gs_usb_protocol.hpp

#pragma once
 
#include <cstddef>
#include <cstdint>
 
namespace LibXR::USB::GsUsb
{
// =================== CAN ID 标志（与 Linux can.h 对齐） ===================
 
constexpr uint32_t CAN_EFF_FLAG = 0x80000000U;
 
constexpr uint32_t CAN_RTR_FLAG = 0x40000000U;
 
constexpr uint32_t CAN_ERR_FLAG = 0x20000000U;
 
constexpr uint32_t CAN_SFF_MASK = 0x000007FFU;
 
constexpr uint32_t CAN_EFF_MASK = 0x1FFFFFFFU;
 
constexpr uint8_t CAN_ERR_DLC = 8;
 
// =================== CAN 错误码定义 ===================
 
constexpr uint32_t CAN_ERR_TX_TIMEOUT = 0x00000001U;
constexpr uint32_t CAN_ERR_LOSTARB = 0x00000002U;
constexpr uint32_t CAN_ERR_CRTL = 0x00000004U;
constexpr uint32_t CAN_ERR_PROT = 0x00000008U;
constexpr uint32_t CAN_ERR_TRX = 0x00000010U;
constexpr uint32_t CAN_ERR_ACK = 0x00000020U;
constexpr uint32_t CAN_ERR_BUSOFF = 0x00000040U;
constexpr uint32_t CAN_ERR_BUSERROR = 0x00000080U;
constexpr uint32_t CAN_ERR_RESTARTED = 0x00000100U;
 
// =================== 错误 ID 定义 ===================
 
constexpr uint8_t CAN_ERR_LOSTARB_UNSPEC = 0x00;
constexpr uint8_t CAN_ERR_CRTL_UNSPEC = 0x00;
constexpr uint8_t CAN_ERR_PROT_UNSPEC = 0x00;
constexpr uint8_t CAN_ERR_PROT_LOC_UNSPEC = 0x00;
constexpr uint8_t CAN_ERR_TRX_UNSPEC = 0x00;
 
// =================== BREQ（控制请求号，与 gs_usb proto 对齐） ===================
 
enum class BReq : uint8_t
{
  HOST_FORMAT = 0,  
  BITTIMING,        
  MODE,             
  BERR,             
  BT_CONST,         
  DEVICE_CONFIG,    
  TIMESTAMP,        
  IDENTIFY,         
  GET_USER_ID,      
  SET_USER_ID,      
  DATA_BITTIMING,   
  BT_CONST_EXT,     
  SET_TERMINATION,  
  GET_TERMINATION,  
  GET_STATE,        
};
 
// =================== CAN 模式 / 状态 ===================
 
enum class CanMode : uint32_t
{
  RESET = 0,  
  START = 1,  
};
 
enum class CanState : uint32_t
{
  ERROR_ACTIVE = 0,  
  ERROR_WARNING,     
  ERROR_PASSIVE,     
  BUS_OFF,           
  STOPPED,           
  SLEEPING           
};
 
enum class IdentifyMode : uint32_t
{
  OFF = 0,  
  ON = 1,   
};
 
enum class TerminationState : uint32_t
{
  OFF = 0,  
  ON = 1,   
};
 
// =================== 控制传输结构体（packed 对齐原协议） ===================
 
#pragma pack(push, 1)
 
struct HostConfig
{
  uint32_t byte_order;  
};
 
struct DeviceConfig
{
  uint8_t reserved1;    
  uint8_t reserved2;    
  uint8_t reserved3;    
  uint8_t icount;       
  uint32_t sw_version;  
  uint32_t hw_version;  
};
 
struct DeviceMode
{
  uint32_t mode;   
  uint32_t flags;  
};
 
struct DeviceState
{
  uint32_t state;  
  uint32_t rxerr;  
  uint32_t txerr;  
};
 
struct DeviceBitTiming
{
  uint32_t prop_seg;    
  uint32_t phase_seg1;  
  uint32_t phase_seg2;  
  uint32_t sjw;         
  uint32_t brp;         
};
 
struct CanBitTimingConst
{
  uint32_t tseg1_min;  
  uint32_t tseg1_max;  
  uint32_t tseg2_min;  
  uint32_t tseg2_max;  
  uint32_t sjw_max;    
  uint32_t brp_min;    
  uint32_t brp_max;    
  uint32_t brp_inc;    
};
 
