[PATCH v6 7/7] can: kvaser_usb: Add support for the USBcan-II family

Ahmed S. Darwish
2015-01-26T05:33:10Z

From: Ahmed S. Darwish <ahmed.darwish@valeo.com>

CAN to USB interfaces sold by the Swedish manufacturer Kvaser are
divided into two major families: 'Leaf', and 'USBcanII'. From an
Operating System perspective, the firmware of both families behave
in a not too drastically different fashion.

This patch adds support for the USBcanII family of devices to the
current Kvaser Leaf-only driver.

CAN frames sending, receiving, and error handling paths has been
tested using the dual-channel "Kvaser USBcan II HS/LS" dongle. It
should also work nicely with other products in the same category.

List of new devices supported by this driver update:

- Kvaser USBcan II HS/HS
- Kvaser USBcan II HS/LS
- Kvaser USBcan Rugged ("USBcan Rev B")
- Kvaser Memorator HS/HS
- Kvaser Memorator HS/LS
- Scania VCI2 (if you have the Kvaser logo on top)

Signed-off-by: Ahmed S. Darwish <ahmed.darwish@valeo.com>
---
drivers/net/can/usb/Kconfig | 8 +-
drivers/net/can/usb/kvaser_usb.c | 590 ++++++++++++++++++++++++++++++--------
2 files changed, 474 insertions(+), 124 deletions(-)

** V6 Changelog:
- Revert to the error-active state if the error counters were
decreased by hardware
- Rebase over a new set of upstream Leaf-driver bugfixes

** V5 Changelog:
- Rebase on the new CAN error state changes added for the Leaf driver
- Add minor changes (remove unused commands, constify poniters, etc.)

** V4 Changelog:
- Use type-safe C methods instead of cpp macros
- Remove defensive checks against non-existing families
- Re-order methods to remove forward declarations
- Smaller stuff spotted by earlier review (function prefexes, etc.)

** V3 Changelog:
- Fix padding for the usbcan_msg_tx_acknowledge command
- Remove kvaser_usb->max_channels and the MAX_NET_DEVICES macro
- Rename commands to CMD_LEAF_xxx and CMD_USBCAN_xxx
- Apply checkpatch.pl suggestions ('net/' comments, multi-line strings, etc.)

** V2 Changelog:
- Update Kconfig entries
- Use actual number of CAN channels (instead of max) where appropriate
- Rebase over a new set of UsbcanII-independent driver fixes

diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index a77db919..f6f5500 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -25,7 +25,7 @@ config CAN_KVASER_USB
tristate "Kvaser CAN/USB interface"
---help---
This driver adds support for Kvaser CAN/USB devices like Kvaser
- Leaf Light.
+ Leaf Light and Kvaser USBcan II.

The driver provides support for the following devices:
- Kvaser Leaf Light
@@ -46,6 +46,12 @@ config CAN_KVASER_USB
- Kvaser USBcan R
- Kvaser Leaf Light v2
- Kvaser Mini PCI Express HS
+ - Kvaser USBcan II HS/HS
+ - Kvaser USBcan II HS/LS
+ - Kvaser USBcan Rugged ("USBcan Rev B")
+ - Kvaser Memorator HS/HS
+ - Kvaser Memorator HS/LS
+ - Scania VCI2 (if you have the Kvaser logo on top)

If unsure, say N.

diff --git a/drivers/net/can/usb/kvaser_usb.c b/drivers/net/can/usb/kvaser_usb.c
index ddc2954..17d28d7 100644
--- a/drivers/net/can/usb/kvaser_usb.c
+++ b/drivers/net/can/usb/kvaser_usb.c
@@ -6,10 +6,12 @@
* Parts of this driver are based on the following:
* - Kvaser linux leaf driver (version 4.78)
* - CAN driver for esd CAN-USB/2
+ * - Kvaser linux usbcanII driver (version 5.3)
*
* Copyright (C) 2002-2006 KVASER AB, Sweden. All rights reserved.
* Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
* Copyright (C) 2012 Olivier Sobrie <olivier@sobrie.be>
+ * Copyright (C) 2015 Valeo A.S.
*/

#include <linux/completion.h>
@@ -30,8 +32,9 @@
#define RX_BUFFER_SIZE 3072
#define CAN_USB_CLOCK 8000000
#define MAX_NET_DEVICES 3
+#define MAX_USBCAN_NET_DEVICES 2

-/* Kvaser USB devices */
+/* Kvaser Leaf USB devices */
#define KVASER_VENDOR_ID 0x0bfd
#define USB_LEAF_DEVEL_PRODUCT_ID 10
#define USB_LEAF_LITE_PRODUCT_ID 11
@@ -56,6 +59,24 @@
#define USB_LEAF_LITE_V2_PRODUCT_ID 288
#define USB_MINI_PCIE_HS_PRODUCT_ID 289

