1 // SPDX-License-Identifier: GPL-2.0
2 
3 /* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
4  *
5  * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
6  * convention: we use the term "ES58X FD" when referring to those two
7  * variants together).
8  *
9  * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
10  * Copyright (c) 2020 ETAS K.K.. All rights reserved.
11  * Copyright (c) 2020-2022 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
12  */
13 
14 #include <asm/unaligned.h>
15 #include <linux/kernel.h>
16 #include <linux/units.h>
17 
18 #include "es58x_core.h"
19 #include "es58x_fd.h"
20 
21 /**
22  * es58x_fd_sizeof_rx_tx_msg() - Calculate the actual length of the
23  *	structure of a rx or tx message.
24  * @msg: message of variable length, must have a dlc and a len fields.
25  *
26  * Even if RTR frames have actually no payload, the ES58X devices
27  * still expect it. Must be a macro in order to accept several types
28  * (struct es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an
29  * input.
30  *
31  * Return: length of the message.
32  */
33 #define es58x_fd_sizeof_rx_tx_msg(msg)					\
34 ({									\
35 	typeof(msg) __msg = (msg);					\
36 	size_t __msg_len;						\
37 									\
38 	if (__msg.flags & ES58X_FLAG_FD_DATA)				\
39 		__msg_len = canfd_sanitize_len(__msg.len);		\
40 	else								\
41 		__msg_len = can_cc_dlc2len(__msg.dlc);			\
42 									\
43 	offsetof(typeof(__msg), data[__msg_len]);			\
44 })
45 
es58x_fd_cmd_type(struct net_device * netdev)46 static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
47 {
48 	u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
49 
50 	if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO))
51 		return ES58X_FD_CMD_TYPE_CANFD;
52 	else
53 		return ES58X_FD_CMD_TYPE_CAN;
54 }
55 
es58x_fd_get_msg_len(const union es58x_urb_cmd * urb_cmd)56 static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
57 {
58 	return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
59 }
60 
es58x_fd_echo_msg(struct net_device * netdev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd)61 static int es58x_fd_echo_msg(struct net_device *netdev,
62 			     const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
63 {
64 	struct es58x_priv *priv = es58x_priv(netdev);
65 	const struct es58x_fd_echo_msg *echo_msg;
66 	struct es58x_device *es58x_dev = priv->es58x_dev;
67 	u64 *tstamps = es58x_dev->timestamps;
68 	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
69 	int i, num_element;
70 	u32 rcv_packet_idx;
71 
72 	const u32 mask = GENMASK(BITS_PER_TYPE(mask) - 1,
73 				 BITS_PER_TYPE(echo_msg->packet_idx));
74 
75 	num_element = es58x_msg_num_element(es58x_dev->dev,
76 					    es58x_fd_urb_cmd->echo_msg,
77 					    msg_len);
78 	if (num_element < 0)
79 		return num_element;
80 	echo_msg = es58x_fd_urb_cmd->echo_msg;
81 
82 	rcv_packet_idx = (priv->tx_tail & mask) | echo_msg[0].packet_idx;
83 	for (i = 0; i < num_element; i++) {
84 		if ((u8)rcv_packet_idx != echo_msg[i].packet_idx) {
85 			netdev_err(netdev, "Packet idx jumped from %u to %u\n",
86 				   (u8)rcv_packet_idx - 1,
87 				   echo_msg[i].packet_idx);
88 			return -EBADMSG;
89 		}
90 
91 		tstamps[i] = get_unaligned_le64(&echo_msg[i].timestamp);
92 		rcv_packet_idx++;
93 	}
94 
95 	return es58x_can_get_echo_skb(netdev, priv->tx_tail, tstamps, num_element);
96 }
97 
es58x_fd_rx_can_msg(struct net_device * netdev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd)98 static int es58x_fd_rx_can_msg(struct net_device *netdev,
99 			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
100 {
101 	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
102 	const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
103 	u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
104 	int pkts, ret;
105 
106 	ret = es58x_check_msg_max_len(es58x_dev->dev,
107 				      es58x_fd_urb_cmd->rx_can_msg_buf,
108 				      rx_can_msg_buf_len);
109 	if (ret)
110 		return ret;
111 
112 	for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
113 		const struct es58x_fd_rx_can_msg *rx_can_msg =
114 		    (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
115 		bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
116 		/* rx_can_msg_len is the length of the rx_can_msg
117 		 * buffer. Not to be confused with rx_can_msg->len
118 		 * which is the length of the CAN payload
119 		 * rx_can_msg->data.
