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 27 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter"); 28 MODULE_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 */ 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 */ 57 }; 58 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; 64 int cm_ignore_count; 65 int dev_opened_count; 66 }; 67 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; 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 89 struct __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 105 106 struct __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_RX_FRAME_xxxABLE for PCAN-USB Pro FD */ 114 #define PCAN_UFD_FLTEXT_CALIBRATION 0x8000 115 116 struct __packed pcan_ufd_filter_ext { 117 __le16 opcode_channel; 118 119 __le16 ext_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 126 127 struct __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) 139 140 struct __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 }; 148 149 static 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 */ 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 162 }; 163 164 /* return a device USB interface */ 165 static inline 166 struct 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 */ 174 static 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 */ 182 static 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; 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 */ 233 static 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 /* 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); 261 262 return pc - buf; 263 } 264 265 /* set CAN bus on/off */ 266 static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff) 267 { 268 u8 *pc = pcan_usb_fd_cmd_buffer(dev); 269 int l; 270 271 if (onoff) { 272 /* build the cmds list to enter operational mode */ 273 l = pcan_usb_fd_build_restart_cmd(dev, pc); 274 } else { 275 struct pucan_command *cmd = (struct pucan_command *)pc; 276 277 /* 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); 281 } 282 283 /* send the command */ 284 return pcan_usb_fd_send_cmd(dev, pc + l); 285 } 286 287 /* set filtering masks: 288 * 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) 291 * 292 * Each bit of this 64 x 32 bits array defines a CANID value: 293 * 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. 296 */ 297 static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx, 298 u32 mask) 299 { 300 struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev); 301 int i, n; 302 303 /* 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; 306 idx = 0; 307 308 /* select the row (and only the row) otherwise */ 309 } else { 310 n = idx + 1; 311 } 312 313 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); 318 } 319 320 /* send the command */ 321 return pcan_usb_fd_send_cmd(dev, cmd); 322 } 323 324 /* set/unset notifications filter: 325 * 326 * onoff sets(1)/unset(0) notifications 327 * mask each bit defines a kind of notification to set/unset 328 */ 329 static int pcan_usb_fd_set_filter_ext(struct peak_usb_device *dev, 330 bool onoff, u16 ext_mask, u16 usb_mask) 331 { 332 struct pcan_ufd_filter_ext *cmd = pcan_usb_fd_cmd_buffer(dev); 333 334 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 335 (onoff) ? PUCAN_CMD_RX_FRAME_ENABLE : 336 PUCAN_CMD_RX_FRAME_DISABLE); 337 338 cmd->ext_mask = cpu_to_le16(ext_mask); 339 cmd->usb_mask = cpu_to_le16(usb_mask); 340 341 /* send the command */ 342 return pcan_usb_fd_send_cmd(dev, ++cmd); 343 } 344 345 /* setup LED control */ 346 static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode) 347 { 348 struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev); 349 350 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 