+static inline bool kvaser_is_leaf(const struct usb_device_id *id)
+{
+ return id->idProduct >= USB_LEAF_DEVEL_PRODUCT_ID &&
+ id->idProduct <= USB_MINI_PCIE_HS_PRODUCT_ID;
+}
+
+/* Kvaser USBCan-II devices */
+#define USB_USBCAN_REVB_PRODUCT_ID 2
+#define USB_VCI2_PRODUCT_ID 3
+#define USB_USBCAN2_PRODUCT_ID 4
+#define USB_MEMORATOR_PRODUCT_ID 5
+
+static inline bool kvaser_is_usbcan(const struct usb_device_id *id)
+{
+ return id->idProduct >= USB_USBCAN_REVB_PRODUCT_ID &&
+ id->idProduct <= USB_MEMORATOR_PRODUCT_ID;
+}
+
/* USB devices features */
#define KVASER_HAS_SILENT_MODE BIT(0)
#define KVASER_HAS_TXRX_ERRORS BIT(1)
@@ -73,7 +94,7 @@
#define MSG_FLAG_TX_ACK BIT(6)
#define MSG_FLAG_TX_REQUEST BIT(7)

-/* Can states */
+/* Can states (M16C CxSTRH register) */
#define M16C_STATE_BUS_RESET BIT(0)
#define M16C_STATE_BUS_ERROR BIT(4)
#define M16C_STATE_BUS_PASSIVE BIT(5)
@@ -98,7 +119,11 @@
#define CMD_START_CHIP_REPLY 27
#define CMD_STOP_CHIP 28
#define CMD_STOP_CHIP_REPLY 29
-#define CMD_GET_CARD_INFO2 32
+
+#define CMD_LEAF_GET_CARD_INFO2 32
+#define CMD_USBCAN_RESET_CLOCK 32
+#define CMD_USBCAN_CLOCK_OVERFLOW_EVENT 33
+
#define CMD_GET_CARD_INFO 34
#define CMD_GET_CARD_INFO_REPLY 35
#define CMD_GET_SOFTWARE_INFO 38
@@ -108,8 +133,9 @@
#define CMD_RESET_ERROR_COUNTER 49
#define CMD_TX_ACKNOWLEDGE 50
#define CMD_CAN_ERROR_EVENT 51
-#define CMD_USB_THROTTLE 77
-#define CMD_LOG_MESSAGE 106
+
+#define CMD_LEAF_USB_THROTTLE 77
+#define CMD_LEAF_LOG_MESSAGE 106

/* error factors */
#define M16C_EF_ACKE BIT(0)
@@ -121,6 +147,14 @@
#define M16C_EF_RCVE BIT(6)
#define M16C_EF_TRE BIT(7)

+/* Only Leaf-based devices can report M16C error factors,
+ * thus define our own error status flags for USBCANII
+ */
+#define USBCAN_ERROR_STATE_NONE 0
+#define USBCAN_ERROR_STATE_TX_ERROR BIT(0)
+#define USBCAN_ERROR_STATE_RX_ERROR BIT(1)
+#define USBCAN_ERROR_STATE_BUSERROR BIT(2)
+
/* bittiming parameters */
#define KVASER_USB_TSEG1_MIN 1
#define KVASER_USB_TSEG1_MAX 16
@@ -137,9 +171,18 @@
#define KVASER_CTRL_MODE_SELFRECEPTION 3
#define KVASER_CTRL_MODE_OFF 4

-/* log message */
+/* Extended CAN identifier flag */
#define KVASER_EXTENDED_FRAME BIT(31)

+/* Kvaser USB CAN dongles are divided into two major families:
+ * - Leaf: Based on Renesas M32C, running firmware labeled as 'filo'
+ * - UsbcanII: Based on Renesas M16C, running firmware labeled as 'helios'
+ */
+enum kvaser_usb_family {
+ KVASER_LEAF,
+ KVASER_USBCAN,
+};
+
struct kvaser_msg_simple {
u8 tid;
u8 channel;
@@ -148,30 +191,55 @@ struct kvaser_msg_simple {
struct kvaser_msg_cardinfo {
u8 tid;
u8 nchannels;
- __le32 serial_number;
- __le32 padding;
+ union {
+ struct {
+ __le32 serial_number;
+ __le32 padding;
+ } __packed leaf0;
+ struct {
+ __le32 serial_number_low;
+ __le32 serial_number_high;
+ } __packed usbcan0;
+ } __packed;
__le32 clock_resolution;
__le32 mfgdate;
u8 ean[8];
u8 hw_revision;
- u8 usb_hs_mode;
- __le16 padding2;
+ union {
+ struct {
+ u8 usb_hs_mode;
+ } __packed leaf1;
+ struct {
+ u8 padding;
+ } __packed usbcan1;
+ } __packed;
+ __le16 padding;
} __packed;

struct kvaser_msg_cardinfo2 {
u8 tid;
- u8 channel;
+ u8 reserved;
u8 pcb_id[24];
__le32 oem_unlock_code;
} __packed;

