/******************************************************************************* * * CTU CAN FD IP Core * Copyright (C) 2015-2018 Ondrej Ille * * Project advisors and co-authors: * Jiri Novak * Pavel Pisa * Martin Jerabek * * Department of Measurement (http://meas.fel.cvut.cz/) * Faculty of Electrical Engineering (http://www.fel.cvut.cz) * Czech Technical University (http://www.cvut.cz/) * * 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; either version 2 * of the License, or (at your option) any later version. * * 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. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * *******************************************************************************/ /* Linux declarations used in the low-level driver. When using driver with * SocketCAN, this file is not necessary. When using the driver outside of * Linux, this file replaces common kernel headers. */ #ifndef __CTU_CAN_FD_LINUX_DEFS__ #define __CTU_CAN_FD_LINUX_DEFS__ #include #include #include //#include #include #include #define likely(x) __builtin_expect(!!(x), 1) #define unlikely(x) __builtin_expect(!!(x), 0) #define __iomem volatile typedef uint8_t __u8; typedef uint16_t __u16; typedef uint32_t __u32; typedef uint64_t __u64; typedef int8_t __s8; typedef int16_t __s16; typedef int32_t __s32; typedef int64_t __s64; typedef __u8 u8; typedef __u16 u16; typedef __u32 u32; typedef __u64 u64; typedef __s8 s8; typedef __s16 s16; typedef __s32 s32; typedef __s64 s64; #ifndef __cplusplus typedef _Bool bool; enum { false = 0, true = 1 }; #endif #define __WARN_printf printf #ifndef WARN #define WARN(condition, format...) ({ \ int __ret_warn_on = !!(condition); \ if (unlikely(__ret_warn_on)) \ __WARN_printf(format); \ unlikely(__ret_warn_on); \ }) #endif /* // from include/uapi/linux/types.h #define __bitwise typedef __u16 __bitwise __le16; typedef __u16 __bitwise __be16; typedef __u32 __bitwise __le32; typedef __u32 __bitwise __be32; typedef __u64 __bitwise __le64; typedef __u64 __bitwise __be64; typedef __u16 __bitwise __sum16; typedef __u32 __bitwise __wsum; */ __attribute__((noinline)) static inline void iowrite32(u32 value, void *addr) {*(volatile u32*)addr = value;} __attribute__((noinline)) static inline void iowrite16(u16 value, void *addr) {*(volatile u16*)addr = value;} __attribute__((noinline)) static inline void iowrite8(u8 value, void *addr) {*(volatile u8*)addr = value;} __attribute__((noinline)) static inline u32 ioread32(const void *addr) {return *(const volatile u32*)addr;} __attribute__((noinline)) static inline u16 ioread16(const void *addr) {return *(const volatile u16*)addr;} __attribute__((noinline)) static inline u8 ioread8(const void *addr) {return *(const volatile u8*)addr;} static inline u32 cpu_to_be32(u32 v) {return htonl(v);} static inline u32 be32_to_cpu(u32 v) {return ntohl(v);} __attribute__((noinline)) static inline void iowrite32be(u32 value, void *addr) {*(volatile u32*)addr = cpu_to_be32(value);} __attribute__((noinline)) static inline u32 ioread32be(const void *addr) {return be32_to_cpu(*(const volatile u32*)addr);} /* CAN DLC to real data length conversion helpers */ u8 can_dlc2len(u8 can_dlc); u8 can_len2dlc(u8 len); /* * CAN bit-timing parameters * * For further information, please read chapter "8 BIT TIMING * REQUIREMENTS" of the "Bosch CAN Specification version 2.0" * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf. */ struct can_bittiming { __u32 bitrate; /* Bit-rate in bits/second */ __u32 sample_point; /* Sample point in one-tenth of a percent */ __u32 tq; /* Time quanta (TQ) in nanoseconds */ __u32 prop_seg; /* Propagation segment in TQs */ __u32 phase_seg1; /* Phase buffer segment 1 in TQs */ __u32 phase_seg2; /* Phase buffer segment 2 in TQs */ __u32 sjw; /* Synchronisation jump width in TQs */ __u32 brp; /* Bit-rate prescaler */ }; /* * CAN harware-dependent bit-timing constant * * Used for calculating and checking bit-timing parameters */ struct can_bittiming_const { char name[16]; /* Name of the CAN controller hardware */ __u32 tseg1_min; /* Time segement 1 = prop_seg + phase_seg1 */ __u32 tseg1_max; __u32 tseg2_min; /* Time segement 2 = phase_seg2 */ __u32 tseg2_max; __u32 sjw_max; /* Synchronisation jump width */ __u32 brp_min; /* Bit-rate prescaler */ __u32 brp_max; __u32 brp_inc; }; /* * CAN clock parameters */ struct can_clock { __u32 freq; /* CAN system clock frequency in Hz */ }; /* * CAN operational and error states */ enum can_state { CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */ CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */ CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */ CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */ CAN_STATE_STOPPED, /* Device is stopped */ CAN_STATE_SLEEPING, /* Device is sleeping */ CAN_STATE_MAX }; /* * CAN bus error