351 PCAN_UFD_CMD_LED_SET); 352 cmd->mode = led_mode; 353 354 /* send the command */ 355 return pcan_usb_fd_send_cmd(dev, ++cmd); 356 } 357 358 /* set CAN clock domain */ 359 static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev, 360 u8 clk_mode) 361 { 362 struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev); 363 364 cmd->opcode_channel = pucan_cmd_opcode_channel(dev, 365 PCAN_UFD_CMD_CLK_SET); 366 cmd->mode = clk_mode; 367 368 /* send the command */ 369 return pcan_usb_fd_send_cmd(dev, ++cmd); 370 } 371 372 /* 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) 375 { 376 struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev); 377 378 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); 382 383 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)); 386 387 cmd->ewl = 96; /* default */ 388 389 /* send the command */ 390 return pcan_usb_fd_send_cmd(dev, ++cmd); 391 } 392 393 /* 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) 396 { 397 struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev); 398 399 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)); 405 406 /* send the command */ 407 return pcan_usb_fd_send_cmd(dev, ++cmd); 408 } 409 410 /* handle restart but in asynchronously way 411 * (uses PCAN-USB Pro code to complete asynchronous request) 412 */ 413 static int pcan_usb_fd_restart_async(struct peak_usb_device *dev, 414 struct urb *urb, u8 *buf) 415 { 416 u8 *pc = buf; 417 418 /* build the entire cmds list in the provided buffer, to go back into 419 * operational mode. 420 */ 421 pc += pcan_usb_fd_build_restart_cmd(dev, pc); 422 423 /* add EOC */ 424 memset(pc, 0xff, sizeof(struct pucan_command)); 425 pc += sizeof(struct pucan_command); 426 427 /* complete the URB */ 428 usb_fill_bulk_urb(urb, dev->udev, 429 usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT), 430 buf, pc - buf, 431 pcan_usb_pro_restart_complete, dev); 432 433 /* and submit it. */ 434 return usb_submit_urb(urb, GFP_ATOMIC); 435 } 436 437 static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded) 438 { 439 struct pcan_usb_fd_device *pdev = 440 container_of(dev, struct pcan_usb_fd_device, dev); 441 442 pdev->cmd_buffer_addr[0] = 0; 443 pdev->cmd_buffer_addr[1] = !!loaded; 444 445 return pcan_usb_pro_send_req(dev, 446 PCAN_USBPRO_REQ_FCT, 447 PCAN_USBPRO_FCT_DRVLD, 448 pdev->cmd_buffer_addr, 449 PCAN_USBPRO_FCT_DRVLD_REQ_LEN); 450 } 451 452 static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if, 453 struct pucan_msg *rx_msg) 454 { 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; 459 struct sk_buff *skb; 460 const u16 rx_msg_flags = le16_to_cpu(rm->flags); 461 462 if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { 463 /* CANFD frame case */ 464 skb = alloc_canfd_skb(netdev, &cfd); 465 if (!skb) 466 return -ENOMEM; 467 468 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) 469 cfd->flags |= CANFD_BRS; 470 471 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) 472 cfd->flags |= CANFD_ESI; 473 474 cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm))); 475 } else { 476 /* CAN 2.0 frame case */ 477 skb = alloc_can_skb(netdev, (struct can_frame **)&cfd); 478 if (!skb) 479 return -ENOMEM; 480 481 cfd->len = get_can_dlc(pucan_msg_get_dlc(rm)); 482 } 483 484 cfd->can_id = le32_to_cpu(rm->can_id); 485 486 if (rx_msg_flags & PUCAN_MSG_EXT_ID) 487 cfd->can_id |= CAN_EFF_FLAG; 488 489 if (rx_msg_flags & PUCAN_MSG_RTR) 490 cfd->can_id |= CAN_RTR_FLAG; 491 else 492 memcpy(cfd->data, rm->d, cfd->len); 493 494 peak_usb_netif_rx(skb, &usb_if->time_ref, 495 le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high)); 496 497 netdev->stats.rx_packets++; 498 netdev->stats.rx_bytes += cfd->len; 499 500 return 0; 