drivers/net/can/usb/peak_usb/pcan_usb_fd.c

   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_xxx_xx_OPTION for PCAN-USB Pro FD */
 114 #define PCAN_UFD_FLTEXT_CALIBRATION     0x8000
 115
 116 struct __packed pcan_ufd_options {
 117         __le16  opcode_channel;
 118
 119         __le16  ucan_mask;
 120         u16     unused;
 121         __le16  usb_mask;
 122 };
 123
 124 /* Extended usage of uCAN messages for PCAN-USB Pro FD */
 125 #define PCAN_UFD_MSG_CALIBRATION        0x100
 126
 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 = 0;
 186         u8 *packet_ptr;
 187         int 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         packet_len = cmd_len;
 205
 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);
 209
 210         do {
 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);
 216                 if (err) {
 217                         netdev_err(dev->netdev,
 218                                    "sending command failure: %d\n", err);
 219                         break;
 220                 }
 221
 222                 packet_ptr += packet_len;
 223                 cmd_len -= packet_len;
 224
 225                 if (cmd_len < PCAN_UFD_LOSPD_PKT_SIZE)
 226                         packet_len = cmd_len;
 227
 228         } while (packet_len > 0);
 229
 230         return err;
 231 }
 232
 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)
 235 {
 236         struct pucan_wr_err_cnt *prc;
 237         struct pucan_command *cmd;
 238         u8 *pc = buf;
 239
 240         /* 1st, reset error counters: */
 241         prc = (struct pucan_wr_err_cnt *)pc;
 242         prc->opcode_channel = pucan_cmd_opcode_channel(dev,
 243                                                        PUCAN_CMD_WR_ERR_CNT);
 244
 245         /* select both counters */
 246         prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE);
 247
 248         /* and reset their values */
 249         prc->tx_counter = 0;
 250         prc->rx_counter = 0;
 251
 252         /* moves the pointer forward */
 253         pc += sizeof(struct pucan_wr_err_cnt);
 254
 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;
 258
 259                 puo->opcode_channel =
 260                         (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ?
 261                         pucan_cmd_opcode_channel(dev,
 262                                                  PUCAN_CMD_CLR_DIS_OPTION) :
 263                         pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION);
 264
 265                 puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO);
 266
 267                 /* to be sure that no other extended bits will be taken into
 268                  * account
 269                  */
 270                 puo->unused = 0;
 271
 272                 /* moves the pointer forward */
 273                 pc += sizeof(struct pucan_options);
 274         }
 275
 276         /* next, go back to operational mode */
 277         cmd = (struct pucan_command *)pc;
 278         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 279                                 (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
 280                                                 PUCAN_CMD_LISTEN_ONLY_MODE :
 281                                                 PUCAN_CMD_NORMAL_MODE);
 282         pc += sizeof(struct pucan_command);
 283
 284         return pc - buf;
 285 }
 286
 287 /* set CAN bus on/off */
 288 static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
 289 {
 290         u8 *pc = pcan_usb_fd_cmd_buffer(dev);
 291         int l;
 292
 293         if (onoff) {
 294                 /* build the cmds list to enter operational mode */
 295                 l = pcan_usb_fd_build_restart_cmd(dev, pc);
 296         } else {
 297                 struct pucan_command *cmd = (struct pucan_command *)pc;
 298
 299                 /* build cmd to go back to reset mode */
 300                 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 301                                                         PUCAN_CMD_RESET_MODE);
 302                 l = sizeof(struct pucan_command);
 303         }
 304
 305         /* send the command */
 306         return pcan_usb_fd_send_cmd(dev, pc + l);
 307 }
 308
 309 /* set filtering masks:
 310  *
 311  *      idx  in range [0..63] selects a row #idx, all rows otherwise
 312  *      mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s)
 313  *
 314  *      Each bit of this 64 x 32 bits array defines a CANID value:
 315  *
 316  *      bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while
 317  *      bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded.
