2 * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
4 * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
6 * This program is free software; you can redistribute it and/or modify it
7 * under the terms of the GNU General Public License as published
8 * by the Free Software Foundation; version 2 of the License.
10 * This program is distributed in the hope that it will be useful, but
11 * WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 * General Public License for more details.
15 #include <linux/netdevice.h>
16 #include <linux/usb.h>
17 #include <linux/module.h>
19 #include <linux/can.h>
20 #include <linux/can/dev.h>
21 #include <linux/can/error.h>
23 #include "pcan_usb_core.h"
24 #include "pcan_usb_pro.h"
25 #include "pcan_ucan.h"
27 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter");
28 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter");
30 #define PCAN_USBPROFD_CHANNEL_COUNT 2
31 #define PCAN_USBFD_CHANNEL_COUNT 1
33 /* PCAN-USB Pro FD adapter internal clock (Hz) */
34 #define PCAN_UFD_CRYSTAL_HZ 80000000
36 #define PCAN_UFD_CMD_BUFFER_SIZE 512
37 #define PCAN_UFD_LOSPD_PKT_SIZE 64
39 /* PCAN-USB Pro FD command timeout (ms.) */
40 #define PCAN_UFD_CMD_TIMEOUT_MS 1000
42 /* PCAN-USB Pro FD rx/tx buffers size */
43 #define PCAN_UFD_RX_BUFFER_SIZE 2048
44 #define PCAN_UFD_TX_BUFFER_SIZE 512
46 /* read some versions info from the hw devcie */
47 struct __packed pcan_ufd_fw_info {
48 __le16 size_of; /* sizeof this */
49 __le16 type; /* type of this structure */
50 u8 hw_type; /* Type of hardware (HW_TYPE_xxx) */
51 u8 bl_version[3]; /* Bootloader version */
52 u8 hw_version; /* Hardware version (PCB) */
53 u8 fw_version[3]; /* Firmware version */
54 __le32 dev_id[2]; /* "device id" per CAN */
55 __le32 ser_no; /* S/N */
56 __le32 flags; /* special functions */
59 /* handle device specific info used by the netdevices */
60 struct pcan_usb_fd_if {
61 struct peak_usb_device *dev[PCAN_USB_MAX_CHANNEL];
62 struct pcan_ufd_fw_info fw_info;
63 struct peak_time_ref time_ref;
68 /* device information */
69 struct pcan_usb_fd_device {
70 struct peak_usb_device dev;
71 struct can_berr_counter bec;
72 struct pcan_usb_fd_if *usb_if;
76 /* Extended USB commands (non uCAN commands) */
78 /* Clock Modes command */
79 #define PCAN_UFD_CMD_CLK_SET 0x80
81 #define PCAN_UFD_CLK_80MHZ 0x0
82 #define PCAN_UFD_CLK_60MHZ 0x1
83 #define PCAN_UFD_CLK_40MHZ 0x2
84 #define PCAN_UFD_CLK_30MHZ 0x3
85 #define PCAN_UFD_CLK_24MHZ 0x4
86 #define PCAN_UFD_CLK_20MHZ 0x5
87 #define PCAN_UFD_CLK_DEF PCAN_UFD_CLK_80MHZ
89 struct __packed pcan_ufd_clock {
90 __le16 opcode_channel;
96 /* LED control command */
97 #define PCAN_UFD_CMD_LED_SET 0x86
99 #define PCAN_UFD_LED_DEV 0x00
100 #define PCAN_UFD_LED_FAST 0x01
101 #define PCAN_UFD_LED_SLOW 0x02
102 #define PCAN_UFD_LED_ON 0x03
103 #define PCAN_UFD_LED_OFF 0x04
104 #define PCAN_UFD_LED_DEF PCAN_UFD_LED_DEV
106 struct __packed pcan_ufd_led {
107 __le16 opcode_channel;
113 /* Extended usage of uCAN commands CMD_xxx_xx_OPTION for PCAN-USB Pro FD */
114 #define PCAN_UFD_FLTEXT_CALIBRATION 0x8000
116 struct __packed pcan_ufd_options {
117 __le16 opcode_channel;
