2 * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
4 * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
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.
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.
15 #include <linux/netdevice.h>
16 #include <linux/usb.h>
17 #include <linux/module.h>
19 #include <linux/can.h>
20 #include <linux/can/dev.h>
21 #include <linux/can/error.h>
23 #include "pcan_usb_core.h"
24 #include "pcan_usb_pro.h"
25 #include "pcan_ucan.h"
27 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter");
28 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter");
30 #define PCAN_USBPROFD_CHANNEL_COUNT 2
31 #define PCAN_USBFD_CHANNEL_COUNT 1
33 /* PCAN-USB Pro FD adapter internal clock (Hz) */
34 #define PCAN_UFD_CRYSTAL_HZ 80000000
36 #define PCAN_UFD_CMD_BUFFER_SIZE 512
37 #define PCAN_UFD_LOSPD_PKT_SIZE 64
39 /* PCAN-USB Pro FD command timeout (ms.) */
40 #define PCAN_UFD_CMD_TIMEOUT_MS 1000
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
46 /* read some versions info from the hw devcie */
47 struct __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 */
59 /* handle device specific info used by the netdevices */
60 struct 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
;
68 /* device information */
69 struct pcan_usb_fd_device
{
70 struct peak_usb_device dev
;
71 struct can_berr_counter bec
;
72 struct pcan_usb_fd_if
*usb_if
;
76 /* Extended USB commands (non uCAN commands) */
78 /* Clock Modes command */
79 #define PCAN_UFD_CMD_CLK_SET 0x80
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
89 struct __packed pcan_ufd_clock
{
90 __le16 opcode_channel
;
96 /* LED control command */
97 #define PCAN_UFD_CMD_LED_SET 0x86
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
106 struct __packed pcan_ufd_led
{
107 __le16 opcode_channel
;
113 /* Extended usage of uCAN commands CMD_RX_FRAME_xxxABLE for PCAN-USB Pro FD */
114 #define PCAN_UFD_FLTEXT_CALIBRATION 0x8000
116 struct __packed pcan_ufd_filter_ext
{
117 __le16 opcode_channel
;
124 /* Extended usage of uCAN messages for PCAN-USB Pro FD */
125 #define PCAN_UFD_MSG_CALIBRATION 0x100
127 struct __packed pcan_ufd_ts_msg
{
132 __le16 usb_frame_index
;
136 #define PCAN_UFD_MSG_OVERRUN 0x101
138 #define PCAN_UFD_OVMSG_CHANNEL(o) ((o)->channel & 0xf)
140 struct __packed pcan_ufd_ovr_msg
{
149 static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg
*om
)
151 return om
->channel
& 0xf;
154 /* Clock mode frequency values */
155 static 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
164 /* return a device USB interface */
166 struct pcan_usb_fd_if
*pcan_usb_fd_dev_if(struct peak_usb_device
*dev
)
168 struct pcan_usb_fd_device
*pdev
=
169 container_of(dev
, struct pcan_usb_fd_device
, dev
);
173 /* return a device USB commands buffer */
174 static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device
*dev
)
176 struct pcan_usb_fd_device
*pdev
=
177 container_of(dev
, struct pcan_usb_fd_device
, dev
);
178 return pdev
->cmd_buffer_addr
;
181 /* send PCAN-USB Pro FD commands synchronously */
182 static int pcan_usb_fd_send_cmd(struct peak_usb_device
*dev
, void *cmd_tail
)
184 void *cmd_head
= pcan_usb_fd_cmd_buffer(dev
);
187 int i
, n
= 1, packet_len
;
190 /* usb device unregistered? */
191 if (!(dev
->state
& PCAN_USB_STATE_CONNECTED
))
194 /* if a packet is not filled completely by commands, the command list
195 * is terminated with an "end of collection" record.
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
);
203 packet_ptr
= cmd_head
;
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
;
211 packet_len
= cmd_len
;
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
);
221 netdev_err(dev
->netdev
,
222 "sending command failure: %d\n", err
);
226 packet_ptr
+= packet_len
;
232 /* build the commands list in the given buffer, to enter operational mode */
233 static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device
*dev
, u8
*buf
)
235 struct pucan_wr_err_cnt
*prc
;
236 struct pucan_command
*cmd
;
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
);
244 /* select both counters */
245 prc
->sel_mask
= cpu_to_le16(PUCAN_WRERRCNT_TE
|PUCAN_WRERRCNT_RE
);
247 /* and reset their values */
251 /* moves the pointer forward */
252 pc
+= sizeof(struct pucan_wr_err_cnt
);
254 /* next, go back to operational mode */
255 cmd
= (struct pucan_command
*)pc
;
256 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
257 (dev
->can
.ctrlmode
& CAN_CTRLMODE_LISTENONLY
) ?