 318  */
 319 static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
 320                                       u32 mask)
 321 {
 322         struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev);
 323         int i, n;
 324
 325         /* select all rows when idx is out of range [0..63] */
 326         if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) {
 327                 n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS;
 328                 idx = 0;
 329
 330         /* select the row (and only the row) otherwise */
 331         } else {
 332                 n = idx + 1;
 333         }
 334
 335         for (i = idx; i < n; i++, cmd++) {
 336                 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 337                                                         PUCAN_CMD_FILTER_STD);
 338                 cmd->idx = cpu_to_le16(i);
 339                 cmd->mask = cpu_to_le32(mask);
 340         }
 341
 342         /* send the command */
 343         return pcan_usb_fd_send_cmd(dev, cmd);
 344 }
 345
 346 /* set/unset options
 347  *
 348  *      onoff   set(1)/unset(0) options
 349  *      mask    each bit defines a kind of options to set/unset
 350  */
 351 static int pcan_usb_fd_set_options(struct peak_usb_device *dev,
 352                                    bool onoff, u16 ucan_mask, u16 usb_mask)
 353 {
 354         struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev);
 355
 356         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 357                                         (onoff) ? PUCAN_CMD_SET_EN_OPTION :
 358                                                   PUCAN_CMD_CLR_DIS_OPTION);
 359
 360         cmd->ucan_mask = cpu_to_le16(ucan_mask);
 361         cmd->usb_mask = cpu_to_le16(usb_mask);
 362
 363         /* send the command */
 364         return pcan_usb_fd_send_cmd(dev, ++cmd);
 365 }
 366
 367 /* setup LED control */
 368 static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
 369 {
 370         struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
 371
 372         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 373                                                        PCAN_UFD_CMD_LED_SET);
 374         cmd->mode = led_mode;
 375
 376         /* send the command */
 377         return pcan_usb_fd_send_cmd(dev, ++cmd);
 378 }
 379
 380 /* set CAN clock domain */
 381 static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
 382                                         u8 clk_mode)
 383 {
 384         struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
 385
 386         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 387                                                        PCAN_UFD_CMD_CLK_SET);
 388         cmd->mode = clk_mode;
 389
 390         /* send the command */
 391         return pcan_usb_fd_send_cmd(dev, ++cmd);
 392 }
 393
 394 /* set bittiming for CAN and CAN-FD header */
 395 static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev,
 396                                           struct can_bittiming *bt)
 397 {
 398         struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
 399
 400         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 401                                                        PUCAN_CMD_TIMING_SLOW);
 402         cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1,
 403                                 dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
 404
 405         cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1);
 406         cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
 407         cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1));
 408
 409         cmd->ewl = 96;  /* default */
 410
 411         /* send the command */
 412         return pcan_usb_fd_send_cmd(dev, ++cmd);
 413 }
 414
 415 /* set CAN-FD bittiming for data */
 416 static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev,
 417                                           struct can_bittiming *bt)
 418 {
 419         struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
 420
 421         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 422                                                        PUCAN_CMD_TIMING_FAST);
 423         cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1);
 424         cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1);
 425         cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
 426         cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1));
 427
 428         /* send the command */
 429         return pcan_usb_fd_send_cmd(dev, ++cmd);
 430 }
 431
 432 /* handle restart but in asynchronously way
 433  * (uses PCAN-USB Pro code to complete asynchronous request)
 434  */
 435 static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
 436                                      struct urb *urb, u8 *buf)
 437 {
 438         u8 *pc = buf;
 439
 440         /* build the entire cmds list in the provided buffer, to go back into
 441          * operational mode.
 442          */
 443         pc += pcan_usb_fd_build_restart_cmd(dev, pc);
 444
 445         /* add EOC */
 446         memset(pc, 0xff, sizeof(struct pucan_command));
 447         pc += sizeof(struct pucan_command);
 448
 449         /* complete the URB */
 450         usb_fill_bulk_urb(urb, dev->udev,
 451                           usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