124 /* Extended usage of uCAN messages for PCAN-USB Pro FD */
125 #define PCAN_UFD_MSG_CALIBRATION 0x100
127 struct __packed pcan_ufd_ts_msg {
132 __le16 usb_frame_index;
136 #define PCAN_UFD_MSG_OVERRUN 0x101
138 #define PCAN_UFD_OVMSG_CHANNEL(o) ((o)->channel & 0xf)
140 struct __packed pcan_ufd_ovr_msg {
149 static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg *om)
151 return om->channel & 0xf;
154 /* Clock mode frequency values */
155 static const u32 pcan_usb_fd_clk_freq[6] = {
156 [PCAN_UFD_CLK_80MHZ] = 80000000,
157 [PCAN_UFD_CLK_60MHZ] = 60000000,
158 [PCAN_UFD_CLK_40MHZ] = 40000000,
159 [PCAN_UFD_CLK_30MHZ] = 30000000,
160 [PCAN_UFD_CLK_24MHZ] = 24000000,
161 [PCAN_UFD_CLK_20MHZ] = 20000000
164 /* return a device USB interface */
166 struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev)
168 struct pcan_usb_fd_device *pdev =
169 container_of(dev, struct pcan_usb_fd_device, dev);
173 /* return a device USB commands buffer */
174 static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev)
176 struct pcan_usb_fd_device *pdev =
177 container_of(dev, struct pcan_usb_fd_device, dev);
178 return pdev->cmd_buffer_addr;
181 /* send PCAN-USB Pro FD commands synchronously */
182 static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail)
184 void *cmd_head = pcan_usb_fd_cmd_buffer(dev);
190 /* usb device unregistered? */
191 if (!(dev->state & PCAN_USB_STATE_CONNECTED))
194 /* if a packet is not filled completely by commands, the command list
195 * is terminated with an "end of collection" record.
197 cmd_len = cmd_tail - cmd_head;
198 if (cmd_len <= (PCAN_UFD_CMD_BUFFER_SIZE - sizeof(u64))) {
199 memset(cmd_tail, 0xff, sizeof(u64));
200 cmd_len += sizeof(u64);
203 packet_ptr = cmd_head;
204 packet_len = cmd_len;
206 /* firmware is not able to re-assemble 512 bytes buffer in full-speed */
207 if (unlikely(dev->udev->speed != USB_SPEED_HIGH))
208 packet_len = min(packet_len, PCAN_UFD_LOSPD_PKT_SIZE);
211 err = usb_bulk_msg(dev->udev,
212 usb_sndbulkpipe(dev->udev,
213 PCAN_USBPRO_EP_CMDOUT),
214 packet_ptr, packet_len,
215 NULL, PCAN_UFD_CMD_TIMEOUT_MS);
217 netdev_err(dev->netdev,
218 "sending command failure: %d\n", err);
222 packet_ptr += packet_len;
223 cmd_len -= packet_len;
225 if (cmd_len < PCAN_UFD_LOSPD_PKT_SIZE)
226 packet_len = cmd_len;
228 } while (packet_len > 0);
233 /* build the commands list in the given buffer, to enter operational mode */
234 static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf)
236 struct pucan_wr_err_cnt *prc;
237 struct pucan_command *cmd;
240 /* 1st, reset error counters: */
241 prc = (struct pucan_wr_err_cnt *)pc;
242 prc->opcode_channel = pucan_cmd_opcode_channel(dev,
243 PUCAN_CMD_WR_ERR_CNT);
245 /* select both counters */
246 prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE);
248 /* and reset their values */
252 /* moves the pointer forward */
253 pc += sizeof(struct pucan_wr_err_cnt);
255 /* add command to switch from ISO to non-ISO mode, if fw allows it */
256 if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) {
257 struct pucan_options *puo = (struct pucan_options *)pc;
259 puo->opcode_channel =
260 (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ?