258 PUCAN_CMD_LISTEN_ONLY_MODE
:
259 PUCAN_CMD_NORMAL_MODE
);
260 pc
+= sizeof(struct pucan_command
);
265 /* set CAN bus on/off */
266 static int pcan_usb_fd_set_bus(struct peak_usb_device
*dev
, u8 onoff
)
268 u8
*pc
= pcan_usb_fd_cmd_buffer(dev
);
272 /* build the cmds list to enter operational mode */
273 l
= pcan_usb_fd_build_restart_cmd(dev
, pc
);
275 struct pucan_command
*cmd
= (struct pucan_command
*)pc
;
277 /* build cmd to go back to reset mode */
278 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
279 PUCAN_CMD_RESET_MODE
);
280 l
= sizeof(struct pucan_command
);
283 /* send the command */
284 return pcan_usb_fd_send_cmd(dev
, pc
+ l
);
287 /* set filtering masks:
289 * idx in range [0..63] selects a row #idx, all rows otherwise
290 * mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s)
292 * Each bit of this 64 x 32 bits array defines a CANID value:
294 * bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while
295 * bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded.
297 static int pcan_usb_fd_set_filter_std(struct peak_usb_device
*dev
, int idx
,
300 struct pucan_filter_std
*cmd
= pcan_usb_fd_cmd_buffer(dev
);
303 /* select all rows when idx is out of range [0..63] */
304 if ((idx
< 0) || (idx
>= (1 << PUCAN_FLTSTD_ROW_IDX_BITS
))) {
305 n
= 1 << PUCAN_FLTSTD_ROW_IDX_BITS
;
308 /* select the row (and only the row) otherwise */
313 for (i
= idx
; i
< n
; i
++, cmd
++) {
314 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
315 PUCAN_CMD_FILTER_STD
);
316 cmd
->idx
= cpu_to_le16(i
);
317 cmd
->mask
= cpu_to_le32(mask
);
320 /* send the command */
321 return pcan_usb_fd_send_cmd(dev
, cmd
);
324 /* set/unset notifications filter:
326 * onoff sets(1)/unset(0) notifications
327 * mask each bit defines a kind of notification to set/unset
329 static int pcan_usb_fd_set_filter_ext(struct peak_usb_device
*dev
,
330 bool onoff
, u16 ext_mask
, u16 usb_mask
)
332 struct pcan_ufd_filter_ext
*cmd
= pcan_usb_fd_cmd_buffer(dev
);
334 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
335 (onoff
) ? PUCAN_CMD_RX_FRAME_ENABLE
:
336 PUCAN_CMD_RX_FRAME_DISABLE
);
338 cmd
->ext_mask
= cpu_to_le16(ext_mask
);
339 cmd
->usb_mask
= cpu_to_le16(usb_mask
);
341 /* send the command */
342 return pcan_usb_fd_send_cmd(dev
, ++cmd
);
345 /* setup LED control */
346 static int pcan_usb_fd_set_can_led(struct peak_usb_device
*dev
, u8 led_mode
)
348 struct pcan_ufd_led
*cmd
= pcan_usb_fd_cmd_buffer(dev
);
350 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
351 PCAN_UFD_CMD_LED_SET
);
352 cmd
->mode
= led_mode
;
354 /* send the command */
355 return pcan_usb_fd_send_cmd(dev
, ++cmd
);
358 /* set CAN clock domain */
359 static int pcan_usb_fd_set_clock_domain(struct peak_usb_device
*dev
,
362 struct pcan_ufd_clock
*cmd
= pcan_usb_fd_cmd_buffer(dev
);
364 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
365 PCAN_UFD_CMD_CLK_SET
);
366 cmd
->mode
= clk_mode
;
368 /* send the command */
369 return pcan_usb_fd_send_cmd(dev
, ++cmd
);
372 /* set bittiming for CAN and CAN-FD header */
373 static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device
*dev
,
374 struct can_bittiming