 452                           buf, pc - buf,
 453                           pcan_usb_pro_restart_complete, dev);
 454
 455         /* and submit it. */
 456         return usb_submit_urb(urb, GFP_ATOMIC);
 457 }
 458
 459 static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded)
 460 {
 461         struct pcan_usb_fd_device *pdev =
 462                         container_of(dev, struct pcan_usb_fd_device, dev);
 463
 464         pdev->cmd_buffer_addr[0] = 0;
 465         pdev->cmd_buffer_addr[1] = !!loaded;
 466
 467         return pcan_usb_pro_send_req(dev,
 468                                 PCAN_USBPRO_REQ_FCT,
 469                                 PCAN_USBPRO_FCT_DRVLD,
 470                                 pdev->cmd_buffer_addr,
 471                                 PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
 472 }
 473
 474 static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
 475                                      struct pucan_msg *rx_msg)
 476 {
 477         struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg;
 478         struct peak_usb_device *dev;
 479         struct net_device *netdev;
 480         struct canfd_frame *cfd;
 481         struct sk_buff *skb;
 482         const u16 rx_msg_flags = le16_to_cpu(rm->flags);
 483
 484         if (pucan_msg_get_channel(rm) >= ARRAY_SIZE(usb_if->dev))
 485                 return -ENOMEM;
 486
 487         dev = usb_if->dev[pucan_msg_get_channel(rm)];
 488         netdev = dev->netdev;
 489
 490         if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
 491                 /* CANFD frame case */
 492                 skb = alloc_canfd_skb(netdev, &cfd);
 493                 if (!skb)
 494                         return -ENOMEM;
 495
 496                 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
 497                         cfd->flags |= CANFD_BRS;
 498
 499                 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
 500                         cfd->flags |= CANFD_ESI;
 501
 502                 cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm)));
 503         } else {
 504                 /* CAN 2.0 frame case */
 505                 skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
 506                 if (!skb)
 507                         return -ENOMEM;
 508
 509                 cfd->len = get_can_dlc(pucan_msg_get_dlc(rm));
 510         }
 511
 512         cfd->can_id = le32_to_cpu(rm->can_id);
 513
 514         if (rx_msg_flags & PUCAN_MSG_EXT_ID)
 515                 cfd->can_id |= CAN_EFF_FLAG;
 516
 517         if (rx_msg_flags & PUCAN_MSG_RTR)
 518                 cfd->can_id |= CAN_RTR_FLAG;
 519         else
 520                 memcpy(cfd->data, rm->d, cfd->len);
 521
 522         peak_usb_netif_rx(skb, &usb_if->time_ref,
 523                           le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
 524
 525         netdev->stats.rx_packets++;
 526         netdev->stats.rx_bytes += cfd->len;
 527
 528         return 0;
 529 }
 530
 531 /* handle uCAN status message */
 532 static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
 533                                      struct pucan_msg *rx_msg)
 534 {
 535         struct pucan_status_msg *sm = (struct pucan_status_msg *)rx_msg;
 536         struct pcan_usb_fd_device *pdev;
 537         enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
 538         enum can_state rx_state, tx_state;
 539         struct peak_usb_device *dev;
 540         struct net_device *netdev;
 541         struct can_frame *cf;
 542         struct sk_buff *skb;
 543
 544         if (pucan_stmsg_get_channel(sm) >= ARRAY_SIZE(usb_if->dev))
 545                 return -ENOMEM;
 546
 547         dev = usb_if->dev[pucan_stmsg_get_channel(sm)];
 548         pdev = container_of(dev, struct pcan_usb_fd_device, dev);
 549         netdev = dev->netdev;
 550
 551         /* nothing should be sent while in BUS_OFF state */
 552         if (dev->can.state == CAN_STATE_BUS_OFF)
 553                 return 0;
 554
 555         if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) {
 556                 new_state = CAN_STATE_BUS_OFF;
 557         } else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) {
 558                 new_state = CAN_STATE_ERROR_PASSIVE;
 559         } else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) {
 560                 new_state = CAN_STATE_ERROR_WARNING;
 561         } else {
 562                 /* back to (or still in) ERROR_ACTIVE state */
 563                 new_state = CAN_STATE_ERROR_ACTIVE;
 564                 pdev->bec.txerr = 0;
 565                 pdev->bec.rxerr = 0;
 566         }
 567
 568         /* state hasn't changed */
 569         if (new_state == dev->can.state)
 570                 return 0;
 571
 572         /* handle bus state change */
 573         tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0;
 574         rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0;
 575
 576         /* allocate an skb to store the error frame */
 577         skb = alloc_can_err_skb(netdev, &cf);
 578         if (skb)
 579                 can_change_state(netdev, cf, tx_state, rx_state);
 580
 581         /* things must be done even in case of OOM */
 582         if (new_state == CAN_STATE_BUS_OFF)
 583                 can_bus_off(netdev);
 584
 585         if (!skb)
 586                 return -ENOMEM;