501 } 502 503 /* 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) 506 { 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; 515 struct sk_buff *skb; 516 517 /* nothing should be sent while in BUS_OFF state */ 518 if (dev->can.state == CAN_STATE_BUS_OFF) 519 return 0; 520 521 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; 527 } else { 528 /* no error bit (so, no error skb, back to active state) */ 529 dev->can.state = CAN_STATE_ERROR_ACTIVE; 530 pdev->bec.txerr = 0; 531 pdev->bec.rxerr = 0; 532 return 0; 533 } 534 535 /* state hasn't changed */ 536 if (new_state == dev->can.state) 537 return 0; 538 539 /* 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; 542 543 /* allocate an skb to store the error frame */ 544 skb = alloc_can_err_skb(netdev, &cf); 545 if (skb) 546 can_change_state(netdev, cf, tx_state, rx_state); 547 548 /* things must be done even in case of OOM */ 549 if (new_state == CAN_STATE_BUS_OFF) 550 can_bus_off(netdev); 551 552 if (!skb) 553 return -ENOMEM; 554 555 peak_usb_netif_rx(skb, &usb_if->time_ref, 556 le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high)); 557 558 netdev->stats.rx_packets++; 559 netdev->stats.rx_bytes += cf->can_dlc; 560 561 return 0; 562 } 563 564 /* 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) 567 { 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); 572 573 /* 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; 576 577 return 0; 578 } 579 580 /* 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) 583 { 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; 588 struct sk_buff *skb; 589 590 /* allocate an skb to store the error frame */ 591 skb = alloc_can_err_skb(netdev, &cf); 592 if (!skb) 593 return -ENOMEM; 594 595 cf->can_id |= CAN_ERR_CRTL; 596 cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; 597 598 peak_usb_netif_rx(skb, &usb_if->time_ref, 599 le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high)); 600 601 netdev->stats.rx_over_errors++; 602 netdev->stats.rx_errors++; 603 604 return 0; 605 } 606 607 /* 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) 610 { 611 struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg; 612 613 /* should wait until clock is stabilized */ 614 if (usb_if->cm_ignore_count > 0) 615 usb_if->cm_ignore_count--; 616 else 617 peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low)); 618 } 619 620 /* callback for bulk IN urb */ 621 static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb) 622 { 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; 627 int err = 0; 628 629 /* 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; 634 635 rx_msg = (struct pucan_msg *)msg_ptr; 636 if (!rx_msg->size) { 637 /* null packet found: end of list */ 638 break; 639 } 640 641 rx_msg_size = le16_to_cpu(rx_msg->size); 642 rx_msg_type = le16_to_cpu(rx_msg->type); 643 644 /* check if the record goes out of current packet */ 645 if (msg_ptr + rx_msg_size > msg_end) { 646 netdev_err(netdev, 647 "got frag rec: should inc usb rx buf sze\n"); 648 err = -EBADMSG; 649 break; 650 } 651 652 switch (rx_msg_type) { 653 case PUCAN_MSG_CAN_RX: 654 err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg); 655 if (err < 0) 656 goto fail; 657 break; 658 659 case PCAN_UFD_MSG_CALIBRATION: 660 pcan_usb_fd_decode_ts(usb_if, rx_msg); 661 break; 662 663 case PUCAN_MSG_ERROR: 664 err = pcan_usb_fd_decode_error(usb_if, rx_msg); 665 if (err < 0) 666 goto fail; 667 break; 668 669 case PUCAN_MSG_STATUS: 670 err = pcan_usb_fd_decode_status(usb_if, rx_msg); 671 if (err < 0) 672 goto fail; 673 break; 674 675 case PCAN_UFD_MSG_OVERRUN: 676 err = pcan_usb_fd_decode_overrun(usb_if, rx_msg); 677 if (err < 0) 678 goto fail; 679 break; 680 681 default: 