-struct kvaser_msg_softinfo {
+struct leaf_msg_softinfo {
u8 tid;
- u8 channel;
+ u8 padding0;
__le32 sw_options;
__le32 fw_version;
__le16 max_outstanding_tx;
- __le16 padding[9];
+ __le16 padding1[9];
+} __packed;
+
+struct usbcan_msg_softinfo {
+ u8 tid;
+ u8 fw_name[5];
+ __le16 max_outstanding_tx;
+ u8 padding[6];
+ __le32 fw_version;
+ __le16 checksum;
+ __le16 sw_options;
} __packed;

struct kvaser_msg_busparams {
@@ -188,36 +256,86 @@ struct kvaser_msg_tx_can {
u8 channel;
u8 tid;
u8 msg[14];
- u8 padding;
- u8 flags;
+ union {
+ struct {
+ u8 padding;
+ u8 flags;
+ } __packed leaf;
+ struct {
+ u8 flags;
+ u8 padding;
+ } __packed usbcan;
+ } __packed;
+} __packed;
+
+struct kvaser_msg_rx_can_header {
+ u8 channel;
+ u8 flag;
} __packed;

-struct kvaser_msg_rx_can {
+struct leaf_msg_rx_can {
u8 channel;
u8 flag;
+
__le16 time[3];
u8 msg[14];
} __packed;

-struct kvaser_msg_chip_state_event {
+struct usbcan_msg_rx_can {
+ u8 channel;
+ u8 flag;
+
+ u8 msg[14];
+ __le16 time;
+} __packed;
+
+struct leaf_msg_chip_state_event {
u8 tid;
u8 channel;
+
__le16 time[3];
u8 tx_errors_count;
u8 rx_errors_count;
+
+ u8 status;
+ u8 padding[3];
+} __packed;
+
+struct usbcan_msg_chip_state_event {
+ u8 tid;
+ u8 channel;
+
+ u8 tx_errors_count;
+ u8 rx_errors_count;
+ __le16 time;
+
u8 status;
u8 padding[3];
} __packed;

-struct kvaser_msg_tx_acknowledge {
+struct kvaser_msg_tx_acknowledge_header {
u8 channel;
u8 tid;
+} __packed;
+
+struct leaf_msg_tx_acknowledge {
+ u8 channel;
+ u8 tid;
+
__le16 time[3];
u8 flags;
u8 time_offset;
} __packed;

-struct kvaser_msg_error_event {
+struct usbcan_msg_tx_acknowledge {
+ u8 channel;
+ u8 tid;
+
+ __le16 time;
+ __le16 padding;
+} __packed;
+
+struct leaf_msg_error_event {
u8 tid;
u8 flags;
__le16 time[3];
@@ -229,6 +347,18 @@ struct kvaser_msg_error_event {
u8 error_factor;
} __packed;

+struct usbcan_msg_error_event {
+ u8 tid;
+ u8 padding;
+ u8 tx_errors_count_ch0;
+ u8 rx_errors_count_ch0;
+ u8 tx_errors_count_ch1;
+ u8 rx_errors_count_ch1;
+ u8 status_ch0;
+ u8 status_ch1;
+ __le16 time;
+} __packed;
+
struct kvaser_msg_ctrl_mode {
u8 tid;
u8 channel;
@@ -243,7 +373,7 @@ struct kvaser_msg_flush_queue {
u8 padding[3];
} __packed;

-struct kvaser_msg_log_message {
+struct leaf_msg_log_message {
u8 channel;
u8 flags;
__le16 time[3];
@@ -260,21 +390,55 @@ struct kvaser_msg {
struct kvaser_msg_simple simple;
struct kvaser_msg_cardinfo cardinfo;
struct kvaser_msg_cardinfo2 cardinfo2;
- struct kvaser_msg_softinfo softinfo;
struct kvaser_msg_busparams busparams;
+
+ struct kvaser_msg_rx_can_header rx_can_header;
+ struct kvaser_msg_tx_acknowledge_header tx_acknowledge_header;
+
+ union {
+ struct leaf_msg_softinfo softinfo;
+ struct leaf_msg_rx_can rx_can;
+ struct leaf_msg_chip_state_event chip_state_event;
+ struct leaf_msg_tx_acknowledge tx_acknowledge;
+ struct leaf_msg_error_event error_event;
+ struct leaf_msg_log_message log_message;
+ } __packed leaf;
+
+ union {
+ struct usbcan_msg_softinfo softinfo;
+ struct usbcan_msg_rx_can rx_can;
+ struct usbcan_msg_chip_state_event chip_state_event;
+ struct usbcan_msg_tx_acknowledge tx_acknowledge;
+ struct usbcan_msg_error_event error_event;
+ } __packed usbcan;
+
struct kvaser_msg_tx_can tx_can;
- struct kvaser_msg_rx_can rx_can;
- struct kvaser_msg_chip_state_event chip_state_event;
- struct kvaser_msg_tx_acknowledge tx_acknowledge;
- struct kvaser_msg_error_event error_event;
struct kvaser_msg_ctrl_mode ctrl_mode;
struct kvaser_msg_flush_queue flush_queue;
- struct kvaser_msg_log_message log_message;
} u;
} __packed;