 587
 588         peak_usb_netif_rx(skb, &usb_if->time_ref,
 589                           le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high));
 590
 591         netdev->stats.rx_packets++;
 592         netdev->stats.rx_bytes += cf->can_dlc;
 593
 594         return 0;
 595 }
 596
 597 /* handle uCAN error message */
 598 static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if,
 599                                     struct pucan_msg *rx_msg)
 600 {
 601         struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg;
 602         struct pcan_usb_fd_device *pdev;
 603         struct peak_usb_device *dev;
 604
 605         if (pucan_ermsg_get_channel(er) >= ARRAY_SIZE(usb_if->dev))
 606                 return -EINVAL;
 607
 608         dev = usb_if->dev[pucan_ermsg_get_channel(er)];
 609         pdev = container_of(dev, struct pcan_usb_fd_device, dev);
 610
 611         /* keep a trace of tx and rx error counters for later use */
 612         pdev->bec.txerr = er->tx_err_cnt;
 613         pdev->bec.rxerr = er->rx_err_cnt;
 614
 615         return 0;
 616 }
 617
 618 /* handle uCAN overrun message */
 619 static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
 620                                       struct pucan_msg *rx_msg)
 621 {
 622         struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg;
 623         struct peak_usb_device *dev;
 624         struct net_device *netdev;
 625         struct can_frame *cf;
 626         struct sk_buff *skb;
 627
 628         if (pufd_omsg_get_channel(ov) >= ARRAY_SIZE(usb_if->dev))
 629                 return -EINVAL;
 630
 631         dev = usb_if->dev[pufd_omsg_get_channel(ov)];
 632         netdev = dev->netdev;
 633
 634         /* allocate an skb to store the error frame */
 635         skb = alloc_can_err_skb(netdev, &cf);
 636         if (!skb)
 637                 return -ENOMEM;
 638
 639         cf->can_id |= CAN_ERR_CRTL;
 640         cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
 641
 642         peak_usb_netif_rx(skb, &usb_if->time_ref,
 643                           le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
 644
 645         netdev->stats.rx_over_errors++;
 646         netdev->stats.rx_errors++;
 647
 648         return 0;
 649 }
 650
 651 /* handle USB calibration message */
 652 static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if,
 653                                   struct pucan_msg *rx_msg)
 654 {
 655         struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
 656
 657         /* should wait until clock is stabilized */
 658         if (usb_if->cm_ignore_count > 0)
 659                 usb_if->cm_ignore_count--;
 660         else
 661                 peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
 662 }
 663
 664 /* callback for bulk IN urb */
 665 static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
 666 {
 667         struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev);
 668         struct net_device *netdev = dev->netdev;
 669         struct pucan_msg *rx_msg;
 670         u8 *msg_ptr, *msg_end;
 671         int err = 0;
 672
 673         /* loop reading all the records from the incoming message */
 674         msg_ptr = urb->transfer_buffer;
 675         msg_end = urb->transfer_buffer + urb->actual_length;
 676         for (; msg_ptr < msg_end;) {
 677                 u16 rx_msg_type, rx_msg_size;
 678
 679                 rx_msg = (struct pucan_msg *)msg_ptr;
 680                 if (!rx_msg->size) {
 681                         /* null packet found: end of list */
 682                         break;
 683                 }
 684
 685                 rx_msg_size = le16_to_cpu(rx_msg->size);
 686                 rx_msg_type = le16_to_cpu(rx_msg->type);
 687
 688                 /* check if the record goes out of current packet */
 689                 if (msg_ptr + rx_msg_size > msg_end) {
 690                         netdev_err(netdev,
 691                                    "got frag rec: should inc usb rx buf sze\n");
 692                         err = -EBADMSG;
 693                         break;
 694                 }
 695
 696                 switch (rx_msg_type) {
 697                 case PUCAN_MSG_CAN_RX:
 698                         err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
 699                         if (err < 0)
 700                                 goto fail;
 701                         break;
 702
 703                 case PCAN_UFD_MSG_CALIBRATION:
 704                         pcan_usb_fd_decode_ts(usb_if, rx_msg);
 705                         break;
 706
 707                 case PUCAN_MSG_ERROR:
 708                         err = pcan_usb_fd_decode_error(usb_if, rx_msg);
 709                         if (err < 0)
 710                                 goto fail;
 711                         break;
 712
 713                 case PUCAN_MSG_STATUS:
 714                         err = pcan_usb_fd_decode_status(usb_if, rx_msg);
 715                         if (err < 0)
 716                                 goto fail;
 717                         break;
 718
 719                 case PCAN_UFD_MSG_OVERRUN:
 720                         err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
 721                         if (err < 0)
 722                                 goto fail;
 723                         break;
 724
 725                 default:
 726                         netdev_err(netdev,
 727                                    "unhandled msg type 0x%02x (%d): ignored\n",
 728                                    rx_msg_type, rx_msg_type);
 729                         break;
 730                 }
 731
 732                 msg_ptr += rx_msg_size;
 733         }
 734
 735 fail:
 736         if (err)
 737                 pcan_dump_mem("received msg",
 738                               urb->transfer_buffer, urb->actual_length);
 739         return err;
 740 }
 741
 742 /* CAN/CANFD frames encoding callback */
 743 static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev,
 744                                   struct sk_buff *skb, u8 *obuf, size_t *size)
 745 {
 746         struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf;
 747         struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
 748         u16 tx_msg_size, tx_msg_flags;
 749         u8 can_dlc;
 750
 751         if (cfd->len > CANFD_MAX_DLEN)
 752                 return -EINVAL;
 753
 754         tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4);
 755         tx_msg->size = cpu_to_le16(tx_msg_size);
 756         tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
 757
 758         tx_msg_flags = 0;
 759         if (cfd->can_id & CAN_EFF_FLAG) {
 760                 tx_msg_flags |= PUCAN_MSG_EXT_ID;
 761                 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK);
 762         } else {
 763                 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
 764         }
 765
 766         if (can_is_canfd_skb(skb)) {
 767                 /* considering a CANFD frame */
 768                 can_dlc = can_len2dlc(cfd->len);
 769
 770                 tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
 771
 772                 if (cfd->flags & CANFD_BRS)
 773                         tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
 774
 775                 if (cfd->flags & CANFD_ESI)
 776                         tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
 777         } else {
 778                 /* CAND 2.0 frames */
 779                 can_dlc = cfd->len;
 780
 781                 if (cfd->can_id & CAN_RTR_FLAG)
 782                         tx_msg_flags |= PUCAN_MSG_RTR;
 783         }
 784
 785         tx_msg->flags = cpu_to_le16(tx_msg_flags);
 786         tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc);
 787         memcpy(tx_msg->d, cfd->data, cfd->len);
 788
 789         /* add null size message to tag the end (messages are 32-bits aligned)
 790          */
 791         tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
 792
 793         tx_msg->size = 0;
 794
 795         /* set the whole size of the USB packet to send */
 796         *size = tx_msg_size + sizeof(u32);
 797
 798         return 0;
 799 }
 800
 801 /* start the interface (last chance before set bus on) */
 802 static int pcan_usb_fd_start(struct peak_usb_device *dev)
 803 {
 804         struct pcan_usb_fd_device *pdev =
 805                         container_of(dev, struct pcan_usb_fd_device, dev);
 806         int err;
 807
 808         /* set filter mode: all acceptance */
 809         err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
 810         if (err)
 811                 return err;
 812
 813         /* opening first device: */
 814         if (pdev->usb_if->dev_opened_count == 0) {
 815                 /* reset time_ref */
 816                 peak_usb_init_time_ref(&pdev->usb_if->time_ref,
 817                                        &pcan_usb_pro_fd);
 818
 819                 /* enable USB calibration messages */
 820                 err = pcan_usb_fd_set_options(dev, 1,
 821                                               PUCAN_OPTION_ERROR,
 822                                               PCAN_UFD_FLTEXT_CALIBRATION);
 823         }
 824
 825         pdev->usb_if->dev_opened_count++;
 826
 827         /* reset cached error counters */
 828         pdev->bec.txerr = 0;
 829         pdev->bec.rxerr = 0;
 830
 831         return err;
 832 }
 833
 834 /* socket callback used to copy berr counters values receieved through USB */
 835 static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev,
 836                                         struct can_berr_counter *bec)
 837 {
 838         struct peak_usb_device *dev = netdev_priv(netdev);
 839         struct pcan_usb_fd_device *pdev =
 840                         container_of(dev, struct pcan_usb_fd_device, dev);
 841
 842         *bec = pdev->bec;
 843
 844         /* must return 0 */
 845         return 0;
 846 }
 847
 848 /* stop interface (last chance before set bus off) */
 849 static int pcan_usb_fd_stop(struct peak_usb_device *dev)
 850 {
 851         struct pcan_usb_fd_device *pdev =
 852                         container_of(dev, struct pcan_usb_fd_device, dev);
 853
 854         /* turn off special msgs for that interface if no other dev opened */
 855         if (pdev->usb_if->dev_opened_count == 1)
 856                 pcan_usb_fd_set_options(dev, 0,
 857                                         PUCAN_OPTION_ERROR,
 858                                         PCAN_UFD_FLTEXT_CALIBRATION);
 859         pdev->usb_if->dev_opened_count--;
 860
 861         return 0;
 862 }
 863
 864 /* called when probing, to initialize a device object */
 865 static int pcan_usb_fd_init(struct peak_usb_device *dev)
 866 {
