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>
22 #include <linux/can/dev/peak_canfd.h>
24 #include "pcan_usb_core.h"
25 #include "pcan_usb_pro.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_xxx_xx_OPTION for PCAN-USB Pro FD */
114 #define PCAN_UFD_FLTEXT_CALIBRATION 0x8000
116 struct __packed pcan_ufd_options {
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);
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;
204 packet_len = cmd_len;
206 /* firmware is not able to re-assemble 512 bytes buffer in full-speed */
207 if (unlikely(dev->udev->speed != USB_SPEED_HIGH))
208 packet_len = min(packet_len, PCAN_UFD_LOSPD_PKT_SIZE);
211 err = usb_bulk_msg(dev->udev,
212 usb_sndbulkpipe(dev->udev,
213 PCAN_USBPRO_EP_CMDOUT),
214 packet_ptr, packet_len,
215 NULL, PCAN_UFD_CMD_TIMEOUT_MS);
217 netdev_err(dev->netdev,
218 "sending command failure: %d\n", err);
222 packet_ptr += packet_len;
223 cmd_len -= packet_len;
225 if (cmd_len < PCAN_UFD_LOSPD_PKT_SIZE)
226 packet_len = cmd_len;
228 } while (packet_len > 0);
233 /* build the commands list in the given buffer, to enter operational mode */
234 static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf)
236 struct pucan_wr_err_cnt *prc;
237 struct pucan_command *cmd;
240 /* 1st, reset error counters: */
241 prc = (struct pucan_wr_err_cnt *)pc;
242 prc->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
243 PUCAN_CMD_WR_ERR_CNT);
245 /* select both counters */
246 prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE);
248 /* and reset their values */
252 /* moves the pointer forward */
253 pc += sizeof(struct pucan_wr_err_cnt);
255 /* add command to switch from ISO to non-ISO mode, if fw allows it */
256 if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) {
257 struct pucan_options *puo = (struct pucan_options *)pc;
259 puo->opcode_channel =
260 (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ?
261 pucan_cmd_opcode_channel(dev->ctrl_idx,
262 PUCAN_CMD_CLR_DIS_OPTION) :
263 pucan_cmd_opcode_channel(dev->ctrl_idx,
264 PUCAN_CMD_SET_EN_OPTION);
266 puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO);
268 /* to be sure that no other extended bits will be taken into
273 /* moves the pointer forward */
274 pc += sizeof(struct pucan_options);
277 /* next, go back to operational mode */
278 cmd = (struct pucan_command *)pc;
279 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
280 (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
281 PUCAN_CMD_LISTEN_ONLY_MODE :
282 PUCAN_CMD_NORMAL_MODE);
283 pc += sizeof(struct pucan_command);
288 /* set CAN bus on/off */
289 static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
291 u8 *pc = pcan_usb_fd_cmd_buffer(dev);
295 /* build the cmds list to enter operational mode */
296 l = pcan_usb_fd_build_restart_cmd(dev, pc);
298 struct pucan_command *cmd = (struct pucan_command *)pc;
300 /* build cmd to go back to reset mode */
301 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
302 PUCAN_CMD_RESET_MODE);
303 l = sizeof(struct pucan_command);
306 /* send the command */
307 return pcan_usb_fd_send_cmd(dev, pc + l);
310 /* set filtering masks:
312 * idx in range [0..63] selects a row #idx, all rows otherwise
313 * mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s)
315 * Each bit of this 64 x 32 bits array defines a CANID value:
317 * bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while
318 * bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded.