+/* Summary of a kvaser error event, for a unified Leaf/Usbcan error
+ * handling. Some discrepancies between the two families exist:
+ *
+ * - USBCAN firmware does not report M16C "error factors"
+ * - USBCAN controllers has difficulties reporting if the raised error
+ * event is for ch0 or ch1. They leave such arbitration to the OS
+ * driver by letting it compare error counters with previous values
+ * and decide the error event's channel. Thus for USBCAN, the channel
+ * field is only advisory.
+ */
struct kvaser_usb_error_summary {
- u8 channel, status, txerr, rxerr, error_factor;
+ u8 channel, status, txerr, rxerr;
+ union {
+ struct {
+ u8 error_factor;
+ } leaf;
+ struct {
+ u8 other_ch_status;
+ u8 error_state;
+ } usbcan;
+ };
};

struct kvaser_usb_tx_urb_context {
@@ -292,6 +456,7 @@ struct kvaser_usb {

u32 fw_version;
unsigned int nchannels;
+ enum kvaser_usb_family family;

bool rxinitdone;
void *rxbuf[MAX_RX_URBS];
@@ -315,6 +480,7 @@ struct kvaser_usb_net_priv {
};

static const struct usb_device_id kvaser_usb_table[] = {
+ /* Leaf family IDs */
{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_DEVEL_PRODUCT_ID) },
{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_PRODUCT_ID) },
{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_PRODUCT_ID),
@@ -364,6 +530,17 @@ static const struct usb_device_id kvaser_usb_table[] = {
.driver_info = KVASER_HAS_TXRX_ERRORS },
{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_V2_PRODUCT_ID) },
{ USB_DEVICE(KVASER_VENDOR_ID, USB_MINI_PCIE_HS_PRODUCT_ID) },
+
+ /* USBCANII family IDs */
+ { USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN2_PRODUCT_ID),
+ .driver_info = KVASER_HAS_TXRX_ERRORS },
+ { USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN_REVB_PRODUCT_ID),
+ .driver_info = KVASER_HAS_TXRX_ERRORS },
+ { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMORATOR_PRODUCT_ID),
+ .driver_info = KVASER_HAS_TXRX_ERRORS },
+ { USB_DEVICE(KVASER_VENDOR_ID, USB_VCI2_PRODUCT_ID),
+ .driver_info = KVASER_HAS_TXRX_ERRORS },
+
{ }
};
MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
@@ -467,7 +644,14 @@ static int kvaser_usb_get_software_info(struct kvaser_usb *dev)
if (err)
return err;

- dev->fw_version = le32_to_cpu(msg.u.softinfo.fw_version);
+ switch (dev->family) {
+ case KVASER_LEAF:
+ dev->fw_version = le32_to_cpu(msg.u.leaf.softinfo.fw_version);
+ break;
+ case KVASER_USBCAN:
+ dev->fw_version = le32_to_cpu(msg.u.usbcan.softinfo.fw_version);
+ break;
+ }

return 0;
}
@@ -486,7 +670,9 @@ static int kvaser_usb_get_card_info(struct kvaser_usb *dev)
return err;

dev->nchannels = msg.u.cardinfo.nchannels;
- if (dev->nchannels > MAX_NET_DEVICES)
+ if ((dev->nchannels > MAX_NET_DEVICES) ||
+ (dev->family == KVASER_USBCAN &&
+ dev->nchannels > MAX_USBCAN_NET_DEVICES))
return -EINVAL;

return 0;
@@ -500,8 +686,10 @@ static void kvaser_usb_tx_acknowledge(const struct kvaser_usb *dev,
struct kvaser_usb_net_priv *priv;
struct sk_buff *skb;
struct can_frame *cf;
- u8 channel = msg->u.tx_acknowledge.channel;
- u8 tid = msg->u.tx_acknowledge.tid;
+ u8 channel, tid;
+
+ channel = msg->u.tx_acknowledge_header.channel;
+ tid = msg->u.tx_acknowledge_header.tid;

if (channel >= dev->nchannels) {
dev_err(dev->udev->dev.parent,
@@ -623,12 +811,12 @@ static void kvaser_usb_rx_error_update_can_state(struct kvaser_usb_net_priv *pri
const struct kvaser_usb_error_summary *es,
struct can_frame *cf)
{
- struct net_device_stats *stats;
+ struct kvaser_usb *dev = priv->dev;
+ struct net_device_stats *stats = &priv->netdev->stats;
enum can_state cur_state, new_state, tx_state, rx_state;

netdev_dbg(priv->netdev, "Error status: 0x%02x\n", es->status);

- stats = &priv->netdev->stats;
new_state = cur_state = priv->can.state;

if (es->status & (M16C_STATE_BUS_OFF | M16C_STATE_BUS_RESET))
@@ -662,9 +850,22 @@ static void kvaser_usb_rx_error_update_can_state(struct kvaser_usb_net_priv *pri
priv->can.can_stats.restarts++;
}