 867         struct pcan_usb_fd_device *pdev =
 868                         container_of(dev, struct pcan_usb_fd_device, dev);
 869         int i, err = -ENOMEM;
 870
 871         /* do this for 1st channel only */
 872         if (!dev->prev_siblings) {
 873                 /* allocate netdevices common structure attached to first one */
 874                 pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL);
 875                 if (!pdev->usb_if)
 876                         goto err_out;
 877
 878                 /* allocate command buffer once for all for the interface */
 879                 pdev->cmd_buffer_addr = kzalloc(PCAN_UFD_CMD_BUFFER_SIZE,
 880                                                 GFP_KERNEL);
 881                 if (!pdev->cmd_buffer_addr)
 882                         goto err_out_1;
 883
 884                 /* number of ts msgs to ignore before taking one into account */
 885                 pdev->usb_if->cm_ignore_count = 5;
 886
 887                 err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
 888                                             PCAN_USBPRO_INFO_FW,
 889                                             &pdev->usb_if->fw_info,
 890                                             sizeof(pdev->usb_if->fw_info));
 891                 if (err) {
 892                         dev_err(dev->netdev->dev.parent,
 893                                 "unable to read %s firmware info (err %d)\n",
 894                                 dev->adapter->name, err);
 895                         goto err_out_2;
 896                 }
 897
 898                 /* explicit use of dev_xxx() instead of netdev_xxx() here:
 899                  * information displayed are related to the device itself, not
 900                  * to the canx (channel) device.
 901                  */
 902                 dev_info(dev->netdev->dev.parent,
 903                          "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
 904                          dev->adapter->name, pdev->usb_if->fw_info.hw_version,
 905                          pdev->usb_if->fw_info.fw_version[0],
 906                          pdev->usb_if->fw_info.fw_version[1],
 907                          pdev->usb_if->fw_info.fw_version[2],
 908                          dev->adapter->ctrl_count);
 909
 910                 /* check for ability to switch between ISO/non-ISO modes */
 911                 if (pdev->usb_if->fw_info.fw_version[0] >= 2) {
 912                         /* firmware >= 2.x supports ISO/non-ISO switching */
 913                         dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
 914                 } else {
 915                         /* firmware < 2.x only supports fixed(!) non-ISO */
 916                         dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO;
 917                 }
 918
 919                 /* tell the hardware the can driver is running */
 920                 err = pcan_usb_fd_drv_loaded(dev, 1);
 921                 if (err) {
 922                         dev_err(dev->netdev->dev.parent,
 923                                 "unable to tell %s driver is loaded (err %d)\n",
 924                                 dev->adapter->name, err);
 925                         goto err_out_2;
 926                 }
 927         } else {
 928                 /* otherwise, simply copy previous sibling's values */
 929                 struct pcan_usb_fd_device *ppdev =
 930                         container_of(dev->prev_siblings,
 931                                      struct pcan_usb_fd_device, dev);
 932
 933                 pdev->usb_if = ppdev->usb_if;
 934                 pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
 935
 936                 /* do a copy of the ctrlmode[_supported] too */
 937                 dev->can.ctrlmode = ppdev->dev.can.ctrlmode;
 938                 dev->can.ctrlmode_supported = ppdev->dev.can.ctrlmode_supported;
 939         }
 940
 941         pdev->usb_if->dev[dev->ctrl_idx] = dev;
 942         dev->device_number =
 943                 le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]);
 944
 945         /* set clock domain */
 946         for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++)
 947                 if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i])
 948                         break;
 949
 950         if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
 951                 dev_warn(dev->netdev->dev.parent,
 952                          "incompatible clock frequencies\n");
 953                 err = -EINVAL;
 954                 goto err_out_2;
 955         }
 956
 957         pcan_usb_fd_set_clock_domain(dev, i);
 958
 959         /* set LED in default state (end of init phase) */
 960         pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
 961
 962         return 0;
 963
 964 err_out_2:
 965         kfree(pdev->cmd_buffer_addr);
 966 err_out_1:
 967         kfree(pdev->usb_if);
 968 err_out:
 969         return err;
 970 }
 971
 972 /* called when driver module is being unloaded */
 973 static void pcan_usb_fd_exit(struct peak_usb_device *dev)
 974 {
 975         struct pcan_usb_fd_device *pdev =
 976                         container_of(dev, struct pcan_usb_fd_device, dev);
 977
 978         /* when rmmod called before unplug and if down, should reset things
 979          * before leaving
 980          */
