1/* 2 * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter 3 * 4 * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com> 5 * 6 * This program is free software; you can redistribute it and/or modify it 7 * under the terms of the GNU General Public License as published 8 * by the Free Software Foundation; version 2 of the License. 9 * 10 * This program is distributed in the hope that it will be useful, but 11 * WITHOUT ANY WARRANTY; without even the implied warranty of 12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 * General Public License for more details. 14 */ 15#include <linux/netdevice.h> 16#include <linux/usb.h> 17#include <linux/module.h> 18 19#include <linux/can.h> 20#include <linux/can/dev.h> 21#include <linux/can/error.h> 22 23#include "pcan_usb_core.h" 24#include "pcan_usb_pro.h" 25#include "pcan_ucan.h" 26 27MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter"); 28MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter"); 29 30#define PCAN_USBPROFD_CHANNEL_COUNT 2 31#define PCAN_USBFD_CHANNEL_COUNT 1 32 33/* PCAN-USB Pro FD adapter internal clock (Hz) */ 34#define PCAN_UFD_CRYSTAL_HZ 80000000 35 36#define PCAN_UFD_CMD_BUFFER_SIZE 512 37#define PCAN_UFD_LOSPD_PKT_SIZE 64 38 39/* PCAN-USB Pro FD command timeout (ms.) */ 40#define PCAN_UFD_CMD_TIMEOUT_MS 1000 41 42/* PCAN-USB Pro FD rx/tx buffers size */ 43#define PCAN_UFD_RX_BUFFER_SIZE 2048 44#define PCAN_UFD_TX_BUFFER_SIZE 512 45 46/* read some versions info from the hw devcie */ 47struct __packed pcan_ufd_fw_info { 48 __le16 size_of; /* sizeof this */ 49 __le16 type; /* type of this structure */ 50 u8 hw_type; /* Type of hardware (HW_TYPE_xxx) */ 51 u8 bl_version[3]; /* Bootloader version */ 52 u8 hw_version; /* Hardware version (PCB) */ 53 u8 fw_version[3]; /* Firmware version */ 54 __le32 dev_id[2]; /* "device id" per CAN */ 55 __le32 ser_no; /* S/N */ 56 __le32 flags; /* special functions */ 57}; 58 59/* handle device specific info used by the netdevices */ 60struct pcan_usb_fd_if { 61 struct peak_usb_device *dev[PCAN_USB_MAX_CHANNEL]; 62 struct pcan_ufd_fw_info fw_info; 63 struct peak_time_ref time_ref; 64 int cm_ignore_count; 65 int dev_opened_count; 66}; 67 68/* device information */ 69struct pcan_usb_fd_device { 70 struct peak_usb_device dev; 71 struct can_berr_counter bec; 72 struct pcan_usb_fd_if *usb_if; 73 u8 *cmd_buffer_addr; 74}; 75 76/* Extended USB commands (non uCAN commands) */ 77 78/* Clock Modes command */ 79#define PCAN_UFD_CMD_CLK_SET 0x80 80 81#define PCAN_UFD_CLK_80MHZ 0x0 82#define PCAN_UFD_CLK_60MHZ 0x1 83#define PCAN_UFD_CLK_40MHZ 0x2 84#define PCAN_UFD_CLK_30MHZ 0x3 85#define PCAN_UFD_CLK_24MHZ 0x4 86#define PCAN_UFD_CLK_20MHZ 0x5 87#define PCAN_UFD_CLK_DEF PCAN_UFD_CLK_80MHZ 88 89struct __packed pcan_ufd_clock { 90 __le16 opcode_channel; 91 92 u8 mode; 93 u8 unused[5]; 94}; 95 96/* LED control command */ 97#define PCAN_UFD_CMD_LED_SET 0x86 98 99#define PCAN_UFD_LED_DEV 0x00 100#define PCAN_UFD_LED_FAST 0x01 101#define PCAN_UFD_LED_SLOW 0x02 102#define PCAN_UFD_LED_ON 0x03 103#define PCAN_UFD_LED_OFF 0x04 104#define PCAN_UFD_LED_DEF PCAN_UFD_LED_DEV 105 106struct __packed pcan_ufd_led { 107 __le16 opcode_channel; 108 109 u8 mode; 110 u8 unused[5]; 111}; 112 113/* Extended usage of uCAN commands CMD_xxx_xx_OPTION for PCAN-USB Pro FD */ 114#define PCAN_UFD_FLTEXT_CALIBRATION 0x8000 115 116struct __packed pcan_ufd_options { 117 __le16 opcode_channel; 118 119 __le16 ucan_mask; 120 u16 unused; 121 __le16 usb_mask; 122}; 123 124/* Extended usage of uCAN messages for PCAN-USB Pro FD */ 125#define PCAN_UFD_MSG_CALIBRATION 0x100 126 127struct __packed pcan_ufd_ts_msg { 128 __le16 size; 129 __le16 type; 130 __le32 ts_low; 131 __le32 ts_high; 132 __le16 usb_frame_index; 133 u16 unused; 134}; 135 136#define PCAN_UFD_MSG_OVERRUN 0x101 137 138#define PCAN_UFD_OVMSG_CHANNEL(o) ((o)->channel & 0xf) 139 140struct __packed pcan_ufd_ovr_msg { 141 __le16 size; 142 __le16 type; 143 __le32 ts_low; 144 __le32 ts_high; 145 u8 channel; 146 u8 unused[3]; 147}; 148 149static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg *om) 150{ 151 return om->channel & 0xf; 152} 153 154/* Clock mode frequency values */ 155static const u32 pcan_usb_fd_clk_freq[6] = { 156 [PCAN_UFD_CLK_80MHZ] = 80000000, 157 [PCAN_UFD_CLK_60MHZ] = 60000000, 158 [PCAN_UFD_CLK_40MHZ] = 40000000, 159 [PCAN_UFD_CLK_30MHZ] = 30000000, 160 [PCAN_UFD_CLK_24MHZ] = 24000000, 161 [PCAN_UFD_CLK_20MHZ] = 20000000 162}; 163 164/* return a device USB interface */ 165static inline 166struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev) 167{ 168 struct pcan_usb_fd_device *pdev = 169 container_of(dev, struct pcan_usb_fd_device, dev); 170 return pdev->usb_if; 171} 172 173/* return a device USB commands buffer */ 174static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev) 175{ 176 struct pcan_usb_fd_device *pdev = 177 container_of(dev, struct pcan_usb_fd_device, dev); 178 return pdev->cmd_buffer_addr; 179} 180 181/* send PCAN-USB Pro FD commands synchronously */ 182static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail) 183{ 184 void *cmd_head = pcan_usb_fd_cmd_buffer(dev); 185 int err = 0; 186 u8 *packet_ptr; 187 int i, n = 1, packet_len; 188 ptrdiff_t cmd_len; 189 190 /* usb device unregistered? */ 191 if (!(dev->state & PCAN_USB_STATE_CONNECTED)) 192 return 0; 193 194 /* if a packet is not filled completely by commands, the command list 195 * is terminated with an "end of collection" record. 196 */ 197 cmd_len = cmd_tail - cmd_head; 198 if (cmd_len <= (PCAN_UFD_CMD_BUFFER_SIZE - sizeof(u64))) { 199 memset(cmd_tail, 0xff, sizeof(u64)); 200 cmd_len += sizeof(u64); 201 } 202 203 packet_ptr = cmd_head; 204 205 /* firmware is not able to re-assemble 512 bytes buffer in full-speed */ 206 if ((dev->udev->speed != USB_SPEED_HIGH) && 207 (cmd_len > PCAN_UFD_LOSPD_PKT_SIZE)) { 208 packet_len = PCAN_UFD_LOSPD_PKT_SIZE; 209 n += cmd_len / packet_len; 210 } else { 211 packet_len = cmd_len; 212 } 213 214 for (i = 0; i < n; i++) { 215 err = usb_bulk_msg(dev->udev, 216 usb_sndbulkpipe(dev->udev, 217 PCAN_USBPRO_EP_CMDOUT), 218 packet_ptr, packet_len, 219 NULL, PCAN_UFD_CMD_TIMEOUT_MS); 220 if (err) { 221 netdev_err(dev->netdev, 222 "sending command failure: %d\n", err); 223 break; 224 } 225 226 packet_ptr += packet_len; 227 } 228 229 return err; 230} 231 232/* build the commands list in the given buffer, to enter operational mode */ 233static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf) 234{ 235 struct pucan_wr_err_cnt *prc; 236 struct pucan_command *cmd; 237 u8 *pc = buf; 238 239 /* 1st, reset error counters: */ 240 prc = (struct pucan_wr_err_cnt *)pc; 241 prc->opcode_channel = pucan_cmd_opcode_channel(dev, 242 PUCAN_CMD_WR_ERR_CNT); 243 244 /* select both counters */ 245 prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE); 246 247 /* and reset their values */ 248 prc->tx_counter = 0; 249 prc->rx_counter = 0; 250 251 /* moves the pointer forward */ 252 pc += sizeof(struct pucan_wr_err_cnt); 253 254 /* add command to switch from ISO to non-ISO mode, if fw allows it */ 255 if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) { 256 struct pucan_options *puo = (struct pucan_options *)pc; 257 258 puo->opcode_channel = 259 (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ? 260 pucan_cmd_opcode_channel(dev, 261 PUCAN_CMD_CLR_DIS_OPTION) : 262 pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION); 263 264 puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO); 265 266 /* to be sure that no other extended bits will be taken into 267 * account 268 */ 269 puo->unused = 0; 270 271 /* moves the pointer forward */ 272 pc += sizeof(struct pucan_options); 273 } 274 275 /* next, go back to operational mode */ 276 cmd = (struct pucan_command *)pc; 277 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 278 (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ? 