/* * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter * * Copyright (C) 2013-2014 Stephane Grosjean * * 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; version 2 of the License. * * 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. */ #include #include #include #include #include #include #include "pcan_usb_core.h" #include "pcan_usb_pro.h" #include "pcan_ucan.h" MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter"); MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter"); #define PCAN_USBPROFD_CHANNEL_COUNT 2 #define PCAN_USBFD_CHANNEL_COUNT 1 /* PCAN-USB Pro FD adapter internal clock (Hz) */ #define PCAN_UFD_CRYSTAL_HZ 80000000 #define PCAN_UFD_CMD_BUFFER_SIZE 512 #define PCAN_UFD_LOSPD_PKT_SIZE 64 /* PCAN-USB Pro FD command timeout (ms.) */ #define PCAN_UFD_CMD_TIMEOUT_MS 1000 /* PCAN-USB Pro FD rx/tx buffers size */ #define PCAN_UFD_RX_BUFFER_SIZE 2048 #define PCAN_UFD_TX_BUFFER_SIZE 512 /* read some versions info from the hw devcie */ struct __packed pcan_ufd_fw_info { __le16 size_of; /* sizeof this */ __le16 type; /* type of this structure */ u8 hw_type; /* Type of hardware (HW_TYPE_xxx) */ u8 bl_version[3]; /* Bootloader version */ u8 hw_version; /* Hardware version (PCB) */ u8 fw_version[3]; /* Firmware version */ __le32 dev_id[2]; /* "device id" per CAN */ __le32 ser_no; /* S/N */ __le32 flags; /* special functions */ }; /* handle device specific info used by the netdevices */ struct pcan_usb_fd_if { struct peak_usb_device *dev[PCAN_USB_MAX_CHANNEL]; struct pcan_ufd_fw_info fw_info; struct peak_time_ref time_ref; int cm_ignore_count; int dev_opened_count; }; /* device information */ struct pcan_usb_fd_device { struct peak_usb_device dev; struct can_berr_counter bec; struct pcan_usb_fd_if *usb_if; u8 *cmd_buffer_addr; }; /* Extended USB commands (non uCAN commands) */ /* Clock Modes command */ #define PCAN_UFD_CMD_CLK_SET 0x80 #define PCAN_UFD_CLK_80MHZ 0x0 #define PCAN_UFD_CLK_60MHZ 0x1 #define PCAN_UFD_CLK_40MHZ 0x2 #define PCAN_UFD_CLK_30MHZ 0x3 #define PCAN_UFD_CLK_24MHZ 0x4 #define PCAN_UFD_CLK_20MHZ 0x5 #define PCAN_UFD_CLK_DEF PCAN_UFD_CLK_80MHZ struct __packed pcan_ufd_clock { __le16 opcode_channel; u8 mode; u8 unused[5]; }; /* LED control command */ #define PCAN_UFD_CMD_LED_SET 0x86 #define PCAN_UFD_LED_DEV 0x00 #define PCAN_UFD_LED_FAST 0x01 #define PCAN_UFD_LED_SLOW 0x02 #define PCAN_UFD_LED_ON 0x03 #define PCAN_UFD_LED_OFF 0x04 #define PCAN_UFD_LED_DEF PCAN_UFD_LED_DEV struct __packed pcan_ufd_led { __le16 opcode_channel; u8 mode; u8 unused[5]; }; /* Extended usage of uCAN commands CMD_xxx_xx_OPTION for PCAN-USB Pro FD */ #define PCAN_UFD_FLTEXT_CALIBRATION 0x8000 struct __packed pcan_ufd_options { __le16 opcode_channel; __le16 ucan_mask; u16 unused; __le16 usb_mask; }; /* Extended usage of uCAN messages for PCAN-USB Pro FD */ #define PCAN_UFD_MSG_CALIBRATION 0x100 struct __packed pcan_ufd_ts_msg { __le16 size; __le16 type; __le32 ts_low; __le32 ts_high; __le16 usb_frame_index; u16 unused; }; #define PCAN_UFD_MSG_OVERRUN 0x101 #define PCAN_UFD_OVMSG_CHANNEL(o) ((o)->channel & 0xf) struct __packed pcan_ufd_ovr_msg { __le16 size; __le16 type; __le32 ts_low; __le32 ts_high; u8 channel; u8 unused[3]; }; static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg *om) { return om->channel & 0xf; } /* Clock mode frequency values */ static const u32 pcan_usb_fd_clk_freq[6] = { [PCAN_UFD_CLK_80MHZ] = 80000000, [PCAN_UFD_CLK_60MHZ] = 60000000, [PCAN_UFD_CLK_40MHZ] = 40000000, [PCAN_UFD_CLK_30MHZ] = 30000000, [PCAN_UFD_CLK_24MHZ] = 24000000, [PCAN_UFD_CLK_20MHZ] = 20000000 }; /* return a device USB interface */ static inline struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); return pdev->usb_if; } /* return a device USB commands buffer */ static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); return pdev->cmd_buffer_addr; } /* send PCAN-USB Pro FD commands synchronously */ static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail) { void *cmd_head = pcan_usb_fd_cmd_buffer(dev); int err = 0; u8 *packet_ptr; int packet_len; ptrdiff_t cmd_len; /* usb device unregistered? */ if (!