struct DeviceBTConst
{
  uint32_t feature;       
  uint32_t fclk_can;      
  CanBitTimingConst btc;  
};
 
struct DeviceBTConstExtended
{
  uint32_t feature;        
  uint32_t fclk_can;       
  CanBitTimingConst btc;   
  CanBitTimingConst dbtc;  
};
 
struct Identify
{
  uint32_t mode;  
};
 
struct DeviceTerminationState
{
  uint32_t state;  
};
 
struct HostFrame
{
  uint32_t echo_id;  
  uint32_t can_id;   
 
  uint8_t can_dlc;   
  uint8_t channel;   
  uint8_t flags;     
  uint8_t reserved;  
 
  uint8_t data[64];  
  uint32_t timestamp_us;  
};
 
#pragma pack(pop)
 
// =================== MODE 标志位（GS_CAN_MODE_*） ===================
 
constexpr uint32_t GSCAN_MODE_NORMAL = 0;
constexpr uint32_t GSCAN_MODE_LISTEN_ONLY = (1u << 0);
constexpr uint32_t GSCAN_MODE_LOOP_BACK = (1u << 1);
constexpr uint32_t GSCAN_MODE_TRIPLE_SAMPLE = (1u << 2);
constexpr uint32_t GSCAN_MODE_ONE_SHOT = (1u << 3);
constexpr uint32_t GSCAN_MODE_HW_TIMESTAMP = (1u << 4);
constexpr uint32_t GSCAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE = (1u << 7);
constexpr uint32_t GSCAN_MODE_FD = (1u << 8);
constexpr uint32_t GSCAN_MODE_BERR_REPORTING = (1u << 12);
 
// =================== 功能位（GS_CAN_FEATURE_*） ===================
 
constexpr uint32_t CAN_FEAT_LISTEN_ONLY = (1u << 0);
constexpr uint32_t CAN_FEAT_LOOP_BACK = (1u << 1);
constexpr uint32_t CAN_FEAT_TRIPLE_SAMPLE = (1u << 2);
constexpr uint32_t CAN_FEAT_ONE_SHOT = (1u << 3);
constexpr uint32_t CAN_FEAT_HW_TIMESTAMP = (1u << 4);
constexpr uint32_t CAN_FEAT_IDENTIFY = (1u << 5);
constexpr uint32_t CAN_FEAT_USER_ID = (1u << 6);
constexpr uint32_t CAN_FEAT_PAD_PKTS_TO_MAX_PKT_SIZE = (1u << 7);
constexpr uint32_t CAN_FEAT_FD = (1u << 8);
constexpr uint32_t CAN_FEAT_REQ_USB_QUIRK_LPC546XX = (1u << 9);
constexpr uint32_t CAN_FEAT_BT_CONST_EXT = (1u << 10);
constexpr uint32_t CAN_FEAT_TERMINATION = (1u << 11);
constexpr uint32_t CAN_FEAT_BERR_REPORTING = (1u << 12);
constexpr uint32_t CAN_FEAT_GET_STATE = (1u << 13);
 
// =================== 帧标志（GS_CAN_FLAG_*） ===================
 
constexpr uint8_t CAN_FLAG_OVERFLOW = (1u << 0);
constexpr uint8_t CAN_FLAG_FD = (1u << 1);
constexpr uint8_t CAN_FLAG_BRS = (1u << 2);
constexpr uint8_t CAN_FLAG_ESI = (1u << 3);
 
constexpr uint32_t ECHO_ID_INVALID = 0xFFFFFFFFu;
 
constexpr std::size_t HOST_FRAME_CLASSIC_SIZE =
    sizeof(uint32_t) + sizeof(uint32_t) + 4 + 8;
constexpr std::size_t HOST_FRAME_CLASSIC_TS_SIZE =
    HOST_FRAME_CLASSIC_SIZE + sizeof(uint32_t);
 
constexpr std::size_t HOST_FRAME_FD_SIZE = sizeof(uint32_t) + sizeof(uint32_t) + 4 + 64;
constexpr std::size_t HOST_FRAME_FD_TS_SIZE = HOST_FRAME_FD_SIZE + sizeof(uint32_t);
 
}  // namespace LibXR::USB::GsUsb