279 PUCAN_CMD_LISTEN_ONLY_MODE : 280 PUCAN_CMD_NORMAL_MODE); 281 pc += sizeof(struct pucan_command); 282 283 return pc - buf; 284} 285 286/* set CAN bus on/off */ 287static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff) 288{ 289 u8 *pc = pcan_usb_fd_cmd_buffer(dev); 290 int l; 291 292 if (onoff) { 293 /* build the cmds list to enter operational mode */ 294 l = pcan_usb_fd_build_restart_cmd(dev, pc); 295 } else { 296 struct pucan_command *cmd = (struct pucan_command *)pc; 297 298 /* build cmd to go back to reset mode */ 299 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 300 PUCAN_CMD_RESET_MODE); 301 l = sizeof(struct pucan_command); 302 } 303 304 /* send the command */ 305 return pcan_usb_fd_send_cmd(dev, pc + l); 306} 307 308/* set filtering masks: 309 * 310 * idx in range [0..63] selects a row #idx, all rows otherwise 311 * mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s) 312 * 313 * Each bit of this 64 x 32 bits array defines a CANID value: 314 * 315 * bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while 316 * bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded. 317 */ 318static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx, 319 u32 mask) 320{ 321 struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev); 322 int i, n; 323 324 /* select all rows when idx is out of range [0..63] */ 325 if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) { 326 n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS; 327 idx = 0; 328 329 /* select the row (and only the row) otherwise */ 330 } else { 331 n = idx + 1; 332 } 333 334 for (i = idx; i < n; i++, cmd++) { 335 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 336 PUCAN_CMD_FILTER_STD); 337 cmd->idx = cpu_to_le16(i); 338 cmd->mask = cpu_to_le32(mask); 339 } 340 341 /* send the command */ 342 return pcan_usb_fd_send_cmd(dev, cmd); 343} 344 345/* set/unset options 346 * 347 * onoff set(1)/unset(0) options 348 * mask each bit defines a kind of options to set/unset 349 */ 350static int pcan_usb_fd_set_options(struct peak_usb_device *dev, 351 bool onoff, u16 ucan_mask, u16 usb_mask) 352{ 353 struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev); 354 355 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 356 (onoff) ? PUCAN_CMD_SET_EN_OPTION : 357 PUCAN_CMD_CLR_DIS_OPTION); 358 359 cmd->ucan_mask = cpu_to_le16(ucan_mask); 360 cmd->usb_mask = cpu_to_le16(usb_mask); 361 362 /* send the command */ 363 return pcan_usb_fd_send_cmd(dev, ++cmd); 364} 365 366/* setup LED control */ 367static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode) 368{ 369 struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev); 370 371 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 372 PCAN_UFD_CMD_LED_SET); 373 cmd->mode = led_mode; 374 375 /* send the command */ 376 return pcan_usb_fd_send_cmd(dev, ++cmd); 377} 378 379/* set CAN clock domain */ 380static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev, 381 u8 clk_mode) 382{ 383 struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev); 384 385 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 386 PCAN_UFD_CMD_CLK_SET); 387 cmd->mode = clk_mode; 388 389 /* send the command */ 390 return pcan_usb_fd_send_cmd(dev, ++cmd); 391} 392 393/* set bittiming for CAN and CAN-FD header */ 394static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev, 395 struct can_bittiming *bt) 396{ 397 struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev); 398 399 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 400 PUCAN_CMD_TIMING_SLOW); 401 cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1, 402 dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES); 403 404 cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1); 405 cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1); 406 cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1)); 407 408 cmd->ewl = 96; /* default */ 409 410 /* send the command */ 411 return pcan_usb_fd_send_cmd(dev, ++cmd); 412} 413 414/* set CAN-FD bittiming for data */ 415static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev, 416 struct can_bittiming *bt) 417{ 418 struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev); 419 420 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 421 PUCAN_CMD_TIMING_FAST); 422 cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1); 423 cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1); 424 cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1); 425 cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1)); 426 427 /* send the command */ 428 return pcan_usb_fd_send_cmd(dev, ++cmd); 429} 430 431/* handle restart but in asynchronously way 432 * (uses PCAN-USB Pro code to complete asynchronous request) 433 */ 434static int pcan_usb_fd_restart_async(struct peak_usb_device *dev, 435 struct urb *urb, u8 *buf) 