*bt
)
376 struct pucan_timing_slow
*cmd
= pcan_usb_fd_cmd_buffer(dev
);
378 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
379 PUCAN_CMD_TIMING_SLOW
);
380 cmd
->sjw_t
= PUCAN_TSLOW_SJW_T(bt
->sjw
- 1,
381 dev
->can
.ctrlmode
& CAN_CTRLMODE_3_SAMPLES
);
383 cmd
->tseg2
= PUCAN_TSLOW_TSEG2(bt
->phase_seg2
- 1);
384 cmd
->tseg1
= PUCAN_TSLOW_TSEG1(bt
->prop_seg
+ bt
->phase_seg1
- 1);
385 cmd
->brp
= cpu_to_le16(PUCAN_TSLOW_BRP(bt
->brp
- 1));
387 cmd
->ewl
= 96; /* default */
389 /* send the command */
390 return pcan_usb_fd_send_cmd(dev
, ++cmd
);
393 /* set CAN-FD bittiming for data */
394 static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device
*dev
,
395 struct can_bittiming
*bt
)
397 struct pucan_timing_fast
*cmd
= pcan_usb_fd_cmd_buffer(dev
);
399 cmd
->opcode_channel
= pucan_cmd_opcode_channel(dev
,
400 PUCAN_CMD_TIMING_FAST
);
401 cmd
->sjw
= PUCAN_TFAST_SJW(bt
->sjw
- 1);
402 cmd
->tseg2
= PUCAN_TFAST_TSEG2(bt
->phase_seg2
- 1);
403 cmd
->tseg1
= PUCAN_TFAST_TSEG1(bt
->prop_seg
+ bt
->phase_seg1
- 1);
404 cmd
->brp
= cpu_to_le16(PUCAN_TFAST_BRP(bt
->brp
- 1));
406 /* send the command */
407 return pcan_usb_fd_send_cmd(dev
, ++cmd
);
410 /* handle restart but in asynchronously way
411 * (uses PCAN-USB Pro code to complete asynchronous request)
413 static int pcan_usb_fd_restart_async(struct peak_usb_device
*dev
,
414 struct urb
*urb
, u8
*buf
)
418 /* build the entire cmds list in the provided buffer, to go back into
421 pc
+= pcan_usb_fd_build_restart_cmd(dev
, pc
);
424 memset(pc
, 0xff, sizeof(struct pucan_command
));
425 pc
+= sizeof(struct pucan_command
);
427 /* complete the URB */
428 usb_fill_bulk_urb(urb
, dev
->udev
,
429 usb_sndbulkpipe(dev
->udev
, PCAN_USBPRO_EP_CMDOUT
),
431 pcan_usb_pro_restart_complete
, dev
);
434 return usb_submit_urb(urb
, GFP_ATOMIC
);
437 static int pcan_usb_fd_drv_loaded(struct peak_usb_device
*dev
, bool loaded
)
439 struct pcan_usb_fd_device
*pdev
=
440 container_of(dev
, struct pcan_usb_fd_device
, dev
);
442 pdev
->cmd_buffer_addr
[0] = 0;
443 pdev
->cmd_buffer_addr
[1] = !!loaded
;
445 return pcan_usb_pro_send_req(dev
,
447 PCAN_USBPRO_FCT_DRVLD
,
448 pdev
->cmd_buffer_addr
,
449 PCAN_USBPRO_FCT_DRVLD_REQ_LEN
);
452 static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if
*usb_if
,
453 struct pucan_msg
*rx_msg
)
455 struct pucan_rx_msg
*rm
= (struct pucan_rx_msg
*)rx_msg
;
456 struct peak_usb_device
*dev
= usb_if
->dev
[pucan_msg_get_channel(rm
)];
457 struct net_device
*netdev
= dev
->netdev
;
458 struct canfd_frame
*cfd
;
460 const u16 rx_msg_flags
= le16_to_cpu(rm
->flags
);
462 if (rx_msg_flags
& PUCAN_MSG_EXT_DATA_LEN
) {
463 /* CANFD frame case */
464 skb
= alloc_canfd_skb(netdev
, &cfd
);
468 if (rx_msg_flags
& PUCAN_MSG_BITRATE_SWITCH
)
469 cfd
->flags
|= CANFD_BRS
;
471 if (rx_msg_flags
& PUCAN_MSG_ERROR_STATE_IND
)
472 cfd
->flags
|= CANFD_ESI
;
474 cfd
->len
= can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm
)));
476 /* CAN 2.0 frame case */
477 skb
= alloc_can_skb(netdev
, (struct can_frame
**)&cfd
);
481 cfd
->len
= get_can_dlc(pucan_msg_get_dlc(rm
));
484 cfd
->can_id
= le32_to_cpu(rm
->can_id