320 static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
323 struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev);
326 /* select all rows when idx is out of range [0..63] */
327 if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) {
328 n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS;
331 /* select the row (and only the row) otherwise */
336 for (i = idx; i < n; i++, cmd++) {
337 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
338 PUCAN_CMD_FILTER_STD);
339 cmd->idx = cpu_to_le16(i);
340 cmd->mask = cpu_to_le32(mask);
343 /* send the command */
344 return pcan_usb_fd_send_cmd(dev, cmd);
349 * onoff set(1)/unset(0) options
350 * mask each bit defines a kind of options to set/unset
352 static int pcan_usb_fd_set_options(struct peak_usb_device *dev,
353 bool onoff, u16 ucan_mask, u16 usb_mask)
355 struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev);
357 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
358 (onoff) ? PUCAN_CMD_SET_EN_OPTION :
359 PUCAN_CMD_CLR_DIS_OPTION);
361 cmd->ucan_mask = cpu_to_le16(ucan_mask);
362 cmd->usb_mask = cpu_to_le16(usb_mask);
364 /* send the command */
365 return pcan_usb_fd_send_cmd(dev, ++cmd);
368 /* setup LED control */
369 static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
371 struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
373 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
374 PCAN_UFD_CMD_LED_SET);
375 cmd->mode = led_mode;
377 /* send the command */
378 return pcan_usb_fd_send_cmd(dev, ++cmd);
381 /* set CAN clock domain */
382 static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
385 struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
387 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
388 PCAN_UFD_CMD_CLK_SET);
389 cmd->mode = clk_mode;
391 /* send the command */
392 return pcan_usb_fd_send_cmd(dev, ++cmd);
395 /* set bittiming for CAN and CAN-FD header */
396 static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev,
397 struct can_bittiming *bt)
399 struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
401 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
402 PUCAN_CMD_TIMING_SLOW);
403 cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1,
404 dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
406 cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1);
407 cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
408 cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1));
410 cmd->ewl = 96; /* default */
412 /* send the command */
413 return pcan_usb_fd_send_cmd(dev, ++cmd);
416 /* set CAN-FD bittiming for data */
417 static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev,
418 struct can_bittiming *bt)
420 struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
422 cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
423 PUCAN_CMD_TIMING_FAST);
424 cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1);
425 cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1);
426 cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
427 cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1));
429 /* send the command */
430 return pcan_usb_fd_send_cmd(dev, ++cmd);
433 /* handle restart but in asynchronously way
434 * (uses PCAN-USB Pro code to complete asynchronous request)
436 static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
437 struct urb *urb, u8 *buf)
441 /* build the entire cmds list in the provided buffer, to go back into
444 pc += pcan_usb_fd_build_restart_cmd(dev, pc);
447 memset(pc, 0xff, sizeof(struct pucan_command));
448 pc += sizeof(struct pucan_command);
450 /* complete the URB */
451 usb_fill_bulk_urb(urb, dev->udev,
452 usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
454 pcan_usb_pro_restart_complete, dev);
457 return usb_submit_urb(urb, GFP_ATOMIC);
460 static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded)
462 struct pcan_usb_fd_device *pdev =
463 container_of(dev, struct pcan_usb_fd_device, dev);
465 pdev->cmd_buffer_addr[0] = 0;
466 pdev->cmd_buffer_addr[1] = !!loaded;
468 return pcan_usb_pro_send_req(dev,
470 PCAN_USBPRO_FCT_DRVLD,
471 pdev->cmd_buffer_addr,
472 PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
475 static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
476 struct pucan_msg *rx_msg)
478 struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg;
479 struct peak_usb_device *dev;
480 struct net_device *netdev;
481 struct canfd_frame *cfd;
483 const u16 rx_msg_flags = le16_to_cpu(rm->flags);