261 pucan_cmd_opcode_channel(dev,
262 PUCAN_CMD_CLR_DIS_OPTION) :
263 pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION);
265 puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO);
267 /* to be sure that no other extended bits will be taken into
272 /* moves the pointer forward */
273 pc += sizeof(struct pucan_options);
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);
287 /* set CAN bus on/off */
288 static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
290 u8 *pc = pcan_usb_fd_cmd_buffer(dev);
294 /* build the cmds list to enter operational mode */
295 l = pcan_usb_fd_build_restart_cmd(dev, pc);
297 struct pucan_command *cmd = (struct pucan_command *)pc;
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);
305 /* send the command */
306 return pcan_usb_fd_send_cmd(dev, pc + l);
309 /* set filtering masks:
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)
314 * Each bit of this 64 x 32 bits array defines a CANID value:
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.
319 static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
322 struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev);
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;
330 /* select the row (and only the row) otherwise */
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);
342 /* send the command */
343 return pcan_usb_fd_send_cmd(dev, cmd);
348 * onoff set(1)/unset(0) options
349 * mask each bit defines a kind of options to set/unset
351 static int pcan_usb_fd_set_options(struct peak_usb_device *dev,
352 bool onoff, u16 ucan_mask, u16 usb_mask)
354 struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev);
356 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
357 (onoff) ? PUCAN_CMD_SET_EN_OPTION :
358 PUCAN_CMD_CLR_DIS_OPTION);
360 cmd->ucan_mask = cpu_to_le16(ucan_mask);
361 cmd->usb_mask = cpu_to_le16(usb_mask);
363 /* send the command */
364 return pcan_usb_fd_send_cmd(dev, ++cmd);
367 /* setup LED control */
368 static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
370 struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
372 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
373 PCAN_UFD_CMD_LED_SET);
374 cmd->mode = led_mode;
376 /* send the command */
377 return pcan_usb_fd_send_cmd(dev, ++cmd);
380 /* set CAN clock domain */
381 static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
384 struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
386 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
387 PCAN_UFD_CMD_CLK_SET);
388 cmd->mode = clk_mode;
390 /* send the command */
391 return pcan_usb_fd_send_cmd(dev, ++cmd);
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)
398 struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
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);
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));
409 cmd->ewl = 96; /* default */
411 /* send the command */
412 return pcan_usb_fd_send_cmd(dev, ++cmd);
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)
419 struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
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));
428 /* send the command */
429 return pcan_usb_fd_send_cmd(dev, ++cmd);
432 /* handle restart but in asynchronously way
433 * (uses PCAN-USB Pro code to complete asynchronous request)
435 static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
436 struct urb *urb, u8 *buf)
440 /* build the entire cmds list in the provided buffer, to go back into
443 pc += pcan_usb_fd_build_restart_cmd(dev, pc);
446 memset(pc, 0xff, sizeof(struct pucan_command));
447 pc += sizeof(struct pucan_command);
449 /* complete the URB */
450 usb_fill_bulk_urb(urb, dev->udev,
451 usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
453 pcan_usb_pro_restart_complete, dev);
456 return usb_submit_urb(urb, GFP_ATOMIC);
459 static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded)
461 struct pcan_usb_fd_device *pdev =