);
486 if (rx_msg_flags
& PUCAN_MSG_EXT_ID
)
487 cfd
->can_id
|= CAN_EFF_FLAG
;
489 if (rx_msg_flags
& PUCAN_MSG_RTR
)
490 cfd
->can_id
|= CAN_RTR_FLAG
;
492 memcpy(cfd
->data
, rm
->d
, cfd
->len
);
494 peak_usb_netif_rx(skb
, &usb_if
->time_ref
,
495 le32_to_cpu(rm
->ts_low
), le32_to_cpu(rm
->ts_high
));
497 netdev
->stats
.rx_packets
++;
498 netdev
->stats
.rx_bytes
+= cfd
->len
;
503 /* handle uCAN status message */
504 static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if
*usb_if
,
505 struct pucan_msg
*rx_msg
)
507 struct pucan_status_msg
*sm
= (struct pucan_status_msg
*)rx_msg
;
508 struct peak_usb_device
*dev
= usb_if
->dev
[pucan_stmsg_get_channel(sm
)];
509 struct pcan_usb_fd_device
*pdev
=
510 container_of(dev
, struct pcan_usb_fd_device
, dev
);
511 enum can_state new_state
= CAN_STATE_ERROR_ACTIVE
;
512 enum can_state rx_state
, tx_state
;
513 struct net_device
*netdev
= dev
->netdev
;
514 struct can_frame
*cf
;
517 /* nothing should be sent while in BUS_OFF state */
518 if (dev
->can
.state
== CAN_STATE_BUS_OFF
)
521 if (sm
->channel_p_w_b
& PUCAN_BUS_BUSOFF
) {
522 new_state
= CAN_STATE_BUS_OFF
;
523 } else if (sm
->channel_p_w_b
& PUCAN_BUS_PASSIVE
) {
524 new_state
= CAN_STATE_ERROR_PASSIVE
;
525 } else if (sm
->channel_p_w_b
& PUCAN_BUS_WARNING
) {
526 new_state
= CAN_STATE_ERROR_WARNING
;
528 /* no error bit (so, no error skb, back to active state) */
529 dev
->can
.state
= CAN_STATE_ERROR_ACTIVE
;
535 /* state hasn't changed */
536 if (new_state
== dev
->can
.state
)
539 /* handle bus state change */
540 tx_state
= (pdev
->bec
.txerr
>= pdev
->bec
.rxerr
) ? new_state
: 0;
541 rx_state
= (pdev
->bec
.txerr
<= pdev
->bec
.rxerr
) ? new_state
: 0;
543 /* allocate an skb to store the error frame */
544 skb
= alloc_can_err_skb(netdev
, &cf
);
546 can_change_state(netdev
, cf
, tx_state
, rx_state
);
548 /* things must be done even in case of OOM */
549 if (new_state
== CAN_STATE_BUS_OFF
)
555 peak_usb_netif_rx(skb
, &usb_if
->time_ref
,
556 le32_to_cpu(sm
->ts_low
), le32_to_cpu(sm
->ts_high
));
558 netdev
->stats
.rx_packets
++;
559 netdev
->stats
.rx_bytes
+= cf
->can_dlc
;
564 /* handle uCAN error message */
565 static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if
*usb_if
,
566 struct pucan_msg
*rx_msg
)
568 struct pucan_error_msg
*er
= (struct pucan_error_msg
*)rx_msg
;
569 struct peak_usb_device
*dev
= usb_if
->dev
[pucan_ermsg_get_channel(er
)];
570 struct pcan_usb_fd_device
*pdev
=
571 container_of(dev
, struct pcan_usb_fd_device
, dev
);
573 /* keep a trace of tx and rx error counters for later use */
574 pdev
->bec
.txerr
= er
->tx_err_cnt
;
575 pdev
->bec
.rxerr
= er
->rx_err_cnt
;
580 /* handle uCAN overrun message */
581 static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if
*usb_if
,
582 struct pucan_msg
*rx_msg
)
584 struct pcan_ufd_ovr_msg
*ov
= (struct pcan_ufd_ovr_msg
*)rx_msg
;
585 struct peak_usb_device
*dev
= usb_if
->dev
[pufd_omsg_get_channel(ov
)];
586 struct net_device
*netdev
= dev
->netdev
;
587 struct can_frame
*cf
;
590 /* allocate an skb to store the error frame */
591 skb
= alloc_can_err_skb(netdev
, &cf
);
595 cf