485 if (pucan_msg_get_channel(rm) >= ARRAY_SIZE(usb_if->dev))
488 dev = usb_if->dev[pucan_msg_get_channel(rm)];
489 netdev = dev->netdev;
491 if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
492 /* CANFD frame case */
493 skb = alloc_canfd_skb(netdev, &cfd);
497 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
498 cfd->flags |= CANFD_BRS;
500 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
501 cfd->flags |= CANFD_ESI;
503 cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm)));
505 /* CAN 2.0 frame case */
506 skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
510 cfd->len = get_can_dlc(pucan_msg_get_dlc(rm));
513 cfd->can_id = le32_to_cpu(rm->can_id);
515 if (rx_msg_flags & PUCAN_MSG_EXT_ID)
516 cfd->can_id |= CAN_EFF_FLAG;
518 if (rx_msg_flags & PUCAN_MSG_RTR)
519 cfd->can_id |= CAN_RTR_FLAG;
521 memcpy(cfd->data, rm->d, cfd->len);
523 peak_usb_netif_rx(skb, &usb_if->time_ref,
524 le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
526 netdev->stats.rx_packets++;
527 netdev->stats.rx_bytes += cfd->len;
532 /* handle uCAN status message */
533 static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
534 struct pucan_msg *rx_msg)
536 struct pucan_status_msg *sm = (struct pucan_status_msg *)rx_msg;
537 struct pcan_usb_fd_device *pdev;
538 enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
539 enum can_state rx_state, tx_state;
540 struct peak_usb_device *dev;
541 struct net_device *netdev;
542 struct can_frame *cf;
545 if (pucan_stmsg_get_channel(sm) >= ARRAY_SIZE(usb_if->dev))
548 dev = usb_if->dev[pucan_stmsg_get_channel(sm)];
549 pdev = container_of(dev, struct pcan_usb_fd_device, dev);
550 netdev = dev->netdev;
552 /* nothing should be sent while in BUS_OFF state */
553 if (dev->can.state == CAN_STATE_BUS_OFF)
556 if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) {
557 new_state = CAN_STATE_BUS_OFF;
558 } else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) {
559 new_state = CAN_STATE_ERROR_PASSIVE;
560 } else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) {
561 new_state = CAN_STATE_ERROR_WARNING;
563 /* back to (or still in) ERROR_ACTIVE state */
564 new_state = CAN_STATE_ERROR_ACTIVE;
569 /* state hasn't changed */
570 if (new_state == dev->can.state)
573 /* handle bus state change */
574 tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0;
575 rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0;
577 /* allocate an skb to store the error frame */
578 skb = alloc_can_err_skb(netdev, &cf);
580 can_change_state(netdev, cf, tx_state, rx_state);
582 /* things must be done even in case of OOM */
583 if (new_state == CAN_STATE_BUS_OFF)
589 peak_usb_netif_rx(skb, &usb_if->time_ref,
590 le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high));
592 netdev->stats.rx_packets++;
593 netdev->stats.rx_bytes += cf->can_dlc;
598 /* handle uCAN error message */
599 static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if,
600 struct pucan_msg *rx_msg)
602 struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg;
603 struct pcan_usb_fd_device *pdev;
604 struct peak_usb_device *dev;
606 if (pucan_ermsg_get_channel(er) >= ARRAY_SIZE(usb_if->dev))
609 dev = usb_if->dev[pucan_ermsg_get_channel(er)];
610 pdev = container_of(dev, struct pcan_usb_fd_device, dev);
612 /* keep a trace of tx and rx error counters for later use */
613 pdev->bec.txerr = er->tx_err_cnt;
614 pdev->bec.rxerr = er->rx_err_cnt;
619 /* handle uCAN overrun message */
620 static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
621 struct pucan_msg *rx_msg)
623 struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg;
624 struct peak_usb_device *dev;
625 struct net_device *netdev;
626 struct can_frame *cf;
629 if (pufd_omsg_get_channel(ov) >= ARRAY_SIZE(usb_if->dev))
632 dev = usb_if->dev[pufd_omsg_get_channel(ov)];
633 netdev = dev->netdev;
635 /* allocate an skb to store the error frame */
636 skb = alloc_can_err_skb(netdev, &cf);
640 cf->can_id |= CAN_ERR_CRTL;
641 cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
643 peak_usb_netif_rx(skb, &usb_if->time_ref,
644 le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
646 netdev->stats.rx_over_errors++;
647 netdev->stats.rx_errors++;
652 /* handle USB calibration message */
653 static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if,
654 struct pucan_msg *rx_msg)
656 struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
658 /* should wait until clock is stabilized */
659 if (usb_if->cm_ignore_count > 0)
660 usb_if->cm_ignore_count--;
662 peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