462 container_of(dev, struct pcan_usb_fd_device, dev);
464 pdev->cmd_buffer_addr[0] = 0;
465 pdev->cmd_buffer_addr[1] = !!loaded;
467 return pcan_usb_pro_send_req(dev,
469 PCAN_USBPRO_FCT_DRVLD,
470 pdev->cmd_buffer_addr,
471 PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
474 static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
475 struct pucan_msg *rx_msg)
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;
482 const u16 rx_msg_flags = le16_to_cpu(rm->flags);
484 if (pucan_msg_get_channel(rm) >= ARRAY_SIZE(usb_if->dev))
487 dev = usb_if->dev[pucan_msg_get_channel(rm)];
488 netdev = dev->netdev;
490 if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
491 /* CANFD frame case */
492 skb = alloc_canfd_skb(netdev, &cfd);
496 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
497 cfd->flags |= CANFD_BRS;
499 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
500 cfd->flags |= CANFD_ESI;
502 cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm)));
504 /* CAN 2.0 frame case */
505 skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
509 cfd->len = get_can_dlc(pucan_msg_get_dlc(rm));
512 cfd->can_id = le32_to_cpu(rm->can_id);
514 if (rx_msg_flags & PUCAN_MSG_EXT_ID)
515 cfd->can_id |= CAN_EFF_FLAG;
517 if (rx_msg_flags & PUCAN_MSG_RTR)
518 cfd->can_id |= CAN_RTR_FLAG;
520 memcpy(cfd->data, rm->d, cfd->len);
522 peak_usb_netif_rx(skb, &usb_if->time_ref,
523 le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
525 netdev->stats.rx_packets++;
526 netdev->stats.rx_bytes += cfd->len;
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)
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;
544 if (pucan_stmsg_get_channel(sm) >= ARRAY_SIZE(usb_if->dev))
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;
551 /* nothing should be sent while in BUS_OFF state */
552 if (dev->can.state == CAN_STATE_BUS_OFF)
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;
562 /* back to (or still in) ERROR_ACTIVE state */
563 new_state = CAN_STATE_ERROR_ACTIVE;
568 /* state hasn't changed */
569 if (new_state == dev->can.state)
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;
576 /* allocate an skb to store the error frame */
577 skb = alloc_can_err_skb(netdev, &cf);
579 can_change_state(netdev, cf, tx_state, rx_state);
581 /* things must be done even in case of OOM */
582 if (new_state == CAN_STATE_BUS_OFF)
588 peak_usb_netif_rx(skb, &usb_if->time_ref,
589 le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high));
591 netdev->stats.rx_packets++;
592 netdev->stats.rx_bytes += cf->can_dlc;
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)
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;
605 if (pucan_ermsg_get_channel(er) >= ARRAY_SIZE(usb_if->dev))
608 dev = usb_if->dev[pucan_ermsg_get_channel(er)];
609 pdev = container_of(dev, struct pcan_usb_fd_device, dev);
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;
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)
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;
628 if (pufd_omsg_get_channel(ov) >= ARRAY_SIZE(usb_if->dev))
631 dev = usb_if->dev[pufd_omsg_get_channel(ov)];
632 netdev = dev->netdev;
634 /* allocate an skb to store the error frame */
635 skb = alloc_can_err_skb(netdev, &cf);
639 cf->can_id |= CAN_ERR_CRTL;
640 cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
642 peak_usb_netif_rx(skb, &usb_if->time_ref,
643 le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
645 netdev->stats.rx_over_errors++;
646 netdev->stats.rx_errors++;
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)
655 struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
657 /* should wait until clock is stabilized */
658 if (usb_if->cm_ignore_count > 0)
659 usb_if->cm_ignore_count--;
661 peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
664 /* callback for bulk IN urb */
665 static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
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;
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;
