OPT_DRV_VERSION,
PCANFD_OPT_FW_VERSION,
PCANFD_IO_DIGITAL_CFG, /* output mode 1: output active */
PCANFD_IO_DIGITAL_VAL, /* digital I/O 32-bit value */
PCANFD_IO_DIGITAL_SET, /* multiple dig I/O pins to 1=High */
PCANFD_IO_DIGITAL_CLR, /* clr multiple dig I/O pins to 0 */
PCANFD_IO_ANALOG_VAL, /* get single analog input pin value */
PCANFD_OPT_MASS_STORAGE_MODE, /* all USB FD and some USB devices */
PCANFD_OPT_FLASH_LED,
PCANFD_OPT_DRV_CLK_REF,
PCANFD_OPT_LINGER,
PCANFD_OPT_SELF_ACK, /* send ACK to self-written frames */
PCANFD_OPT_BRS_IGNORE, /* ignore BRS frames (no error frames sent) */
/* internal use only */
PCANFD_OPT_DEFERRED_FRM,
PCANFD_OPT_MAX
};
/* PCANFD_OPT_CHANNEL_FEATURES option:
* features of a channel
*/
#define PCANFD_FEATURE_FD 0x00000001
#define PCANFD_FEATURE_IFRAME_DELAYUS 0x00000002
#define PCANFD_FEATURE_BUSLOAD 0x00000004
#define PCANFD_FEATURE_HWTIMESTAMP 0x00000008
#define PCANFD_FEATURE_DEVICEID 0x00000010
#define PCANFD_FEATURE_SELFRECEIVE 0x00000020
#define PCANFD_FEATURE_ECHO 0x00000040
#define PCANFD_FEATURE_MSD 0x00000080
#define PCANFD_FEATURE_TS_SOF 0x00000100
#define PCANFD_FEATURE_SELF_ACK 0x00000200
#define PCANFD_FEATURE_BRS_IGN 0x00000400
#define PCANFD_FEATURE_DEVDATA 0x00000800
#define PCANFD_FEATURE_NEW_FW_AV 0x00001000
/* PCANFD_OPT_ALLOWED_MSGS option:
* bitmask of allowed message an application is able to receive
*/
#define PCANFD_ALLOWED_MSG_CAN 0x00000001
#define PCANFD_ALLOWED_MSG_RTR 0x00000002
#define PCANFD_ALLOWED_MSG_EXT 0x00000004
#define PCANFD_ALLOWED_MSG_STATUS 0x00000010
#define PCANFD_ALLOWED_MSG_ERROR 0x00000100
#define PCANFD_ALLOWED_MSG_ALL 0xffffffff
#define PCANFD_ALLOWED_MSG_NONE 0x00000000
/* PCANFD_OPT_HWTIMESTAMP_MODE option:
* 0 off (host timestamp at the time the event has been saved)
* 1 on (host time base + device raw time offset)
* 2 on (host time base + device time offset handling clock drift)
* 3 on (device timestamp in struct timeval format)
* 4 reserved
* 5 same as 1 + ts is generated at SOF rather than at EOF (if hw allows it)
* 6 same as 2 + ts is generated at SOF rather than at EOF (if hw allows it)
* 7 same as 3 + ts is generated at SOF rather than at EOF (if hw allows it)
*/
enum {
PCANFD_OPT_HWTIMESTAMP_OFF,
PCANFD_OPT_HWTIMESTAMP_ON,
PCANFD_OPT_HWTIMESTAMP_COOKED,
PCANFD_OPT_HWTIMESTAMP_RAW,
PCANFD_OPT_HWTIMESTAMP_RESERVED_4,
PCANFD_OPT_HWTIMESTAMP_SOF_ON,
PCANFD_OPT_HWTIMESTAMP_SOF_COOKED,
PCANFD_OPT_HWTIMESTAMP_SOF_RAW,
PCANFD_OPT_HWTIMESTAMP_MAX
};
/* PCANFD_OPT_XXX_VERSION major, minor and subminor fields */
#define PCANFD_OPT_VER_MAJ(v) (((v) >> 24) & 0xff)
#define PCANFD_OPT_VER_MIN(v) (((v) >> 16) & 0xff)
#define PCANFD_OPT_VER_SUB(v) (((v) >> 8) & 0xff)
/* PCANFD_OPT_LINGER option gives the timeout value used by the driver to
* wait for the pending data to be transmitted:
* < 0 the driver estimates itself the maximum necessary time to wait until the
* queue is empty
* 0 the driver does not wait until the queue is empty before closing
* everything.