665 /* callback for bulk IN urb */
666 static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
668 struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev);
669 struct net_device *netdev = dev->netdev;
670 struct pucan_msg *rx_msg;
671 u8 *msg_ptr, *msg_end;
674 /* loop reading all the records from the incoming message */
675 msg_ptr = urb->transfer_buffer;
676 msg_end = urb->transfer_buffer + urb->actual_length;
677 for (; msg_ptr < msg_end;) {
678 u16 rx_msg_type, rx_msg_size;
680 rx_msg = (struct pucan_msg *)msg_ptr;
682 /* null packet found: end of list */
686 rx_msg_size = le16_to_cpu(rx_msg->size);
687 rx_msg_type = le16_to_cpu(rx_msg->type);
689 /* check if the record goes out of current packet */
690 if (msg_ptr + rx_msg_size > msg_end) {
692 "got frag rec: should inc usb rx buf sze\n");
697 switch (rx_msg_type) {
698 case PUCAN_MSG_CAN_RX:
699 err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
704 case PCAN_UFD_MSG_CALIBRATION:
705 pcan_usb_fd_decode_ts(usb_if, rx_msg);
708 case PUCAN_MSG_ERROR:
709 err = pcan_usb_fd_decode_error(usb_if, rx_msg);
714 case PUCAN_MSG_STATUS:
715 err = pcan_usb_fd_decode_status(usb_if, rx_msg);
720 case PCAN_UFD_MSG_OVERRUN:
721 err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
728 "unhandled msg type 0x%02x (%d): ignored\n",
729 rx_msg_type, rx_msg_type);
733 msg_ptr += rx_msg_size;
738 pcan_dump_mem("received msg",
739 urb->transfer_buffer, urb->actual_length);
743 /* CAN/CANFD frames encoding callback */
744 static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev,
745 struct sk_buff *skb, u8 *obuf, size_t *size)
747 struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf;
748 struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
749 u16 tx_msg_size, tx_msg_flags;
752 if (cfd->len > CANFD_MAX_DLEN)
755 tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4);
756 tx_msg->size = cpu_to_le16(tx_msg_size);
757 tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
760 if (cfd->can_id & CAN_EFF_FLAG) {
761 tx_msg_flags |= PUCAN_MSG_EXT_ID;
762 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK);
764 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
767 if (can_is_canfd_skb(skb)) {
768 /* considering a CANFD frame */
769 can_dlc = can_len2dlc(cfd->len);
771 tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
773 if (cfd->flags & CANFD_BRS)
774 tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
776 if (cfd->flags & CANFD_ESI)
777 tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
779 /* CAND 2.0 frames */
782 if (cfd->can_id & CAN_RTR_FLAG)
783 tx_msg_flags |= PUCAN_MSG_RTR;
786 tx_msg->flags = cpu_to_le16(tx_msg_flags);
787 tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc);
788 memcpy(tx_msg->d, cfd->data, cfd->len);
790 /* add null size message to tag the end (messages are 32-bits aligned)
792 tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
796 /* set the whole size of the USB packet to send */
797 *size = tx_msg_size + sizeof(u32);
802 /* start the interface (last chance before set bus on) */
803 static int pcan_usb_fd_start(struct peak_usb_device *dev)
805 struct pcan_usb_fd_device *pdev =
806 container_of(dev, struct pcan_usb_fd_device, dev);
809 /* set filter mode: all acceptance */
810 err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
814 /* opening first device: */
815 if (pdev->usb_if->dev_opened_count == 0) {
817 peak_usb_init_time_ref(&pdev->usb_if->time_ref,
820 /* enable USB calibration messages */
821 err = pcan_usb_fd_set_options(dev, 1,
823 PCAN_UFD_FLTEXT_CALIBRATION);
826 pdev->usb_if->dev_opened_count++;
828 /* reset cached error counters */
835 /* socket callback used to copy berr counters values receieved through USB */
836 static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev,
837 struct can_berr_counter *bec)
839 struct peak_usb_device *dev = netdev_priv(netdev);
840 struct pcan_usb_fd_device *pdev =
841 container_of(dev, struct pcan_usb_fd_device, dev);
849 /* stop interface (last chance before set bus off) */
850 static int pcan_usb_fd_stop(struct peak_usb_device *dev)
852 struct pcan_usb_fd_device *pdev =
853 container_of(dev, struct pcan_usb_fd_device, dev);
855 /* turn off special msgs for that interface if no other dev opened */
856 if (pdev->usb_if->dev_opened_count == 1)
857 pcan_usb_fd_set_options(dev, 0,
859 PCAN_UFD_FLTEXT_CALIBRATION);
860 pdev->usb_if->dev_opened_count--;
865 /* called when probing, to initialize a device object */
866 static int pcan_usb_fd_init(struct peak_usb_device *dev)