436{ 437 u8 *pc = buf; 438 439 /* build the entire cmds list in the provided buffer, to go back into 440 * operational mode. 441 */ 442 pc += pcan_usb_fd_build_restart_cmd(dev, pc); 443 444 /* add EOC */ 445 memset(pc, 0xff, sizeof(struct pucan_command)); 446 pc += sizeof(struct pucan_command); 447 448 /* complete the URB */ 449 usb_fill_bulk_urb(urb, dev->udev, 450 usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT), 451 buf, pc - buf, 452 pcan_usb_pro_restart_complete, dev); 453 454 /* and submit it. */ 455 return usb_submit_urb(urb, GFP_ATOMIC); 456} 457 458static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded) 459{ 460 struct pcan_usb_fd_device *pdev = 461 container_of(dev, struct pcan_usb_fd_device, dev); 462 463 pdev->cmd_buffer_addr[0] = 0; 464 pdev->cmd_buffer_addr[1] = !!loaded; 465 466 return pcan_usb_pro_send_req(dev, 467 PCAN_USBPRO_REQ_FCT, 468 PCAN_USBPRO_FCT_DRVLD, 469 pdev->cmd_buffer_addr, 470 PCAN_USBPRO_FCT_DRVLD_REQ_LEN); 471} 472 473static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if, 474 struct pucan_msg *rx_msg) 475{ 476 struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg; 477 struct peak_usb_device *dev = usb_if->dev[pucan_msg_get_channel(rm)]; 478 struct net_device *netdev = dev->netdev; 479 struct canfd_frame *cfd; 480 struct sk_buff *skb; 481 const u16 rx_msg_flags = le16_to_cpu(rm->flags); 482 483 if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { 484 /* CANFD frame case */ 485 skb = alloc_canfd_skb(netdev, &cfd); 486 if (!skb) 487 return -ENOMEM; 488 489 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) 490 cfd->flags |= CANFD_BRS; 491 492 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) 493 cfd->flags |= CANFD_ESI; 494 495 cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm))); 496 } else { 497 /* CAN 2.0 frame case */ 498 skb = alloc_can_skb(netdev, (struct can_frame **)&cfd); 499 if (!skb) 500 return -ENOMEM; 501 502 cfd->len = get_can_dlc(pucan_msg_get_dlc(rm)); 503 } 504 505 cfd->can_id = le32_to_cpu(rm->can_id); 506 507 if (rx_msg_flags & PUCAN_MSG_EXT_ID) 508 cfd->can_id |= CAN_EFF_FLAG; 509 510 if (rx_msg_flags & PUCAN_MSG_RTR) 511 cfd->can_id |= CAN_RTR_FLAG; 512 else 513 memcpy(cfd->data, rm->d, cfd->len); 514 515 peak_usb_netif_rx(skb, &usb_if->time_ref, 516 le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high)); 517 518 netdev->stats.rx_packets++; 519 netdev->stats.rx_bytes += cfd->len; 520 521 return 0; 522} 523 524/* handle uCAN status message */ 525static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if, 526 struct pucan_msg *rx_msg) 527{ 528 struct pucan_status_msg *sm = (struct pucan_status_msg *)rx_msg; 529 struct peak_usb_device *dev = usb_if->dev[pucan_stmsg_get_channel(sm)]; 530 struct pcan_usb_fd_device *pdev = 531 container_of(dev, struct pcan_usb_fd_device, dev); 532 enum can_state new_state = CAN_STATE_ERROR_ACTIVE; 533 enum can_state rx_state, tx_state; 534 struct net_device *netdev = dev->netdev; 535 struct can_frame *cf; 536 struct sk_buff *skb; 537 538 /* nothing should be sent while in BUS_OFF state */ 539 if (dev->can.state == CAN_STATE_BUS_OFF) 540 return 0; 541 542 if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) { 543 new_state = CAN_STATE_BUS_OFF; 544 } else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) { 545 new_state = CAN_STATE_ERROR_PASSIVE; 546 } else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) { 547 new_state = CAN_STATE_ERROR_WARNING; 548 } else { 549 /* no error bit (so, no error skb, back to active state) */ 550 dev->can.state = CAN_STATE_ERROR_ACTIVE; 551 pdev->bec.txerr = 0; 552 pdev->bec.rxerr = 0; 553 return 0; 554 } 555 556 /* state hasn't changed */ 557 if (new_state == dev->can.state) 558 return 0; 559 560 /* handle bus state change */ 561 tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0; 562 rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0; 563 564 /* allocate an skb to store the error frame */ 565 skb = alloc_can_err_skb(netdev, &cf); 566 if (skb) 567 can_change_state(netdev, cf, tx_state, rx_state); 568 569 /* things must be done even in case of OOM */ 570 if (new_state == CAN_STATE_BUS_OFF) 571 can_bus_off(netdev); 572 573 if (!skb) 574 return -ENOMEM; 575 576 