679 rx_msg = (struct pucan_msg *)msg_ptr;
681 /* null packet found: end of list */
685 rx_msg_size = le16_to_cpu(rx_msg->size);
686 rx_msg_type = le16_to_cpu(rx_msg->type);
688 /* check if the record goes out of current packet */
689 if (msg_ptr + rx_msg_size > msg_end) {
691 "got frag rec: should inc usb rx buf sze\n");
696 switch (rx_msg_type) {
697 case PUCAN_MSG_CAN_RX:
698 err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
703 case PCAN_UFD_MSG_CALIBRATION:
704 pcan_usb_fd_decode_ts(usb_if, rx_msg);
707 case PUCAN_MSG_ERROR:
708 err = pcan_usb_fd_decode_error(usb_if, rx_msg);
713 case PUCAN_MSG_STATUS:
714 err = pcan_usb_fd_decode_status(usb_if, rx_msg);
719 case PCAN_UFD_MSG_OVERRUN:
720 err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
727 "unhandled msg type 0x%02x (%d): ignored\n",
728 rx_msg_type, rx_msg_type);
732 msg_ptr += rx_msg_size;
737 pcan_dump_mem("received msg",
738 urb->transfer_buffer, urb->actual_length);
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)
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;
751 if (cfd->len > CANFD_MAX_DLEN)
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);
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);
763 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
766 if (can_is_canfd_skb(skb)) {
767 /* considering a CANFD frame */
768 can_dlc = can_len2dlc(cfd->len);
770 tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
772 if (cfd->flags & CANFD_BRS)
773 tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
775 if (cfd->flags & CANFD_ESI)
776 tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
778 /* CAND 2.0 frames */
781 if (cfd->can_id & CAN_RTR_FLAG)
782 tx_msg_flags |= PUCAN_MSG_RTR;
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);
789 /* add null size message to tag the end (messages are 32-bits aligned)
791 tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
795 /* set the whole size of the USB packet to send */
796 *size = tx_msg_size + sizeof(u32);
801 /* start the interface (last chance before set bus on) */
802 static int pcan_usb_fd_start(struct peak_usb_device *dev)
804 struct pcan_usb_fd_device *pdev =
805 container_of(dev, struct pcan_usb_fd_device, dev);
808 /* set filter mode: all acceptance */
809 err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
813 /* opening first device: */
814 if (pdev->usb_if->dev_opened_count == 0) {
816 peak_usb_init_time_ref(&pdev->usb_if->time_ref,
819 /* enable USB calibration messages */
820 err = pcan_usb_fd_set_options(dev, 1,
822 PCAN_UFD_FLTEXT_CALIBRATION);
825 pdev->usb_if->dev_opened_count++;
827 /* reset cached error counters */
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)
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);
848 /* stop interface (last chance before set bus off) */
849 static int pcan_usb_fd_stop(struct peak_usb_device *dev)
851 struct pcan_usb_fd_device *pdev =
852 container_of(dev, struct pcan_usb_fd_device, dev);
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,
858 PCAN_UFD_FLTEXT_CALIBRATION);
859 pdev->usb_if->dev_opened_count--;
864 /* called when probing, to initialize a device object */
865 static int pcan_usb_fd_init(struct peak_usb_device *dev)
867 struct pcan_usb_fd_device *pdev =
868 container_of(dev, struct pcan_usb_fd_device, dev);
869 int i, err = -ENOMEM;
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);
878 /* allocate command buffer once for all for the interface */
879 pdev->cmd_buffer_addr = kzalloc(PCAN_UFD_CMD_BUFFER_SIZE,
881 if (!pdev->cmd_buffer_addr)
884 /* number of ts msgs to ignore before taking one into account */
885 pdev->usb_if->cm_ignore_count = 5;
887 err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
889 &pdev->usb_if->fw_info,
890 sizeof(pdev->usb_if->fw_info));
892 dev_err(dev->netdev->dev.parent,
893 "unable to read %s firmware info (err %d)\n",
894 dev->adapter->name, err);
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.