->can_id
|= CAN_ERR_CRTL
;
596 cf
->data
[1] |= CAN_ERR_CRTL_RX_OVERFLOW
;
598 peak_usb_netif_rx(skb
, &usb_if
->time_ref
,
599 le32_to_cpu(ov
->ts_low
), le32_to_cpu(ov
->ts_high
));
601 netdev
->stats
.rx_over_errors
++;
602 netdev
->stats
.rx_errors
++;
607 /* handle USB calibration message */
608 static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if
*usb_if
,
609 struct pucan_msg
*rx_msg
)
611 struct pcan_ufd_ts_msg
*ts
= (struct pcan_ufd_ts_msg
*)rx_msg
;
613 /* should wait until clock is stabilized */
614 if (usb_if
->cm_ignore_count
> 0)
615 usb_if
->cm_ignore_count
--;
617 peak_usb_set_ts_now(&usb_if
->time_ref
, le32_to_cpu(ts
->ts_low
));
620 /* callback for bulk IN urb */
621 static int pcan_usb_fd_decode_buf(struct peak_usb_device
*dev
, struct urb
*urb
)
623 struct pcan_usb_fd_if
*usb_if
= pcan_usb_fd_dev_if(dev
);
624 struct net_device
*netdev
= dev
->netdev
;
625 struct pucan_msg
*rx_msg
;
626 u8
*msg_ptr
, *msg_end
;
629 /* loop reading all the records from the incoming message */
630 msg_ptr
= urb
->transfer_buffer
;
631 msg_end
= urb
->transfer_buffer
+ urb
->actual_length
;
632 for (; msg_ptr
< msg_end
;) {
633 u16 rx_msg_type
, rx_msg_size
;
635 rx_msg
= (struct pucan_msg
*)msg_ptr
;
637 /* null packet found: end of list */
641 rx_msg_size
= le16_to_cpu(rx_msg
->size
);
642 rx_msg_type
= le16_to_cpu(rx_msg
->type
);
644 /* check if the record goes out of current packet */
645 if (msg_ptr
+ rx_msg_size
> msg_end
) {
647 "got frag rec: should inc usb rx buf sze\n");
652 switch (rx_msg_type
) {
653 case PUCAN_MSG_CAN_RX
:
654 err
= pcan_usb_fd_decode_canmsg(usb_if
, rx_msg
);
659 case PCAN_UFD_MSG_CALIBRATION
:
660 pcan_usb_fd_decode_ts(usb_if
, rx_msg
);
663 case PUCAN_MSG_ERROR
:
664 err
= pcan_usb_fd_decode_error(usb_if
, rx_msg
);
669 case PUCAN_MSG_STATUS
:
670 err
= pcan_usb_fd_decode_status(usb_if
, rx_msg
);
675 case PCAN_UFD_MSG_OVERRUN
:
676 err
= pcan_usb_fd_decode_overrun(usb_if
, rx_msg
);
683 "unhandled msg type 0x%02x (%d): ignored\n",
684 rx_msg_type
, rx_msg_type
);
688 msg_ptr
+= rx_msg_size
;
693 pcan_dump_mem("received msg",
694 urb
->transfer_buffer
, urb
->actual_length
);
698 /* CAN/CANFD frames encoding callback */
699 static int pcan_usb_fd_encode_msg(struct peak_usb_device
*dev
,
700 struct sk_buff
*skb
, u8
*obuf
, size_t *size
)
702 struct pucan_tx_msg
*tx_msg
= (struct pucan_tx_msg
*)obuf
;
703 struct canfd_frame
*cfd
= (struct canfd_frame
*)skb
->data
;
704 u16 tx_msg_size
, tx_msg_flags
;
707 tx_msg_size
= ALIGN(sizeof(struct pucan_tx_msg
) + cfd
->len
, 4);
708 tx_msg
->size
= cpu_to_le16(tx_msg_size
);
709 tx_msg
->type
= cpu_to_le16(PUCAN_MSG_CAN_TX
);
712 if (cfd
->can_id
& CAN_EFF_FLAG
) {
713 tx_msg_flags
|= PUCAN_MSG_EXT_ID
;
714 tx_msg
->can_id
= cpu_to_le32(cfd
->can_id
& CAN_EFF_MASK
);
716 tx_msg
->can_id
= cpu_to_le32(cfd
->can_id
& CAN_SFF_MASK
);
719 if (can_is_canfd_skb(skb
)) {
720 /* considering a CANFD frame */
721 can_dlc
= can_len2dlc(cfd
->len
);
723 tx_msg_flags
|= PUCAN_MSG_EXT_DATA_LEN
;
725 if (cfd
->flags
& CANFD_BRS
)
726 tx_msg_flags
|= PUCAN_MSG_BITRATE_SWITCH
;
728 if (cfd
->flags
& CANFD_ESI
)
729 tx_msg_flags