120 		 */
121 		u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
122 
123 		if (rx_can_msg_len > rx_can_msg_buf_len) {
124 			netdev_err(netdev,
125 				   "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
126 				   __func__,
127 				   rx_can_msg_len, rx_can_msg_buf_len);
128 			return -EMSGSIZE;
129 		}
130 		if (rx_can_msg->len > CANFD_MAX_DLEN) {
131 			netdev_err(netdev,
132 				   "%s: Data length is %d but maximum should be %d\n",
133 				   __func__, rx_can_msg->len, CANFD_MAX_DLEN);
134 			return -EMSGSIZE;
135 		}
136 
137 		if (netif_running(netdev)) {
138 			u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
139 			canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
140 			u8 dlc;
141 
142 			if (is_can_fd)
143 				dlc = can_fd_len2dlc(rx_can_msg->len);
144 			else
145 				dlc = rx_can_msg->dlc;
146 
147 			ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
148 					       can_id, rx_can_msg->flags, dlc);
149 			if (ret)
150 				break;
151 		}
152 
153 		rx_can_msg_buf_len -= rx_can_msg_len;
154 		rx_can_msg_buf += rx_can_msg_len;
155 	}
156 
157 	if (!netif_running(netdev)) {
158 		if (net_ratelimit())
159 			netdev_info(netdev,
160 				    "%s: %s is down, dropping %d rx packets\n",
161 				    __func__, netdev->name, pkts);
162 		netdev->stats.rx_dropped += pkts;
163 	}
164 
165 	return ret;
166 }
167 
es58x_fd_rx_event_msg(struct net_device * netdev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd)168 static int es58x_fd_rx_event_msg(struct net_device *netdev,
169 				 const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
170 {
171 	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
172 	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
173 	const struct es58x_fd_rx_event_msg *rx_event_msg;
174 	int ret;
175 
176 	rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
177 	ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
178 	if (ret)
179 		return ret;
180 
181 	return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
182 				rx_event_msg->event_code,
183 				get_unaligned_le64(&rx_event_msg->timestamp));
184 }
185 
es58x_fd_rx_cmd_ret_u32(struct net_device * netdev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd,enum es58x_ret_type cmd_ret_type)186 static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
187 				   const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd,
188 				   enum es58x_ret_type cmd_ret_type)
189 {
190 	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
191 	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
192 	int ret;
193 
194 	ret = es58x_check_msg_len(es58x_dev->dev,
195 				  es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
196 	if (ret)
197 		return ret;
198 
199 	return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type,
200 				    get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32));
201 }
202 
es58x_fd_tx_ack_msg(struct net_device * netdev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd)203 static int es58x_fd_tx_ack_msg(struct net_device *netdev,
204 			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
205 {
206 	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
207 	const struct es58x_fd_tx_ack_msg *tx_ack_msg;
208 	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
209 	int ret;
210 
211 	tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
212 	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
213 	if (ret)
214 		return ret;
215 
216 	return es58x_tx_ack_msg(netdev,
217 				get_unaligned_le16(&tx_ack_msg->tx_free_entries),
218 				get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
219 }
220 
es58x_fd_can_cmd_id(struct es58x_device * es58x_dev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd)221 static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
222 			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
223 {
224 	struct net_device *netdev;
225 	int ret;
226 
227 	ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
228 			       ES58X_FD_CHANNEL_IDX_OFFSET, &netdev);
229 	if (ret)
230 		return ret;
231 
232 	switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
233 	case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
234 		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
235 					       ES58X_RET_TYPE_ENABLE_CHANNEL);
236 
237 	case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
238 		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
239 					       ES58X_RET_TYPE_DISABLE_CHANNEL);
240 
241 	case ES58X_FD_CAN_CMD_ID_TX_MSG:
242 		return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
243 
244 	case ES58X_FD_CAN_CMD_ID_ECHO_MSG:
245 		return es58x_fd_echo_msg(netdev, es58x_fd_urb_cmd);
246 
247 	case ES58X_FD_CAN_CMD_ID_RX_MSG:
248 		return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
249 
250 	case ES58X_FD_CAN_CMD_ID_RESET_RX:
251 		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
252 					       ES58X_RET_TYPE_RESET_RX);
253 
254 	case ES58X_FD_CAN_CMD_ID_RESET_TX:
255 		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
256 					       ES58X_RET_TYPE_RESET_TX);
257 
258 	case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
259 		return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
260 
261 	default:
262 		return -EBADRQC;
263 	}
264 }
265 
es58x_fd_device_cmd_id(struct es58x_device * es58x_dev,const struct es58x_fd_urb_cmd * es58x_fd_urb_cmd)266 static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
267 				  const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
268 {
269 	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
270 	int ret;
271 
272 	switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
273 	case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
274 		ret = es58x_check_msg_len(es58x_dev->dev,
275 					  es58x_fd_urb_cmd->timestamp, msg_len);
276 		if (ret)
277 			return ret;
278 		es58x_rx_timestamp(es58x_dev,
279 				   get_unaligned_le64(&es58x_fd_urb_cmd->timestamp));
280 		return 0;
281 
282 	default:
283 		return -EBADRQC;
284 	}
285 }
286 
es58x_fd_handle_urb_cmd(struct es58x_device * es58x_dev,const union es58x_urb_cmd * urb_cmd)287 static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
288 				   const union es58x_urb_cmd *urb_cmd)
289 {
290 	const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
291 	int ret;
292 
293 	es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
294 
295 	switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
296 	case ES58X_FD_CMD_TYPE_CAN:
297 	case ES58X_FD_CMD_TYPE_CANFD:
298 		ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
299 		break;
300 
301 	case ES58X_FD_CMD_TYPE_DEVICE:
302 		ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
303 		break;
304 
305 	default:
306 		ret = -EBADRQC;
307 		break;
308 	}
309 
310 	if (ret == -EBADRQC)
311 		dev_err(es58x_dev->dev,
312 			"%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
313 			__func__, es58x_fd_urb_cmd->cmd_type,
314 			es58x_fd_urb_cmd->cmd_id);
315 
316 	return ret;
317 }
318 
es58x_fd_fill_urb_header(union es58x_urb_cmd * urb_cmd,u8 cmd_type,u8 cmd_id,u8 channel_idx,u16 msg_len)319 static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
320 				     u8 cmd_id, u8 channel_idx, u16 msg_len)
321 {
322 	struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
323 
324 	es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
325 	es58x_fd_urb_cmd->cmd_type = cmd_type;
326 	es58x_fd_urb_cmd->cmd_id = cmd_id;
327 	es58x_fd_urb_cmd->channel_idx = channel_idx;
328 	es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
329 }
330 
es58x_fd_tx_can_msg(struct es58x_priv * priv,const struct sk_buff * skb)331 static int es58x_fd_tx_can_msg(struct es58x_priv *priv,
332 			       const struct sk_buff *skb)
333 {
334 	struct es58x_device *es58x_dev = priv->es58x_dev;
335 	union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
336 	struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
337 	struct can_frame *cf = (struct can_frame *)skb->data;
338 	struct es58x_fd_tx_can_msg *tx_can_msg;
339 	bool is_fd = can_is_canfd_skb(skb);
340 	u16 msg_len;
341 	int ret;
342 
343 	if (priv->tx_can_msg_cnt == 0) {
344 		msg_len = 0;
345 		es58x_fd_fill_urb_header(urb_cmd,
346 					 is_fd ? ES58X_FD_CMD_TYPE_CANFD
347 					       : ES58X_FD_CMD_TYPE_CAN,
348 					 ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
349 					 priv->channel_idx, msg_len);
350 	} else {
351 		msg_len = es58x_fd_get_msg_len(urb_cmd);
352 	}
353 
354 	ret = es58x_check_msg_max_len(es58x_dev->dev,
355 				      es58x_fd_urb_cmd->tx_can_msg_buf,
356 				      msg_len + sizeof(*tx_can_msg));
357 	if (ret)
358 		return ret;
359 
360 	/* Fill message contents. */
361 	tx_can_msg = (typeof(tx_can_msg))&es58x_fd_urb_cmd->raw_msg[msg_len];
362 	tx_can_msg->packet_idx = (u8)priv->tx_head;
363 	put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
364 	tx_can_msg->flags = (u8)es58x_get_flags(skb);
365 	if (is_fd)
366 		tx_can_msg->len = cf->len;
367 	else
368 		tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
369 	memcpy(tx_can_msg->data, cf->data, cf->len);
370 
371 	/* Calculate new sizes */
372 	msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
373 	priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
374 								     msg_len);
375 	put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
376 
377 	return 0;
378 }
379 
es58x_fd_convert_bittiming(struct es58x_fd_bittiming * es58x_fd_bt,struct can_bittiming * bt)380 static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
381 				       struct can_bittiming *bt)
382 {
383 	/* The actual value set in the hardware registers is one less
384 	 * than the functional value.