(dev->state & PCAN_USB_STATE_CONNECTED)) return 0; /* if a packet is not filled completely by commands, the command list * is terminated with an "end of collection" record. */ cmd_len = cmd_tail - cmd_head; if (cmd_len <= (PCAN_UFD_CMD_BUFFER_SIZE - sizeof(u64))) { memset(cmd_tail, 0xff, sizeof(u64)); cmd_len += sizeof(u64); } packet_ptr = cmd_head; packet_len = cmd_len; /* firmware is not able to re-assemble 512 bytes buffer in full-speed */ if (unlikely(dev->udev->speed != USB_SPEED_HIGH)) packet_len = min(packet_len, PCAN_UFD_LOSPD_PKT_SIZE); do { err = usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT), packet_ptr, packet_len, NULL, PCAN_UFD_CMD_TIMEOUT_MS); if (err) { netdev_err(dev->netdev, "sending command failure: %d\n", err); break; } packet_ptr += packet_len; cmd_len -= packet_len; if (cmd_len < PCAN_UFD_LOSPD_PKT_SIZE) packet_len = cmd_len; } while (packet_len > 0); return err; } /* build the commands list in the given buffer, to enter operational mode */ static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf) { struct pucan_wr_err_cnt *prc; struct pucan_command *cmd; u8 *pc = buf; /* 1st, reset error counters: */ prc = (struct pucan_wr_err_cnt *)pc; prc->opcode_channel = pucan_cmd_opcode_channel(dev, PUCAN_CMD_WR_ERR_CNT); /* select both counters */ prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE); /* and reset their values */ prc->tx_counter = 0; prc->rx_counter = 0; /* moves the pointer forward */ pc += sizeof(struct pucan_wr_err_cnt); /* add command to switch from ISO to non-ISO mode, if fw allows it */ if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) { struct pucan_options *puo = (struct pucan_options *)pc; puo->opcode_channel = (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ? pucan_cmd_opcode_channel(dev, PUCAN_CMD_CLR_DIS_OPTION) : pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION); puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO); /* to be sure that no other extended bits will be taken into * account */ puo->unused = 0; /* moves the pointer forward */ pc += sizeof(struct pucan_options); } /* next, go back to operational mode */ cmd = (struct pucan_command *)pc; cmd->opcode_channel = pucan_cmd_opcode_channel(dev, (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ? PUCAN_CMD_LISTEN_ONLY_MODE : PUCAN_CMD_NORMAL_MODE); pc += sizeof(struct pucan_command); return pc - buf; } /* set CAN bus on/off */ static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff) { u8 *pc = pcan_usb_fd_cmd_buffer(dev); int l; if (onoff) { /* build the cmds list to enter operational mode */ l = pcan_usb_fd_build_restart_cmd(dev, pc); } else { struct pucan_command *cmd = (struct pucan_command *)pc; /* build cmd to go back to reset mode */ cmd->opcode_channel = pucan_cmd_opcode_channel(dev, PUCAN_CMD_RESET_MODE); l = sizeof(struct pucan_command); } /* send the command */ return pcan_usb_fd_send_cmd(dev, pc + l); } /* set filtering masks: * * idx in range [0..63] selects a row #idx, all rows otherwise * mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s) * * Each bit of this 64 x 32 bits array defines a CANID value: * * bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while * bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded. */ static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx, u32 mask) { struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev); int i, n; /* select all rows when idx is out of range [0..63] */ if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) { n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS; idx = 0; /* select the row (and only the row) otherwise */ } else { n = idx + 1; } for (i = idx; i < n; i++, cmd++) { cmd->opcode_channel = pucan_cmd_opcode_channel(dev, PUCAN_CMD_FILTER_STD); cmd->idx = cpu_to_le16(i); cmd->mask = cpu_to_le32(mask); } /* send the command */ return pcan_usb_fd_send_cmd(dev, cmd); } /* set/unset options * * onoff set(1)/unset(0) options * mask each bit defines a kind of options to set/unset */ static int pcan_usb_fd_set_options(struct peak_usb_device *dev, bool onoff, u16 ucan_mask, u16 usb_mask) { struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev); cmd->opcode_channel = pucan_cmd_opcode_channel(dev, (onoff) ? PUCAN_CMD_SET_EN_OPTION : PUCAN_CMD_CLR_DIS_OPTION); cmd->ucan_mask = cpu_to_le16(ucan_mask); cmd->usb_mask = cpu_to_le16(usb_mask); /* send the command */ return pcan_usb_fd_send_cmd(dev, ++cmd); } /* setup LED control */ static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode) { struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev); cmd->opcode_channel = pucan_cmd_opcode_channel(dev, PCAN_UFD_CMD_LED_SET); cmd->mode = led_mode; /* send the command */ return pcan_usb_fd_send_cmd(dev, ++cmd); } /* set CAN clock domain */ static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev, u8 clk_mode) { struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev); cmd->opcode_channel = pucan_cmd_opcode_channel(dev, PCAN_UFD_CMD_CLK_SET); cmd->mode = clk_mode; /* send the command */ return pcan_usb_fd_send_cmd(dev, ++cmd); } /* set bittiming for CAN and CAN-FD header */ static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev, struct can_bittiming *bt) { struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev); cmd->opcode_channel = pucan_cmd_opcode_channel(dev, PUCAN_CMD_TIMING_SLOW); cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1, dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES); cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1); cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1); cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1)); cmd->ewl = 96; /* default */ /* send the command */ return pcan_usb_fd_send_cmd(dev, ++cmd); } /* set CAN-FD bittiming for data */ static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev, struct can_bittiming *bt) { struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev); cmd->opcode_channel = pucan_cmd_opcode_channel(dev, PUCAN_CMD_TIMING_FAST); cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1); cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1); cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1); cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1)); /* send the command */ return pcan_usb_fd_send_cmd(dev, ++cmd); } /* handle restart but in asynchronously way * (uses PCAN-USB Pro code to complete asynchronous request) */ static int pcan_usb_fd_restart_async(struct peak_usb_device *dev, struct urb *urb, u8 *buf) { u8 *pc = buf; /* build the entire cmds list in the provided buffer, to go back into * operational mode. */ pc += pcan_usb_fd_build_restart_cmd(dev, pc); /* add EOC */ memset(pc, 0xff, sizeof(struct pucan_command)); pc += sizeof(struct pucan_command); /* complete the URB */ usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT), buf, pc - buf, pcan_usb_pro_restart_complete, dev); /* and submit it. */ return usb_submit_urb(urb, GFP_ATOMIC); } static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); pdev->cmd_buffer_addr[0] = 0; pdev->cmd_buffer_addr[1] = !!loaded; return pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_FCT, PCAN_USBPRO_FCT_DRVLD, pdev->cmd_buffer_addr, PCAN_USBPRO_FCT_DRVLD_REQ_LEN); } static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if, struct pucan_msg *rx_msg) { struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg; struct peak_usb_device *dev; struct net_device *netdev; struct canfd_frame *cfd; struct sk_buff *skb; const u16 rx_msg_flags = le16_to_cpu(rm->flags); if (pucan_msg_get_channel(rm) >= ARRAY_SIZE(usb_if->dev)) return -ENOMEM; dev = usb_if->dev[pucan_msg_get_channel(rm)]; netdev = dev->netdev; if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { /* CANFD frame case */ skb = alloc_canfd_skb(netdev, &cfd); if (!skb) return -ENOMEM; if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) cfd->flags |= CANFD_BRS; if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) cfd->flags |= CANFD_ESI; cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm))); } else { /* CAN 2.0 frame case */ skb = alloc_can_skb(netdev, (struct can_frame **)&cfd); if (!skb) return -ENOMEM; cfd->len = get_can_dlc(pucan_msg_get_dlc(rm)); } cfd->can_id = le32_to_cpu(rm->can_id); if (rx_msg_flags & PUCAN_MSG_EXT_ID) cfd->can_id |= CAN_EFF_FLAG; if (rx_msg_flags & PUCAN_MSG_RTR) cfd->can_id |= CAN_RTR_FLAG; else memcpy(cfd->data, rm->d, cfd->len); peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high)); netdev->stats.rx_packets++; netdev->stats.rx_bytes += cfd->len; return 0; } /* handle uCAN status message */ static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if, struct pucan_msg *rx_msg) { struct pucan_status_msg *sm = (struct pucan_status_msg *)rx_msg; struct pcan_usb_fd_device *pdev; enum can_state new_state = CAN_STATE_ERROR_ACTIVE; enum can_state rx_state, tx_state; struct peak_usb_device *dev; struct net_device *netdev; struct can_frame *cf; struct sk_buff *skb; if (pucan_stmsg_get_channel(sm) >= ARRAY_SIZE(usb_if->dev)) return -ENOMEM; dev = usb_if->dev[pucan_stmsg_get_channel(sm)]; pdev = container_of(dev, struct pcan_usb_fd_device, dev); netdev = dev->netdev; /* nothing should be sent while in BUS_OFF state */ if (dev->can.state == CAN_STATE_BUS_OFF) return 0; if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) { new_state = CAN_STATE_BUS_OFF; } else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) { new_state = CAN_STATE_ERROR_PASSIVE; } else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) { new_state = CAN_STATE_ERROR_WARNING; } else { /* back to (or still in) ERROR_ACTIVE state */ new_state = CAN_STATE_ERROR_ACTIVE; pdev->bec.txerr = 0; pdev->bec.rxerr = 0; } /* state hasn't changed */ if (new_state == dev->can.state) return 0; /* handle bus state change */ tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0; rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0; /* allocate an skb to store the error frame */ skb = alloc_can_err_skb(netdev, &cf); if (skb) can_change_state(netdev, cf, tx_state, rx_state); /* things must be done even in case of OOM */ if (new_state == CAN_STATE_BUS_OFF) can_bus_off(netdev); if (!skb) return -ENOMEM; peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high)); netdev->stats.rx_packets++; netdev->stats.rx_bytes += cf->can_dlc; return 0; } /* handle uCAN error message */ static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if, struct pucan_msg *rx_msg) { struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg; struct pcan_usb_fd_device *pdev; struct peak_usb_device *dev; if (pucan_ermsg_get_channel(er) >= ARRAY_SIZE(usb_if->dev)) return -EINVAL; dev = usb_if->dev[pucan_ermsg_get_channel(er)]; pdev = container_of(dev, struct pcan_usb_fd_device, dev); /* keep a trace of tx and rx error counters for later use */ pdev->bec.txerr = er->tx_err_cnt; pdev->bec.rxerr = er->rx_err_cnt; return 0; } /* handle uCAN overrun message */ static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if, struct pucan_msg *rx_msg) { struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg; struct peak_usb_device *dev; struct net_device *netdev; struct can_frame *cf; struct sk_buff *skb; if (pufd_omsg_get_channel(ov) >= ARRAY_SIZE(usb_if->dev)) return -EINVAL; dev = usb_if->dev[pufd_omsg_get_channel(ov)]; netdev = dev->netdev; /* allocate an skb to store the error frame */ skb = alloc_can_err_skb(netdev, &cf); if (!skb) return -ENOMEM; cf->can_id |= CAN_ERR_CRTL; cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high)); netdev->stats.rx_over_errors++; netdev->stats.rx_errors++; return 0; } /* handle USB calibration message */ static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if, struct pucan_msg *rx_msg) { struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg; /* should wait until clock is stabilized */ if (usb_if->cm_ignore_count > 0) usb_if->cm_ignore_count--; else peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low)); } /* callback for bulk IN urb */ static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb) { struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev); struct net_device *netdev = dev->netdev; struct pucan_msg *rx_msg; u8 *msg_ptr, *msg_end; int err = 0; /* loop reading all the records from the incoming message */ msg_ptr = urb->transfer_buffer; msg_end = urb->transfer_buffer + urb->actual_length; for (; msg_ptr < msg_end;) { u16 rx_msg_type, rx_msg_size; rx_msg = (struct pucan_msg *)msg_ptr; if (!rx_msg->size) { /* null packet found: end of list */ break; } rx_msg_size = le16_to_cpu(rx_msg->size); rx_msg_type = le16_to_cpu(rx_msg->type); /* check if the record goes out of current packet */ if (msg_ptr + rx_msg_size > msg_end) { netdev_err(netdev, "got frag rec: should inc usb rx buf sze\n"); err = -EBADMSG; break; } switch (rx_msg_type) { case PUCAN_MSG_CAN_RX: err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg); if (err < 0) goto fail; break; case PCAN_UFD_MSG_CALIBRATION: pcan_usb_fd_decode_ts(usb_if, rx_msg); break; case PUCAN_MSG_ERROR: err = pcan_usb_fd_decode_error(usb_if, rx_msg); if (err < 0) goto fail; break; case PUCAN_MSG_STATUS: err = pcan_usb_fd_decode_status(usb_if, rx_msg); if (err < 0) goto fail; break; case PCAN_UFD_MSG_OVERRUN: err = pcan_usb_fd_decode_overrun(usb_if, rx_msg); if (err < 0) goto fail; break; default: netdev_err(netdev, "unhandled msg type 0x%02x (%d): ignored\n", rx_msg_type, rx_msg_type); break; } msg_ptr += rx_msg_size; } fail: if (err) pcan_dump_mem("received msg", urb->transfer_buffer, urb->actual_length); return err; } /* CAN/CANFD frames encoding callback */ static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev, struct sk_buff *skb, u8 *obuf, size_t *size) { struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf; struct canfd_frame *cfd = (struct canfd_frame *)skb->data; u16 tx_msg_size, tx_msg_flags; u8 can_dlc; if (cfd->len > CANFD_MAX_DLEN) return -EINVAL; tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4); tx_msg->size = cpu_to_le16(tx_msg_size); tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX); tx_msg_flags = 0; if (cfd->can_id & CAN_EFF_FLAG) { tx_msg_flags |= PUCAN_MSG_EXT_ID; tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK); } else { tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK); } if (can_is_canfd_skb(skb)) { /* considering a CANFD frame */ can_dlc = can_len2dlc(cfd->len); tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN; if (cfd->flags & CANFD_BRS) tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH; if (cfd->flags & CANFD_ESI) tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND; } else { /* CAND 2.0 frames */ can_dlc = cfd->len; if (cfd->can_id & CAN_RTR_FLAG) tx_msg_flags |= PUCAN_MSG_RTR; } tx_msg->flags = cpu_to_le16(tx_msg_flags); tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc); memcpy(tx_msg->d, cfd->data, cfd->len); /* add null size message to tag the end (messages are 32-bits aligned) */ tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size); tx_msg->size = 0; /* set the whole size of the USB packet to send */ *size = tx_msg_size + sizeof(u32); return 0; } /* start the interface (last chance before set bus on) */ static int pcan_usb_fd_start(struct peak_usb_device *dev) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); int err; /* set filter mode: all acceptance */ err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff); if (err) return err; /* opening first device: */ if (pdev->usb_if->dev_opened_count == 0) { /* reset time_ref */ peak_usb_init_time_ref(&pdev->usb_if->time_ref, &pcan_usb_pro_fd); /* enable USB calibration messages */ err = pcan_usb_fd_set_options(dev, 1, PUCAN_OPTION_ERROR, PCAN_UFD_FLTEXT_CALIBRATION); } pdev->usb_if->dev_opened_count++; /* reset cached error counters */ pdev->bec.txerr = 0; pdev->bec.rxerr = 0; return err; } /* socket callback used to copy berr counters values receieved through USB */ static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev, struct can_berr_counter *bec) { struct peak_usb_device *dev = netdev_priv(netdev); struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); *bec = pdev->bec; /* must return 0 */ return 0; } /* stop interface (last chance before set bus off) */ static int pcan_usb_fd_stop(struct peak_usb_device *dev) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); /* turn off special msgs for that interface if no other dev opened */ if (pdev->usb_if->dev_opened_count == 1) pcan_usb_fd_set_options(dev, 0, PUCAN_OPTION_ERROR, PCAN_UFD_FLTEXT_CALIBRATION); pdev->usb_if->dev_opened_count--; return 0; } /* called when probing, to initialize a device object */ static int pcan_usb_fd_init(struct peak_usb_device *dev) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); int i, err = -ENOMEM; /* do this for 1st channel only */ if (!dev->prev_siblings) { /* allocate netdevices common structure attached to first one */ pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL); if (!pdev->usb_if) goto err_out; /* allocate command buffer once for all for the interface */ pdev->cmd_buffer_addr = kzalloc(PCAN_UFD_CMD_BUFFER_SIZE, GFP_KERNEL); if (!pdev->cmd_buffer_addr) goto err_out_1; /* number of ts msgs to ignore before taking one into account */ pdev->usb_if->cm_ignore_count = 5; err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO, PCAN_USBPRO_INFO_FW, &pdev->usb_if->fw_info, sizeof(pdev->usb_if->fw_info)); if (err) { dev_err(dev->netdev->dev.parent, "unable to read %s firmware info (err %d)\n", dev->adapter->name, err); goto err_out_2; } /* explicit use of dev_xxx() instead of netdev_xxx() here: * information displayed are related to the device itself, not * to the canx (channel) device. */ dev_info(dev->netdev->dev.parent, "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n", dev->adapter->name, pdev->usb_if->fw_info.hw_version, pdev->usb_if->fw_info.fw_version[0], pdev->usb_if->fw_info.fw_version[1], pdev->usb_if->fw_info.fw_version[2], dev->adapter->ctrl_count); /* check for ability to switch between ISO/non-ISO modes */ if (pdev->usb_if->fw_info.fw_version[0] >= 2) { /* firmware >= 2.x supports ISO/non-ISO switching */ dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO; } else { /* firmware < 2.x only supports fixed(!) non-ISO */ dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO; } /* tell the hardware the can driver is running */ err = pcan_usb_fd_drv_loaded(dev, 1); if (err) { dev_err(dev->netdev->dev.parent, "unable to tell %s driver is loaded (err %d)\n", dev->adapter->name, err); goto err_out_2; } } else { /* otherwise, simply copy previous sibling's values */ struct pcan_usb_fd_device *ppdev = container_of(dev->prev_siblings, struct pcan_usb_fd_device, dev); pdev->usb_if = ppdev->usb_if; pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr; /* do a copy of the ctrlmode[_supported] too */ dev->can.ctrlmode = ppdev->dev.can.ctrlmode; dev->can.ctrlmode_supported = ppdev->dev.can.ctrlmode_supported; } pdev->usb_if->dev[dev->ctrl_idx] = dev; dev->device_number = le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]); /* set clock domain */ for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++) if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i]) break; if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) { dev_warn(dev->netdev->dev.parent, "incompatible