 981         if (dev->can.state != CAN_STATE_STOPPED) {
 982                 /* set bus off on the corresponding channel */
 983                 pcan_usb_fd_set_bus(dev, 0);
 984         }
 985
 986         /* switch off corresponding CAN LEDs */
 987         pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
 988
 989         /* if channel #0 (only) */
 990         if (dev->ctrl_idx == 0) {
 991                 /* turn off calibration message if any device were opened */
 992                 if (pdev->usb_if->dev_opened_count > 0)
 993                         pcan_usb_fd_set_options(dev, 0,
 994                                                 PUCAN_OPTION_ERROR,
 995                                                 PCAN_UFD_FLTEXT_CALIBRATION);
 996
 997                 /* tell USB adapter that the driver is being unloaded */
 998                 pcan_usb_fd_drv_loaded(dev, 0);
 999         }
1000 }
1001
1002 /* called when the USB adapter is unplugged */
1003 static void pcan_usb_fd_free(struct peak_usb_device *dev)
1004 {
1005         /* last device: can free shared objects now */
1006         if (!dev->prev_siblings && !dev->next_siblings) {
1007                 struct pcan_usb_fd_device *pdev =
1008                         container_of(dev, struct pcan_usb_fd_device, dev);
1009
1010                 /* free commands buffer */
1011                 kfree(pdev->cmd_buffer_addr);
1012
1013                 /* free usb interface object */
1014                 kfree(pdev->usb_if);
1015         }
1016 }
1017
1018 /* describes the PCAN-USB FD adapter */
1019 static const struct can_bittiming_const pcan_usb_fd_const = {
1020         .name = "pcan_usb_fd",
1021         .tseg1_min = 1,
1022         .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1023         .tseg2_min = 1,
1024         .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1025         .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1026         .brp_min = 1,
1027         .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1028         .brp_inc = 1,
1029 };
1030
1031 static const struct can_bittiming_const pcan_usb_fd_data_const = {
1032         .name = "pcan_usb_fd",
1033         .tseg1_min = 1,
1034         .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1035         .tseg2_min = 1,
1036         .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1037         .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1038         .brp_min = 1,
1039         .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1040         .brp_inc = 1,
1041 };
1042
1043 const struct peak_usb_adapter pcan_usb_fd = {
1044         .name = "PCAN-USB FD",
1045         .device_id = PCAN_USBFD_PRODUCT_ID,
1046         .ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
1047         .ctrlmode_supported = CAN_CTRLMODE_FD |
1048                         CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1049         .clock = {
1050                 .freq = PCAN_UFD_CRYSTAL_HZ,
1051         },
1052         .bittiming_const = &pcan_usb_fd_const,
1053         .data_bittiming_const = &pcan_usb_fd_data_const,
1054
1055         /* size of device private data */
1056         .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1057
1058         /* timestamps usage */
1059         .ts_used_bits = 32,
1060         .ts_period = 1000000, /* calibration period in ts. */
1061         .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1062         .us_per_ts_shift = 0,
1063
1064         /* give here messages in/out endpoints */
1065         .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1066         .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
1067
1068         /* size of rx/tx usb buffers */
1069         .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1070         .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1071
1072         /* device callbacks */
1073         .intf_probe = pcan_usb_pro_probe,       /* same as PCAN-USB Pro */
1074         .dev_init = pcan_usb_fd_init,
1075
1076         .dev_exit = pcan_usb_fd_exit,
1077         .dev_free = pcan_usb_fd_free,
1078         .dev_set_bus = pcan_usb_fd_set_bus,
1079         .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1080         .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1081         .dev_decode_buf = pcan_usb_fd_decode_buf,
1082         .dev_start = pcan_usb_fd_start,
1083         .dev_stop = pcan_usb_fd_stop,
1084         .dev_restart_async = pcan_usb_fd_restart_async,
1085         .dev_encode_msg = pcan_usb_fd_encode_msg,
1086
1087         .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1088 };
1089
1090 /* describes the PCAN-USB Pro FD adapter */
1091 static const struct can_bittiming_const pcan_usb_pro_fd_const = {
1092         .name = "pcan_usb_pro_fd",
1093         .tseg1_min = 1,
1094         .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1095         .tseg2_min = 1,
1096         .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1097         .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1098         .brp_min = 1,
1099         .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1100         .brp_inc = 1,
1101 };
1102
1103 static const struct can_bittiming_const pcan_usb_pro_fd_data_const = {
1104         .name = "pcan_usb_pro_fd",
1105         .tseg1_min = 1,
1106         .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1107         .tseg2_min = 1,
