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