clock frequencies\n"); err = -EINVAL; goto err_out_2; } pcan_usb_fd_set_clock_domain(dev, i); /* set LED in default state (end of init phase) */ pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF); return 0; err_out_2: kfree(pdev->cmd_buffer_addr); err_out_1: kfree(pdev->usb_if); err_out: return err; } /* called when driver module is being unloaded */ static void pcan_usb_fd_exit(struct peak_usb_device *dev) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); /* when rmmod called before unplug and if down, should reset things * before leaving */ if (dev->can.state != CAN_STATE_STOPPED) { /* set bus off on the corresponding channel */ pcan_usb_fd_set_bus(dev, 0); } /* switch off corresponding CAN LEDs */ pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF); /* if channel #0 (only) */ if (dev->ctrl_idx == 0) { /* turn off calibration message if any device were opened */ if (pdev->usb_if->dev_opened_count > 0) pcan_usb_fd_set_options(dev, 0, PUCAN_OPTION_ERROR, PCAN_UFD_FLTEXT_CALIBRATION); /* tell USB adapter that the driver is being unloaded */ pcan_usb_fd_drv_loaded(dev, 0); } } /* called when the USB adapter is unplugged */ static void pcan_usb_fd_free(struct peak_usb_device *dev) { /* last device: can free shared objects now */ if (!dev->prev_siblings && !dev->next_siblings) { struct pcan_usb_fd_device *pdev = container_of(dev, struct pcan_usb_fd_device, dev); /* free commands buffer */ kfree(pdev->cmd_buffer_addr); /* free usb interface object */ kfree(pdev->usb_if); } } /* describes the PCAN-USB FD adapter */ static const struct can_bittiming_const pcan_usb_fd_const = { .name = "pcan_usb_fd", .tseg1_min = 1, .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), .tseg2_min = 1, .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), .brp_min = 1, .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), .brp_inc = 1, }; static const struct can_bittiming_const pcan_usb_fd_data_const = { .name = "pcan_usb_fd", .tseg1_min = 1, .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), .tseg2_min = 1, .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), .brp_min = 1, .brp_max = (1 << PUCAN_TFAST_BRP_BITS), .brp_inc = 1, }; const struct peak_usb_adapter pcan_usb_fd = { .name = "PCAN-USB FD", .device_id = PCAN_USBFD_PRODUCT_ID, .ctrl_count = PCAN_USBFD_CHANNEL_COUNT, .ctrlmode_supported = CAN_CTRLMODE_FD | CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, .clock = { .freq = PCAN_UFD_CRYSTAL_HZ, }, .bittiming_const = &pcan_usb_fd_const, .data_bittiming_const = &pcan_usb_fd_data_const, /* size of device private data */ .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), /* timestamps usage */ .ts_used_bits = 32, .ts_period = 1000000, /* calibration period in ts. */ .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ .us_per_ts_shift = 0, /* give here messages in/out endpoints */ .ep_msg_in = PCAN_USBPRO_EP_MSGIN, .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0}, /* size of rx/tx usb buffers */ .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, /* device callbacks */ .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ .dev_init = pcan_usb_fd_init, .dev_exit = pcan_usb_fd_exit, .dev_free = pcan_usb_fd_free, .dev_set_bus = pcan_usb_fd_set_bus, .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, .dev_decode_buf = pcan_usb_fd_decode_buf, .dev_start = pcan_usb_fd_start, .dev_stop = pcan_usb_fd_stop, .dev_restart_async = pcan_usb_fd_restart_async, .dev_encode_msg = pcan_usb_fd_encode_msg, .do_get_berr_counter = pcan_usb_fd_get_berr_counter, }; /* describes the PCAN-USB Pro FD adapter */ static const struct can_bittiming_const pcan_usb_pro_fd_const = { .name = "pcan_usb_pro_fd", .tseg1_min = 1, .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), .tseg2_min = 1, .