385 	 */
386 	const int offset = 1;
387 
388 	es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
389 	es58x_fd_bt->tseg1 =
390 	    cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
391 	es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
392 	es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
393 	es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
394 }
395 
es58x_fd_enable_channel(struct es58x_priv * priv)396 static int es58x_fd_enable_channel(struct es58x_priv *priv)
397 {
398 	struct es58x_device *es58x_dev = priv->es58x_dev;
399 	struct net_device *netdev = es58x_dev->netdev[priv->channel_idx];
400 	struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
401 	u32 ctrlmode;
402 	size_t conf_len = 0;
403 
404 	es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
405 				   &priv->can.bittiming);
406 	ctrlmode = priv->can.ctrlmode;
407 
408 	if (ctrlmode & CAN_CTRLMODE_3_SAMPLES)
409 		tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE;
410 	else
411 		tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE;
412 	tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
413 	tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED;
414 	tx_conf_msg.echo_mode = ES58X_ECHO_ON;
415 	if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
416 		tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE;
417 	else
418 		tx_conf_msg.ctrlmode |=  ES58X_FD_CTRLMODE_ACTIVE;
419 
420 	if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
421 		tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
422 		tx_conf_msg.canfd_enabled = 1;
423 	} else if (ctrlmode & CAN_CTRLMODE_FD) {
424 		tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD;
425 		tx_conf_msg.canfd_enabled = 1;
426 	}
427 
428 	if (tx_conf_msg.canfd_enabled) {
429 		es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
430 					   &priv->can.data_bittiming);
431 
432 		if (can_tdc_is_enabled(&priv->can)) {
433 			tx_conf_msg.tdc_enabled = 1;
434 			tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
435 			tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
436 		}
437 
438 		conf_len = ES58X_FD_CANFD_CONF_LEN;
439 	} else {
440 		conf_len = ES58X_FD_CAN_CONF_LEN;
441 	}
442 
443 	return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
444 			      ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
445 			      &tx_conf_msg, conf_len, priv->channel_idx);
446 }
447 
es58x_fd_disable_channel(struct es58x_priv * priv)448 static int es58x_fd_disable_channel(struct es58x_priv *priv)
449 {
450 	/* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
451 	 * not matter here.
452 	 */
453 	return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN,
454 			      ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
455 			      ES58X_EMPTY_MSG, 0, priv->channel_idx);
456 }
457 
es58x_fd_get_timestamp(struct es58x_device * es58x_dev)458 static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
459 {
460 	return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
461 			      ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
462 			      0, ES58X_CHANNEL_IDX_NA);
463 }
464 
465 /* Nominal bittiming constants for ES582.1 and ES584.1 as specified in
466  * the microcontroller datasheet: "SAM E70/S70/V70/V71 Family" section
467  * 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register" from
468  * Microchip.