peak_usb_netif_rx(skb, &usb_if->time_ref, 577 le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high)); 578 579 netdev->stats.rx_packets++; 580 netdev->stats.rx_bytes += cf->can_dlc; 581 582 return 0; 583} 584 585/* handle uCAN error message */ 586static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if, 587 struct pucan_msg *rx_msg) 588{ 589 struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg; 590 struct peak_usb_device *dev = usb_if->dev[pucan_ermsg_get_channel(er)]; 591 struct pcan_usb_fd_device *pdev = 592 container_of(dev, struct pcan_usb_fd_device, dev); 593 594 /* keep a trace of tx and rx error counters for later use */ 595 pdev->bec.txerr = er->tx_err_cnt; 596 pdev->bec.rxerr = er->rx_err_cnt; 597 598 return 0; 599} 600 601/* handle uCAN overrun message */ 602static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if, 603 struct pucan_msg *rx_msg) 604{ 605 struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg; 606 struct peak_usb_device *dev = usb_if->dev[pufd_omsg_get_channel(ov)]; 607 struct net_device *netdev = dev->netdev; 608 struct can_frame *cf; 609 struct sk_buff *skb; 610 611 /* allocate an skb to store the error frame */ 612 skb = alloc_can_err_skb(netdev, &cf); 613 if (!skb) 614 return -ENOMEM; 615 616 cf->can_id |= CAN_ERR_CRTL; 617 cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; 618 619 peak_usb_netif_rx(skb, &usb_if->time_ref, 620 le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high)); 621 622 netdev->stats.rx_over_errors++; 623 netdev->stats.rx_errors++; 624 625 return 0; 626} 627 628/* handle USB calibration message */ 629static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if, 630 struct pucan_msg *rx_msg) 631{ 632 struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg; 633 634 /* should wait until clock is stabilized */ 635 if (usb_if->cm_ignore_count > 0) 636 usb_if->cm_ignore_count--; 637 else 638 peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low)); 639} 640 641/* callback for bulk IN urb */ 642static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb) 643{ 644 struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev); 645 struct net_device *netdev = dev->netdev; 646 struct pucan_msg *rx_msg; 647 u8 *msg_ptr, *msg_end; 648 int err = 0; 649 650 /* loop reading all the records from the incoming message */ 651 msg_ptr = urb->transfer_buffer; 652 msg_end = urb->transfer_buffer + urb->actual_length; 653 for (; msg_ptr < msg_end;) { 654 u16 rx_msg_type, rx_msg_size; 655 656 rx_msg = (struct pucan_msg *)msg_ptr; 657 if (!rx_msg->size) { 658 /* null packet found: end of list */ 659 break; 660 } 661 662 rx_msg_size = le16_to_cpu(rx_msg->size); 663 rx_msg_type = le16_to_cpu(rx_msg->type); 664 665 /* check if the record goes out of current packet */ 666 if (msg_ptr + rx_msg_size > msg_end) { 667 netdev_err(netdev, 668 "got frag rec: should inc usb rx buf sze\n"); 669 err = -EBADMSG; 670 break; 671 } 672 673 switch (rx_msg_type) { 674 case PUCAN_MSG_CAN_RX: 675 err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg); 676 if (err < 0) 677 goto fail; 678 break; 679 680 case PCAN_UFD_MSG_CALIBRATION: 681 pcan_usb_fd_decode_ts(usb_if, rx_msg); 682 break; 683 684 case PUCAN_MSG_ERROR: 685 err = pcan_usb_fd_decode_error(usb_if, rx_msg); 686 if (err < 0) 687 goto fail; 688 break; 689 690 case PUCAN_MSG_STATUS: 691 err = pcan_usb_fd_decode_status(usb_if, rx_msg); 692 if (err < 0) 693 goto fail; 694 break; 695 696 case PCAN_UFD_MSG_OVERRUN: 697 err = pcan_usb_fd_decode_overrun(usb_if, rx_msg); 698 if (err < 0) 699 goto fail; 700 break; 701 702 default: 703 netdev_err(netdev, 704 "unhandled msg type 0x%02x (%d): ignored\n", 705 rx_msg_type, rx_msg_type); 706 break; 707 } 708 709 msg_ptr += rx_msg_size; 710 } 711 712fail: 713 if (err) 714 pcan_dump_mem("received msg", 715 urb->transfer_buffer, urb->actual_length); 716 return err; 717} 718 719/* CAN/CANFD frames encoding callback */ 720static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev, 721 struct sk_buff *skb, u8 *obuf, size_t *size) 722{ 723 struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf; 724 struct canfd_frame *cfd = (struct canfd_frame *)skb->data; 725 u16 tx_msg_size, tx_msg_flags; 726 u8 can_dlc; 727 728 tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4); 729 tx_msg->size = cpu_to_le16(tx_msg_size); 730 tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX); 731 732 tx_msg_flags = 0; 733 if (cfd->can_id & CAN_EFF_FLAG) { 734 tx_msg_flags |= PUCAN_MSG_EXT_ID; 735 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK); 736 } else { 737 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK); 738 } 739 740 if (can_is_canfd_skb(skb)) { 741 /* considering a CANFD frame */ 742 can_dlc = can_len2dlc(cfd->len); 743 744 tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN; 745 746 if (cfd->flags & CANFD_BRS) 747 tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH; 748 749 if (cfd->flags & CANFD_ESI) 750 tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND; 751 } else { 752 /* CAND 2.0 frames */ 753 can_dlc = cfd->len; 754 755 if (cfd->can_id & CAN_RTR_FLAG) 756 tx_msg_flags |= PUCAN_MSG_RTR; 757 } 758 759 tx_msg->flags = cpu_to_le16(tx_msg_flags); 760 tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc); 761 memcpy(tx_msg->d, cfd->data, cfd->len); 762 763 /* add null size message to tag the end (messages are 32-bits aligned) 764 */ 765 tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size); 766 767 tx_msg->size = 0; 768 769 /* set the whole size of the USB packet to send */ 770 *size = tx_msg_size + sizeof(u32); 771 772 return 0; 773} 774 775/* start the interface (last chance before set bus on) */ 776static int pcan_usb_fd_start(struct peak_usb_device *dev) 777{ 778 struct pcan_usb_fd_device *pdev = 779 container_of(dev, struct pcan_usb_fd_device, dev); 780 int err; 781 782 /* set filter mode: all acceptance */ 783 err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff); 784 if (err) 785 return err; 786 787 /* opening first device: */ 788 if (pdev->usb_if->dev_opened_count == 0) { 789 /* reset time_ref */ 790 peak_usb_init_time_ref(&pdev->usb_if->time_ref, 791 &pcan_usb_pro_fd); 792 793 /* enable USB calibration messages */ 794 err = pcan_usb_fd_set_options(dev, 1, 795 PUCAN_OPTION_ERROR, 796 PCAN_UFD_FLTEXT_CALIBRATION); 797 } 798 799 pdev->usb_if->dev_opened_count++; 800 801 /* reset cached error counters */ 802 pdev->bec.txerr = 0; 803 pdev->bec.rxerr = 0; 804 805 return err; 806} 807 808/* socket callback used to copy berr counters values receieved through USB */ 809static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev, 810 struct can_berr_counter *bec) 811{ 812 struct peak_usb_device *dev = netdev_priv(netdev); 813 struct pcan_usb_fd_device *pdev = 814 container_of(dev, struct pcan_usb_fd_device, dev); 815 816 *bec = pdev->bec; 817 818 /* must return 0 */ 819 return 0; 820} 821 822/* stop interface (last chance before set bus off) */ 823static int pcan_usb_fd_stop(struct peak_usb_device *dev) 824{ 825 struct pcan_usb_fd_device *pdev = 826 container_of(dev, struct pcan_usb_fd_device, dev); 827 828 /* turn off special msgs for that interface if no other dev opened */ 829 if (pdev->usb_if->dev_opened_count == 1) 830 pcan_usb_fd_set_options(dev, 0, 831 PUCAN_OPTION_ERROR, 832 PCAN_UFD_FLTEXT_CALIBRATION); 833 pdev->usb_if->dev_opened_count--; 834 835 return 0; 836} 837 838/* called when probing, to initialize a device object */ 839static int pcan_usb_fd_init(struct peak_usb_device *dev) 840{ 841 struct pcan_usb_fd_device *pdev = 842 container_of(dev, struct pcan_usb_fd_device, dev); 843 int i, err = -ENOMEM; 844 845 /* do this for 1st channel only */ 846 if (!dev->prev_siblings) { 847 /* allocate netdevices common structure attached to first one */ 848 pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL); 849 if (!pdev->usb_if) 850 goto err_out; 851 852 /* allocate command buffer once for all for the interface */ 853 pdev->cmd_buffer_addr = kmalloc(PCAN_UFD_CMD_BUFFER_SIZE, 854 GFP_KERNEL); 855 if (!pdev->cmd_buffer_addr) 856 goto err_out_1; 857 858 /* number of ts msgs to ignore before taking one into account */ 859 pdev->usb_if->cm_ignore_count = 5; 860 861 err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO, 862 PCAN_USBPRO_INFO_FW, 863 &pdev->usb_if->fw_info, 864 sizeof(pdev->usb_if->fw_info)); 865 if (err) { 866 dev_err(dev->netdev->dev.parent, 867 "unable to read %s firmware info (err %d)\n", 868 dev->adapter->name, err); 869 goto err_out_2; 870 } 871 872 /* explicit use of dev_xxx() instead of netdev_xxx() here: 873 * information displayed are related to the device itself, not 874 * to the canx (channel) device. 