counters */ struct can_berr_counter { __u16 txerr; __u16 rxerr; }; /* * CAN controller mode */ struct can_ctrlmode { __u32 mask; __u32 flags; }; #define CAN_CTRLMODE_LOOPBACK 0x01 /* Loopback mode */ #define CAN_CTRLMODE_LISTENONLY 0x02 /* Listen-only mode */ #define CAN_CTRLMODE_3_SAMPLES 0x04 /* Triple sampling mode */ #define CAN_CTRLMODE_ONE_SHOT 0x08 /* One-Shot mode */ #define CAN_CTRLMODE_BERR_REPORTING 0x10 /* Bus-error reporting */ #define CAN_CTRLMODE_FD 0x20 /* CAN FD mode */ #define CAN_CTRLMODE_PRESUME_ACK 0x40 /* Ignore missing CAN ACKs */ #define CAN_CTRLMODE_FD_NON_ISO 0x80 /* CAN FD in non-ISO mode */ /* * CAN device statistics */ struct can_device_stats { __u32 bus_error; /* Bus errors */ __u32 error_warning; /* Changes to error warning state */ __u32 error_passive; /* Changes to error passive state */ __u32 bus_off; /* Changes to bus off state */ __u32 arbitration_lost; /* Arbitration lost errors */ __u32 restarts; /* CAN controller re-starts */ }; /* * CAN netlink interface */ enum { IFLA_CAN_UNSPEC, IFLA_CAN_BITTIMING, IFLA_CAN_BITTIMING_CONST, IFLA_CAN_CLOCK, IFLA_CAN_STATE, IFLA_CAN_CTRLMODE, IFLA_CAN_RESTART_MS, IFLA_CAN_RESTART, IFLA_CAN_BERR_COUNTER, IFLA_CAN_DATA_BITTIMING, IFLA_CAN_DATA_BITTIMING_CONST, IFLA_CAN_TERMINATION, IFLA_CAN_TERMINATION_CONST, IFLA_CAN_BITRATE_CONST, IFLA_CAN_DATA_BITRATE_CONST, IFLA_CAN_BITRATE_MAX, __IFLA_CAN_MAX }; /* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can.h * * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) * * Authors: Oliver Hartkopp * Urs Thuermann * Copyright (c) 2002-2007 Volkswagen Group Electronic Research * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of Volkswagen nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * Alternatively, provided that this notice is retained in full, this * software may be distributed under the terms of the GNU General * Public License ("GPL") version 2, in which case the provisions of the * GPL apply INSTEAD OF those given above. * * The provided data structures and external interfaces from this code * are not restricted to be used by modules with a GPL compatible license. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. */ #ifndef _UAPI_CAN_H #define _UAPI_CAN_H /* controller area network (CAN) kernel definitions */ /* special address description flags for the CAN_ID */ #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ #define CAN_ERR_FLAG 0x20000000U /* error message frame */ /* valid bits in CAN ID for frame formats */ #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ /* * Controller Area Network Identifier structure * * bit 0-28 : CAN identifier (11/29 bit) * bit 29 : error message frame flag (0 = data frame, 1 = error message) * bit 30 : remote transmission request flag (1 = rtr frame) * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) */ typedef __u32 canid_t; #define CAN_SFF_ID_BITS 11 #define CAN_EFF_ID_BITS 29 /* * Controller Area Network Error Message Frame Mask structure * * bit 0-28 : error class mask (see include/linux/can/error.h) * bit 29-31 : set to zero */ typedef __u32 can_err_mask_t; /* CAN payload length and DLC definitions according to ISO 11898-1 */ #define CAN_MAX_DLC 8 #define CAN_MAX_DLEN 8 /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ #define CANFD_MAX_DLC 15 #define CANFD_MAX_DLEN 64 /** * struct can_frame - basic CAN frame structure * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition * @can_dlc: frame payload length in byte (0 .. 8) aka data length code * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 * mapping of the 'data length code' to the real payload length * @__pad: padding * @__res0: reserved / padding * @__res1: reserved / padding * @data: CAN frame payload (up to 8 byte) */ struct can_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ __u8 __pad; /* padding */ __u8 __res0; /* reserved / padding */ __u8 __res1; /* reserved / padding */ __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); }; /* * defined bits for canfd_frame.flags * * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to * be set in the CAN frame bitstream on the wire. The EDL bit switch turns * the CAN controllers bitstream processor into the CAN FD mode which creates * two new options within the CAN FD frame specification: * * Bit Rate Switch - to indicate a second bitrate is/was used for the payload * Error State Indicator - represents the error state of the transmitting node * * As the CANFD_ESI bit is internally generated by the transmitting CAN * controller only the CANFD_BRS bit is relevant for real CAN controllers when * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make * sense for virtual CAN interfaces to test applications with echoed frames. */ #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ /** * struct canfd_frame - CAN flexible data rate frame