- if (es->error_factor) {
- priv->can.can_stats.bus_error++;
- stats->rx_errors++;
+ switch (dev->family) {
+ case KVASER_LEAF:
+ if (es->leaf.error_factor) {
+ priv->can.can_stats.bus_error++;
+ stats->rx_errors++;
+ }
+ break;
+ case KVASER_USBCAN:
+ if (es->usbcan.error_state & USBCAN_ERROR_STATE_TX_ERROR)
+ stats->tx_errors++;
+ if (es->usbcan.error_state & USBCAN_ERROR_STATE_RX_ERROR)
+ stats->rx_errors++;
+ if (es->usbcan.error_state & USBCAN_ERROR_STATE_BUSERROR) {
+ priv->can.can_stats.bus_error++;
+ }
+ break;
}

priv->bec.txerr = es->txerr;
@@ -672,50 +873,21 @@ static void kvaser_usb_rx_error_update_can_state(struct kvaser_usb_net_priv *pri
}

static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
- const struct kvaser_msg *msg)
+ const struct kvaser_usb_error_summary *es)
{
struct can_frame *cf, tmp_cf = { .can_id = CAN_ERR_FLAG, .can_dlc = CAN_ERR_DLC };
struct sk_buff *skb;
struct net_device_stats *stats;
struct kvaser_usb_net_priv *priv;
- struct kvaser_usb_error_summary es = { };
enum can_state old_state, new_state;

- switch (msg->id) {
- case CMD_CAN_ERROR_EVENT:
- es.channel = msg->u.error_event.channel;
- es.status = msg->u.error_event.status;
- es.txerr = msg->u.error_event.tx_errors_count;
- es.rxerr = msg->u.error_event.rx_errors_count;
- es.error_factor = msg->u.error_event.error_factor;
- break;
- case CMD_LOG_MESSAGE:
- es.channel = msg->u.log_message.channel;
- es.status = msg->u.log_message.data[0];
- es.txerr = msg->u.log_message.data[2];
- es.rxerr = msg->u.log_message.data[3];
- es.error_factor = msg->u.log_message.data[1];
- break;
- case CMD_CHIP_STATE_EVENT:
- es.channel = msg->u.chip_state_event.channel;
- es.status = msg->u.chip_state_event.status;
- es.txerr = msg->u.chip_state_event.tx_errors_count;
- es.rxerr = msg->u.chip_state_event.rx_errors_count;
- es.error_factor = 0;
- break;
- default:
- dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
- msg->id);
- return;
- }
-
- if (es.channel >= dev->nchannels) {
+ if (es->channel >= dev->nchannels) {
dev_err(dev->udev->dev.parent,
- "Invalid channel number (%d)\n", es.channel);
+ "Invalid channel number (%d)\n", es->channel);
return;
}

- priv = dev->nets[es.channel];
+ priv = dev->nets[es->channel];
stats = &priv->netdev->stats;

/* Update all of the can interface's state and error counters before
@@ -729,7 +901,7 @@ static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
* frame ID and data to userspace. Remove stack allocation afterwards.
*/
old_state = priv->can.state;
- kvaser_usb_rx_error_update_can_state(priv, &es, &tmp_cf);
+ kvaser_usb_rx_error_update_can_state(priv, es, &tmp_cf);
new_state = priv->can.state;

skb = alloc_can_err_skb(priv->netdev, &cf);
@@ -740,7 +912,7 @@ static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
memcpy(cf, &tmp_cf, sizeof(*cf));

if (new_state != old_state) {
- if (es.status &
+ if (es->status &
(M16C_STATE_BUS_OFF | M16C_STATE_BUS_RESET)) {
if (!priv->can.restart_ms)
kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);
@@ -755,34 +927,161 @@ static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
}
}

- if (es.error_factor) {
- cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
-
- if (es.error_factor & M16C_EF_ACKE)
- cf->data[3] |= (CAN_ERR_PROT_LOC_ACK);
- if (es.error_factor & M16C_EF_CRCE)
- cf->data[3] |= (CAN_ERR_PROT_LOC_CRC_SEQ |
- CAN_ERR_PROT_LOC_CRC_DEL);
- if (es.error_factor & M16C_EF_FORME)
- cf->data[2] |= CAN_ERR_PROT_FORM;
- if (es.error_factor & M16C_EF_STFE)
- cf->data[2] |= CAN_ERR_PROT_STUFF;
- if (es.error_factor & M16C_EF_BITE0)
- cf->data[2] |= CAN_ERR_PROT_BIT0;
- if (es.error_factor & M16C_EF_BITE1)
- cf->data[2] |= CAN_ERR_PROT_BIT1;
- if (es.error_factor & M16C_EF_TRE)
- cf->data[2] |= CAN_ERR_PROT_TX;
+ switch (dev->family) {
+ case KVASER_LEAF:
+ if (es->leaf.error_factor) {
+ cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
+
+ if (es->leaf.error_factor & M16C_EF_ACKE)
+ cf->data[3] |= (CAN_ERR_PROT_LOC_ACK);
+ if (es->leaf.error_factor & M16C_EF_CRCE)
+ cf->data[3] |= (CAN_ERR_PROT_LOC_CRC_SEQ |
+ CAN_ERR_PROT_LOC_CRC_DEL);
+ if (es->leaf.error_factor & M16C_EF_FORME)
+ cf->data[2] |= CAN_ERR_PROT_FORM;
+ if (es->leaf.error_factor & M16C_EF_STFE)
+ cf->data[2] |= CAN_ERR_PROT_STUFF;
+ if (es->leaf.error_factor & M16C_EF_BITE0)
+ cf->data[2] |= CAN_ERR_PROT_BIT0;
+ if (es->leaf.error_factor & M16C_EF_BITE1)
+ cf->data[2] |= CAN_ERR_PROT_BIT1;
+ if (es->leaf.error_factor & M16C_EF_TRE)
+ cf->data[2] |= CAN_ERR_PROT_TX;
+ }
+ break;
+ case KVASER_USBCAN:
+ if (es->usbcan.error_state & USBCAN_ERROR_STATE_BUSERROR) {
+ cf->can_id |= CAN_ERR_BUSERROR;
+ }
+ break;
}