682 netdev_err(netdev, 683 "unhandled msg type 0x%02x (%d): ignored\n", 684 rx_msg_type, rx_msg_type); 685 break; 686 } 687 688 msg_ptr += rx_msg_size; 689 } 690 691 fail: 692 if (err) 693 pcan_dump_mem("received msg", 694 urb->transfer_buffer, urb->actual_length); 695 return err; 696 } 697 698 /* 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) 701 { 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; 705 u8 can_dlc; 706 707 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); 710 711 tx_msg_flags = 0; 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); 715 } else { 716 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK); 717 } 718 719 if (can_is_canfd_skb(skb)) { 720 /* considering a CANFD frame */ 721 can_dlc = can_len2dlc(cfd->len); 722 723 tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN; 724 725 if (cfd->flags & CANFD_BRS) 726 tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH; 727 728 if (cfd->flags & CANFD_ESI) 729 tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND; 730 } else { 731 /* CAND 2.0 frames */ 732 can_dlc = cfd->len; 733 734 if (cfd->can_id & CAN_RTR_FLAG) 735 tx_msg_flags |= PUCAN_MSG_RTR; 736 } 737 738 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); 741 742 /* add null size message to tag the end (messages are 32-bits aligned) 743 */ 744 tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size); 745 746 tx_msg->size = 0; 747 748 /* set the whole size of the USB packet to send */ 749 *size = tx_msg_size + sizeof(u32); 750 751 return 0; 752 } 753 754 /* start the interface (last chance before set bus on) */ 755 static int pcan_usb_fd_start(struct peak_usb_device *dev) 756 { 757 struct pcan_usb_fd_device *pdev = 758 container_of(dev, struct pcan_usb_fd_device, dev); 759 int err; 760 761 /* set filter mode: all acceptance */ 762 err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff); 763 if (err) 764 return err; 765 766 /* opening first device: */ 767 if (pdev->usb_if->dev_opened_count == 0) { 768 /* reset time_ref */ 769 peak_usb_init_time_ref(&pdev->usb_if->time_ref, 770 &pcan_usb_pro_fd); 771 772 /* enable USB calibration messages */ 773 err = pcan_usb_fd_set_filter_ext(dev, 1, 774 PUCAN_FLTEXT_ERROR, 775 PCAN_UFD_FLTEXT_CALIBRATION); 776 } 777 778 pdev->usb_if->dev_opened_count++; 779 780 /* reset cached error counters */ 781 pdev->bec.txerr = 0; 782 pdev->bec.rxerr = 0; 783 784 return err; 785 } 786 787 /* 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) 790 { 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); 794 795 *bec = pdev->bec; 796 797 /* must return 0 */ 798 return 0; 799 } 800 801 /* stop interface (last chance before set bus off) */ 802 static int pcan_usb_fd_stop(struct peak_usb_device *dev) 803 { 804 struct pcan_usb_fd_device *pdev = 805 container_of(dev, struct pcan_usb_fd_device, dev); 806 807 /* 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, 810 PUCAN_FLTEXT_ERROR, 811 PCAN_UFD_FLTEXT_CALIBRATION); 812 pdev->usb_if->dev_opened_count--; 813 814 return 0; 815 } 816 817 /* called when probing, to initialize a device object */ 818 static int pcan_usb_fd_init(struct peak_usb_device *dev) 819 { 820 struct pcan_usb_fd_device *pdev = 821 container_of(dev, struct pcan_usb_fd_device, dev); 822 int i, err = -ENOMEM; 823 824 /* 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); 828 if (!pdev->usb_if) 829 goto err_out; 830 831 /* allocate command buffer once for all for the interface */ 832 pdev->cmd_buffer_addr = kmalloc(PCAN_UFD_CMD_BUFFER_SIZE, 833 GFP_KERNEL); 834 if (!pdev->cmd_buffer_addr) 835 goto err_out_1; 836 837 /* number of ts msgs to ignore before taking one into account */ 838 pdev->usb_if->cm_ignore_count = 5; 839 840 err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO, 841 PCAN_USBPRO_INFO_FW, 842 &pdev->usb_if->fw_info, 843 sizeof(pdev->usb_if->fw_info)); 844 if (err) { 845 dev_err(dev->netdev->dev.parent, 846 "unable to read %s firmware info (err %d)\n", 847 dev->adapter->name, err); 848 goto err_out_2; 849 } 850 851 /* 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. 