structure * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) * @flags: additional flags for CAN FD * @__res0: reserved / padding * @__res1: reserved / padding * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) */ struct canfd_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ __u8 len; /* frame payload length in byte */ __u8 flags; /* additional flags for CAN FD */ __u8 __res0; /* reserved / padding */ __u8 __res1; /* reserved / padding */ __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); }; #define CAN_MTU (sizeof(struct can_frame)) #define CANFD_MTU (sizeof(struct canfd_frame)) /* particular protocols of the protocol family PF_CAN */ #define CAN_RAW 1 /* RAW sockets */ #define CAN_BCM 2 /* Broadcast Manager */ #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ #define CAN_MCNET 5 /* Bosch MCNet */ #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ #define CAN_J1939 7 /* SAE J1939 */ #define CAN_NPROTO 8 #define SOL_CAN_BASE 100 /* * This typedef was introduced in Linux v3.1-rc2 * (commit 6602a4b net: Make userland include of netlink.h more sane) * in . It must be duplicated here to make the CAN * headers self-contained. */ typedef unsigned short __kernel_sa_family_t; /** * struct sockaddr_can - the sockaddr structure for CAN sockets * @can_family: address family number AF_CAN. * @can_ifindex: CAN network interface index. * @can_addr: protocol specific address information */ struct sockaddr_can { __kernel_sa_family_t can_family; int can_ifindex; union { /* transport protocol class address information (e.g. ISOTP) */ struct { canid_t rx_id; canid_t tx_id; } tp; /* J1939 address information */ struct { /* 8 byte name when using dynamic addressing */ __u64 name; /* pgn: * 8 bit: PS in PDU2 case, else 0 * 8 bit: PF * 1 bit: DP * 1 bit: reserved */ __u32 pgn; /* 1 byte address */ __u8 addr; } j1939; /* reserved for future CAN protocols address information */ } can_addr; }; /** * struct can_filter - CAN ID based filter in can_register(). * @can_id: relevant bits of CAN ID which are not masked out. * @can_mask: CAN mask (see description) * * Description: * A filter matches, when * * & mask == can_id & mask * * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can * filter for error message frames (CAN_ERR_FLAG bit set in mask). */ struct can_filter { canid_t can_id; canid_t can_mask; }; #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ #define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ #endif /* _UAPI_CAN_H */ struct can_priv { struct can_bittiming bittiming, data_bittiming; const struct can_bittiming_const *bittiming_const, *data_bittiming_const; //const u16 *termination_const; //unsigned int termination_const_cnt; //u16 termination; const u32 *bitrate_const; unsigned int bitrate_const_cnt; const u32 *data_bitrate_const; unsigned int data_bitrate_const_cnt; struct can_clock clock; }; struct net_device { struct can_priv can; }; #define netdev_priv(nd) (&((nd)->can)) int can_get_bittiming(struct net_device *dev, struct can_bittiming *bt, const struct can_bittiming_const *btc, const u32 *bitrate_const, const unsigned int bitrate_const_cnt); #define min(a, b) (a < b ? a : b) #define max(a, b) (a > b ? a : b) #define clamp(val, lo, hi) min((typeof(val))max(val, lo), hi) /** * do_div - returns 2 values: calculate remainder and update new dividend * @n: pointer to uint64_t dividend (will be updated) * @base: uint32_t divisor * * Summary: * ``uint32_t remainder = *n % base;`` * ``*n = *n / base;`` * * Return: (uint32_t)remainder * * NOTE: macro parameter @n is evaluated multiple times, * beware of side effects! */ # define do_div(n,base) ({ \ uint32_t __base = (base); \ uint32_t __rem; \ __rem = ((uint64_t)(n)) % __base; \ (n) = ((uint64_t)(n)) / __base; \ __rem; \ }) /** * abs - return absolute value of an argument * @x: the value. If it is unsigned type, it is converted to signed type first. * char is treated as if it was signed (regardless of whether it really is) * but the macro's return type is preserved as char. * * Return: an absolute value of x. */ #define abs(x) __abs_choose_expr(x, long long, \ __abs_choose_expr(x, long, \ __abs_choose_expr(x, int, \ __abs_choose_expr(x, short, \ __abs_choose_expr(x, char, \ __builtin_choose_expr( \ __builtin_types_compatible_p(typeof(x), char), \ (char)({ signed char __x = (x); __x<0?-__x:__x; }), \ ((void)0))))))) #define __abs_choose_expr(x, type, other) __builtin_choose_expr( \ __builtin_types_compatible_p(typeof(x), signed type) || \ __builtin_types_compatible_p(typeof(x), unsigned type), \ ({ signed type __x = (x); __x < 0 ? -__x : __x; }), other) #define netdev_warn(dev, format, ...) printf("%s" format, "netdev_warn: ", ##__VA_ARGS__); #define netdev_err(dev, format, ...) printf("%s" format, "netdev_err: ", ##__VA_ARGS__); #endif /* __CTU_CAN_FD_LINUX_DEFS__ */