875 */ 876 dev_info(dev->netdev->dev.parent, 877 "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n", 878 dev->adapter->name, pdev->usb_if->fw_info.hw_version, 879 pdev->usb_if->fw_info.fw_version[0], 880 pdev->usb_if->fw_info.fw_version[1], 881 pdev->usb_if->fw_info.fw_version[2], 882 dev->adapter->ctrl_count); 883 884 /* check for ability to switch between ISO/non-ISO modes */ 885 if (pdev->usb_if->fw_info.fw_version[0] >= 2) { 886 /* firmware >= 2.x supports ISO/non-ISO switching */ 887 dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO; 888 } else { 889 /* firmware < 2.x only supports fixed(!) non-ISO */ 890 dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO; 891 } 892 893 /* tell the hardware the can driver is running */ 894 err = pcan_usb_fd_drv_loaded(dev, 1); 895 if (err) { 896 dev_err(dev->netdev->dev.parent, 897 "unable to tell %s driver is loaded (err %d)\n", 898 dev->adapter->name, err); 899 goto err_out_2; 900 } 901 } else { 902 /* otherwise, simply copy previous sibling's values */ 903 struct pcan_usb_fd_device *ppdev = 904 container_of(dev->prev_siblings, 905 struct pcan_usb_fd_device, dev); 906 907 pdev->usb_if = ppdev->usb_if; 908 pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr; 909 910 /* do a copy of the ctrlmode[_supported] too */ 911 dev->can.ctrlmode = ppdev->dev.can.ctrlmode; 912 dev->can.ctrlmode_supported = ppdev->dev.can.ctrlmode_supported; 913 } 914 915 pdev->usb_if->dev[dev->ctrl_idx] = dev; 916 dev->device_number = 917 le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]); 918 919 /* set clock domain */ 920 for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++) 921 if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i]) 922 break; 923 924 if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) { 925 dev_warn(dev->netdev->dev.parent, 926 "incompatible clock frequencies\n"); 927 err = -EINVAL; 928 goto err_out_2; 929 } 930 931 pcan_usb_fd_set_clock_domain(dev, i); 932 933 /* set LED in default state (end of init phase) */ 934 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF); 935 936 return 0; 937 938err_out_2: 939 kfree(pdev->cmd_buffer_addr); 940err_out_1: 941 kfree(pdev->usb_if); 942err_out: 943 return err; 944} 945 946/* called when driver module is being unloaded */ 947static void pcan_usb_fd_exit(struct peak_usb_device *dev) 948{ 949 struct pcan_usb_fd_device *pdev = 950 container_of(dev, struct pcan_usb_fd_device, dev); 951 952 /* when rmmod called before unplug and if down, should reset things 953 * before leaving 954 */ 955 if (dev->can.state != CAN_STATE_STOPPED) { 956 /* set bus off on the corresponding channel */ 957 pcan_usb_fd_set_bus(dev, 0); 958 } 959 960 /* switch off corresponding CAN LEDs */ 961 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF); 962 963 /* if channel #0 (only) */ 964 if (dev->ctrl_idx == 0) { 965 /* turn off calibration message if any device were opened */ 966 if (pdev->usb_if->dev_opened_count > 0) 967 pcan_usb_fd_set_options(dev, 0, 968 PUCAN_OPTION_ERROR, 969 PCAN_UFD_FLTEXT_CALIBRATION); 970 971 /* tell USB adapter that the driver is being unloaded */ 972 pcan_usb_fd_drv_loaded(dev, 0); 973 } 974} 975 976/* called when the USB adapter is unplugged */ 977static void pcan_usb_fd_free(struct peak_usb_device *dev) 978{ 979 /* last device: can free shared objects now */ 980 if (!dev->prev_siblings && !dev->next_siblings) { 981 struct pcan_usb_fd_device *pdev = 982 container_of(dev, struct pcan_usb_fd_device, dev); 983 984 /* free commands buffer */ 985 kfree(pdev->cmd_buffer_addr); 986 987 /* free usb interface object */ 988 kfree(pdev->usb_if); 989 } 990} 991 992/* describes the PCAN-USB FD adapter */ 993static const struct can_bittiming_const pcan_usb_fd_const = { 994 .name = "pcan_usb_fd", 995 .tseg1_min = 1, 996 .tseg1_max = 64, 997 .tseg2_min = 1, 998 .tseg2_max = 16, 999 .sjw_max = 16, 1000 .brp_min = 1, 1001 .brp_max = 1024, 1002 .brp_inc = 1, 1003}; 1004 1005static const struct can_bittiming_const pcan_usb_fd_data_const = { 1006 .name = "pcan_usb_fd", 