|= PUCAN_MSG_ERROR_STATE_IND
;
731 /* CAND 2.0 frames */
734 if (cfd
->can_id
& CAN_RTR_FLAG
)
735 tx_msg_flags
|= PUCAN_MSG_RTR
;
738 tx_msg
->flags
= cpu_to_le16(tx_msg_flags
);
739 tx_msg
->channel_dlc
= PUCAN_MSG_CHANNEL_DLC(dev
->ctrl_idx
, can_dlc
);
740 memcpy(tx_msg
->d
, cfd
->data
, cfd
->len
);
742 /* add null size message to tag the end (messages are 32-bits aligned)
744 tx_msg
= (struct pucan_tx_msg
*)(obuf
+ tx_msg_size
);
748 /* set the whole size of the USB packet to send */
749 *size
= tx_msg_size
+ sizeof(u32
);
754 /* start the interface (last chance before set bus on) */
755 static int pcan_usb_fd_start(struct peak_usb_device
*dev
)
757 struct pcan_usb_fd_device
*pdev
=
758 container_of(dev
, struct pcan_usb_fd_device
, dev
);
761 /* set filter mode: all acceptance */
762 err
= pcan_usb_fd_set_filter_std(dev
, -1, 0xffffffff);
766 /* opening first device: */
767 if (pdev
->usb_if
->dev_opened_count
== 0) {
769 peak_usb_init_time_ref(&pdev
->usb_if
->time_ref
,
772 /* enable USB calibration messages */
773 err
= pcan_usb_fd_set_filter_ext(dev
, 1,
775 PCAN_UFD_FLTEXT_CALIBRATION
);
778 pdev
->usb_if
->dev_opened_count
++;
780 /* reset cached error counters */
787 /* socket callback used to copy berr counters values receieved through USB */
788 static int pcan_usb_fd_get_berr_counter(const struct net_device
*netdev
,
789 struct can_berr_counter
*bec
)
791 struct peak_usb_device
*dev
= netdev_priv(netdev
);
792 struct pcan_usb_fd_device
*pdev
=
793 container_of(dev
, struct pcan_usb_fd_device
, dev
);
801 /* stop interface (last chance before set bus off) */
802 static int pcan_usb_fd_stop(struct peak_usb_device
*dev
)
804 struct pcan_usb_fd_device
*pdev
=
805 container_of(dev
, struct pcan_usb_fd_device
, dev
);
807 /* turn off special msgs for that interface if no other dev opened */
808 if (pdev
->usb_if
->dev_opened_count
== 1)
809 pcan_usb_fd_set_filter_ext(dev
, 0,
811 PCAN_UFD_FLTEXT_CALIBRATION
);
812 pdev
->usb_if
->dev_opened_count
--;
817 /* called when probing, to initialize a device object */
818 static int pcan_usb_fd_init(struct peak_usb_device
*dev
)
820 struct pcan_usb_fd_device
*pdev
=
821 container_of(dev
, struct pcan_usb_fd_device
, dev
);
822 int i
, err
= -ENOMEM
;
824 /* do this for 1st channel only */
825 if (!dev
->prev_siblings
) {
826 /* allocate netdevices common structure attached to first one */
827 pdev
->usb_if
= kzalloc(sizeof(*pdev
->usb_if
), GFP_KERNEL
);
831 /* allocate command buffer once for all for the interface */
832 pdev
->cmd_buffer_addr
= kmalloc(PCAN_UFD_CMD_BUFFER_SIZE
,
834 if (!pdev
->cmd_buffer_addr
)
837 /* number of ts msgs to ignore before taking one into account */
838 pdev
->usb_if
->cm_ignore_count
= 5;
840 err
= pcan_usb_pro_send_req(dev
, PCAN_USBPRO_REQ_INFO
,
842 &pdev
->usb_if
->fw_info
,
843 sizeof(pdev
->usb_if
->fw_info
));
845 dev_err(dev
->netdev
->dev
.parent
,
846 "unable to read %s firmware info (err %d)\n",
847 dev
->adapter
->name
, err
);
851 /* explicit use of dev_xxx() instead of netdev_xxx() here:
852 * information displayed are related to the device itself, not
853 * to the canx (channel) device.
