/*
* CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
*
* Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
*
* 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 <linux/netdevice.h>
#include <linux/usb.h>
#include <linux/module.h>
#include <linux/can.h>
#include <linux/can/dev.h>
#include <linux/can/error.h>
#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 i, n = 1, 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;
/* firmware is not able to re-assemble 512 bytes buffer in full-speed */
if ((dev->udev->speed != USB_SPEED_HIGH) &&
(cmd_len > PCAN_UFD_LOSPD_PKT_SIZE)) {
packet_len = PCAN_UFD_LOSPD_PKT_SIZE;
n += cmd_len / packet_len;
} else {
packet_len = cmd_len;
}
for (i = 0; i < n; i++) {
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;
}
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 = usb_if->dev[pucan_msg_get_channel(rm)];
struct net_device *netdev = dev->netdev;
struct canfd_frame *cfd;
struct sk_buff *skb;
const u16 rx_msg_flags = le16_to_cpu(rm->flags);
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 peak_usb_device *dev = usb_if->dev[pucan_stmsg_get_channel(sm)];
struct pcan_usb_fd_device *pdev =
container_of(dev, struct pcan_usb_fd_device, dev);
enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
enum can_state rx_state, tx_state;
struct net_device *netdev = dev->netdev;
struct can_frame *cf;
struct sk_buff *skb;
/* 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 {
/* no error bit (so, no error skb, back to active state) */
dev->can.state = CAN_STATE_ERROR_ACTIVE;
pdev->bec.txerr = 0;
pdev->bec.rxerr = 0;
return 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 peak_usb_device *dev = usb_if->dev[pucan_ermsg_get_channel(er)];
struct pcan_usb_fd_device *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 = usb_if->dev[pufd_omsg_get_channel(ov)];
struct net_device *netdev = dev->netdev;
struct can_frame *cf;
struct sk_buff *skb;
/* 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;
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 = kmalloc(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,
};