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);
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;
915 /* firmware < 2.x only supports fixed(!) non-ISO */
916 dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO;
919 /* tell the hardware the can driver is running */
920 err = pcan_usb_fd_drv_loaded(dev, 1);
922 dev_err(dev->netdev->dev.parent,
923 "unable to tell %s driver is loaded (err %d)\n",
924 dev->adapter->name, err);
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);
933 pdev->usb_if = ppdev->usb_if;
934 pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
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;
941 pdev->usb_if->dev[dev->ctrl_idx] = dev;
943 le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]);
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])
950 if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
951 dev_warn(dev->netdev->dev.parent,
952 "incompatible clock frequencies\n");
957 pcan_usb_fd_set_clock_domain(dev, i);
959 /* set LED in default state (end of init phase) */
960 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
965 kfree(pdev->cmd_buffer_addr);
972 /* called when driver module is being unloaded */
973 static void pcan_usb_fd_exit(struct peak_usb_device *dev)
975 struct pcan_usb_fd_device *pdev =
976 container_of(dev, struct pcan_usb_fd_device, dev);
978 /* when rmmod called before unplug and if down, should reset things
981 if (dev->can.state != CAN_STATE_STOPPED) {
982 /* set bus off on the corresponding channel */
983 pcan_usb_fd_set_bus(dev, 0);
986 /* switch off corresponding CAN LEDs */
987 pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
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,
995 PCAN_UFD_FLTEXT_CALIBRATION);
997 /* tell USB adapter that the driver is being unloaded */
998 pcan_usb_fd_drv_loaded(dev, 0);
1002 /* called when the USB adapter is unplugged */
1003 static void pcan_usb_fd_free(struct peak_usb_device *dev)
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);
1010 /* free commands buffer */
1011 kfree(pdev->cmd_buffer_addr);
1013 /* free usb interface object */
1014 kfree(pdev->usb_if);
1018 /* describes the PCAN-USB FD adapter */
1019 static const struct can_bittiming_const pcan_usb_fd_const = {
1020 .name = "pcan_usb_fd",
1022 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1024 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1025 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1027 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1031 static const struct can_bittiming_const pcan_usb_fd_data_const = {
1032 .name = "pcan_usb_fd",
1034 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1036 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1037 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1039 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
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,
1050 .freq = PCAN_UFD_CRYSTAL_HZ,
1052 .bittiming_const = &pcan_usb_fd_const,
1053 .data_bittiming_const = &pcan_usb_fd_data_const,
1055 /* size of device private data */
1056 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1058 /* timestamps usage */
1060 .ts_period = 1000000, /* calibration period in ts. */
1061 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1062 .us_per_ts_shift = 0,
1064 /* give here messages in/out endpoints */
1065 .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1066 .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
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,
1072 /* device callbacks */
1073 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1074 .dev_init = pcan_usb_fd_init,
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,
1087 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
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",
1094 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1096 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1097 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1099 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1103 static const struct can_bittiming_const pcan_usb_pro_fd_data_const = {
1104 .name = "pcan_usb_pro_fd",
1106 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1108 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1109 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1111 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
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,
1122 .freq = PCAN_UFD_CRYSTAL_HZ,
1124 .bittiming_const = &pcan_usb_pro_fd_const,
1125 .data_bittiming_const = &pcan_usb_pro_fd_data_const,
1127 /* size of device private data */
1128 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1130 /* timestamps usage */
1132 .ts_period = 1000000, /* calibration period in ts. */
1133 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1134 .us_per_ts_shift = 0,
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},
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,
1144 /* device callbacks */
1145 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1146 .dev_init = pcan_usb_fd_init,
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,
1159 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1162 /* describes the PCAN-USB X6 adapter */
1163 static const struct can_bittiming_const pcan_usb_x6_const = {
1164 .name = "pcan_usb_x6",
1166 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
1168 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
1169 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
1171 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
1175 static const struct can_bittiming_const pcan_usb_x6_data_const = {
1176 .name = "pcan_usb_x6",
1178 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
1180 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
1181 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
1183 .brp_max = (1 << PUCAN_TFAST_BRP_BITS),
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,
1194 .freq = PCAN_UFD_CRYSTAL_HZ,
1196 .bittiming_const = &pcan_usb_x6_const,
1197 .data_bittiming_const = &pcan_usb_x6_data_const,
1199 /* size of device private data */
1200 .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1202 /* timestamps usage */
1204 .ts_period = 1000000, /* calibration period in ts. */
1205 .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1206 .us_per_ts_shift = 0,
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},
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,
1216 /* device callbacks */
1217 .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
1218 .dev_init = pcan_usb_fd_init,
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,
1231 .do_get_berr_counter = pcan_usb_fd_get_berr_counter,