469  *
470  * The values from the specification are the hardware register
471  * values. To convert them to the functional values, all ranges were
472  * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
473  */
474 static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
475 	.name = "ES582.1/ES584.1",
476 	.tseg1_min = 2,
477 	.tseg1_max = 256,
478 	.tseg2_min = 2,
479 	.tseg2_max = 128,
480 	.sjw_max = 128,
481 	.brp_min = 1,
482 	.brp_max = 512,
483 	.brp_inc = 1
484 };
485 
486 /* Data bittiming constants for ES582.1 and ES584.1 as specified in
487  * the microcontroller datasheet: "SAM E70/S70/V70/V71 Family" section
488  * 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
489  * Microchip.
490  */
491 static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
492 	.name = "ES582.1/ES584.1",
493 	.tseg1_min = 2,
494 	.tseg1_max = 32,
495 	.tseg2_min = 1,
496 	.tseg2_max = 16,
497 	.sjw_max = 8,
498 	.brp_min = 1,
499 	.brp_max = 32,
500 	.brp_inc = 1
501 };
502 
503 /* Transmission Delay Compensation constants for ES582.1 and ES584.1
504  * as specified in the microcontroller datasheet: "SAM E70/S70/V70/V71
505  * Family" section 49.6.15 "MCAN Transmitter Delay Compensation
506  * Register" from Microchip.
507  */
508 static const struct can_tdc_const es58x_tdc_const = {
509 	.tdcv_min = 0,
510 	.tdcv_max = 0, /* Manual mode not supported. */
511 	.tdco_min = 0,
512 	.tdco_max = 127,
513 	.tdcf_min = 0,
514 	.tdcf_max = 127
515 };
516 
517 const struct es58x_parameters es58x_fd_param = {
518 	.bittiming_const = &es58x_fd_nom_bittiming_const,
519 	.data_bittiming_const = &es58x_fd_data_bittiming_const,
520 	.tdc_const = &es58x_tdc_const,
521 	/* The devices use NXP TJA1044G transievers which guarantee
522 	 * the timing for data rates up to 5 Mbps. Bitrates up to 8
523 	 * Mbps work in an optimal environment but are not recommended
524 	 * for production environment.
525 	 */
526 	.bitrate_max = 8 * MEGA /* BPS */,
527 	.clock = {.freq = 80 * MEGA /* Hz */},
528 	.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
529 	    CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
530 	    CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO,
531 	.tx_start_of_frame = 0xCEFA,	/* FACE in little endian */
532 	.rx_start_of_frame = 0xFECA,	/* CAFE in little endian */
533 	.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
534 	.rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
535 	/* Size of internal device TX queue is 500.
536 	 *
537 	 * However, when reaching value around 278, the device's busy
538 	 * LED turns on and thus maximum value of 500 is never reached
539 	 * in practice. Also, when this value is too high, some error
540 	 * on the echo_msg were witnessed when the device is
541 	 * recovering from bus off.
542 	 *
543 	 * For above reasons, a value that would prevent the device
544 	 * from becoming busy was chosen. In practice, BQL would
545 	 * prevent the value from even getting closer to below
546 	 * maximum, so no impact on performance was measured.
547 	 */
548 	.fifo_mask = 255, /* echo_skb_max = 256 */
549 	.dql_min_limit = CAN_FRAME_LEN_MAX * 15, /* Empirical value. */
550 	.tx_bulk_max = ES58X_FD_TX_BULK_MAX,
551 	.urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
552 	.rx_urb_max = ES58X_RX_URBS_MAX,
553 	.tx_urb_max = ES58X_TX_URBS_MAX
554 };
555 
556 const struct es58x_operators es58x_fd_ops = {
557 	.get_msg_len = es58x_fd_get_msg_len,
558 	.handle_urb_cmd = es58x_fd_handle_urb_cmd,
559 	.fill_urb_header = es58x_fd_fill_urb_header,
560 	.tx_can_msg = es58x_fd_tx_can_msg,
561 	.enable_channel = es58x_fd_enable_channel,
562 	.disable_channel = es58x_fd_disable_channel,
563 	.reset_device = NULL, /* Not implemented in the device firmware. */
564 	.get_timestamp = es58x_fd_get_timestamp
565 };
566