868 struct pcan_usb_fd_device *pdev =
869 container_of(dev, struct pcan_usb_fd_device, dev);
870 int i, err = -ENOMEM;
872 /* do this for 1st channel only */
873 if (!dev->prev_siblings) {
874 /* allocate netdevices common structure attached to first one */
875 pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL);
879 /* allocate command buffer once for all for the interface */
880 pdev->cmd_buffer_addr = kzalloc(PCAN_UFD_CMD_BUFFER_SIZE,
882 if (!pdev->cmd_buffer_addr)
885 /* number of ts msgs to ignore before taking one into account */
886 pdev->usb_if->cm_ignore_count = 5;
888 err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
890 &pdev->usb_if->fw_info,
891 sizeof(pdev->usb_if->fw_info));
893 dev_err(dev->netdev->dev.parent,
894 "unable to read %s firmware info (err %d)\n",
895 dev->adapter->name, err);
899 /* explicit use of dev_xxx() instead of netdev_xxx() here:
900 * information displayed are related to the device itself, not
901 * to the canx (channel) device.
903 dev_info(dev->netdev->dev.parent,
904 "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
905 dev->adapter->name, pdev->usb_if->fw_info.hw_version,
906 pdev->usb_if->fw_info.fw_version[0],
907 pdev->usb_if->fw_info.fw_version[1],
908 pdev->usb_if->fw_info.fw_version[2],
909 dev->adapter->ctrl_count);
911 /* check for ability to switch between ISO/non-ISO modes */
912 if (pdev->usb_if->fw_info.fw_version[0] >= 2) {
913 /* firmware >= 2.x supports ISO/non-ISO switching */
914 dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
916 /* firmware < 2.x only supports fixed(!) non-ISO */
917 dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO;
920 /* tell the hardware the can driver is running */
921 err = pcan_usb_fd_drv_loaded(dev, 1);
923 dev_err(dev->netdev->dev.parent,
924 "unable to tell %s driver is loaded (err %d)\n",
925 dev->adapter->name, err);
929 /* otherwise, simply copy previous sibling's values */
930 struct pcan_usb_fd_device *ppdev =
931 container_of(dev->prev_siblings,
932 struct pcan_usb_fd_device, dev);
934 pdev->usb_if = ppdev->usb_if;
935 pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
937 /* do a copy of the ctrlmode[_supported] too */
938 dev->can.ctrlmode = ppdev->dev.can.ctrlmode;
939 dev->can.ctrlmode_supported = ppdev->dev.can.ctrlmode_supported;
942 pdev->usb_if->dev[dev->ctrl_idx] = dev;
944 le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]);
946 /* set clock domain */
947 for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++)
948 if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i])
951 if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
952 dev_warn(dev->netdev->dev.parent,
953 "incompatible clock frequencies\n");
958 pcan_usb_fd_set_clock_domain(dev, i);
960 /* set LED in default state (end of init phase) */
961 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
966 kfree(pdev->cmd_buffer_addr);
973 /* called when driver module is being unloaded */
974 static void pcan_usb_fd_exit(struct peak_usb_device *dev)
976 struct pcan_usb_fd_device *pdev =
977 container_of(dev, struct pcan_usb_fd_device, dev);
979 /* when rmmod called before unplug and if down, should reset things
982 if (dev->can.state != CAN_STATE_STOPPED) {
983 /* set bus off on the corresponding channel */
984 pcan_usb_fd_set_bus(dev, 0);
987 /* switch off corresponding CAN LEDs */
988 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
990 /* if channel #0 (only) */
991 if (dev->ctrl_idx == 0) {
992 /* turn off calibration message if any device were opened */
993 if (pdev->usb_if->dev_opened_count > 0)
994 pcan_usb_fd_set_options(dev, 0,
996 PCAN_UFD_FLTEXT_CALIBRATION);
998 /* tell USB adapter that the driver is being unloaded */
999 pcan_usb_fd_drv_loaded(dev, 0);
1003 /* called when the USB adapter is unplugged */
1004 static void pcan_usb_fd_free(struct peak_usb_device *dev)
1006 /* last device: can free shared objects now */
1007 if (!dev->prev_siblings && !dev->next_siblings) {
1008 struct pcan_usb_fd_device *pdev =
1009 container_of(dev, struct pcan_usb_fd_device, dev);
1011 /* free commands buffer */
1012 kfree(pdev->cmd_buffer_addr);
1014 /* free usb interface object */
1015 kfree(pdev->usb_if);
1019 /* describes the PCAN-USB FD adapter */
1020 static const struct can_bittiming_const pcan_usb_fd_const = {
1021 .name = "pcan_usb_fd",
1023 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1025 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1026 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1028 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1032 static const struct can_bittiming_const pcan_usb_fd_data_const = {