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), .brp_min = 1, .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), .brp_inc = 1, }; static const struct can_bittiming_const pcan_usb_pro_fd_data_const = { .name = "pcan_usb_pro_fd", .tseg1_min = 1, .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), .tseg2_min = 1, .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), .brp_min = 1, .brp_max = (1 << PUCAN_TFAST_BRP_BITS), .brp_inc = 1, }; const struct peak_usb_adapter pcan_usb_pro_fd = { .name = "PCAN-USB Pro FD", .device_id = PCAN_USBPROFD_PRODUCT_ID, .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT, .ctrlmode_supported = CAN_CTRLMODE_FD | CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, .clock = { .freq = PCAN_UFD_CRYSTAL_HZ, }, .bittiming_const = &pcan_usb_pro_fd_const, .data_bittiming_const = &pcan_usb_pro_fd_data_const, /* size of device private data */ .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), /* timestamps usage */ .ts_used_bits = 32, .ts_period = 1000000, /* calibration period in ts. */ .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ .us_per_ts_shift = 0, /* give here messages in/out endpoints */ .ep_msg_in = PCAN_USBPRO_EP_MSGIN, .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1}, /* size of rx/tx usb buffers */ .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, /* device callbacks */ .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ .dev_init = pcan_usb_fd_init, .dev_exit = pcan_usb_fd_exit, .dev_free = pcan_usb_fd_free, .dev_set_bus = pcan_usb_fd_set_bus, .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, .dev_decode_buf = pcan_usb_fd_decode_buf, .dev_start = pcan_usb_fd_start, .dev_stop = pcan_usb_fd_stop, .dev_restart_async = pcan_usb_fd_restart_async, .dev_encode_msg = pcan_usb_fd_encode_msg, .do_get_berr_counter = pcan_usb_fd_get_berr_counter, }; /* describes the PCAN-USB X6 adapter */ static const struct can_bittiming_const pcan_usb_x6_const = { .name = "pcan_usb_x6", .tseg1_min = 1, .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), .tseg2_min = 1, .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), .brp_min = 1, .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), .brp_inc = 1, }; static const struct can_bittiming_const pcan_usb_x6_data_const = { .name = "pcan_usb_x6", .tseg1_min = 1, .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), .tseg2_min = 1, .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), .brp_min = 1, .brp_max = (1 << PUCAN_TFAST_BRP_BITS), .brp_inc = 1, }; const struct peak_usb_adapter pcan_usb_x6 = { .name = "PCAN-USB X6", .device_id = PCAN_USBX6_PRODUCT_ID, .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT, .ctrlmode_supported = CAN_CTRLMODE_FD | CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, .clock = { .freq = PCAN_UFD_CRYSTAL_HZ, }, .bittiming_const = &pcan_usb_x6_const, .data_bittiming_const = &pcan_usb_x6_data_const, /* size of device private data */ .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), /* timestamps usage */ .ts_used_bits = 32, .ts_period = 1000000, /* calibration period in ts. */ .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ .us_per_ts_shift = 0, /* give here messages in/out endpoints */ .ep_msg_in = PCAN_USBPRO_EP_MSGIN, .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1}, /* size of rx/tx usb buffers */ .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, /* device callbacks */ .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ .dev_init = pcan_usb_fd_init, .dev_exit = pcan_usb_fd_exit, .dev_free = pcan_usb_fd_free, .dev_set_bus = pcan_usb_fd_set_bus, .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, .dev_decode_buf = pcan_usb_fd_decode_buf, .dev_start = pcan_usb_fd_start, .dev_stop = pcan_usb_fd_stop, .dev_restart_async = pcan_usb_fd_restart_async, .dev_encode_msg = pcan_usb_fd_encode_msg, .do_get_berr_counter = pcan_usb_fd_get_berr_counter, };