* > 0 this specifies the timeout period in ms.
*/
#define PCANFD_OPT_LINGER_AUTO (-1)
#define PCANFD_OPT_LINGER_NOWAIT 0
/* PCANFD_RESET argument flags */
#define PCANFD_RESET_RXFIFO 0x00000001
#define PCANFD_RESET_TXFIFO 0x00000002
#define PCANFD_RESET_CTRLR 0x00000004
#define PCANFD_RESET_ALL 0xffffffff
/* DLC handling */
static inline __u8 pcanfd_msg_read_dlc(struct pcanfd_msg *msg)
{
return ((msg->flags & PCANFD_DLC_MASK) >> PCANFD_DLC_SHIFT);
}
static inline void pcanfd_msg_store_dlc(struct pcanfd_msg *msg, __u8 dlc)
{
msg->flags &= ~PCANFD_DLC_MASK;
msg->flags |= ((__u32 )dlc << PCANFD_DLC_SHIFT) & PCANFD_DLC_MASK;
}
/* ioctls codes */
#define PCANFD_SEQ_START 0x90
enum {
PCANFD_SEQ_SET_INIT = PCANFD_SEQ_START,
PCANFD_SEQ_GET_INIT,
PCANFD_SEQ_GET_STATE,
PCANFD_SEQ_ADD_FILTERS,
PCANFD_SEQ_GET_FILTERS,
PCANFD_SEQ_SEND_MSG,
PCANFD_SEQ_RECV_MSG,
PCANFD_SEQ_SEND_MSGS,
PCANFD_SEQ_RECV_MSGS,
PCANFD_SEQ_GET_AVAILABLE_CLOCKS, /* deprecated, use related */
PCANFD_SEQ_GET_BITTIMING_RANGES, /* options above instead */
PCANFD_SEQ_GET_OPTION,
PCANFD_SEQ_SET_OPTION,
PCANFD_SEQ_RESET,
};
#define PCANFD_SET_INIT _IOW(PCAN_MAGIC_NUMBER, PCANFD_SEQ_SET_INIT,\
struct pcanfd_init)
#define PCANFD_GET_INIT _IOR(PCAN_MAGIC_NUMBER, PCANFD_SEQ_GET_INIT,\
struct pcanfd_init)
#define PCANFD_GET_STATE _IOR(PCAN_MAGIC_NUMBER, PCANFD_SEQ_GET_STATE,\
struct pcanfd_state)
#define PCANFD_ADD_FILTERS _IOW(PCAN_MAGIC_NUMBER, \
PCANFD_SEQ_ADD_FILTERS, \
struct pcanfd_msg_filters)
#define PCANFD_GET_FILTERS _IOWR(PCAN_MAGIC_NUMBER, \
PCANFD_SEQ_GET_FILTERS, \
struct pcanfd_msg_filters)
#define PCANFD_SEND_MSG _IOW(PCAN_MAGIC_NUMBER, PCANFD_SEQ_SEND_MSG,\
struct pcanfd_msg)
#define PCANFD_RECV_MSG _IOR(PCAN_MAGIC_NUMBER, PCANFD_SEQ_RECV_MSG,\
struct pcanfd_msg)
#define PCANFD_SEND_MSGS _IOWR(PCAN_MAGIC_NUMBER, PCANFD_SEQ_SEND_MSGS,\
struct pcanfd_msgs)
#define PCANFD_RECV_MSGS _IOWR(PCAN_MAGIC_NUMBER, PCANFD_SEQ_RECV_MSGS,\
struct pcanfd_msgs)
#define PCANFD_GET_AVAILABLE_CLOCKS _IOWR(PCAN_MAGIC_NUMBER,\
PCANFD_SEQ_GET_AVAILABLE_CLOCKS,\
struct pcanfd_available_clocks)
#define PCANFD_GET_BITTIMING_RANGES _IOWR(PCAN_MAGIC_NUMBER,\
PCANFD_SEQ_GET_BITTIMING_RANGES,\
struct pcanfd_bittiming_ranges)
#define PCANFD_GET_OPTION _IOWR(PCAN_MAGIC_NUMBER, PCANFD_SEQ_GET_OPTION,\
struct pcanfd_option)
#define PCANFD_SET_OPTION _IOW(PCAN_MAGIC_NUMBER, PCANFD_SEQ_SET_OPTION,\
struct pcanfd_option)
#define PCANFD_RESET _IOW(PCAN_MAGIC_NUMBER, PCANFD_SEQ_RESET,\
unsigned long)
#endif
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