1033 .name = "pcan_usb_fd",
1035 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1037 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1038 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1040 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1044 const struct peak_usb_adapter pcan_usb_fd = {
1045 .name = "PCAN-USB FD",
1046 .device_id = PCAN_USBFD_PRODUCT_ID,
1047 .ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
1048 .ctrlmode_supported = CAN_CTRLMODE_FD |
1049 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1051 .freq = PCAN_UFD_CRYSTAL_HZ,
1053 .bittiming_const = &pcan_usb_fd_const,
1054 .data_bittiming_const = &pcan_usb_fd_data_const,
1056 /* size of device private data */
1057 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1059 /* timestamps usage */
1061 .ts_period = 1000000, /* calibration period in ts. */
1062 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1063 .us_per_ts_shift = 0,
1065 /* give here messages in/out endpoints */
1066 .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1067 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
1069 /* size of rx/tx usb buffers */
1070 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1071 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1073 /* device callbacks */
1074 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1075 .dev_init = pcan_usb_fd_init,
1077 .dev_exit = pcan_usb_fd_exit,
1078 .dev_free = pcan_usb_fd_free,
1079 .dev_set_bus = pcan_usb_fd_set_bus,
1080 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1081 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1082 .dev_decode_buf = pcan_usb_fd_decode_buf,
1083 .dev_start = pcan_usb_fd_start,
1084 .dev_stop = pcan_usb_fd_stop,
1085 .dev_restart_async = pcan_usb_fd_restart_async,
1086 .dev_encode_msg = pcan_usb_fd_encode_msg,
1088 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1091 /* describes the PCAN-CHIP USB */
1092 static const struct can_bittiming_const pcan_usb_chip_const = {
1093 .name = "pcan_chip_usb",
1095 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1097 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1098 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1100 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1104 static const struct can_bittiming_const pcan_usb_chip_data_const = {
1105 .name = "pcan_chip_usb",
1107 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1109 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1110 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1112 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1116 const struct peak_usb_adapter pcan_usb_chip = {
1117 .name = "PCAN-Chip USB",
1118 .device_id = PCAN_USBCHIP_PRODUCT_ID,
1119 .ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
1120 .ctrlmode_supported = CAN_CTRLMODE_FD |
1121 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1123 .freq = PCAN_UFD_CRYSTAL_HZ,
1125 .bittiming_const = &pcan_usb_chip_const,
1126 .data_bittiming_const = &pcan_usb_chip_data_const,
1128 /* size of device private data */
1129 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1131 /* timestamps usage */
1133 .ts_period = 1000000, /* calibration period in ts. */
1134 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1135 .us_per_ts_shift = 0,
1137 /* give here messages in/out endpoints */
1138 .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1139 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
1141 /* size of rx/tx usb buffers */
1142 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1143 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1145 /* device callbacks */
1146 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1147 .dev_init = pcan_usb_fd_init,
1149 .dev_exit = pcan_usb_fd_exit,
1150 .dev_free = pcan_usb_fd_free,
1151 .dev_set_bus = pcan_usb_fd_set_bus,
1152 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1153 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1154 .dev_decode_buf = pcan_usb_fd_decode_buf,
1155 .dev_start = pcan_usb_fd_start,
1156 .dev_stop = pcan_usb_fd_stop,
1157 .dev_restart_async = pcan_usb_fd_restart_async,
1158 .dev_encode_msg = pcan_usb_fd_encode_msg,
1160 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1163 /* describes the PCAN-USB Pro FD adapter */
1164 static const struct can_bittiming_const pcan_usb_pro_fd_const = {
1165 .name = "pcan_usb_pro_fd",