854 */ 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); 862 863 /* the currently supported hw is non-ISO */ 864 dev->can.ctrlmode = CAN_CTRLMODE_FD_NON_ISO; 865 866 /* tell the hardware the can driver is running */ 867 err = pcan_usb_fd_drv_loaded(dev, 1); 868 if (err) { 869 dev_err(dev->netdev->dev.parent, 870 "unable to tell %s driver is loaded (err %d)\n", 871 dev->adapter->name, err); 872 goto err_out_2; 873 } 874 } else { 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); 879 880 pdev->usb_if = ppdev->usb_if; 881 pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr; 882 } 883 884 pdev->usb_if->dev[dev->ctrl_idx] = dev; 885 dev->device_number = 886 le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]); 887 888 /* set clock domain */ 889 for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++) 890 if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i]) 891 break; 892 893 if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) { 894 dev_warn(dev->netdev->dev.parent, 895 "incompatible clock frequencies\n"); 896 err = -EINVAL; 897 goto err_out_2; 898 } 899 900 pcan_usb_fd_set_clock_domain(dev, i); 901 902 /* set LED in default state (end of init phase) */ 903 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF); 904 905 return 0; 906 907 err_out_2: 908 kfree(pdev->cmd_buffer_addr); 909 err_out_1: 910 kfree(pdev->usb_if); 911 err_out: 912 return err; 913 } 914 915 /* called when driver module is being unloaded */ 916 static void pcan_usb_fd_exit(struct peak_usb_device *dev) 917 { 918 struct pcan_usb_fd_device *pdev = 919 container_of(dev, struct pcan_usb_fd_device, dev); 920 921 /* when rmmod called before unplug and if down, should reset things 922 * before leaving 923 */ 924 if (dev->can.state != CAN_STATE_STOPPED) { 925 /* set bus off on the corresponding channel */ 926 pcan_usb_fd_set_bus(dev, 0); 927 } 928 929 /* switch off corresponding CAN LEDs */ 930 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF); 931 932 /* if channel #0 (only) */ 933 if (dev->ctrl_idx == 0) { 934 /* turn off calibration message if any device were opened */ 935 if (pdev->usb_if->dev_opened_count > 0) 936 pcan_usb_fd_set_filter_ext(dev, 0, 937 PUCAN_FLTEXT_ERROR, 938 PCAN_UFD_FLTEXT_CALIBRATION); 939 940 /* tell USB adapter that the driver is being unloaded */ 941 pcan_usb_fd_drv_loaded(dev, 0); 942 } 943 } 944 945 /* called when the USB adapter is unplugged */ 946 static void pcan_usb_fd_free(struct peak_usb_device *dev) 947 { 948 /* last device: can free shared objects now */ 949 if (!dev->prev_siblings && !dev->next_siblings) { 950 struct pcan_usb_fd_device *pdev = 951 container_of(dev, struct pcan_usb_fd_device, dev); 952 953 /* free commands buffer */ 954 kfree(pdev->cmd_buffer_addr); 955 956 /* free usb interface object */ 957 kfree(pdev->usb_if); 958 } 959 } 960 961 /* describes the PCAN-USB FD adapter */ 962 const struct peak_usb_adapter pcan_usb_fd = { 963 .name = "PCAN-USB FD", 964 .device_id = PCAN_USBFD_PRODUCT_ID, 965 .ctrl_count = PCAN_USBFD_CHANNEL_COUNT, 966 .ctrlmode_supported = CAN_CTRLMODE_FD | 967 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, 968 .clock = { 969 .freq = PCAN_UFD_CRYSTAL_HZ, 970 }, 971 .bittiming_const = { 972 .name = "pcan_usb_fd", 973 .tseg1_min = 1, 974 .tseg1_max = 64, 975 .tseg2_min = 1, 976 .tseg2_max = 16, 977 .sjw_max = 16, 978 .brp_min = 1, 