- cf->data[6] = es.txerr;
- cf->data[7] = es.rxerr;
+ cf->data[6] = es->txerr;
+ cf->data[7] = es->rxerr;

stats->rx_packets++;
stats->rx_bytes += cf->can_dlc;
netif_rx(skb);
}

+/* For USBCAN, report error to userspace iff the channels's errors counter
+ * has changed, or we're the only channel seeing a bus error state.
+ */
+static void kvaser_usbcan_conditionally_rx_error(const struct kvaser_usb *dev,
+ struct kvaser_usb_error_summary *es)
+{
+ struct kvaser_usb_net_priv *priv;
+ int channel;
+ bool report_error;
+
+ channel = es->channel;
+ if (channel >= dev->nchannels) {
+ dev_err(dev->udev->dev.parent,
+ "Invalid channel number (%d)\n", channel);
+ return;
+ }
+
+ priv = dev->nets[channel];
+ report_error = false;
+
+ if (es->txerr != priv->bec.txerr) {
+ es->usbcan.error_state |= USBCAN_ERROR_STATE_TX_ERROR;
+ report_error = true;
+ }
+ if (es->rxerr != priv->bec.rxerr) {
+ es->usbcan.error_state |= USBCAN_ERROR_STATE_RX_ERROR;
+ report_error = true;
+ }
+ if ((es->status & M16C_STATE_BUS_ERROR) &&
+ !(es->usbcan.other_ch_status & M16C_STATE_BUS_ERROR)) {
+ es->usbcan.error_state |= USBCAN_ERROR_STATE_BUSERROR;
+ report_error = true;
+ }
+
+ if (report_error)
+ kvaser_usb_rx_error(dev, es);
+}
+
+static void kvaser_usbcan_rx_error(const struct kvaser_usb *dev,
+ const struct kvaser_msg *msg)
+{
+ struct kvaser_usb_error_summary es = { };
+
+ switch (msg->id) {
+ /* Sometimes errors are sent as unsolicited chip state events */
+ case CMD_CHIP_STATE_EVENT:
+ es.channel = msg->u.usbcan.chip_state_event.channel;
+ es.status = msg->u.usbcan.chip_state_event.status;
+ es.txerr = msg->u.usbcan.chip_state_event.tx_errors_count;
+ es.rxerr = msg->u.usbcan.chip_state_event.rx_errors_count;
+ kvaser_usbcan_conditionally_rx_error(dev, &es);
+ break;
+
+ case CMD_CAN_ERROR_EVENT:
+ es.channel = 0;
+ es.status = msg->u.usbcan.error_event.status_ch0;
+ es.txerr = msg->u.usbcan.error_event.tx_errors_count_ch0;
+ es.rxerr = msg->u.usbcan.error_event.rx_errors_count_ch0;
+ es.usbcan.other_ch_status =
+ msg->u.usbcan.error_event.status_ch1;
+ kvaser_usbcan_conditionally_rx_error(dev, &es);
+
+ /* The USBCAN firmware supports up to 2 channels.
+ * Now that ch0 was checked, check if ch1 has any errors.
+ */
+ if (dev->nchannels == MAX_USBCAN_NET_DEVICES) {
+ es.channel = 1;
+ es.status = msg->u.usbcan.error_event.status_ch1;
+ es.txerr = msg->u.usbcan.error_event.tx_errors_count_ch1;
+ es.rxerr = msg->u.usbcan.error_event.rx_errors_count_ch1;
+ es.usbcan.other_ch_status =
+ msg->u.usbcan.error_event.status_ch0;
+ kvaser_usbcan_conditionally_rx_error(dev, &es);
+ }
+ break;
+
+ default:
+ dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
+ msg->id);
+ }
+}
+
+static void kvaser_leaf_rx_error(const struct kvaser_usb *dev,
+ const struct kvaser_msg *msg)
+{
+ struct kvaser_usb_error_summary es = { };
+
+ switch (msg->id) {
+ case CMD_CAN_ERROR_EVENT:
+ es.channel = msg->u.leaf.error_event.channel;
+ es.status = msg->u.leaf.error_event.status;
+ es.txerr = msg->u.leaf.error_event.tx_errors_count;
+ es.rxerr = msg->u.leaf.error_event.rx_errors_count;
+ es.leaf.error_factor = msg->u.leaf.error_event.error_factor;
+ break;
+ case CMD_LEAF_LOG_MESSAGE:
+ es.channel = msg->u.leaf.log_message.channel;
+ es.status = msg->u.leaf.log_message.data[0];
+ es.txerr = msg->u.leaf.log_message.data[2];
+ es.rxerr = msg->u.leaf.log_message.data[3];
+ es.leaf.error_factor = msg->u.leaf.log_message.data[1];
+ break;
+ case CMD_CHIP_STATE_EVENT:
+ es.channel = msg->u.leaf.chip_state_event.channel;
+ es.status = msg->u.leaf.chip_state_event.status;
+ es.txerr = msg->u.leaf.chip_state_event.tx_errors_count;
+ es.rxerr = msg->u.leaf.chip_state_event.rx_errors_count;
+ es.leaf.error_factor = 0;
+ break;
+ default:
+ dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
+ msg->id);
+ return;
+ }
+
+ kvaser_usb_rx_error(dev, &es);
+}
+
static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
const struct kvaser_msg *msg)
{
@@ -790,16 +1089,16 @@ static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
struct sk_buff *skb;
struct net_device_stats *stats = &priv->netdev->stats;