855 dev_info(dev
->netdev
->dev
.parent
,
856 "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
857 dev
->adapter
->name
, pdev
->usb_if
->fw_info
.hw_version
,
858 pdev
->usb_if
->fw_info
.fw_version
[0],
859 pdev
->usb_if
->fw_info
.fw_version
[1],
860 pdev
->usb_if
->fw_info
.fw_version
[2],
861 dev
->adapter
->ctrl_count
);
863 /* the currently supported hw is non-ISO */
864 dev
->can
.ctrlmode
= CAN_CTRLMODE_FD_NON_ISO
;
866 /* tell the hardware the can driver is running */
867 err
= pcan_usb_fd_drv_loaded(dev
, 1);
869 dev_err(dev
->netdev
->dev
.parent
,
870 "unable to tell %s driver is loaded (err %d)\n",
871 dev
->adapter
->name
, err
);
875 /* otherwise, simply copy previous sibling's values */
876 struct pcan_usb_fd_device
*ppdev
=
877 container_of(dev
->prev_siblings
,
878 struct pcan_usb_fd_device
, dev
);
880 pdev
->usb_if
= ppdev
->usb_if
;
881 pdev
->cmd_buffer_addr
= ppdev
->cmd_buffer_addr
;
883 /* do a copy of the ctrlmode[_supported] too */
884 dev
->can
.ctrlmode
= ppdev
->dev
.can
.ctrlmode
;
885 dev
->can
.ctrlmode_supported
= ppdev
->dev
.can
.ctrlmode_supported
;
888 pdev
->usb_if
->dev
[dev
->ctrl_idx
] = dev
;
890 le32_to_cpu(pdev
->usb_if
->fw_info
.dev_id
[dev
->ctrl_idx
]);
892 /* set clock domain */
893 for (i
= 0; i
< ARRAY_SIZE(pcan_usb_fd_clk_freq
); i
++)
894 if (dev
->adapter
->clock
.freq
== pcan_usb_fd_clk_freq
[i
])
897 if (i
>= ARRAY_SIZE(pcan_usb_fd_clk_freq
)) {
898 dev_warn(dev
->netdev
->dev
.parent
,
899 "incompatible clock frequencies\n");
904 pcan_usb_fd_set_clock_domain(dev
, i
);
906 /* set LED in default state (end of init phase) */
907 pcan_usb_fd_set_can_led(dev
, PCAN_UFD_LED_DEF
);
912 kfree(pdev
->cmd_buffer_addr
);
919 /* called when driver module is being unloaded */
920 static void pcan_usb_fd_exit(struct peak_usb_device
*dev
)
922 struct pcan_usb_fd_device
*pdev
=
923 container_of(dev
, struct pcan_usb_fd_device
, dev
);
925 /* when rmmod called before unplug and if down, should reset things
928 if (dev
->can
.state
!= CAN_STATE_STOPPED
) {
929 /* set bus off on the corresponding channel */
930 pcan_usb_fd_set_bus(dev
, 0);
933 /* switch off corresponding CAN LEDs */
934 pcan_usb_fd_set_can_led(dev
, PCAN_UFD_LED_OFF
);
936 /* if channel #0 (only) */
937 if (dev
->ctrl_idx
== 0) {
938 /* turn off calibration message if any device were opened */
939 if (pdev
->usb_if
->dev_opened_count
> 0)
940 pcan_usb_fd_set_filter_ext(dev
, 0,
942 PCAN_UFD_FLTEXT_CALIBRATION
);
944 /* tell USB adapter that the driver is being unloaded */
945 pcan_usb_fd_drv_loaded(dev
, 0);
949 /* called when the USB adapter is unplugged */
950 static void pcan_usb_fd_free(struct peak_usb_device
*dev
)
952 /* last device: can free shared objects now */
953 if (!dev
->prev_siblings
&& !dev
->next_siblings
) {
954 struct pcan_usb_fd_device
*pdev
=
955 container_of(dev
, struct pcan_usb_fd_device
, dev
);
957 /* free commands buffer */
958 kfree(pdev
->cmd_buffer_addr
);
960 /* free usb interface object */
965 /* describes the PCAN-USB FD adapter */
966 const struct peak_usb_adapter pcan_usb_fd
= {
967 .name
= "PCAN-USB FD",
968 .device_id
= PCAN_USBFD_PRODUCT_ID
,