979 .brp_max = 1024, 980 .brp_inc = 1, 981 }, 982 .data_bittiming_const = { 983 .name = "pcan_usb_fd", 984 .tseg1_min = 1, 985 .tseg1_max = 16, 986 .tseg2_min = 1, 987 .tseg2_max = 8, 988 .sjw_max = 4, 989 .brp_min = 1, 990 .brp_max = 1024, 991 .brp_inc = 1, 992 }, 993 994 /* size of device private data */ 995 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), 996 997 /* timestamps usage */ 998 .ts_used_bits = 32, 999 .ts_period = 1000000, /* calibration period in ts. */ 1000 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ 1001 .us_per_ts_shift = 0, 1002 1003 /* give here messages in/out endpoints */ 1004 .ep_msg_in = PCAN_USBPRO_EP_MSGIN, 1005 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0}, 1006 1007 /* size of rx/tx usb buffers */ 1008 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, 1009 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, 1010 1011 /* device callbacks */ 1012 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ 1013 .dev_init = pcan_usb_fd_init, 1014 1015 .dev_exit = pcan_usb_fd_exit, 1016 .dev_free = pcan_usb_fd_free, 1017 .dev_set_bus = pcan_usb_fd_set_bus, 1018 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, 1019 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, 1020 .dev_decode_buf = pcan_usb_fd_decode_buf, 1021 .dev_start = pcan_usb_fd_start, 1022 .dev_stop = pcan_usb_fd_stop, 1023 .dev_restart_async = pcan_usb_fd_restart_async, 1024 .dev_encode_msg = pcan_usb_fd_encode_msg, 1025 1026 .do_get_berr_counter = pcan_usb_fd_get_berr_counter, 1027 }; 1028 1029 /* describes the PCAN-USB Pro FD adapter */ 1030 const struct peak_usb_adapter pcan_usb_pro_fd = { 1031 .name = "PCAN-USB Pro FD", 1032 .device_id = PCAN_USBPROFD_PRODUCT_ID, 1033 .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT, 1034 .ctrlmode_supported = CAN_CTRLMODE_FD | 1035 CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY, 1036 .clock = { 1037 .freq = PCAN_UFD_CRYSTAL_HZ, 1038 }, 1039 .bittiming_const = { 1040 .name = "pcan_usb_pro_fd", 1041 .tseg1_min = 1, 1042 .tseg1_max = 64, 1043 .tseg2_min = 1, 1044 .tseg2_max = 16, 1045 .sjw_max = 16, 1046 .brp_min = 1, 1047 .brp_max = 1024, 1048 .brp_inc = 1, 1049 }, 1050 .data_bittiming_const = { 1051 .name = "pcan_usb_pro_fd", 1052 .tseg1_min = 1, 1053 .tseg1_max = 16, 1054 .tseg2_min = 1, 1055 .tseg2_max = 8, 1056 .sjw_max = 4, 1057 .brp_min = 1, 1058 .brp_max = 1024, 1059 .brp_inc = 1, 1060 }, 1061 1062 /* size of device private data */ 1063 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device), 1064 1065 /* timestamps usage */ 1066 .ts_used_bits = 32, 1067 .ts_period = 1000000, /* calibration period in ts. */ 1068 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */ 1069 .us_per_ts_shift = 0, 1070 1071 /* give here messages in/out endpoints */ 1072 .ep_msg_in = PCAN_USBPRO_EP_MSGIN, 1073 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1}, 1074 1075 /* size of rx/tx usb buffers */ 1076 .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE, 1077 .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE, 1078 1079 /* device callbacks */ 1080 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */ 1081 .dev_init = pcan_usb_fd_init, 1082 1083 .dev_exit = pcan_usb_fd_exit, 1084 .dev_free = pcan_usb_fd_free, 1085 .dev_set_bus = pcan_usb_fd_set_bus, 1086 .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow, 1087 .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast, 1088 .dev_decode_buf = pcan_usb_fd_decode_buf, 1089 .dev_start = pcan_usb_fd_start, 1090 .dev_stop = pcan_usb_fd_stop, 1091 .dev_restart_async = pcan_usb_fd_restart_async, 1092 .dev_encode_msg = pcan_usb_fd_encode_msg, 1093 1094 .do_get_berr_counter = pcan_usb_fd_get_berr_counter, 1095 }; 1096