- if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
+ if (msg->u.rx_can_header.flag & (MSG_FLAG_ERROR_FRAME |
MSG_FLAG_NERR)) {
netdev_err(priv->netdev, "Unknow error (flags: 0x%02x)\n",
- msg->u.rx_can.flag);
+ msg->u.rx_can_header.flag);

stats->rx_errors++;
return;
}

- if (msg->u.rx_can.flag & MSG_FLAG_OVERRUN) {
+ if (msg->u.rx_can_header.flag & MSG_FLAG_OVERRUN) {
stats->rx_over_errors++;
stats->rx_errors++;

@@ -825,7 +1124,8 @@ static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
struct can_frame *cf;
struct sk_buff *skb;
struct net_device_stats *stats;
- u8 channel = msg->u.rx_can.channel;
+ u8 channel = msg->u.rx_can_header.channel;
+ const u8 *rx_msg = NULL; /* GCC */

if (channel >= dev->nchannels) {
dev_err(dev->udev->dev.parent,
@@ -836,60 +1136,68 @@ static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
priv = dev->nets[channel];
stats = &priv->netdev->stats;

- if ((msg->u.rx_can.flag & MSG_FLAG_ERROR_FRAME) &&
- (msg->id == CMD_LOG_MESSAGE)) {
- kvaser_usb_rx_error(dev, msg);
+ if ((msg->u.rx_can_header.flag & MSG_FLAG_ERROR_FRAME) &&
+ (dev->family == KVASER_LEAF && msg->id == CMD_LEAF_LOG_MESSAGE)) {
+ kvaser_leaf_rx_error(dev, msg);
return;
- } else if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
- MSG_FLAG_NERR |
- MSG_FLAG_OVERRUN)) {
+ } else if (msg->u.rx_can_header.flag & (MSG_FLAG_ERROR_FRAME |
+ MSG_FLAG_NERR |
+ MSG_FLAG_OVERRUN)) {
kvaser_usb_rx_can_err(priv, msg);
return;
- } else if (msg->u.rx_can.flag & ~MSG_FLAG_REMOTE_FRAME) {
+ } else if (msg->u.rx_can_header.flag & ~MSG_FLAG_REMOTE_FRAME) {
netdev_warn(priv->netdev,
"Unhandled frame (flags: 0x%02x)",
- msg->u.rx_can.flag);
+ msg->u.rx_can_header.flag);
return;
}

+ switch (dev->family) {
+ case KVASER_LEAF:
+ rx_msg = msg->u.leaf.rx_can.msg;
+ break;
+ case KVASER_USBCAN:
+ rx_msg = msg->u.usbcan.rx_can.msg;
+ break;
+ }
+
skb = alloc_can_skb(priv->netdev, &cf);
if (!skb) {
stats->tx_dropped++;
return;
}

- if (msg->id == CMD_LOG_MESSAGE) {
- cf->can_id = le32_to_cpu(msg->u.log_message.id);
+ if (dev->family == KVASER_LEAF && msg->id == CMD_LEAF_LOG_MESSAGE) {
+ cf->can_id = le32_to_cpu(msg->u.leaf.log_message.id);
if (cf->can_id & KVASER_EXTENDED_FRAME)
cf->can_id &= CAN_EFF_MASK | CAN_EFF_FLAG;
else
cf->can_id &= CAN_SFF_MASK;

- cf->can_dlc = get_can_dlc(msg->u.log_message.dlc);
+ cf->can_dlc = get_can_dlc(msg->u.leaf.log_message.dlc);

- if (msg->u.log_message.flags & MSG_FLAG_REMOTE_FRAME)
+ if (msg->u.leaf.log_message.flags & MSG_FLAG_REMOTE_FRAME)
cf->can_id |= CAN_RTR_FLAG;
else
- memcpy(cf->data, &msg->u.log_message.data,
+ memcpy(cf->data, &msg->u.leaf.log_message.data,
cf->can_dlc);
} else {
- cf->can_id = ((msg->u.rx_can.msg[0] & 0x1f) << 6) |
- (msg->u.rx_can.msg[1] & 0x3f);
+ cf->can_id = ((rx_msg[0] & 0x1f) << 6) | (rx_msg[1] & 0x3f);

if (msg->id == CMD_RX_EXT_MESSAGE) {
cf->can_id <<= 18;
- cf->can_id |= ((msg->u.rx_can.msg[2] & 0x0f) << 14) |
- ((msg->u.rx_can.msg[3] & 0xff) << 6) |
- (msg->u.rx_can.msg[4] & 0x3f);
+ cf->can_id |= ((rx_msg[2] & 0x0f) << 14) |
+ ((rx_msg[3] & 0xff) << 6) |
+ (rx_msg[4] & 0x3f);
cf->can_id |= CAN_EFF_FLAG;
}