969 .ctrl_count
= PCAN_USBFD_CHANNEL_COUNT
,
970 .ctrlmode_supported
= CAN_CTRLMODE_FD
|
971 CAN_CTRLMODE_3_SAMPLES
| CAN_CTRLMODE_LISTENONLY
,
973 .freq
= PCAN_UFD_CRYSTAL_HZ
,
976 .name
= "pcan_usb_fd",
986 .data_bittiming_const
= {
987 .name
= "pcan_usb_fd",
998 /* size of device private data */
999 .sizeof_dev_private
= sizeof(struct pcan_usb_fd_device
),
1001 /* timestamps usage */
1003 .ts_period
= 1000000, /* calibration period in ts. */
1004 .us_per_ts_scale
= 1, /* us = (ts * scale) >> shift */
1005 .us_per_ts_shift
= 0,
1007 /* give here messages in/out endpoints */
1008 .ep_msg_in
= PCAN_USBPRO_EP_MSGIN
,
1009 .ep_msg_out
= {PCAN_USBPRO_EP_MSGOUT_0
},
1011 /* size of rx/tx usb buffers */
1012 .rx_buffer_size
= PCAN_UFD_RX_BUFFER_SIZE
,
1013 .tx_buffer_size
= PCAN_UFD_TX_BUFFER_SIZE
,
1015 /* device callbacks */
1016 .intf_probe
= pcan_usb_pro_probe
, /* same as PCAN-USB Pro */
1017 .dev_init
= pcan_usb_fd_init
,
1019 .dev_exit
= pcan_usb_fd_exit
,
1020 .dev_free
= pcan_usb_fd_free
,
1021 .dev_set_bus
= pcan_usb_fd_set_bus
,
1022 .dev_set_bittiming
= pcan_usb_fd_set_bittiming_slow
,
1023 .dev_set_data_bittiming
= pcan_usb_fd_set_bittiming_fast
,
1024 .dev_decode_buf
= pcan_usb_fd_decode_buf
,
1025 .dev_start
= pcan_usb_fd_start
,
1026 .dev_stop
= pcan_usb_fd_stop
,
1027 .dev_restart_async
= pcan_usb_fd_restart_async
,
1028 .dev_encode_msg
= pcan_usb_fd_encode_msg
,
1030 .do_get_berr_counter
= pcan_usb_fd_get_berr_counter
,
1033 /* describes the PCAN-USB Pro FD adapter */
1034 const struct peak_usb_adapter pcan_usb_pro_fd
= {
1035 .name
= "PCAN-USB Pro FD",
1036 .device_id
= PCAN_USBPROFD_PRODUCT_ID
,
1037 .ctrl_count
= PCAN_USBPROFD_CHANNEL_COUNT
,
1038 .ctrlmode_supported
= CAN_CTRLMODE_FD
|
1039 CAN_CTRLMODE_3_SAMPLES
| CAN_CTRLMODE_LISTENONLY
,
1041 .freq
= PCAN_UFD_CRYSTAL_HZ
,
1043 .bittiming_const
= {
1044 .name
= "pcan_usb_pro_fd",
1054 .data_bittiming_const
= {
1055 .name
= "pcan_usb_pro_fd",
1066 /* size of device private data */
1067 .sizeof_dev_private
= sizeof(struct pcan_usb_fd_device
),
1069 /* timestamps usage */
1071 .ts_period
= 1000000, /* calibration period in ts. */
1072 .us_per_ts_scale
= 1, /* us = (ts * scale) >> shift */
1073 .us_per_ts_shift
= 0,
1075 /* give here messages in/out endpoints */
1076 .ep_msg_in
= PCAN_USBPRO_EP_MSGIN
,
1077 .ep_msg_out
= {PCAN_USBPRO_EP_MSGOUT_0
, PCAN_USBPRO_EP_MSGOUT_1
},
1079 /* size of rx/tx usb buffers */
1080 .rx_buffer_size
= PCAN_UFD_RX_BUFFER_SIZE
,
1081 .tx_buffer_size
= PCAN_UFD_TX_BUFFER_SIZE
,
1083 /* device callbacks */
1084 .intf_probe
= pcan_usb_pro_probe
, /* same as PCAN-USB Pro */
1085 .dev_init
= pcan_usb_fd_init
,
1087 .dev_exit
= pcan_usb_fd_exit
,
1088 .dev_free
= pcan_usb_fd_free
,
1089 .dev_set_bus
= pcan_usb_fd_set_bus
,
1090 .dev_set_bittiming
= pcan_usb_fd_set_bittiming_slow
,
1091 .dev_set_data_bittiming
= pcan_usb_fd_set_bittiming_fast
,
1092 .dev_decode_buf
= pcan_usb_fd_decode_buf
,
1093 .dev_start
= pcan_usb_fd_start
,
1094 .dev_stop
= pcan_usb_fd_stop
,
1095 .dev_restart_async
= pcan_usb_fd_restart_async
,
1096 .dev_encode_msg
= pcan_usb_fd_encode_msg
,
1098 .do_get_berr_counter
= pcan_usb_fd_get_berr_counter
,