1108         .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1109         .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1110         .brp_min = 1,
1111         .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1112         .brp_inc = 1,
1113 };
1114
1115 const struct peak_usb_adapter pcan_usb_pro_fd = {
1116         .name = "PCAN-USB Pro FD",
1117         .device_id = PCAN_USBPROFD_PRODUCT_ID,
1118         .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
1119         .ctrlmode_supported = CAN_CTRLMODE_FD |
1120                         CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1121         .clock = {
1122                 .freq = PCAN_UFD_CRYSTAL_HZ,
1123         },
1124         .bittiming_const = &pcan_usb_pro_fd_const,
1125         .data_bittiming_const = &pcan_usb_pro_fd_data_const,
1126
1127         /* size of device private data */
1128         .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1129
1130         /* timestamps usage */
1131         .ts_used_bits = 32,
1132         .ts_period = 1000000, /* calibration period in ts. */
1133         .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1134         .us_per_ts_shift = 0,
1135
1136         /* give here messages in/out endpoints */
1137         .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1138         .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
1139
1140         /* size of rx/tx usb buffers */
1141         .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1142         .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1143
1144         /* device callbacks */
1145         .intf_probe = pcan_usb_pro_probe,       /* same as PCAN-USB Pro */
1146         .dev_init = pcan_usb_fd_init,
1147
1148         .dev_exit = pcan_usb_fd_exit,
1149         .dev_free = pcan_usb_fd_free,
1150         .dev_set_bus = pcan_usb_fd_set_bus,
1151         .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1152         .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1153         .dev_decode_buf = pcan_usb_fd_decode_buf,
1154         .dev_start = pcan_usb_fd_start,
1155         .dev_stop = pcan_usb_fd_stop,
1156         .dev_restart_async = pcan_usb_fd_restart_async,
1157         .dev_encode_msg = pcan_usb_fd_encode_msg,
1158
1159         .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1160 };
1161
1162 /* describes the PCAN-USB X6 adapter */
1163 static const struct can_bittiming_const pcan_usb_x6_const = {
1164         .name = "pcan_usb_x6",
1165         .tseg1_min = 1,
1166         .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1167         .tseg2_min = 1,
1168         .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1169         .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1170         .brp_min = 1,
1171         .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1172         .brp_inc = 1,
1173 };
1174
1175 static const struct can_bittiming_const pcan_usb_x6_data_const = {
1176         .name = "pcan_usb_x6",
1177         .tseg1_min = 1,
1178         .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1179         .tseg2_min = 1,
1180         .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1181         .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1182         .brp_min = 1,
1183         .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
1184         .brp_inc = 1,
1185 };
1186
1187 const struct peak_usb_adapter pcan_usb_x6 = {
1188         .name = "PCAN-USB X6",
1189         .device_id = PCAN_USBX6_PRODUCT_ID,
1190         .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
1191         .ctrlmode_supported = CAN_CTRLMODE_FD |
1192                         CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1193         .clock = {
1194                 .freq = PCAN_UFD_CRYSTAL_HZ,
1195         },
1196         .bittiming_const = &pcan_usb_x6_const,
1197         .data_bittiming_const = &pcan_usb_x6_data_const,
1198
1199         /* size of device private data */
1200         .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1201
1202         /* timestamps usage */
1203         .ts_used_bits = 32,
1204         .ts_period = 1000000, /* calibration period in ts. */
1205         .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1206         .us_per_ts_shift = 0,
1207
1208         /* give here messages in/out endpoints */
1209         .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1210         .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
1211
1212         /* size of rx/tx usb buffers */
1213         .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1214         .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1215
1216         /* device callbacks */
1217         .intf_probe = pcan_usb_pro_probe,       /* same as PCAN-USB Pro */
1218         .dev_init = pcan_usb_fd_init,
1219
1220         .dev_exit = pcan_usb_fd_exit,
1221         .dev_free = pcan_usb_fd_free,
1222         .dev_set_bus = pcan_usb_fd_set_bus,
1223         .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1224         .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1225         .dev_decode_buf = pcan_usb_fd_decode_buf,
1226         .dev_start = pcan_usb_fd_start,
1227         .dev_stop = pcan_usb_fd_stop,
1228         .dev_restart_async = pcan_usb_fd_restart_async,
1229         .dev_encode_msg = pcan_usb_fd_encode_msg,
1230
1231         .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1232 };