- cf->can_dlc = get_can_dlc(msg->u.rx_can.msg[5]);
+ cf->can_dlc = get_can_dlc(rx_msg[5]);

- if (msg->u.rx_can.flag & MSG_FLAG_REMOTE_FRAME)
+ if (msg->u.rx_can_header.flag & MSG_FLAG_REMOTE_FRAME)
cf->can_id |= CAN_RTR_FLAG;
else
- memcpy(cf->data, &msg->u.rx_can.msg[6],
+ memcpy(cf->data, &rx_msg[6],
cf->can_dlc);
}

@@ -952,21 +1260,35 @@ static void kvaser_usb_handle_message(const struct kvaser_usb *dev,

case CMD_RX_STD_MESSAGE:
case CMD_RX_EXT_MESSAGE:
- case CMD_LOG_MESSAGE:
+ kvaser_usb_rx_can_msg(dev, msg);
+ break;
+
+ case CMD_LEAF_LOG_MESSAGE:
+ if (dev->family != KVASER_LEAF)
+ goto warn;
kvaser_usb_rx_can_msg(dev, msg);
break;

case CMD_CHIP_STATE_EVENT:
case CMD_CAN_ERROR_EVENT:
- kvaser_usb_rx_error(dev, msg);
+ if (dev->family == KVASER_LEAF)
+ kvaser_leaf_rx_error(dev, msg);
+ else
+ kvaser_usbcan_rx_error(dev, msg);
break;

case CMD_TX_ACKNOWLEDGE:
kvaser_usb_tx_acknowledge(dev, msg);
break;

+ /* Ignored messages */
+ case CMD_USBCAN_CLOCK_OVERFLOW_EVENT:
+ if (dev->family != KVASER_USBCAN)
+ goto warn;
+ break;
+
default:
- dev_warn(dev->udev->dev.parent,
+warn: dev_warn(dev->udev->dev.parent,
"Unhandled message (%d)\n", msg->id);
break;
}
@@ -1186,7 +1508,7 @@ static void kvaser_usb_unlink_all_urbs(struct kvaser_usb *dev)
dev->rxbuf[i],
dev->rxbuf_dma[i]);

- for (i = 0; i < MAX_NET_DEVICES; i++) {
+ for (i = 0; i < dev->nchannels; i++) {
struct kvaser_usb_net_priv *priv = dev->nets[i];

if (priv)
@@ -1294,6 +1616,7 @@ static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
struct kvaser_msg *msg;
int i, err;
int ret = NETDEV_TX_OK;
+ u8 *msg_tx_can_flags = NULL; /* GCC */

if (can_dropped_invalid_skb(netdev, skb))
return NETDEV_TX_OK;
@@ -1315,9 +1638,19 @@ static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,

msg = buf;
msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_tx_can);
- msg->u.tx_can.flags = 0;
msg->u.tx_can.channel = priv->channel;

+ switch (dev->family) {
+ case KVASER_LEAF:
+ msg_tx_can_flags = &msg->u.tx_can.leaf.flags;
+ break;
+ case KVASER_USBCAN:
+ msg_tx_can_flags = &msg->u.tx_can.usbcan.flags;
+ break;
+ }
+
+ *msg_tx_can_flags = 0;
+
if (cf->can_id & CAN_EFF_FLAG) {
msg->id = CMD_TX_EXT_MESSAGE;
msg->u.tx_can.msg[0] = (cf->can_id >> 24) & 0x1f;
@@ -1335,7 +1668,7 @@ static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
memcpy(&msg->u.tx_can.msg[6], cf->data, cf->can_dlc);

if (cf->can_id & CAN_RTR_FLAG)
- msg->u.tx_can.flags |= MSG_FLAG_REMOTE_FRAME;
+ *msg_tx_can_flags |= MSG_FLAG_REMOTE_FRAME;

for (i = 0; i < ARRAY_SIZE(priv->tx_contexts); i++) {
if (priv->tx_contexts[i].echo_index == MAX_TX_URBS) {
@@ -1604,6 +1937,17 @@ static int kvaser_usb_probe(struct usb_interface *intf,
if (!dev)
return -ENOMEM;

+ if (kvaser_is_leaf(id)) {
+ dev->family = KVASER_LEAF;
+ } else if (kvaser_is_usbcan(id)) {
+ dev->family = KVASER_USBCAN;
+ } else {
+ dev_err(&intf->dev,
+ "Product ID (%d) does not belong to any known Kvaser USB family",
+ id->idProduct);
+ return -ENODEV;
+ }
+
err = kvaser_usb_get_endpoints(intf, &dev->bulk_in, &dev->bulk_out);
if (err) {
dev_err(&intf->dev, "Cannot get usb endpoint(s)");
--
1.7.7.6