1167 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1169 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1170 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1172 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1176 static const struct can_bittiming_const pcan_usb_pro_fd_data_const = {
1177 .name = "pcan_usb_pro_fd",
1179 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1181 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1182 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1184 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1188 const struct peak_usb_adapter pcan_usb_pro_fd = {
1189 .name = "PCAN-USB Pro FD",
1190 .device_id = PCAN_USBPROFD_PRODUCT_ID,
1191 .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
1192 .ctrlmode_supported = CAN_CTRLMODE_FD |
1193 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1195 .freq = PCAN_UFD_CRYSTAL_HZ,
1197 .bittiming_const = &pcan_usb_pro_fd_const,
1198 .data_bittiming_const = &pcan_usb_pro_fd_data_const,
1200 /* size of device private data */
1201 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1203 /* timestamps usage */
1205 .ts_period = 1000000, /* calibration period in ts. */
1206 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1207 .us_per_ts_shift = 0,
1209 /* give here messages in/out endpoints */
1210 .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1211 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
1213 /* size of rx/tx usb buffers */
1214 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1215 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1217 /* device callbacks */
1218 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1219 .dev_init = pcan_usb_fd_init,
1221 .dev_exit = pcan_usb_fd_exit,
1222 .dev_free = pcan_usb_fd_free,
1223 .dev_set_bus = pcan_usb_fd_set_bus,
1224 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1225 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1226 .dev_decode_buf = pcan_usb_fd_decode_buf,
1227 .dev_start = pcan_usb_fd_start,
1228 .dev_stop = pcan_usb_fd_stop,
1229 .dev_restart_async = pcan_usb_fd_restart_async,
1230 .dev_encode_msg = pcan_usb_fd_encode_msg,
1232 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1235 /* describes the PCAN-USB X6 adapter */
1236 static const struct can_bittiming_const pcan_usb_x6_const = {
1237 .name = "pcan_usb_x6",
1239 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1241 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1242 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1244 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1248 static const struct can_bittiming_const pcan_usb_x6_data_const = {
1249 .name = "pcan_usb_x6",
1251 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1253 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1254 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1256 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1260 const struct peak_usb_adapter pcan_usb_x6 = {
1261 .name = "PCAN-USB X6",
1262 .device_id = PCAN_USBX6_PRODUCT_ID,
1263 .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
1264 .ctrlmode_supported = CAN_CTRLMODE_FD |
1265 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1267 .freq = PCAN_UFD_CRYSTAL_HZ,
1269 .bittiming_const = &pcan_usb_x6_const,
1270 .data_bittiming_const = &pcan_usb_x6_data_const,
1272 /* size of device private data */
1273 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1275 /* timestamps usage */
1277 .ts_period = 1000000, /* calibration period in ts. */
1278 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1279 .us_per_ts_shift = 0,
1281 /* give here messages in/out endpoints */
1282 .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1283 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
1285 /* size of rx/tx usb buffers */
1286 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1287 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1289 /* device callbacks */
1290 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1291 .dev_init = pcan_usb_fd_init,
1293 .dev_exit = pcan_usb_fd_exit,
1294 .dev_free = pcan_usb_fd_free,
1295 .dev_set_bus = pcan_usb_fd_set_bus,
1296 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1297 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1298 .dev_decode_buf = pcan_usb_fd_decode_buf,
1299 .dev_start = pcan_usb_fd_start,
1300 .dev_stop = pcan_usb_fd_stop,
1301 .dev_restart_async = pcan_usb_fd_restart_async,
1302 .dev_encode_msg = pcan_usb_fd_encode_msg,
1304 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,