1007 .tseg1_min = 1, 1008 .tseg1_max = 16, 1009 .tseg2_min = 1, 1010 .tseg2_max = 8, 1011 .sjw_max = 4, 1012 .brp_min = 1, 1013 .brp_max = 1024, 1014 .brp_inc = 1, 1015}; 1016 1017const struct peak_usb_adapter pcan_usb_fd = { 1018 .name = "PCAN-USB FD", 1019 .device_id = PCAN_USBFD_PRODUCT_ID, 1020 .ctrl_count = PCAN_USBFD_CHANNEL_COUNT, 1021 .ctrlmode_supported = CAN_CTRLMODE_FD | 1022 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, 1023 .clock = { 1024 .freq = PCAN_UFD_CRYSTAL_HZ, 1025 }, 1026 .bittiming_const = &pcan_usb_fd_const, 1027 .data_bittiming_const = &pcan_usb_fd_data_const, 1028 1029 /* size of device private data */ 1030 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), 1031 1032 /* timestamps usage */ 1033 .ts_used_bits = 32, 1034 .ts_period = 1000000, /* calibration period in ts. */ 1035 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ 1036 .us_per_ts_shift = 0, 1037 1038 /* give here messages in/out endpoints */ 1039 .ep_msg_in = PCAN_USBPRO_EP_MSGIN, 1040 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0}, 1041 1042 /* size of rx/tx usb buffers */ 1043 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, 1044 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, 1045 1046 /* device callbacks */ 1047 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ 1048 .dev_init = pcan_usb_fd_init, 1049 1050 .dev_exit = pcan_usb_fd_exit, 1051 .dev_free = pcan_usb_fd_free, 1052 .dev_set_bus = pcan_usb_fd_set_bus, 1053 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, 1054 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, 1055 .dev_decode_buf = pcan_usb_fd_decode_buf, 1056 .dev_start = pcan_usb_fd_start, 1057 .dev_stop = pcan_usb_fd_stop, 1058 .dev_restart_async = pcan_usb_fd_restart_async, 1059 .dev_encode_msg = pcan_usb_fd_encode_msg, 1060 1061 .do_get_berr_counter = pcan_usb_fd_get_berr_counter, 1062}; 1063 1064/* describes the PCAN-USB Pro FD adapter */ 1065static const struct can_bittiming_const pcan_usb_pro_fd_const = { 1066 .name = "pcan_usb_pro_fd", 1067 .tseg1_min = 1, 1068 .tseg1_max = 64, 1069 .tseg2_min = 1, 1070 .tseg2_max = 16, 1071 .sjw_max = 16, 1072 .brp_min = 1, 1073 .brp_max = 1024, 1074 .brp_inc = 1, 1075}; 1076 1077static const struct can_bittiming_const pcan_usb_pro_fd_data_const = { 1078 .name = "pcan_usb_pro_fd", 1079 .tseg1_min = 1, 1080 .tseg1_max = 16, 1081 .tseg2_min = 1, 1082 .tseg2_max = 8, 1083 .sjw_max = 4, 1084 .brp_min = 1, 1085 .brp_max = 1024, 1086 .brp_inc = 1, 1087}; 1088 1089const struct peak_usb_adapter pcan_usb_pro_fd = { 1090 .name = "PCAN-USB Pro FD", 1091 .device_id = PCAN_USBPROFD_PRODUCT_ID, 1092 .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT, 1093 .ctrlmode_supported = CAN_CTRLMODE_FD | 1094 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, 1095 .clock = { 1096 .freq = PCAN_UFD_CRYSTAL_HZ, 1097 }, 1098 .bittiming_const = &pcan_usb_pro_fd_const, 1099 .data_bittiming_const = &pcan_usb_pro_fd_data_const, 1100 1101 /* size of device private data */ 1102 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), 1103 1104 /* timestamps usage */ 1105 .ts_used_bits = 32, 1106 .ts_period = 1000000, /* calibration period in ts. */ 1107 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ 1108 .us_per_ts_shift = 0, 1109 1110 /* give here messages in/out endpoints */ 1111 .ep_msg_in = PCAN_USBPRO_EP_MSGIN, 1112 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1}, 1113 1114 /* size of rx/tx usb buffers */ 1115 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, 1116 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, 1117 1118 /* device callbacks */ 1119 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ 1120 .dev_init = pcan_usb_fd_init, 1121 1122 .dev_exit = pcan_usb_fd_exit, 1123 .dev_free = pcan_usb_fd_free, 1124 .dev_set_bus = pcan_usb_fd_set_bus, 1125 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, 1126 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, 1127 .dev_decode_buf = pcan_usb_fd_decode_buf, 1128 .dev_start = pcan_usb_fd_start, 1129 .dev_stop = pcan_usb_fd_stop, 1130 .dev_restart_async = pcan_usb_fd_restart_async, 1131 .dev_encode_msg = pcan_usb_fd_encode_msg, 1132 1133 .do_get_berr_counter = pcan_usb_fd_get_berr_counter, 1134}; 1135